Communication method and apparatus

Abstract

A communication method and apparatus, which relate to the technical field of communications, and can save on air interface resources and improve the computing efficiency of a model. The method comprises: a terminal acquiring calibration information; and on the basis of the calibration information, the terminal reporting sensing data of some of regions in which a sensing device supports sensing, wherein the calibration information indicates, by means of a first calibration region, some of the regions in which the sensing device supports sensing, and some of the regions in which the sensing device supports sensing correspond to the first calibration region. Therefore, compared with the related art in which a terminal directly reports sensing data of all of the regions in which a sensing device of the terminal supports sensing, in the present application, a terminal reports sensing data of some sensing regions by means of calibration information, thereby reducing reported sensing data, and thus saving on air interface resources. In addition, since the sensing data reported by the terminal is some data in the regions in which the sensing device of the terminal supports sensing, a base station inputs the received sensing data into a model for computing, thereby improving the computing efficiency of the terminal.

Description

Communication method and apparatus

[0001] The present application claims priority from the Chinese patent application No. 202410842195.8 filed on June 26, 2024, and entitled "Communication method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication technology, and in particular to a communication method and apparatus. BACKGROUND

[0003] Terminal devices and the like can collect perception data and report the collected perception data, for example, to a base station. The base station can perform further processing based on the perception data, such as target detection, semantic segmentation, environment reconstruction, and the like. However, reporting perception data consumes transmission resources (such as air interface resources), and how to make the reporting of perception data consume fewer transmission resources is a problem to be solved. SUMMARY

[0004] The present application provides a communication method and apparatus to efficiently report perception data and reduce transmission resource overhead.

[0005] To achieve the above-mentioned purpose, the embodiments of the present application provide the following technical solutions:

[0006] In a first aspect, a communication method is provided, which can be executed by a terminal device (or terminal). In the case where no special description is made, the "terminal device" in the present application can refer to the terminal device itself, a component (for example, a processor, a chip, or a chip system, etc.) in the terminal device, or a logic module or software capable of realizing all or part of the functions of the terminal device. The method comprises: obtaining calibration information; wherein the calibration information indicates a first perception area through a first calibration area, the first calibration area corresponds to the first perception area, and the first perception area is part of the perception area supported by a perception device; and reporting first information based on the calibration information; wherein the first information comprises perception data of the first perception area.

[0007] Through the scheme, the terminal can collect perception data of a perception region corresponding to the first planar region, or collect first perception data corresponding to the first calibration region. The terminal only reports the first perception data corresponding to the first calibration region. Compared with the related art in which the terminal directly reports perception data of all regions in the perception region supported by the perception device of the terminal, the terminal reports the perception data of part of the perception region through the calibration information, reduces the reported perception data, and thus saves the air interface resource. In addition, because the perception data sent by the terminal is the perception data corresponding to the region where the target is located, the region of interest or the important region, the terminal reports the perception data of part of the region, and thus the reporting of irrelevant perception data is reduced. The base station inputs the received perception data into the model for calculation, and thus the calculation efficiency of the model is improved.

[0008] With reference to the first aspect, in a possible design, the obtaining the calibration information includes receiving the calibration information, and the calibration information includes one or more of the following: coordinates of boundary points of the first calibration region; coordinates of a center point of the first calibration region and a range; coordinates of a reference point, the reference point being a point outside the first plane; a distance from the reference point to the first plane; or a bitmap of the first planar region, where the bitmap of the first planar region includes a plurality of bits, each bit of the plurality of bits corresponds to a unit of the first planar region, and a value of the bit is used to indicate whether the unit corresponding to the bit belongs to all or part of the boundary points of the first calibration region, and the first planar region is part of the first plane.

[0009] Through the scheme, the calibration information is indicated by indicating the coordinates of all boundary points of the first calibration region, which can enable the terminal to accurately determine the first calibration region according to the calibration information. The calibration information is indicated by indicating the coordinates of the center point of the first calibration region and the range, which can enable the calibration information to occupy less air interface resource. The terminal can determine the first planar region through the coordinates of the reference point and the distance from the reference point to the first plane, and then determine the first calibration region through the coordinates of all or part of the boundary points of the first calibration region.

[0010] With reference to the first aspect, in a possible design, the first calibration region is part of the first planar region.

[0011] Through the scheme, the first perception region determined by the first calibration region is part of the perception region supported by the perception device. Therefore, the terminal reports less perception data, and thus saves the air interface resource.

[0012] In a possible design of the first aspect, the first information includes sensing data of the first sensing area, specifically, the first information includes one or more of the following: a quantity of the first sensing areas; a quantity of sensing data included in each of the one or more first sensing areas; and the sensing data included in each of the one or more first sensing areas.

[0013] Through the scheme, after receiving the first information, the base station can process the sensing data included in each first sensing area, for example, input the sensing data into a model to obtain a processing result.

[0014] In a possible design of the first aspect, the method further includes: obtaining second information, where the second information is used to indicate an image plane coordinate system of the first plane.

[0015] Through the scheme, the terminal can determine the image plane coordinate system of the first plane according to the second information, so that the terminal can convert between the image plane coordinate of the first plane and a local coordinate system adopted by the terminal, thereby determining the first calibration area indicated by the base station.

[0016] In a possible design of the first aspect, the method further includes: obtaining third information, where the third information is used to indicate at least one calibration area and whether there is a task result corresponding to the calibration area, and the task result is a result of task processing based on sensing data of a sensing area indicated by the calibration area.

[0017] Through the scheme, the terminal can perform corresponding processing according to the received task result.

[0018] In a possible design of the first aspect, the method further includes: obtaining third information, where the third information is used to indicate whether there is a task result corresponding to a calibration area, and is not used to indicate the calibration area, and the task result is a result of task processing based on sensing data of a sensing area indicated by the calibration area. Through the scheme, the third information occupies less air interface resource.

[0019] In a possible design of the first aspect, the third information is used to indicate at least one calibration area and whether there is a task result corresponding to the calibration area, and includes: the third information includes information of each calibration area in the at least one calibration area and a task indication corresponding to the calibration area; the information of the calibration area is used to indicate the calibration area; and the task indication corresponding to the calibration area is used to indicate whether there is the task result corresponding to the calibration area.

[0020] With reference to the first aspect, in a possible design, the reporting the first information based on the calibration information includes: reporting the first information based on the calibration information in a case where the third information indicates that there is no task result corresponding to the first calibration region; and the method further includes: not reporting the first information in a case where the third information indicates that there is the task result corresponding to the first calibration region.

[0021] With reference to the first aspect, in a possible design, the perception data is location information, the perception data is compressed location information, the perception data includes location information and attribute information, or the perception data includes compressed location information and attribute information.

[0022] With reference to the first aspect, in a possible design, the first perception region is determined according to one or more of the following: a distance between the reference point and the first plane, a bandwidth that can be occupied by the reporting of the first information, a target region, a region of interest, or an importance region.

[0023] With reference to the first aspect, in a possible design, the target region includes a size of the target region and a location of the target region.

[0024] With reference to the first aspect, in a possible design, the region of interest includes a size of the region of interest and a location of the region of interest.

[0025] With reference to the first aspect, in a possible design, the importance region includes a size of the importance region and a location of the importance region.

[0026] With reference to the first aspect, in a possible design, the distance between the reference point and the first plane is indicated by a multiple of a focal length.

[0027] By this scheme, the distance between the reference point and the first plane is indicated by a multiple of a focal length, which can consume less resources.

[0028] With reference to the first aspect, in a possible design, the first perception region has a first range when the distance between the reference point and the first plane region is a first distance, and the first perception region has a second range when the distance between the reference point and the first plane region is a second distance; and the first range is smaller than the second range if the first distance is greater than the second distance.

[0029] With reference to the first aspect, in a possible design, the first calibration region has a third range, and the first perception region corresponding to the first calibration region has a fourth range; the first calibration region has a fifth range, and the first perception region corresponding to the first calibration region has a sixth range; and if the third range is greater than the fifth range, the fourth range is greater than the sixth range.

[0030] With reference to the first aspect, in a possible design, the method further includes: receiving fourth information, where the fourth information includes a second perception region, and the second perception region is a region within the first perception region.

[0031] By this scheme, after receiving the fourth information, the terminal can use the perception data in the second perception region to perform relevant processing. For example, the terminal is a car, and the perception data in the second perception region can indicate an obstacle in front of the car during driving. The car can prompt the driver of the position of the obstacle, the distance to the obstacle, and other relevant information according to the position of the obstacle indicated by the second perception region. Alternatively, the car can perform automatic driving or auxiliary driving, or the like, according to the position of the obstacle.

[0032] In a second aspect, a communication method is provided, which can be performed by a first communication device. In the absence of special description, the “first communication device” in the present application can refer to the first communication device itself, or a component (for example, a processor, a chip, or a chip system, etc.) in the first communication device, or a logic module or software capable of realizing all or part of the functions of the first communication device. The first communication device can be a terminal device, a core network node, or a radio access network (RAN) node. The method includes: sending calibration information; where the calibration information indicates a first perception region through a first calibration region, the first calibration region corresponds to the first perception region, and the first perception region is part of a perception region supported by a perception device; and reporting first information based on the calibration information; where the first information includes perception data of the first perception region.

[0033] With reference to the second aspect, in a possible design of the second aspect, the calibration information includes one or more of the following: coordinates of boundary points of the first calibration region; coordinates of a center point of the first calibration region and a range; coordinates of a reference point, the reference point being a point outside the first plane; a distance from the reference point to the first plane; or a bitmap of the first plane region, where the bitmap of the first plane region includes a plurality of bits, each bit of the plurality of bits corresponds to a unit of the first plane region, and a value of the bit is used to indicate whether the unit corresponding to the bit belongs to all or part of boundary points of the first calibration region, and the first plane region is a partial region in the first plane.

[0034] With reference to the second aspect, in a possible design of the second aspect, the first calibration region is a partial region of the first plane region.

[0035] With reference to the second aspect, in a possible design of the second aspect, the first information includes perception data of the first perception region, and specifically, the first information includes one or more of the following: a quantity of the first perception region; a quantity of perception data included in each of one or more of the first perception region; and the perception data included in each of one or more of the first perception region.

[0036] With reference to the second aspect, in a possible design of the second aspect, the method further includes: sending second information, where the second information is used to indicate an image plane coordinate system of the first plane.

[0037] With reference to the second aspect, in a possible design of the second aspect, the method further includes: sending third information, where the third information is used to indicate at least one calibration region and whether there is a task result corresponding to the calibration region, and the task result is a result of task processing based on perception data of a perception region indicated by the calibration region.

[0038] With reference to the second aspect, in a possible design of the second aspect, the third information used to indicate at least one calibration region and whether there is a task result corresponding to the calibration region includes: the third information includes information of each of at least one calibration region and a task indication corresponding to the calibration region; the information of the calibration region is used to indicate the calibration region; and the task indication corresponding to the calibration region is used to indicate whether there is the task result corresponding to the calibration region.

[0039] With reference to the second aspect, in a possible design, the receiving the first information comprises: receiving the first information in a case where the third information indicates that there is no task result corresponding to the first calibration region; and the method further comprises: not receiving the first information in a case where the third information indicates that there is the task result corresponding to the first calibration region.

[0040] With reference to the second aspect, in a possible design, the perception data is location information, the perception data is compressed location information, the perception data comprises location information and attribute information, or the perception data comprises compressed location information and attribute information.

[0041] With reference to the second aspect, in a possible design, the first perception region is determined according to one or more of the following: a distance between the reference point and the first plane; a bandwidth that can be occupied by the reporting of the first information; a target region; a region of interest; or an importance region.

[0042] With reference to the second aspect, in a possible design, the first perception region has a first range when the distance between the reference point and the first plane region is a first distance, and has a second range when the distance between the reference point and the first plane region is a second distance; and the first range is smaller than the second range if the first distance is greater than the second distance.

[0043] With reference to the second aspect, in a possible design, the first calibration region has a third range, and the first perception region corresponding to the first calibration region has a fourth range; the first calibration region has a fifth range, and the first perception region corresponding to the first calibration region has a sixth range; and the fourth range is greater than the sixth range if the third range is greater than the fifth range.

[0044] With reference to the second aspect, in a possible design, the method further comprises: sending fourth information, where the fourth information comprises a second perception region, and the second perception region is a region in the first perception region.

[0045] A third aspect provides a communication system, including a first communication apparatus and a second communication apparatus, where the first communication apparatus performs the method in the second aspect and any possible implementation manner of the second aspect, and the second communication apparatus performs the method in the first aspect and any possible implementation manner of the first aspect.

[0046] A fourth aspect provides a chip system, including a processor configured to support a communication apparatus to implement the functions in the first aspect and any possible implementation manner of the first aspect, or implement the functions in the second aspect and any possible implementation manner of the second aspect.

[0047] In a possible design, the chip system further includes a memory configured to store program instructions and data necessary for the communication apparatus. The chip system can be composed of a chip or include the chip and other discrete devices.

[0048] In a fifth aspect, a communication apparatus is provided. The communication apparatus includes a processor configured to perform the method in the first aspect and / or any of the implementation forms of the first aspect, or configured to perform the method in the second aspect and / or any of the implementation forms of the second aspect.

[0049] Optionally, the apparatus further includes a memory and / or a communication interface.

[0050] The communication interface is configured to receive and / or send signals. Optionally, the communication interface is coupled to the processor.

[0051] The memory is configured to store a computer program. The processor is configured to perform the method in the first aspect and / or any of the implementation forms of the first aspect. The processor can be implemented by executing the computer program stored in the memory to perform the method in the first aspect and / or any of the implementation forms of the first aspect.

[0052] Alternatively, the processor can also be a hardware-implemented circuit, such as an artificial intelligence (AI) processor, to improve the running speed. The present application does not limit the specific implementation form of the processor.

[0053] Optionally, the communication apparatus can be a whole device or a module in the device, such as a chip.

[0054] In a sixth aspect, a communication apparatus is provided. The communication apparatus has the function of performing the method in the first aspect and / or any of the implementation forms of the first aspect, or has the function of performing the method in the second aspect and / or any of the implementation forms of the second aspect. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0055] In a seventh aspect, a communication apparatus is provided. The communication apparatus includes a function module or unit or means for performing the method in the first aspect and / or any of the implementation forms of the first aspect of the present application, or includes a function module or unit or means for performing the method in the second aspect and / or any of the implementation forms of the second aspect of the present application. The module can be implemented by software or hardware, or by a combination of software and hardware. For example, the module includes a processing unit and a communication unit, which are not limited.

[0056] In an eighth aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores instructions which, when executed by a processor, cause the method in the first aspect and any possible implementation thereof to be implemented, or cause the method in the second aspect and any possible implementation thereof to be implemented.

[0057] In a ninth aspect, a computer program product is provided, and the computer program product includes a computer program which, when executed by a processor, causes the method in the first aspect and any possible implementation thereof to be implemented, or causes the method in the second aspect and any possible implementation thereof to be implemented.

[0058] It can be understood that the method, the communication system, the communication device, the chip system, the computer-readable storage medium, the computer program product and the like provided by the second aspect to the ninth aspect have the beneficial effects as described above with reference to the first aspect and any possible implementation thereof, and thus repeated description is omitted here. BRIEF DESCRIPTION OF DRAWINGS

[0059] FIG. 1 is a schematic diagram of an architecture of a communication system to which embodiments of the present application are applied;

[0060] FIG. 2 is a schematic diagram of a method flow provided by an embodiment of the present application;

[0061] FIG. 3 is a schematic diagram of a first calibration region provided by an embodiment of the present application;

[0062] FIG. 4 is a schematic diagram of a first perception region provided by an embodiment of the present application;

[0063] FIG. 5 is another schematic diagram of the first perception region provided by an embodiment of the present application;

[0064] FIG. 6 is yet another schematic diagram of the first perception region provided by an embodiment of the present application;

[0065] FIG. 7 is a schematic diagram of a region of interest and a region of importance provided by an embodiment of the present application;

[0066] FIG. 8 is a schematic diagram of a boundary point provided by an embodiment of the present application;

[0067] FIG. 9 is a schematic diagram of calibration information provided by an embodiment of the present application;

[0068] FIG. 10 is a schematic diagram of a pixel coordinate system provided by an embodiment of the present application;

[0069] FIG. 11 is a schematic diagram of a bit map provided by an embodiment of the present application;

[0070] FIG. 12 is another schematic diagram of a method flow provided by an embodiment of the present application;

[0071] FIG. 13 is a structural schematic diagram of a communication apparatus provided by an embodiment of the present application;

[0072] FIG. 14 is a structural schematic diagram of another communication apparatus provided by an embodiment of the present application. DETAILED DESCRIPTION

[0073] FIG. 1 is a structural schematic diagram of a communication system 1000 to which embodiments of the present application are applied. As shown in FIG. 1, the communication system includes a radio access network (RAN) 100 and a core network 200. Optionally, the communication system 1000 can also include an Internet 300. The RAN 100 includes at least one RAN node (e.g., 110a and 110b in FIG. 1, collectively referred to as 110) and at least one terminal (e.g., 120a-120j in FIG. 1, collectively referred to as 120). The RAN 100 can also include other RAN nodes, such as a wireless relay device and / or a wireless backhaul device (not shown in FIG. 1). The terminal 120 is connected to the RAN node 110 in a wireless manner, and the RAN node 110 is connected to the core network 200 in a wireless or wired manner. The core network device in the core network 200 and the RAN node 110 in the RAN 100 can be independent and different physical devices, or can be the same physical device integrated with the logical functions of the core network device and the logical functions of the RAN node. Terminals and terminals, and RAN nodes and RAN nodes can be connected to each other in a wired or wireless manner.

[0074] The RAN 100 can be an evolved universal terrestrial radio access (E-UTRA) system, a new radio (NR) system, and a future wireless access system defined in the 3rd generation partnership project (3GPP), or a WiFi system. The RAN 100 can also include two or more different wireless access systems. The RAN 100 can also be an open RAN (O-RAN).

[0075] A RAN node, also referred to as a radio access network device, RAN entity or access node, is configured to help a terminal to access to a communication system over the air. In one application scenario, the RAN node can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5th generation (5G) mobile communication system, a base station in a future communication network or an access node in a WiFi system. The RAN node can be a macro base station (e.g. 110a in FIG. 1), a micro base station or an indoor station (e.g. 110b in FIG. 1), a relay node or a donor node.

[0076] In another application scenario, a terminal can access to a communication system over the air by cooperation of a plurality of RAN nodes, each of which implements part of functions of a base station. For example, the RAN node can be a central unit (CU), a distributed unit (DU) or a radio unit (RU). Here, the CU implements functions of a radio resource control protocol and a packet data convergence protocol (PDCP) of a base station, and can further implement a function of a service data adaptation protocol (SDAP). The DU implements functions of a radio link control layer and a medium access control (MAC) layer of a base station, and can further implement part of functions or all functions of a physical layer. For details of the protocol layers, refer to relevant technical specifications of 3GPP. The RU can be configured to implement functions of transceiving radio frequency signals. The CU and the DU can be two independent RAN nodes or integrated in a same RAN node, e.g. in a baseband unit (BBU). The RU can be included in a radio frequency device, e.g. in a remote radio unit (RRU) or an active antenna unit (AAU). The CU can be further divided into two types of RAN nodes, i.e. a CU-control plane and a CU-user plane.

[0077] In different systems, the RAN node can have different names, for example, in an O-RAN system, the CU can be referred to as an open CU (O-CU), the DU can be referred to as an open DU (O-DU), and the RU can be referred to as an open RU (O-RU). The RAN node in the embodiments of the present application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module, for example, the RAN node can be a server loaded with a corresponding software module. The embodiments of the present application do not limit the specific technology and specific equipment form adopted by the RAN node. For ease of description, a base station is described as an example of the RAN node in the following.

[0078] The terminal is a device with wireless transceiver function, which can send signals to the base station or receive signals from the base station. The terminal can also be referred to as a terminal device, user equipment (UE), mobile station, mobile terminal, etc. The terminal can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), internet of things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, remote medical treatment, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver function, wearable device, vehicle, airplane, ship, robot, mechanical arm, smart home device, etc. The embodiments of the present application do not limit the specific technology and specific equipment form adopted by the terminal.

[0079] The base station and the terminal can be fixed in position or movable. The base station and the terminal can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on water surface; can also be deployed on airplanes, balloons and artificial satellites. The embodiments of the present application do not limit the application scenarios of the base station and the terminal.

[0080] The roles of the base station and the terminal can be relative. For example, the helicopter or the drone 120i in FIG. 1 can be configured as a mobile base station, and for the terminal 120j that accesses the wireless access network 100 through the 120i, the terminal 120i is a base station; but for the base station 110a, the 120i is a terminal, that is, the 110a and the 120i communicate through a wireless air interface protocol. Of course, the 110a and the 120i can also communicate through a base station-to-base station interface protocol, and in this case, the 120i is also a base station relative to the 110a. Therefore, the base station and the terminal can be collectively referred to as a communication device, and the 110a and the 110b in FIG. 1 can be referred to as a communication device with a base station function, and the 120a-120j in FIG. 1 can be referred to as a communication device with a terminal function.

[0081] The base station and the terminal, the base station and the base station, and the terminal and the terminal can communicate through a licensed frequency spectrum, or through an unlicensed frequency spectrum, or through both the licensed frequency spectrum and the unlicensed frequency spectrum; can communicate through a frequency spectrum below 6 gigahertz (GHz), or through a frequency spectrum above 6 GHz, or through both the frequency spectrum below 6 GHz and the frequency spectrum above 6 GHz. The embodiments of the present application do not limit the frequency spectrum resources used for wireless communication.

[0082] In the embodiments of the present application, the functions of the base station can also be performed by a module (such as a chip) in the base station, or by a control subsystem containing base station functions. The control subsystem containing base station functions herein can be a control center in the above-mentioned application scenarios such as smart grid, industrial control, intelligent transportation, and smart city. The functions of the terminal can also be performed by a module (such as a chip or a modem) in the terminal, or by a device containing terminal functions.

[0083] In the present application, the base station sends a downlink signal or downlink information to the terminal, and the downlink information is carried on a downlink channel; the terminal sends an uplink signal or uplink information to the base station, and the uplink information is carried on an uplink channel. In order to communicate with the base station, the terminal needs to establish a wireless connection with a cell controlled by the base station. The cell that establishes a wireless connection with the terminal is called a service cell of the terminal. When the terminal communicates with the service cell, it will also be interfered by signals from neighboring cells.

[0084] In the following, related technical terms involved in the present application are explained and described. It can be understood that these explanations and descriptions are for the purpose of making the present application easier to understand, and should not be regarded as limiting the scope of protection required by the present application.

[0085] Pixel coordinate system: the pixel coordinate system (also referred to as the image pixel coordinate system) represents the projection of a three-dimensional space object on an image plane. The coordinate origin of the pixel coordinate system is the upper left corner of the image plane, the u-axis is parallel to the image plane horizontally to the right, the v-axis is perpendicular to the u-axis downward, dx and dy represent the physical dimensions of a pixel point on the x-axis and y-axis of the image plane respectively, and the coordinates of the pixel point are represented by (u, v). For example, the coordinates of the origin pixel point O of the image coordinate system are represented as (, ).

[0086] Local coordinate system: the local coordinate system can be a coordinate system of a device itself, for example, each terminal uses its own local coordinate system.

[0087] Global coordinate system: the global coordinate system can be a coordinate system commonly used by multiple devices. For example, the terminals under a base station all use the same global coordinate system.

[0088] A terminal device or the like can collect perception data and report the collected perception data, for example, to a base station. The base station can further process the perception data, for example, target detection, semantic segmentation, environment reconstruction, and the like. However, in related technologies, a terminal collects 360-degree panoramic perception data around it through a radar and reports the perception data. Reporting the perception data consumes transmission resources (such as air interface resources), and how to make the reported perception data consume fewer resources is a problem to be solved.

[0089] Based on this, the embodiment of the present application provides a communication method. In the embodiment of the present application, a device (such as a terminal) with a measurement perception area function can report the perception data of part of the measured perception area, or measure part of the perception area. By reducing the reported perception data, the resources consumed by the reported perception data are reduced. In addition, the perception data reported by the terminal can be the perception data of the useful area determined by the terminal or the perception data of the useful area indicated by the base station. Therefore, the device (such as the base station) receiving the perception data receives a small amount of useful perception data. When processing the perception data, such as training or model inference through the perception data, it has better effect. In the following, reporting can also be described as sending.

[0090] The following describes the embodiment of the present application by taking a terminal sending perception data of a perception area and a base station receiving the perception data of the perception area as an example. Referring to FIG. 2, the method of the embodiment of the present application includes steps S301 to S302.

[0091] S301, the terminal acquires calibration information.

[0092] The calibration information indicates the first perception region through the first calibration region. The first calibration region corresponds to the first perception region. The first perception region is a partial region of a perception region supported by the perception device.

[0093] For example, the calibration information can indicate the first calibration region, or indicate the first calibration region and the reference point.

[0094] In some embodiments, the first calibration region is a partial region of a first planar region. The first planar region can be a planar region within the perception region supported by the perception device. The first planar region can include one or more first calibration regions. For example, referring to FIG. 3, one image (an example of the first planar region) can include one or more first calibration regions. For example, there is one car in image 1, and the terminal marks the region where the car is located as the first calibration region 1. For another example, there is one car and one tree in image 2, and the terminal marks the region where the car is located and the region where the tree is located as the first calibration region 2 and the first calibration region 3, respectively.

[0095] In other embodiments, the first calibration region is a curved surface region. For example, the first calibration region is determined by points A and B located in the first planar region and points C and D located in the second planar region. The terminal can determine the curved surface region as the first calibration region according to the four vertices by using related technologies.

[0096] In some examples, a region perpendicular to the first calibration region is the first perception region. For example, referring to FIG. 4, the shape of the first calibration region is a circle, and the first perception region 8 can be a cylinder. For another example, the first calibration region is a rectangle, and the first perception region 7 can be a cube.

[0097] In other examples, still referring to FIG. 4, the terminal can determine the reference point P, which is a point outside the first plane to which the first planar region belongs. Or the reference point P is a point outside the curved surface region formed by the first calibration region. Referring to FIG. 5, as shown in the first perception region 3, the first perception region can be a region covered by the line connecting the reference point P and the first calibration region and the extension line of the line. Or, referring to FIG. 6, as shown in the first perception region 1, the first perception region can be a region covered by the extension line of the line connecting the reference point P and the first calibration region.

[0098] In some examples, the reference point P is located on the normal vector of the center point of the first planar region. For example, the reference point P can be the optical center or a point between the optical center and the image on the normal vector.

[0099] In other examples, the reference point P is located on the normal vector of the boundary point of the first planar region.

[0100] In some examples, the reference point P is located on a normal vector of a center point of the first calibration region.

[0101] In some embodiments, the terminal can generate calibration information. For example, the terminal can capture an image through a camera or other image capture device, identify a target in the image through image recognition, and calibrate the identified target.

[0102] In some examples, the image captured by the camera is an example of a first planar region, and the region in which the target is located in the image is an example of a first calibration region. The target identified by the terminal can be a car, a tree, a cloud, a house, a person, or other object, and the embodiments of the present application do not limit the target identified by the terminal.

[0103] In another example, the terminal can calibrate a region of interest by identifying the region of interest. The terminal can determine the range of the region of interest in advance, and after capturing the image, mark the region of interest on the image. For example, the terminal is a car, and during driving, the left side of the car head is a wall and the right side is open land. The risk of foreign objects appearing on the right side is greater, and 180 degrees to the right of the car head direction can be set as the region of interest. Referring to FIG. 7, the region of interest can be the lower half of the image.

[0104] In another example, the terminal can calibrate an importance region by identifying the importance region. The importance region can refer to an important region. For example, the terminal is a car, and during driving, the road conditions in front of the car are important. The left and right 45 degrees of the car head direction are importance regions. Referring to FIG. 7, the importance region can be the middle region of the image. The terminal can determine the first calibration region in the manner described below.

[0105] In another example, the terminal can determine the reference point by capturing the optical center of the image in which the first calibration region is located and the focal length. For example, the optical center of the image is the reference point. In another example, according to the focal length of the image, a position far from the focal length of the image is the reference point. In another example, the terminal knows the size of the first perception region. After capturing the image, the terminal can determine the reference point according to the size of the first perception region, the perception data acquisition capability of the radar, and the size of the first calibration region in the image. The perception data acquisition capability of the radar can refer to the length range of the perception data that the radar can acquire.

[0106] For example, referring to FIG. 6, assume that the sensing region is a region far away from the radar in the direction of the first calibration region, and the sensing data collection capability of the radar is the length A along the z-axis direction. The terminal knows that the size of the first sensing region is B cubic centimeters. In the case that the first calibration region 1 and the sensing data collection capability of the radar are determined, the terminal adjusts the distance between the reference point P and the image, determines that the size of the first sensing region 1 determined at the reference point P1 is B cubic centimeters, and thus determines the reference point P1. Still referring to FIG. 6, assume that the terminal knows that the size of the first sensing region is C cubic centimeters. In the case that the first calibration region 1 and the sensing data collection capability of the radar are determined, the terminal adjusts the distance between the reference point P and the image, determines that the size of the first sensing region 2 determined at the reference point P2 is C cubic centimeters, and thus determines the reference point P2.

[0107] In some other examples, referring to FIG. 5, the sensing region can include the entire region bounded by the reference point, as shown in the conical region of the first sensing region 3 and the cylindrical region of the first sensing region 4. For example, the reference point can be the origin of the radar coordinate system.

[0108] In some embodiments, the reference point is the optical center, and the first plane is the image plane. Since the distance between the optical center and the image plane is very close, the three-dimensional region between the reference point and the image plane is small and can be ignored. Thus, it can be considered that the size of the first sensing region 3 shown in FIG. 5 is the same as the size of the first sensing region 1 shown in FIG. 6.

[0109] In some examples, the shape of the first calibration region can be determined according to the shape of the target identified by the terminal.

[0110] For example, still referring to FIG. 3, the shape of the first calibration region 2 in the image 2 is the same as the shape of the car in the image. In some other examples, the shape of the first calibration region can also be a fixed shape. For example, in the image 1, the shape of the first calibration region 1 is a rectangle. In the image 2, the shape of the first calibration region 3 is a circle. For another example, the shape of the first calibration region can also be an irregular shape.

[0111] In some examples, the terminal can determine the smallest region encompassing the complete target as the first calibration region based on the shape of the first calibration region (such as a rectangle, circle, or the shape of the target itself). For example, still referring to Figure 3, when the shape of the first calibration region is determined based on the shape of the target identified by the terminal, the first calibration region 2 in Image 2 is the same as the region of the target vehicle. When the shape of the first calibration region is rectangular, the first calibration region 5 in Image 4 is the smallest rectangle encompassing the target vehicle, and the first calibration region 6 is the smallest rectangle encompassing the target tree. Thus, the first calibration region collected by the terminal includes more target information, enabling the subsequent transmission of more useful data when sending perception data from the first perception region determined by the first calibration region.

[0112] In other examples, the terminal can define the first calibration region as the smallest region encompassing the complete target and the region near that smallest region, based on the shape of the first calibration region and the range of the identified target. For instance, when the shape of the first calibration region is determined based on the shape of the target identified by the terminal, the first calibration region 4 in Image 3 is an area that expands outward based on the shape of the target vehicle. When the shape of the first calibration region is rectangular, the first calibration region 1 in Image 1 is an area that expands outward from the smallest rectangle containing the target vehicle. Thus, even when the target acquired by the terminal has errors, the first calibration region can still include the actual target, improving the accuracy of the acquired target location area.

[0113] In other examples, the terminal can use the shape of the first calibration region to define a portion of the target as the first calibration region, based on the identified target's range. For example, the first calibration region 3 in image 2 is the region where the main part of the target tree is located. The terminal can determine the main part of the target using algorithms from related technologies, thereby determining the first calibration region of the target. Consequently, the area of ​​the first calibration region determined by the terminal is smaller, resulting in less sensing data being sent when subsequently transmitting sensing data from the first sensing region determined by the first calibration region, thus saving air interface resources.

[0114] In other embodiments, the terminal may receive calibration information. For example, the base station sends calibration information. The terminal receives the calibration information from the base station.

[0115] Similar to the calibration information generated by the terminal, the calibration information sent by the base station can also be used to indicate the target area, the area of interest, or the importance area, etc. Similar to the terminal determining the first calibration area, the manner in which the base station determines the first calibration area can refer to the relevant description below. The base station can indicate the target area by indicating the specific location of the target area in the first calibration area. The base station can indicate the area of interest by indicating the corresponding area in a certain angle range or indicating the specific location of the area of interest. For example, the base station can indicate that the area of interest is the area of the terminal in the global coordinate system with an elevation angle of 10 to 30 degrees. The base station can indicate the importance area by indicating the corresponding area in a certain angle range or indicating the specific location of the importance area. For example, the base station can indicate that the importance area is the area of the terminal in the global coordinate system with an elevation angle of -10 to 10 degrees. The base station can indicate the reference point by indicating the coordinates of the reference point. Alternatively, the base station can indicate the reference point by indicating the distance from the reference point to the first plane. The content of the calibration information can refer to the description below.

[0116] S302, the terminal reports the first information based on the calibration information. Correspondingly, the base station receives the first information.

[0117] The first information includes the perception data of the first perception area.

[0118] For example, the perception data is point cloud data.

[0119] The terminal can determine the first calibration area according to the calibration information, and determine the first perception area through the first calibration area, thereby determining the first information. Referring to FIG. 4, the terminal can collect the perception data of the perception area corresponding to the first plane area, or collect the first perception data corresponding to the first calibration area. The terminal only reports the first perception data corresponding to the first calibration area. Therefore, compared with the terminal directly reporting the perception data of all areas in the perception area supported by the terminal's perception device in the related art, the terminal reports the perception data of part of the perception area through the calibration information, reduces the reported perception data, thereby saving the air interface resources. In addition, because the terminal sends the perception data corresponding to the target area, the area of interest, or the importance area. The terminal reports the perception data of part of the area, which reduces the reporting of irrelevant perception data. The base station inputs the received perception data into the model for calculation, which improves the calculation efficiency of the model.

[0120] The terminal can send the collected perception data of the first perception area after compression, for example, using Draco, G-PCC, etc. The terminal can also not compress the perception data of the first perception area, but directly send it.

[0121] The above embodiments introduce the interaction between the terminal and the base station. As can be seen, the range of the first perception area can be determined by the distance from the reference point to the first plane or the range of the first calibration area.

[0122] For example, referring to FIG. 6, when the distance between the reference point and the first plane area is a first distance, such as the distance from the reference point P1 to the first plane area is q1, the range of the first perception area is a first range, such as the first perception area 1. When the distance between the reference point and the first plane area is a second distance, such as the distance from the reference point P2 to the first plane area is q2, the range of the first perception area is a second range, such as the first perception area 2. If the first distance q1 is greater than the second distance q2, then the first range is less than the second range.

[0123] For example, referring to FIG. 4, when the range of the first calibration area is a third range, the range of the first perception area corresponding to the first calibration area is a fourth range. When the range of the first calibration area is a fifth range, the range of the first perception area corresponding to the first calibration area is a sixth range. If the third range is greater than the fifth range, then the fourth range is greater than the sixth range. For example, referring to FIG. 4, in the case where the first perception area is determined by the reference point and the extension line of the first calibration area, the range of the first calibration area 3 is greater than the range of the first calibration area 1, and the range of the first perception area 6 corresponding to the first calibration area 3 is greater than the range of the first perception area 5 corresponding to the first calibration area 1. For another example, still referring to FIG. 4, in the case where the first perception area is the space perpendicular to the first calibration area, the range of the first calibration area 3 is greater than the range of the first calibration area 1, and the range of the first perception area 8 corresponding to the first calibration area 3 is greater than the range of the first perception area 7 corresponding to the first calibration area 1.

[0124] As described above, the first calibration area in the calibration information can be determined by the terminal or received by the terminal, for example, the base station determines the first calibration area and sends the related information of the first calibration area. Next, the way to determine the first calibration area is introduced.

[0125] In some embodiments, the first perception area is determined according to one or more of the following: the distance between the reference point and the first plane; the bandwidth that can be occupied by the first information; the target area; the area of interest; or the importance area.

[0126] For example, in the case of determining the first perception area based on the reference point and the first calibration area, the distance between the reference point and the first plane and the range of the first calibration area can be determined. The range of the first perception area can also be referred to as the size of the first perception area.

[0127] For example, the distance q between the reference point and the first plane can be indicated by indicating a multiple of the focal length. For example, a focal length f is indicated by N times, where N is a real number. For example, N is a positive integer, and the index of N indicated by the base station can start from 0, such as {0, 1, 2, 3}, where 0 in the index indicates that N is equal to 1, 1 in the index indicates that N is equal to 2, and so on. For another example, N is a positive integer, and the index of N indicated by the base station can start from 1, such as {1, 2, 3, 4}, where 1 in the index indicates that N is equal to 1, 2 in the index indicates that N is equal to 2, and so on.

[0128] For example, the bandwidth occupied by the reported first information can be the bandwidth allocated by the base station to the terminal. If the bandwidth allocated by the base station to the terminal is large, the terminal can transmit more data at the same time, the terminal can expand the range of the first calibration area, obtain a larger first perception area, and thus obtain more perception data and report more perception data. For example, when the bandwidth allocated by the base station to the terminal exceeds a first threshold, the terminal expands the range of the first calibration area by a first length in all directions according to the manner listed in the above embodiment or the following embodiment, thereby increasing the area of the first calibration area and expanding the first perception area.

[0129] For example, after the terminal identifies the target based on target detection or image recognition, the terminal can determine the first calibration area according to the size of the target area and the position of the target area, thereby determining the first perception area. If the size of the target area is large, the size of the first calibration area is large. If the size of the target area is small, the size of the first calibration area is small. In some examples, the base station can receive the first calibration area sent by the terminal, process the first calibration area, or directly send the first calibration area to other terminals. Thus, after receiving the first calibration area, the other terminals obtain the first perception area according to the first calibration area.

[0130] For another example, the terminal determines the first perception area based on the size of the region of interest and the position of the region of interest. In the case where the terminal determines the first perception area based on the size of the region of interest or based on the size of the importance region, if the region of interest or the importance region is large, the area of the first calibration area is large, and the area of the first perception area is large. If the region of interest or the importance region is small, the area of the first calibration area is small, and the area of the first perception area is small.

[0131] Next, the contents included in the calibration information are introduced. The terminal can determine the first calibration area according to the following calibration information. The terminal can also determine the first perception area according to the following calibration information.

[0132] The calibration information can include one or more of the following: coordinates of boundary points of the first calibration region; coordinates of a center point and a range of the first calibration region; coordinates of an indication point of the first calibration region; coordinates of the reference point; a distance from the reference point to the first plane; or a bitmap of the first plane region. The coordinates of the indication point of the first calibration region correspond to the first calibration region one by one.

[0133] In some examples, the coordinates of the boundary points of the first calibration region are coordinates of all boundary points of the first calibration region. The terminal can determine the first calibration region according to the coordinates of all boundary points of the first calibration region, and then determine the first perception region. By indicating the coordinates of all boundary points of the first calibration region to implement the indication of the calibration information, the terminal can more accurately determine the first calibration region according to the calibration information.

[0134] In other examples, the coordinates of the boundary points of the first calibration region are coordinates of part of the boundary points of the first calibration region. For example, referring to FIG. 8, the coordinates of the boundary points of the first calibration region 1 can be coordinates of the top points 1 to 4. For example, {p1, p2, p3, p4}, where p1 to p4 represent the coordinates of the top points 1 to 4, respectively. For another example, the coordinates of the boundary points of the first calibration region 1 can be coordinates of the top points 1 to 4 and the coordinates of the first boundary point shown in FIG. 8. The terminal can determine the first calibration region according to the coordinates of part of the boundary points and the shape of the boundary.

[0135] Referring to FIG. 9, in some examples, the shape of the first calibration region is a circle, and the calibration information includes a center point coordinate and a radius length of the first calibration region. The terminal can pre-store a normal vector of the first plane region where the first calibration region is located, or the terminal can receive a normal vector of the first plane region indicated by the base station. Thus, the terminal can determine the first plane region according to the normal vector of the first plane region. Further, the terminal determines the first calibration region according to the center point coordinate and the radius length of the first calibration region.

[0136] In other examples, the shape of the first calibration region is an ellipse, and the radius length includes a long radius length and a short radius length.

[0137] In other examples, the shape of the first calibration region is a rectangle, and the calibration information includes a center point coordinate, a length and a width of the first calibration region. The length and the width are an example of the above-mentioned range.

[0138] In some examples, the shape of the first calibration region is a rectangle, and the calibration information includes a center point coordinate of the first calibration region and a length of a diagonal line of the first calibration region. The length of the diagonal line of the first calibration region is an example of the range. For example, when the length of the diagonal line is 2, the calibration information includes the length 2 shown in FIG. 9. When the length of the diagonal line is 1, the calibration information includes the length 1 shown in FIG. 9. When the shape of the first calibration region is a rectangle or other planar shape, the terminal can determine the direction of the first planar region in which the first calibration region is located according to the example in which the shape of the first calibration region is a circle, which will not be described herein.

[0139] The indication of the calibration information can occupy less air interface resources by indicating the center point coordinate of the first calibration region and the range.

[0140] In some examples, the calibration information further includes an included angle between the diagonal lines. Thus, the terminal can determine a rectangle with different lengths and widths according to the included angle between the diagonal lines. For example, the calibration information includes a center point coordinate of the first calibration region, a length of a diagonal line and an included angle between the diagonal lines, and the terminal determines the first calibration region according to the center point coordinate of the first calibration region, the length of the diagonal line and the included angle between the diagonal lines. For another example, the calibration information includes an indication point coordinate of the first calibration region and an included angle between the diagonal lines. The terminal pre-stores the length of the diagonal line or the lengths of the length and the width of the rectangle, and determines the first calibration region according to the indication point coordinate of the first calibration region, the length of the diagonal line and the included angle between the diagonal lines. Referring to FIG. 9, when the included angle between the diagonal lines is angle 2, the shape of the first calibration region is shown as the first calibration region 9. When the included angle between the diagonal lines is angle 3, the shape of the first calibration region is shown as the first calibration region 16.

[0141] In some examples, the shape and size of the first calibration region and the correspondence between the first calibration region and the position of the indication point of the first calibration region are pre-configured between the base station and the terminal. The terminal can determine the first calibration region according to the received coordinates of the indication point of the first calibration region. For example, referring to FIG. 9, the first calibration region 7 is a circle on the first plane region, and the indication point of the first calibration region 7 is located outside the first calibration region 7 on the first plane region. The indication point of the first calibration region 7 corresponds to the first calibration region 7. The terminal can pre-store the correspondence between the first calibration region 7 and the position of the indication point of the first calibration region 7, for example, the center of the circle on the longitudinal axis of the first plane region is the same as the longitudinal axis coordinate of the indication point on the first plane region, and the center of the circle on the transverse axis of the first plane region is the transverse axis coordinate of the indication point on the first plane region minus 5. Thus, the terminal can determine the center coordinate of the first calibration region. Thus, the terminal determines the first calibration region according to the pre-stored direction of the first plane region and the radius of the first calibration region, and further determines the first perception region. For another example, still referring to FIG. 9, the indication point of the first calibration region 8 is located inside the first calibration region 8, and the indication point is located at the center point of the ellipse. Thus, the terminal can directly receive the center point coordinate without converting the indication point coordinate to the center point coordinate, and more conveniently determine the first calibration region according to the indication point.

[0142] In some examples, the terminal obtains the distance from the reference point to the first plane and the coordinates of the reference point through the calibration information, and thus determines the first plane region. Thus, the terminal can determine the first calibration region on the first plane region, and thus determine the first perception region. For example, referring to FIG. 4, the terminal can pre-know that the reference point is located on the normal vector of the center point of the first plane region, and know the size of the first plane region. The terminal can determine the first plane region according to the reference point P and the distance q from the reference point P to the first plane.

[0143] The reference points corresponding to the plurality of first calibration regions on the same first plane region can be the same or different. The number of coordinates of the reference points or the distances from the reference points to the first plane included in the calibration information can be one or more.

[0144] In some embodiments, the terminal can further obtain second information, and the second information is used to indicate the image plane coordinate system of the first plane.

[0145] Specifically, the terminal can obtain the second information from the base station, for example, the base station sends the second information. Correspondingly, the terminal receives the second information. Alternatively, the terminal can obtain the second information through other manners, for example, obtaining the second information from other devices other than the base station, and the like, which are not limited.

[0146] The image plane coordinate system of the first plane is the coordinate system used by the first plane.

[0147] For example, the base station can indicate the coordinate system used by the first plane by indicating normal vectors of three planes of the coordinate system and a position of an origin of the coordinate system.

[0148] For another example, the base station can indicate the coordinate system used by the first plane by indicating orientations of three coordinate axes of the coordinate system and a position of an origin of the coordinate system.

[0149] For another example, the base station and the terminal align the coordinate system used by the terminal, and the base station can indicate a relative position of the first plane indicated this time with respect to the coordinate indicated last time. For example, the base station can indicate a rotation matrix or a translation vector of the coordinate system. The terminal can determine the image plane coordinate system of the first plane indicated by the base station according to the coordinate system indicated last time and the rotation matrix, or according to the coordinate system indicated last time and the translation vector. For another example, the base station can indicate an identifier to indicate that the coordinate system indicated this time is the same as the coordinate system indicated last time. For example, the base station can indicate the identifier 00.

[0150] For example, the first plane region determined by the terminal can be a first plane region in a global coordinate system, and the calibration information sent by the base station can be calibration information in the global coordinate system. The image plane coordinate system of the first plane indicated by the second information can be the global coordinate system. The terminal can convert the first plane region in the global coordinate system into a first plane region in a local coordinate system of the terminal. For example, the terminal can take the reference point as the camera optical center to obtain the first plane region in the local coordinate system of the terminal. Thus, the terminal can determine the first perception region according to the first plane region. In this way, when the base station sends the calibration information, the base station can reduce the conversion of the coordinate system of the calibration information on the base station side, and reduce the resources consumed by the base station.

[0151] The conversion of the pixel coordinate system into the local coordinate system can be implemented in the following manner. Referring to FIG. 10, taking the coordinates of the origin O of the local coordinate system in the pixel coordinate system as (u0, v0) and the position of the point O in the pixel coordinate system as (u, v) as examples, the coordinates (x, y) of the point O in the local coordinate system can be obtained by using Formula 1. i， v i i i

[0152] The conversion of the local coordinate system into the global coordinate system can be implemented in the following manner. Taking the origin of the local coordinate system of the terminal as the center of the first plane region and the coordinates of the point O in the global coordinate system as (X, Y, Z) as examples, the coordinates (x, y, z) of the point O in the local coordinate system can be obtained by using Formula 2. i i i i i i ​​​​​​​​), where R and T represent a rotation matrix and a translation vector between two coordinate systems, respectively.

[0153] In some examples, the origin of the local coordinate system of the terminal is not located in the first planar region. If the first planar region is an image plane on which the terminal collects an image, and the origin of the local coordinate system is set at a focal length f, then in the above formula 2, z i = f.

[0154] For another example, the first planar region determined by the terminal can be a first planar region in another terminal coordinate system, for example, the calibration information sent by the base station is calibration information in another terminal coordinate system. The image coordinate system of the first planar region indicated by the second information is the coordinate system of the other terminal. The terminal can convert the first planar region in the other terminal coordinate system into the first planar region in its own coordinate system.

[0155] By obtaining the second information, the terminal can convert between the image plane coordinate of the first planar region and the local coordinate system adopted by the terminal, so as to determine the first calibration region indicated by the base station.

[0156] After determining the first planar region, the terminal can also adjust the angle, for example, adjust the yaw angle of the first planar region in space, so that the terminal obtains a plurality of first planar regions, and collects the perception data in the first perception region corresponding to the first calibration region on the plurality of first planar regions. For example, the first calibration region is a region of interest, and the terminal adjusts the yaw angle of the first planar region in space to collect the perception data of the first perception region corresponding to the region of interest, or to determine the perception data of the first perception region corresponding to the region of interest.

[0157] In other embodiments, the first planar region determined by the terminal can be a first planar region in the coordinate system of the terminal itself, for example, the calibration information indicated by the base station is calibration information in the coordinate system of the terminal itself. Therefore, the terminal can determine the first calibration region without coordinate system conversion, so that the terminal can more conveniently determine the first perception region.

[0158] In some examples, the first planar region is a partial region of the first plane. The bitmap of the first planar region includes a plurality of bits, each bit of the plurality of bits corresponds to a cell of the first planar region, and a value of the bit is used to indicate whether the cell corresponding to the bit belongs to all or part of the boundary points of the first calibration region. In some examples, the first planar region is an image, and a cell can indicate a pixel. In other examples, the base station or the terminal can perform grid division on the first plane, and a cell can indicate one or more grids. The base station and the terminal can align the first planar region indicated by each grid, for example, the base station indicates the coordinates of the first planar region in the global coordinate system to the terminal. The terminal can convert the coordinates of the first planar region in the global coordinate system to the coordinates in the coordinate system of the terminal. Thus, the terminal can determine the coordinates of the planar region indicated by each grid in the first planar region.

[0159] The base station can receive the bitmap sent by the other terminal and forward the bitmap to the terminal. The coordinate system used by the bitmap can be the coordinate system of the other terminal. In some examples, the base station can indicate the coordinate system of the other terminal used by the bitmap to the terminal. The terminal can convert the coordinate system of the bitmap to the bitmap in the coordinate system of the terminal according to the conversion relationship between the coordinate system of the other terminal and the coordinate system of the terminal, so as to determine the first perception region according to the bitmap in the subsequent processing process. In other examples, the base station can determine the coordinate system of the terminal receiving the bitmap, for example, the terminal can report the coordinate system to the base station. The base station can convert the bitmap sent by the other terminal to the bitmap in the coordinate system of the terminal receiving the bitmap, for example, convert the bitmap to the bitmap in the plane z=5 in the coordinate system of the terminal. Then the base station can send the bitmap to the terminal. Thus, the terminal can not need to convert the coordinate system of the bitmap, and then determine the first perception region according to the bitmap in the subsequent process.

[0160] In some examples, the bit value of the cell indicating the boundary point of the first calibration region is different from that of other cells. For example, referring to FIG. 11, in the first planar region 2, the bit value of the cell indicating the boundary point of the first calibration region 11 and the first calibration region 12 is 1, and the bit value of the cell indicating the point outside the first calibration region 11 and the first calibration region 12 and the cell indicating the point inside the first calibration region 11 is 0.

[0161] In other examples, the bit value of the cell indicating the first calibration region is different from that of other cells. For example, still referring to FIG. 11, in the first planar region 3, the bit value of the cell indicating the boundary point of the first calibration region 13 and the cell indicating the point inside the first calibration region is 1, and the bit value of the cell indicating the point outside the first calibration region 13 is 0.

[0162] In some examples, the unit indicating the vertex of the first calibration region has a bit value different from those of other units. For example, still referring to FIG. 11, in the first planar region 3, the unit indicating the vertex of the first calibration region 14 has a bit value of 1, and the units indicating points outside the first calibration region 14, inside the first calibration region 14, and on the boundary of the first calibration region 14 except the vertex have bit values of 0.

[0163] In some examples, the calibration information further includes a rotation angle. The rotation angle can indicate an angle by which the first calibration region is rotated. For example, referring to FIG. 9, the first calibration region 15 is obtained by rotating the first calibration region 10 clockwise by an angle of 1 about the center point. In an example, the calibration information includes the center point coordinates of the first calibration region and the rotation angle. The terminal determines the first calibration region 10 according to the center point coordinates of the first calibration region, the pre-stored shape of the first calibration region, and the normal vector of the first planar region, and determines the first calibration region 15 according to the rotation angle, so as to determine the first perception region according to the first calibration region 15. In another example, the calibration information includes the center point coordinates, the range, and the rotation angle of the first calibration region. The terminal determines the first calibration region 10 according to the center point coordinates, the range of the first calibration region, and the normal vector of the first planar region, and determines the first calibration region 15 according to the rotation angle, so as to determine the first perception region according to the first calibration region 15. Thus, the terminal can determine the first calibration region more flexibly by rotating the first calibration region to obtain a rotated first calibration region. The first perception region is determined according to the rotated first calibration region, so that the determined perception region is more consistent with the collection requirements of the perception data.

[0164] The above embodiments introduce the content in the calibration information. The content in the first information is introduced below.

[0165] In an example, the first information includes the perception data of the first perception region. Specifically, the first information includes one or more of the following: the number of the first perception regions; the number of the perception data included in each of the one or more first perception regions; and the perception data included in each of the one or more first perception regions.

[0166] In some embodiments, the first information includes the perception data included in each of the one or more first perception regions.

[0167] In an example, the first calibration region is indicated by the base station before the terminal sends the first information. The terminal receives the first calibration region from the base station. Thus, it is agreed between the terminal and the base station that the terminal reports the perception data of the first perception region corresponding to each of the first calibration regions indicated by the base station. Thus, the base station can determine that the perception data reported by the terminal is the perception data included in each of the one or more first perception regions indicated by the base station.

[0168] For example, the terminal can indicate the identity of each first perception region and indicate the perception data corresponding to the identity of each first perception region. Thus, the perception data included in each of the one or more first perception regions is indicated. By indicating the identity of each first perception region to indicate the perception data included in each first perception region, less air interface resources can be occupied.

[0169] For another example, the terminal and the base station can agree to use a fixed number of bits to transmit the perception data of each first perception region. Thus, the terminal can transmit the perception data of each first perception region corresponding to the first calibration region in the order of the first calibration region. The order of the first calibration region can be agreed upon by the terminal and the base station in advance, can be indicated by the base station to the terminal, or can be in other cases. Thus, the terminal can no longer need to indicate the identity of the first perception region.

[0170] For another example, in the case where the number of first perception regions is one, the terminal can transmit the perception data included in the first perception region. In the case where the number of first perception regions is more than one, the terminal can successively transmit the perception data included in each perception region. The base station can take the fused perception data of the plurality of perception regions as input data of the model and process the received fused perception data of the plurality of perception regions.

[0171] In some examples, the perception data is position information.

[0172] In some examples, the perception data is compressed position information. For example, the perception data is compressed position information compressed using Draco, G-PCC, or the like.

[0173] In other examples, the perception data includes position information and attribute information. For example, the attribute information includes one or more of the following: intensity information, density information, or color information.

[0174] In other examples, the perception data includes compressed position information and attribute information. For example, the perception data is compressed position information and attribute information compressed using Draco, G-PCC, or the like.

[0175] In other embodiments, the first information includes the number of perception data included in each of the one or more first perception regions and the perception data included in each of the one or more first perception regions. The base station performs model operation on the first information by receiving the first information.

[0176] In some embodiments, the first information comprises a number of the first perception areas, a number of the perception data comprised in each of the one or more first perception areas, and the perception data comprised in each of the one or more first perception areas.

[0177] For example, the first information comprises: a number n of the first perception areas, a number of the perception data comprised in each of the n first perception areas {k1, k2, …, kn}, and the perception data comprised in each of the n first perception areas {s1, s2, …, sn}. n n} and the perception data {s1, s2, …, sn} comprised in each of the n first perception areas.

[0178] The terminal sends the above first information, so that the base station can determine the number of the first perception areas in the case that the terminal and the base station do not agree on the number of the first perception areas. For example, when the terminal generates the calibration information, the terminal can indicate the number of the first perception areas, so that the base station determines the number of the first perception areas. For another example, when the base station indicates the first calibration area to the terminal, and the terminal reports the first perception area corresponding to the part of the calibration area indicated by the base station, the terminal can report the number of the first perception area. The exemplary description of the terminal reporting the first perception area corresponding to the part of the calibration area indicated by the base station can be referred to below.

[0179] In some embodiments, the number of the first calibration area can also be comprised in the first information. For example, the number of the first calibration area can not be comprised in the first information, and the terminal indicates the number of the first perception area through the number of the first calibration area.

[0180] It can be understood that the terminal can send the above multiple first information through the same message, or send the above multiple first information through different messages, and the embodiments of the present application do not limit the way of sending the first information.

[0181] The above embodiments introduce the terminal obtaining the second information. In the following embodiments, the terminal can also obtain the third information. In addition, the terminal can also report the first information according to the third information. Referring to FIG. 12, the embodiments of the present application can comprise S1201 to S1203.

[0182] S1201, the terminal obtains calibration information.

[0183] The related description of S1201 can be referred to the above S301.

[0184] S1202, the terminal obtains third information.

[0185] ​The third information is used to indicate at least one calibration region and whether there is a task result corresponding to the calibration region. The task result is a result of task processing based on perception data of a perception region indicated by the calibration region.

[0186] For example, the task result of the environment reconstruction task is whether there is a perception point in the perception region. If there is a perception point in the perception region, it means that there is a task result. If there is no perception point, it means that there is no task result. For another example, the task result of the target detection is whether a target in the perception region is identified. If the target in the perception region is identified, it means that there is a task result. If the target in the perception region is not identified, it means that there is no task result. For another example, the task result of the semantic segmentation is whether a thing in the perception region is marked, such as a car, a person, a road, vegetation, an obstacle, etc. If the thing in the perception region is marked, it means that there is a task result. If the thing in the perception region is not marked, it means that there is no task result.

[0187] Specifically, the terminal can obtain the third information from the base station, such as the base station sending the third information. Correspondingly, the terminal receives the third information. Alternatively, the terminal can obtain the third information in other ways, such as obtaining the third information from other devices other than the base station, etc., which is not limited.

[0188] For example, the task based on the perception data of the perception region indicated by the calibration region is a target detection task, a semantic segmentation task, or an environment reconstruction task, etc.

[0189] For example, the task result corresponding to the calibration region is indicated by 0, and the task result not corresponding to the calibration region is indicated by 1.

[0190] For example, the base station sends the third information. The terminal receives the third information from the base station.

[0191] In some embodiments, the third information includes information of each calibration region in the at least one calibration region and a task indication corresponding to the calibration region. The information of the calibration region is used to indicate the calibration region. The task indication corresponding to the calibration region is used to indicate whether there is a task result corresponding to the calibration region.

[0192] In another embodiment, the third information is used to indicate whether there is a task result corresponding to the calibration region, and is not used to indicate the calibration region. For example, the base station and the terminal can agree that the task result indicated by the third information corresponds to the calibration region. For example, the base station instructs the terminal to only collect the perception data of the first perception region. Then, each time the base station instructs the task result is the task result corresponding to the first perception region.

[0193] S1203, the terminal reports the first information based on the calibration information. Correspondingly, the base station receives the first information.

[0194] The related description of S1203 can refer to S302.

[0195] In some embodiments, S1203 can be implemented as: not reporting the first information in a case that the third information indicates that there is the task result corresponding to the first calibration region.

[0196] For example, the terminal calculates the IOU of each first calibration region and each calibration region indicated by the third information. If the IOU result of the first calibration region and any calibration region indicates a pairing failure, or if the IOU result of the first calibration region and any calibration region indicates a pairing success and there is no task result corresponding to the calibration region of the pairing success, the terminal sends the perception data of the first sensing region corresponding to the first calibration region. In a case that the base station instructs the terminal to report the perception data corresponding to multiple first sensing regions, the terminal can obtain the perception data of the first sensing region to be reported according to the above steps. The first sensing region is the first sensing region corresponding to all or part of the calibration region instructed by the base station. Thus, the perception data of the first sensing region reported by the terminal is the perception data of the first sensing region corresponding to all or part of the calibration region instructed by the base station.

[0197] In some embodiments, S1203 can be implemented as: reporting the first information based on the calibration information in a case that the third information indicates that there is no task result corresponding to the first calibration region.

[0198] For example, the terminal calculates the IOU of each first calibration region and each calibration region indicated by the third information. If the IOU result of the first calibration region and any calibration region indicates a pairing failure, or if the IOU result of the first calibration region and any calibration region indicates a pairing success and there is no task result corresponding to the calibration region of the pairing success, the terminal sends the perception data of the first sensing region corresponding to the first calibration region. In a case that the base station instructs the terminal to report the perception data corresponding to multiple first sensing regions, the terminal can obtain the perception data of the first sensing region to be reported according to the above steps. The first sensing region is the first sensing region corresponding to all or part of the calibration region instructed by the base station. Thus, the perception data of the first sensing region reported by the terminal is the perception data of the first sensing region corresponding to all or part of the calibration region instructed by the base station.

[0199] Through the above embodiments, if the base station instructs the terminal that there is the task result corresponding to the first calibration region, the terminal can no longer send the perception data of the first sensing region corresponding to the first calibration region, thereby saving the air interface resource.

[0200] The above embodiments introduce the process of sending sensing data by the terminal to the base station. In some embodiments, after the base station receives the sensing data, the base station can send the result of task processing of the sensing data of the first sensing area. The terminal can receive the result of task processing of the sensing data of the first sensing area by the base station, and perform subsequent processing according to the result of task processing. In some embodiments, S302 can further include S303.

[0201] S303, the base station sends fourth information. Correspondingly, the terminal receives the fourth information.

[0202] The fourth information includes a second sensing area, and the second sensing area is an area in the first sensing area.

[0203] The base station can perform task processing on the sensing data of the first sensing area to obtain a result of task processing. The base station can indicate the result of the task by indicating the second sensing area.

[0204] For example, the task is target detection, and the base station can indicate the target in the sensing area by the second sensing area. For another example, the task is target detection, and the base station can indicate the category of things such as car, person, road, vegetation, and obstacle in the sensing area by the second sensing area.

[0205] After receiving the fourth information, the terminal can use the sensing data in the second sensing area to perform related processing. For example, the terminal is a car, and the sensing data in the second sensing area can indicate the obstacle in front of the car during driving. The car can prompt the driver with related information such as the position of the obstacle and the distance from the obstacle according to the position of the obstacle indicated by the second sensing area. Or, the car can perform automatic driving or auxiliary driving according to the position of the obstacle.

[0206] In some embodiments, the base station can also send image information collected by other terminals and indicate a first calibration area on the image. The terminal receives the image information and the first calibration area on the image. In the case that the image is located in the blind area of the terminal, the terminal can also obtain the image, so as to determine the first sensing area according to the first calibration area and send the sensing data of the first sensing area.

[0207] In some embodiments, S1203 can also be followed by S1204.

[0208] S1204, the base station sends fourth information. Correspondingly, the terminal receives the fourth information.

[0209] The related description of S1204 can be referred to S303.

[0210] The simulation test is performed on the related art which takes all the perception data collected by the terminal as the input data of the model Pointpillar and the embodiment of the present application which takes the perception data of the first perception area as the input data of the model PointNet, taking more than 3000 test samples as an example, and the simulation results are shown in Table 1. It can be seen that the scheme of the embodiment of the present application can greatly reduce the use of perception data and save air interface resources under the condition that the detection accuracy is not much different.

[0211] The perception data obtained by the method of the related art is sparse in range and is not suitable for training the model Pointpillar.

[0212] Table 1

[0213] It can be understood that, in order to implement the functions in the above embodiments, the base station and the terminal include corresponding hardware structures and / or software modules for executing various functions. Those skilled in the art should easily realize that, in combination with the units and method steps of the examples described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in hardware or computer software driven hardware depends on the specific application scenario and design constraints of the technical solution.

[0214] In the above, the communication method provided by the embodiment of the present application is introduced by taking the terminal sending the perception data of the perception area and the base station receiving the perception data of the perception area as an example. In other embodiments, the terminal sends the perception data of the perception area, and the terminal or the core network node receives the perception data of the perception area. The implementation of the terminal sending the perception data of the perception area can refer to the implementation of the terminal sending the perception data of the perception area in the above embodiments. The implementation of the terminal or the core network node receiving the perception data of the perception area can refer to the implementation of the base station in the above embodiments, which will not be described here.

[0215] FIGS. 13 and 14 are structural schematic diagrams of possible communication apparatuses provided by the embodiments of the present application. These communication apparatuses can be used to implement the functions of the terminal or the base station in the above method embodiments, and thus can also achieve the beneficial effects possessed by the above method embodiments. In the embodiments of the present application, the communication apparatus can be the terminal 120 as shown in FIG. 1, or the base station 110 as shown in FIG. 1, or a module (such as a chip) applied to the terminal or the base station.

[0216] As shown in FIG. 13, the communication apparatus 1300 includes a processing unit 1310 and a transceiver unit 1320. The communication apparatus 1300 is used to implement the functions of the terminal or the base station in the above method embodiments shown in FIG. 2 or FIG. 12.

[0217] When the communication apparatus 1300 is configured to implement the function of the terminal in the method embodiment shown in FIG. 2: the transceiver 1320 is configured to acquire the calibration information, and report the first information; the processing unit 1310 is configured to determine the first information according to the calibration information.

[0218] When the communication apparatus 1300 is configured to implement the function of the base station in the method embodiment shown in FIG. 2: the transceiver 1320 is configured to receive the first information; the processing unit 1310 is configured to perform the function related to processing.

[0219] In some embodiments, when the communication apparatus 1300 is configured to implement the function of the terminal in the method embodiment shown in FIG. 2: the transceiver 1320 is further configured to receive the fourth information.

[0220] When the communication apparatus 1300 is configured to implement the function of the base station in the method embodiment shown in FIG. 2: the transceiver 1320 is further configured to send the fourth information.

[0221] In other embodiments, when the communication apparatus 1300 is configured to implement the function of the base station in the method embodiment shown in FIG. 2: the transceiver 1320 is further configured to send the calibration information.

[0222] When the communication apparatus 1300 is configured to implement the function of the terminal in the method embodiment shown in FIG. 12: the transceiver 1320 is configured to acquire the calibration information, report the first information, and acquire the third information; the processing unit 1310 is configured to determine the first information according to the calibration information.

[0223] When the communication apparatus 1300 is configured to implement the function of the base station in the method embodiment shown in FIG. 12: the transceiver 1320 is configured to receive the first information; the processing unit 1310 is configured to perform the function related to processing.

[0224] In some embodiments, when the communication apparatus 1300 is configured to implement the function of the terminal in the method embodiment shown in FIG. 12: the transceiver 1320 is further configured to receive the fourth information.

[0225] When the communication apparatus 1300 is configured to implement the function of the base station in the method embodiment shown in FIG. 12: the transceiver 1320 is further configured to send the fourth information.

[0226] In other embodiments, when the communication apparatus 1300 is configured to implement the function of the base station in the method embodiment shown in FIG. 12: the transceiver 1320 is further configured to send the calibration information.

[0227] In other embodiments, when the communication apparatus 1300 is configured to implement the function of the base station in the method embodiment shown in FIG. 12: the transceiver 1320 is further configured to send the third information.

[0228] In some embodiments, the communication apparatus 1300 is configured to implement the functions of the terminal in the above method embodiments, and the transceiver 1320 is further configured to obtain the second information.

[0229] In some embodiments, the communication apparatus 1300 is configured to implement the functions of the base station in the above method embodiments, and the transceiver 1320 is further configured to send the second information.

[0230] For more details of the processing unit 1310 and the transceiver 1320, please refer to the descriptions in the method embodiments shown in FIG. 12.

[0231] As shown in FIG. 14, the communication apparatus 1400 includes a processor 1410 and an interface circuit 1420. The processor 1410 and the interface circuit 1420 are coupled with each other. It can be understood that the interface circuit 1420 can be a transceiver or an input / output interface. Optionally, the communication apparatus 1400 can further include a memory 1430, configured to store instructions executed by the processor 1410 or store input data required by the processor 1410 to execute instructions or store data generated after the processor 1410 executes instructions.

[0232] When the communication apparatus 1400 is configured to implement the method shown in FIG. 12, the processor 1410 is configured to implement the functions of the processing unit 1310, and the interface circuit 1420 is configured to implement the functions of the transceiver 1320.

[0233] When the above communication apparatus is a terminal chip, the terminal chip implements the functions of the terminal in the above method embodiments. The terminal chip receives information from the base station, which can be understood as the information is first received by other modules (such as radio frequency modules or antennas) in the terminal, and then sent to the terminal chip by these modules. The terminal chip sends information to the base station, which can be understood as the information is first sent to other modules (such as radio frequency modules or antennas) in the terminal, and then sent to the base station by these modules.

[0234] When the above communication apparatus is a base station chip, the base station chip implements the functions of the base station in the above method embodiments. The base station chip receives information from the terminal, which can be understood as the information is first received by other modules (such as radio frequency modules or antennas) in the base station, and then sent to the base station chip by these modules. The base station chip sends information to the terminal, which can be understood as the information is first sent to other modules (such as radio frequency modules or antennas) in the base station, and then sent to the terminal by these modules.

[0235] In the present application, the sending of information from entity A to entity B can be directly from A to B, or indirectly from A to B via other entities. Similarly, the receiving of information from entity A by entity B can be directly from A by B, or indirectly from A by B via other entities. The entities A and B can be RAN nodes or terminals, or modules within RAN nodes or terminals. The sending and receiving of information can be the information exchange between RAN nodes and terminals, e.g., the information exchange between base stations and terminals; the sending and receiving of information can also be the information exchange between two RAN nodes, e.g., the information exchange between a CU and a DU; the sending and receiving of information can also be the information exchange between different modules within one apparatus, e.g., the information exchange between a terminal chip and other modules of the terminal, or the information exchange between a base station chip and other modules of the base station.

[0236] It is to be understood that the processor in the embodiments of the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor, or any conventional processor.

[0237] The method steps in the embodiments of the present application can be implemented in hardware, or in software instructions executable by a processor. The software instructions can be composed of corresponding software modules, which can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor, so that the processor can read information from, and write information to, the storage medium. The storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. The processor and the storage medium can also exist as discrete components in a base station or a terminal.

[0238] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded on a computer, all or part of the processes or functions described in the embodiments are executed. The computer can be a general purpose computer, a special purpose computer, a computer network, a network device, a user equipment or other programmable apparatus. The computer programs or instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer programs or instructions can be transferred from one website site, computer, server or data center to another website site, computer, server or data center through wired or wireless manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center and the like integrated with one or more available media. The available media can be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; or an optical medium, such as a digital video disc; or a semiconductor medium, such as a solid state disk. The computer readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile storage media.

[0239] In various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0240] In the description of the present application, unless otherwise specified and logically conflicted, " / " means "or", for example, A / B can mean A or B. "And / or" in this paper is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can mean that A exists alone, A and B exist together, and B exists alone. In addition, "at least one" means one or more, and "multiple" means two or more. "First", "second" and the like do not limit the quantity and execution order, and "first", "second" and the like do not necessarily mean different.

[0241] In this application, "exemplary" or "for example" is used to mean an example, an illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. On the contrary, "exemplary" or "for example" is used to present the relevant concept in a specific way.

[0242] It can be understood that the "embodiments" mentioned in the specification throughout mean that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It can be understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0243] It can be understood that in the present application, "…", "if" and "when" all refer to the corresponding processing under certain objective circumstances, not the time limit, and do not require judgment action when implementing, nor mean that there are other limitations.

[0244] It can be understood that some optional features in the embodiments of the present application can be implemented independently in some scenarios without relying on other features, such as the scheme currently based on, to solve the corresponding technical problems and achieve the corresponding effects. Also, in some scenarios, it can be combined with other features according to the demand. Correspondingly, the device given in the embodiments of the present application can also realize these features or functions, which will not be described here.

[0245] The data transmitted between the devices in the embodiments of the present application refers to the information, messages and the like transmitted between the devices. It can include the following forms of data: user plane data, control plane data. For example, control signaling. The data described in the following description should not be understood as only referring to a certain form of data if not limited.

Claims

1. A communication method, characterized in that, include: Obtain calibration information; wherein the calibration information indicates a first sensing area through a first calibration area, the first calibration area corresponds to the first sensing area, and the first sensing area is a portion of the area that the sensing device supports sensing. The first information is reported based on the calibration information; wherein, the first information includes the sensing data of the first sensing area.

2. The method according to claim 1, characterized in that, The acquisition of calibration information includes receiving calibration information, which includes one or more of the following: The coordinates of the boundary points of the first calibration area; The coordinates and range of the center point of the first calibration area; The coordinates of a reference point, wherein the reference point is a point outside the first plane; The distance from the reference point to the first plane; or, A bitmap of a first planar region, wherein the bitmap of the first planar region contains multiple bits, each of the multiple bits corresponds to a unit of the first planar region, and the value of the bit is used to indicate whether the unit corresponding to the bit belongs to all or part of the boundary points of the first calibration region, and the first planar region is a part of the first plane.

3. The method according to claim 2, characterized in that, The first calibration area is a portion of the first planar area.

4. The method according to any one of claims 1-3, characterized in that, The first information includes the sensing data of the first sensing area, specifically, the first information includes one or more of the following: The number of the first sensing regions; The number of sensing data included in each of the one or more first sensing regions; The sensing data included in one or more of the first sensing regions.

5. The method according to any one of claims 2-4, characterized in that, The method further includes: Obtain second information; wherein the second information is used to indicate the image plane coordinate system of the first plane.

6. The method according to any one of claims 2-5, characterized in that, The method further includes: Obtain third information, which is used to indicate at least one calibration area and whether there is a task result corresponding to the calibration area. The task result is the result of task processing based on the perception data of the perception area indicated by the calibration area.

7. The method according to claim 6, characterized in that, The third information is used to indicate at least one calibration region and whether there is a task result corresponding to the calibration region, including: The third information includes information about each calibration region in at least one calibration region and the task instruction corresponding to the calibration region; The information of the calibration area is used to indicate the calibration area; The task indicator corresponding to the calibration area is used to indicate whether there is a task result corresponding to the calibration area.

8. The method according to claim 7, characterized in that, The reporting of the first information based on the calibration information includes: If the third information indicates that there is no task result corresponding to the first calibration area, the first information is reported based on the calibration information; The method further includes: if the third information indicates the existence of a task result corresponding to the first calibration area, then the first information is not reported.

9. The method according to any one of claims 2-8, characterized in that, The sensing data is location information, the sensing data is compressed location information, the sensing data includes location information and attribute information, or the sensing data includes compressed location information and attribute information.

10. The method according to any one of claims 2-9, characterized in that, The first sensing region is determined based on one or more of the following: The distance between the reference point and the first plane; The bandwidth that can be used to report the first piece of information; Target area; Area of ​​interest; or Important areas.

11. The method according to claim 10, characterized in that, When the distance between the reference point and the first planar region is a first distance, the range of the first sensing region is a first range; when the distance between the reference point and the first planar region is a second distance, the range of the first sensing region is a second range; if the first distance is greater than the second distance, then the first range is smaller than the second range.

12. The method according to any one of claims 1-10, characterized in that, When the range of the first calibration area is the third range, the range of the first sensing area corresponding to the first calibration area is the fourth range; when the range of the first calibration area is the fifth range, the range of the sensing area corresponding to the first calibration area is the sixth range; if the third range is greater than the fifth range, then the fourth range is greater than the sixth range.

13. The method according to claim 10, characterized in that, The method further includes: Receive fourth information, the fourth information including a second sensing region, the second sensing region being a region within the first sensing region.

14. A communication method, characterized in that, include: Send calibration information; wherein the calibration information indicates a first sensing area through a first calibration area, the first calibration area corresponds to the first sensing area, and the first sensing area is a portion of the area that the sensing device supports sensing. The first information is reported based on the calibration information; wherein, the first information includes the sensing data of the first sensing area.

15. The method according to claim 14, characterized in that, The calibration information includes one or more of the following: The coordinates of the boundary points of the first calibration area; The coordinates and range of the center point of the first calibration area; The coordinates of a reference point, wherein the reference point is a point outside the first plane; The distance from the reference point to the first plane; or, A bitmap of a first planar region, wherein the bitmap of the first planar region contains multiple bits, each of the multiple bits corresponds to a unit of the first planar region, and the value of the bit is used to indicate whether the unit corresponding to the bit belongs to all or part of the boundary points of the first calibration region, and the first planar region is a part of the first plane.

16. The method according to claim 15, characterized in that, The first calibration area is a portion of the first planar area.

17. The method according to any one of claims 14-16, characterized in that, The first information includes the sensing data of the first sensing area, specifically, the first information includes one or more of the following: The number of the first sensing regions; The number of sensing data included in each of the one or more first sensing regions; The sensing data included in one or more of the first sensing regions.

18. The method according to any one of claims 15-17, characterized in that, The method further includes: Send a second message; wherein the second message is used to indicate the image plane coordinate system of the first plane.

19. The method according to any one of claims 15-18, characterized in that, The method further includes: Send a third message, which is used to indicate at least one calibration area and whether there is a task result corresponding to the calibration area. The task result is the result of task processing based on the perception data of the perception area indicated by the calibration area.

20. The method according to claim 19, characterized in that, The third information is used to indicate at least one calibration region and whether there is a task result corresponding to the calibration region, including: The third information includes information about each calibration region in at least one calibration region and the task instruction corresponding to the calibration region; The information of the calibration area is used to indicate the calibration area; The task indicator corresponding to the calibration area is used to indicate whether there is a task result corresponding to the calibration area.

21. The method according to claim 20, characterized in that, The receipt of the first information includes: If the third information indicates that there is no task result corresponding to the first calibration area, the first information is received. The method further includes: if the third information indicates the existence of a task result corresponding to the first calibration area, then the first information is not received.

22. The method according to any one of claims 15-21, characterized in that, The sensing data is location information, the sensing data is compressed location information, the sensing data includes location information and attribute information, or the sensing data includes compressed location information and attribute information.

23. The method according to any one of claims 15-22, characterized in that, The first sensing region is determined based on one or more of the following: The distance between the reference point and the first plane; The bandwidth that can be used to report the first piece of information; Target area; Area of ​​interest; or Important areas.

24. The method according to claim 23, characterized in that, When the distance between the reference point and the first planar region is a first distance, the range of the first sensing region is a first range; when the distance between the reference point and the first planar region is a second distance, the range of the first sensing region is a second range; if the first distance is greater than the second distance, then the first range is smaller than the second range.

25. The method according to any one of claims 14-23, characterized in that, When the range of the first calibration area is the third range, the range of the first sensing area corresponding to the first calibration area is the fourth range; when the range of the first calibration area is the fifth range, the range of the sensing area corresponding to the first calibration area is the sixth range; if the third range is greater than the fifth range, then the fourth range is greater than the sixth range.

26. The method according to any one of claims 14-25, characterized in that, The method further includes: Send a fourth message, the fourth message including a second sensing region, the second sensing region being a region within the first sensing region.

27. A communication device, characterized in that, include: A communication interface and at least one processor, the communication interface being used to receive and / or transmit signals, the processor being configured to enable the method of any one of claims 1 to 13 to be executed, or the processor being configured to enable the method of any one of claims 14 to 26 to be executed.

28. A computer-readable storage medium storing instructions, characterized in that, When the instruction is executed by the processor, it causes the method as described in any one of claims 1 to 13 to be implemented, or when the instruction is executed by the processor, it causes the method as described in any one of claims 14 to 26 to be implemented.

29. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it enables the method as described in any one of claims 1 to 13, or when the computer program is executed by a processor, it enables the method as described in any one of claims 14 to 26.

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