Communication method and communication apparatus

Abstract

A communication method, comprising: a first communication device generates compressed information of first data, and sends the compressed information to a second communication device, the compressed information comprising information of a first object, the first object being an object in a first grid chart, and the first grid chart corresponding to the first data, wherein the information of the first object comprises type information of the first object and coordinate information of a grid reference point corresponding to the first object, and the type information of the first object indicates the type of the first object. The grid reference point corresponding to the first object can be used for representing the shape of the first object. That is, shape features of the object in the grid chart are taken into account in the generation process of the compressed information, so that the compression efficiency of the first data can be improved.

Description

Communication methods and communication devices

[0001] This application claims priority to Chinese Patent Application No. 202410985935.3, filed on July 22, 2024, entitled "Communication Method and Communication Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communications, and more specifically, to a communication method and a communication device. Background Technology

[0003] With the increasing variety of wireless communication application scenarios, a lot of data for new scenarios will be generated during the wireless communication process, such as sensing / imaging data, channel data, and artificial intelligence (AI) data. These data have characteristics such as large data volume, high redundancy, and correlation in the time domain, frequency domain, or spatial domain. These characteristics can be used to compress the data to be transmitted in order to reduce transmission overhead.

[0004] For example, the perceived data includes acquired environmental reflection point data, environmental patch data, environmental imaging data, environmental reconstruction map data, radio frequency (RF) map data, positioning data, etc. Optionally, the RF map data can be represented by a grid map by using a bitmap to record the positions of objects in the environment. For example, 1 and 0 can be used to indicate whether an obstruction is detected at a specific location, and the entire environment is represented by multiple grids, which can be understood as a grid map.

[0005] Current compression schemes for grid-type RF map data only consider the distribution characteristics of 0 and 1 data in the bitmap itself, resulting in low compression efficiency. Therefore, improving the compression efficiency of grid-type data is an urgent problem to be solved. Summary of the Invention

[0006] This application provides a communication method aimed at improving the efficiency of data compression for grid diagram types.

[0007] Firstly, a communication method is provided. This method can be executed by a first communication device. Unless otherwise specified, the "first communication device" in this application can refer to the first communication device itself (e.g., a network device, a terminal device, an encoding device, etc.), a component within the first communication device (e.g., a processor, a chip, or a chip system, etc.), or a logic module or software capable of implementing all or part of the functions of the first communication device. For ease of description, the following description uses execution by a first communication device as an example.

[0008] The communication method includes: generating compressed information of first data; sending the compressed information to a second communication device; the compressed information including information of a first object, the first object being an object in a first mesh diagram corresponding to the first data; wherein the information of the first object includes type information of the first object and coordinate information of a mesh reference point corresponding to the first object, and the type information of the first object indicates the type of the first object.

[0009] Based on the above technical solution, after the first communication device compresses (or encodes) the first data, it obtains compressed information and sends the compressed information to the second communication device. The second communication device reconstructs the first data based on the compressed information, thereby reducing the transmission resources of the first data. Furthermore, in this technical solution, the compressed information includes information about a first object, which is an object in the first mesh graph corresponding to the first data. The compressed information includes the type information of the first object and the coordinate information of the mesh reference point corresponding to the first object. The coordinate information of the mesh reference point corresponding to the first object is used to determine the mesh reference point corresponding to the first object. This mesh reference point can be used to characterize the shape of the first object. That is, the shape characteristics of the object in the mesh graph are considered during the generation of the compressed information, which can improve the compression efficiency of the first data.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the type of the first object includes a first type or a second type, wherein the object of the first type is a closed-shape object and the object of the second type is a non-closed-shape object.

[0011] Based on the above technical solution, the type of object in the mesh diagram can be either a closed shape or an open shape. The object type information in the compressed information is used to indicate the type of object, and the coordinate information of different types of objects is parsed in different ways, thus supporting the parsing of different types of objects.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, if the grid reference point corresponding to the first object is a single grid reference point, the coordinate information of the grid reference point is the original coordinate data of the grid reference point in the first grid diagram; if the grid reference point corresponding to the first object is multiple grid reference points, the coordinate information of the first grid reference point among the multiple grid reference points includes any one of the following: the original coordinate data of the first grid reference point in the first grid diagram, the difference coordinate data between the original coordinate data of the first grid reference point in the first grid diagram and the original coordinate data of the second grid reference point in the first grid diagram, or the difference coordinate data between the original coordinate data of the first grid reference point in the first grid diagram and the original coordinate data of the third grid reference point in the first grid diagram, wherein the second grid reference point is a vertex adjacent to the first grid reference point among the multiple grid reference points, the third grid reference point is a reference point among the multiple grid reference points, and the coordinate information of the reference point is the original coordinate data of the reference point in the first grid diagram.

[0013] Based on the above technical solutions, the specific forms in which the coordinate information of the object's grid reference points is represented can be varied. For example, it could be that the original coordinates of at least one grid reference point of an object in the grid diagram are directly carried in the compressed information. Another example is that one of the multiple grid reference points of the object can be used as a reference point, with the original coordinates of that reference point in the grid diagram carried in the compressed information, along with the differential coordinates of the other grid reference points besides the reference point. The differential coordinate of any grid reference point is the difference between its original coordinates in the grid diagram and the original coordinates of the reference point in the grid diagram. Yet another example is that the compressed information carries the differential coordinates of each of the multiple grid reference points, with the differential coordinate of any grid reference point being the difference between its original coordinates in the grid diagram and the original coordinates of its adjacent grid reference points in the grid diagram. In other words, the coordinate information of the grid reference points can be represented in different ways, improving the flexibility of the solution.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the type information of the first object is included in the first indication information in the compressed information, the first indication information being used to indicate the number of objects of the first type M1 and / or the number of objects of the second type M2; or, the first indication information being used to indicate the total number of objects M and the type of each object, wherein M, M1, and M2 are positive integers, and the first object is one of the M1, M2, or M objects.

[0015] Based on the above technical solution, the compressed information includes first indication information, which can indicate the type of at least one object included in the compressed information, and the indication method of the first indication information can be multiple.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the compressed information further includes information about a second object, the information about the second object including the coordinate information of the grid reference point corresponding to the second object, wherein the compressed information includes a first field and a second field, the first field carrying the coordinate information of the grid reference point corresponding to the first object, and the second field carrying the coordinate information of the grid reference point of the second object.

[0017] Based on the above technical solution, when the compressed information includes information about multiple objects, the information about these multiple objects can be carried in different fields within the compressed information, that is, different information can be carried at the object level. Therefore, after receiving the compressed information, the receiving end can decode each object sequentially, reducing decoding latency.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the information of the first object further includes the number of grid reference points corresponding to the first object, and the compressed information further includes the information of the second object, the information of the second object including the coordinate information and the number of grid reference points corresponding to the second object, wherein the compressed information includes a first field and a second field, the first field carrying the number of grid reference points corresponding to the first object and the number of grid reference points corresponding to the second object, and the second field carrying the coordinate information of the grid reference points of the first object and the coordinate information of the grid reference points corresponding to the second object.

[0019] Based on the above technical solution, when compressed information includes information about multiple objects, information of the same type for each object can be carried together. For example, the coordinate information of grid reference points for multiple objects can be carried in one field of the compressed information, and the quantity information of grid reference points for multiple objects can be carried in another field of the compressed information. That is, different information is carried at the granularity of information type. This allows for further compression of different types of information, reducing transmission resources.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the compression information further includes second indication information, which is used to indicate the size of the first mesh diagram.

[0021] Based on the above technical solution, information indicating the size of the grid diagram can be carried in the compressed information, so that the receiving end can clearly know the size of the grid diagram and realize data reconstruction.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, if the first mesh diagram is a two-dimensional (2D) mesh diagram, the first mesh diagram represents the first data through a bitmap with values ​​of a first value and a second value. The step of generating compressed information for the first data includes: determining at least one object based on the portion of the first mesh diagram that has values ​​of the first value, wherein the first object is one of the at least one objects; determining the type of the first object based on the shape of the first object; determining the coordinate information of the mesh reference point corresponding to the first object; and generating the compressed information based on the type of the first object and the coordinate information of the mesh reference point corresponding to the first object.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, if the first mesh diagram is a three-dimensional (3D) mesh diagram, the method further includes: determining a plurality of 2D first sub-mesh diagrams based on the first mesh diagram, wherein the first object is an object in any one of the plurality of first sub-mesh diagrams; or, the plurality of 2D first sub-mesh diagrams form a 2D second mesh diagram, wherein the first object is an object in the 2D second mesh diagram.

[0024] Based on the above technical solution, for 3D mesh data, the 3D mesh can be split into multiple 2D mesh data, and then compressed using the compression processing method for 2D mesh data.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: sending first configuration information to a second communication device, wherein the first configuration information is used to configure the compression method of the first data.

[0026] Based on the above technical solution, the first communication device can negotiate the data compression method between the first configuration information and the second communication device.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the first configuration information includes at least one of the following: first indication information, second information, or third information, wherein the first indication information indicates the type of the object, the second information indicates the number of reference points of the object in the compressed information and the way the coordinate information is carried, and the third information indicates the bit width of the fields carrying different information in the compressed information.

[0028] Secondly, a communication method is provided. This method can be executed by a second communication device. Unless otherwise specified, the "second communication device" in this application can refer to the second communication device itself (e.g., a network device, a terminal device, a decoding device, etc.), a component within the second communication device (e.g., a processor, a chip, or a chip system, etc.), or a logic module or software capable of implementing all or part of the functions of the second communication device. For ease of description, the following description uses execution by a second communication device as an example.

[0029] The communication method includes: receiving compressed information from a first communication device, the compressed information including information about a first object, the first object being an object in a first grid diagram, the first grid diagram corresponding to first data; reconstructing the first data based on the compressed information, wherein the information about the first object includes type information about the first object and coordinate information of a grid reference point corresponding to the first object, the type information of the first object indicating the type of the first object.

[0030] In conjunction with the second aspect, in some implementations of the second aspect, the type of the first object includes a first type or a second type, wherein the object of the first type is a closed-shape object and the object of the second type is a non-closed-shape object.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, the step of reconstructing the first data based on the compression information includes: determining the coordinate information of the grid reference point corresponding to the first object based on the compression information; obtaining the first object based on the coordinate information of the grid reference point corresponding to the first object and the type information of the first object; and reconstructing the first data based on the first object.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, if the first object is an object of the first type, then obtaining the first object based on the coordinate information of the grid reference point corresponding to the first object and the type information of the first object includes: determining the grid reference point corresponding to the first object based on the coordinate information of the grid reference point corresponding to the first object, connecting the grid reference points corresponding to the first object sequentially, and connecting the first and last vertices to obtain the first object; if the first object is an object of the second type, then obtaining the first object based on the coordinate information of the grid reference point corresponding to the first object and the type information of the first object includes: determining the grid reference point corresponding to the first object based on the coordinate information of the grid reference point corresponding to the first object, connecting the grid reference points corresponding to the first object sequentially to obtain the first object; if the first object is an object of the first type, and the first object is composed of multiple sub-objects, then obtaining the first object based on the coordinate information of the grid reference point corresponding to the first object and the type information of the first object includes: determining the grid reference point corresponding to each of the multiple sub-objects based on the coordinate information of the grid reference point corresponding to the first object, connecting the grid reference points corresponding to each sub-object sequentially, and connecting the first and last vertices, and obtaining the first object based on the orientation relationship and / or size relationship of the multiple sub-objects.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, if the grid reference point corresponding to the first object is a single grid reference point, the coordinate information of the grid reference point is the original coordinate data of the grid reference point in the first grid diagram; if the grid reference point corresponding to the first object is multiple grid reference points, the coordinate information of the first grid reference point among the multiple grid reference points includes any one of the following: the original coordinate data of the first grid reference point in the first grid diagram, the difference coordinate data between the original coordinate data of the first grid reference point in the first grid diagram and the original coordinate data of the second grid reference point in the first grid diagram, or the difference coordinate data between the original coordinate data of the first grid reference point in the first grid diagram and the original coordinate data of the third grid reference point in the first grid diagram, wherein the second grid reference point is a vertex adjacent to the first grid reference point among the multiple grid reference points, the third grid reference point is a reference point among the multiple grid reference points, and the coordinate information of the reference point is the original coordinate data of the reference point in the first grid diagram.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the type information of the first object is included in the first indication information in the compressed information, the first indication information being used to indicate the number of objects of the first type M1 and / or the number of objects of the second type M2; or, the first indication information being used to indicate the total number of objects M and the type of each object, wherein M, M1, and M2 are positive integers, and the first object is one of the M1, M2, or M objects.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the compressed information further includes information about the second object. The information about the second object includes the type information of the second object and the coordinate information of the grid reference point corresponding to the second object. The compressed information includes a first field and a second field. The first field carries the coordinate information of the grid reference point corresponding to the first object, and the second field carries the coordinate information of the grid reference point of the second object.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the information of the first object also includes the number of grid reference points corresponding to the first object, and the compressed information also includes the information of the second object. The information of the second object includes the coordinate information and the number of grid reference points corresponding to the second object. The compressed information includes a first field and a second field. The first field carries the number of grid reference points corresponding to the first object and the number of grid reference points corresponding to the second object, and the second field carries the coordinate information of the grid reference points of the first object and the coordinate information of the grid reference points corresponding to the second object.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the compression information further includes second indication information, which is used to indicate the size of the first mesh diagram.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: receiving first configuration information from the first communication device, the first configuration information being used to configure the compression method of the first data.

[0039] The technical effects of the methods shown in the second aspect and its possible designs above can be referred to the technical effects in the first aspect and its possible designs.

[0040] Thirdly, a communication device is provided. The communication device is used to execute the first aspect described above and any of its embodiments. Specifically, the communication device includes a processor and a memory for storing a computer program; the processor is used to retrieve and run the computer program from the memory, causing the communication device to execute the first aspect described above and any of its embodiments.

[0041] In one implementation, the communication device is a network device. When the communication device is a network device, the transceiver unit can be a transceiver or an input / output interface. The processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0042] In another implementation, the communication device can be a chip, chip system, or circuit in a network device. In this case, the transceiver unit can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip, chip system, or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0043] Fourthly, a communication device is provided. The communication device is used to execute the second aspect described above and any of its embodiments. Specifically, the communication device includes a processor and a memory for storing a computer program; the processor is used to retrieve and run the computer program from the memory, causing the communication device to execute the second aspect described above and any of its embodiments.

[0044] In one implementation, the communication device is a terminal device. When the communication device is a terminal device, the transceiver unit can be a transceiver or an input / output interface. The processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0045] In another implementation, the communication device can be a chip, chip system, or circuit in a terminal device. In this case, the transceiver unit can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip, chip system, or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0046] Fifthly, a computer-readable storage medium is provided. This computer-readable storage medium stores a computer program that, when executed, causes the method of any implementation of the first and second aspects described above to be performed.

[0047] Sixthly, a computer program product containing instructions is provided. When the computer program product is run, it causes the method provided by any implementation of the first and second aspects above to be executed.

[0048] In a seventh aspect, a chip is provided, the chip including a processor and a communication interface, the processor reading instructions through the communication interface and executing the method provided by any of the implementations of the first and second aspects described above.

[0049] Optionally, as one implementation, the chip also includes a memory that stores computer programs or instructions, and a processor that executes the computer programs or instructions stored in the memory. When the computer programs or instructions are executed, the processor executes the method provided by any of the implementations of the first and second aspects described above.

[0050] Eighthly, a communication system is provided, including a communication device of the third aspect and a communication device of the fourth aspect.

[0051] Ninthly, a computer program is provided. When the computer program is run, it causes the method provided by any implementation of the first and second aspects above to be executed. Attached Figure Description

[0052] Figure 1 is a schematic diagram of a communication system applicable to this application.

[0053] Figure 2 is a schematic diagram of a grid diagram type of data.

[0054] Figure 3 is a schematic flowchart of a communication method provided in an embodiment of this application.

[0055] Figure 4 is a schematic diagram of a 3D mesh diagram provided in an embodiment of this application.

[0056] Figure 5 is a schematic diagram of a mesh reference point corresponding to an object provided in an embodiment of this application.

[0057] Figure 6 is a schematic diagram of a mesh reference point corresponding to another object provided in an embodiment of this application.

[0058] Figure 7 is a schematic diagram of a mesh reference point corresponding to another object provided in an embodiment of this application.

[0059] Figure 8 is a schematic diagram of a grid reference point corresponding to another object provided in an embodiment of this application.

[0060] Figure 9 is a schematic diagram of an object provided in an embodiment of this application.

[0061] Figure 10 is a schematic diagram of another object provided in an embodiment of this application.

[0062] Figure 11 is a schematic diagram of compressed information provided in an embodiment of this application.

[0063] Figure 12 is a schematic diagram of another type of compressed information provided in an embodiment of this application.

[0064] Figure 13 is a schematic diagram of another type of compressed information provided in an embodiment of this application.

[0065] Figure 14 is a schematic diagram of another type of compressed information provided in an embodiment of this application.

[0066] Figure 15 is a schematic diagram of another type of compressed information provided in an embodiment of this application.

[0067] Figure 16 is a schematic flowchart of another communication method provided in an embodiment of this application.

[0068] Figure 17 is a schematic diagram of generating compressed information according to an embodiment of this application.

[0069] Figure 18 is a schematic diagram of a method for decoding compressed information provided in an embodiment of this application.

[0070] Figure 19 is a schematic flowchart of another communication method provided in an embodiment of this application.

[0071] Figure 20 is a schematic diagram of another type of compressed information provided in an embodiment of this application.

[0072] Figure 21 is a schematic diagram of a 2D mesh splicing method provided in an embodiment of this application.

[0073] Figure 22 is a schematic block diagram of a communication device provided in an embodiment of this application.

[0074] Figure 23 is a schematic diagram of another communication device provided in an embodiment of this application.

[0075] Figure 24 is a schematic diagram of a chip system provided in an embodiment of this application.

[0076] Figure 25 is a schematic diagram of another chip system provided in an embodiment of this application. Detailed Implementation

[0077] To facilitate understanding of the embodiments of this application, the following points will be explained first.

[0078] First, in this application, "for indicating" can include both direct and indirect indication. When describing an indication message as indicating A, it can include whether the indication message directly indicates A or indirectly indicates A, but does not necessarily mean that the indication message carries A.

[0079] The information indicated by the instruction is called the information to be instructed. In the specific implementation process, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also be indirectly indicated by indicating other information, where there is a relationship between the other information and the information to be instructed. It can also indicate only a part of the information to be indicated, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent. At the same time, common parts of various pieces of information can be identified and indicated uniformly to reduce the instruction overhead caused by individually indicating the same information.

[0080] Second, in this application, "at least one" refers to one or more, and "more than one" refers to two or more (including two). Furthermore, in the embodiments of this application, "first," "second," and various numerical designations (e.g., "#1," "#2," etc.) are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The sequence numbers of the processes below do not imply an order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. It should be understood that the objects described in this way can be interchanged where appropriate to describe solutions other than those in the embodiments of this application. Moreover, in the embodiments of this application, terms such as "S310" are merely identifiers for descriptive convenience and do not limit the order of execution steps.

[0081] Third, in the embodiments of this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0082] Fourth, the term "storage" in the embodiments of this application can refer to storage in one or more memories. These memories can be separate installations or integrated into an encoder, decoder, processor, or communication device. Alternatively, some memories can be separately installed, while others can be integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this application does not limit this.

[0083] Fifth, in the implementation of this application, "protocol" may refer to standard protocols in the field of communications, such as the NR protocol and related protocols applied in future communication systems, and this application does not limit it.

[0084] Sixth, in the embodiments of this application, the terms "of", "corresponding (relevant)", "corresponding", and "associate" can sometimes be used interchangeably. It should be noted that when their differences are not emphasized, their intended meanings are consistent.

[0085] Seventh, in the embodiments of this application, "under the circumstances", "when", and "if" can sometimes be used interchangeably. It should be noted that when the distinction is not emphasized, their intended meanings are consistent.

[0086] Eighth, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0087] Ninth, in this article, "message", "information", or "information element (IE)" can be used interchangeably. There are no restrictions on the name of the message or information, as long as it can achieve the corresponding function.

[0088] Tenth, in this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, and "send information" can include direct transmission or indirect transmission through other units or modules. "Receive information from YY" can be understood as the source of the information being YY, and "receive information" can include direct reception from YY or indirect reception from YY through other units or modules. Besides air interface transmission or reception signals implemented at the system level, such as network devices or terminal devices, "send" can also be understood as the "output" of a chip interface, and "receive" can also be understood as the "input" of a chip interface. For example, a modem or system-on-a-chip (SoC) chip or system-in-package (SIP) chip transmits or receives signals. "Send" or "receive" can also be performed through device components, for example, by using buses, traces, or interfaces to transmit or receive signals through several parts, modules, or chips of a device.

[0089] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0090] The technical solutions of this application embodiment can be applied to various communication systems, such as: Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, 5th Generation (5G) systems or new radio (NR) systems and future communication systems, vehicle-to-other devices (V2X), where V2X can include vehicle-to-network (V2N), vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), etc., Long Term Evolution-V (LTE-V) technology for vehicle-to-everything (V2X), vehicle-to-everything (V2X), machine-type communication (MTC), and Internet of Things (IoT). Things (IoT), Long Term Evolution of Machines (LTE-M), Machine to Machine (M2M), Wireless Local Area Network (WLAN), etc.

[0091] Figure 1 is a schematic diagram of a communication system applicable to this application. As shown in Figure 1, the communication system 100 includes at least one network device, such as network device 111, network device 112, and network device 113 shown in Figure 1. The wireless communication system may also include at least one terminal device, such as terminal device 121, terminal device 122, terminal device 123, terminal device 124, terminal device 125, terminal device 126, and terminal device 127 shown in Figure 1.

[0092] As one possible implementation, the communication system shown in Figure 1 can be a communication system that conforms to the requirements of the 3rd Generation Partnership Project (3GPP) standard, referred to as a 3GPP network. 3GPP networks typically include, but are not limited to, 5G networks, 4th-generation (4G) mobile communication networks, and other future communication systems. In this implementation, the network equipment and terminal equipment can be communication devices within the 3GPP network.

[0093] For example, in this implementation, network devices and terminal devices can communicate with each other, including but not limited to: multi-site transmission, enhanced mobile broadband (eMBB) transmission, etc., wherein network devices 112 and 113 as shown in FIG1 can transmit with terminal device 124 through multi-site transmission, and network device 112 as shown in FIG1 can transmit with terminal devices 121, 122 and 123 through eMBB transmission.

[0094] For example, in this implementation, network devices can also communicate with each other, including but not limited to: backhaul. As shown in FIG1, network device 111 and network device 112 can communicate through backhaul, and network device 111 and network device 113 can also communicate through backhaul. In this case, network device 112 and network device 113 can act as relay nodes in the system.

[0095] For example, in this implementation, terminal devices can also communicate with each other, including but not limited to: device-to-device (D2D) transmission, as shown in FIG1, terminal device 122 can communicate with terminal device 125 through D2D transmission.

[0096] A network device is a network-side device with wireless transceiver capabilities. A network device can be a device in a radio access network (RAN) that provides wireless communication capabilities to terminal devices. Network devices can be cellular systems related to the 3rd Generation Partnership Project (3GPP), such as 5G mobile communication systems, or future-oriented evolution systems. Network devices can also be open radio access networks (O-RAN or ORAN), cloud radio access networks (CRAN), or wireless fidelity (WiFi) systems. For example, the network device can be a base station, an evolved NodeB (eNodeB), a next-generation NodeB (gNB) in a 5G mobile communication system, a 3GPP subsequent evolution base station, a transmission reception point (TRP), an access node, a wireless relay node, or a wireless backhaul node in a WiFi system. In communication systems employing different radio access technologies (RATs), the names of devices with base station capabilities may differ. For example, in an LTE system, it may be called an eNB or eNodeB, and in a 5G or NR system, it may be called a gNB. This application does not limit the specific name of the base station. The network equipment may include one or more co-located or non-co-located transmitting and receiving points. Furthermore, the network equipment may include at least one of the following: one or more central units (CUs), one or more distributed units (DUs), and one or more radio units (RUs).

[0097] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU (open DU), CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. Exemplarily, the function of CU can be implemented by one entity or different entities. For example, the function of CU can be further divided, that is, the control plane and user plane can be separated and implemented through different entities, namely the control plane CU entity (i.e., the CU-CP entity) and the user plane CU entity (i.e., the CU-UP entity). The CU-CP entity and the CU-UP entity can be coupled with the DU to jointly complete the function of the access network device. For example, the CU (Complex Unit) is responsible for handling non-real-time protocols and services, implementing the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) layers. The DU (Digital Unit) is responsible for handling physical layer protocols and real-time services, implementing the functions of the radio link control (RLC), media access control (MAC), and physical (PHY) layers. This allows multiple network function entities to implement some of the functions of a radio access network device. These network function entities can be network elements in hardware devices, software functions running on dedicated hardware, or virtualized functions instantiated on a platform (e.g., a cloud platform). Network devices can also include active antenna units (AAUs). The AAU implements some physical layer processing functions, radio frequency processing, and related functions of the active antenna. Since RRC layer information ultimately becomes PHY layer information, or is derived from PHY layer information, in this architecture, higher-layer signaling, such as RRC layer signaling, can also be considered as being sent by the DU, or by the DU+AAU. It is understood that network devices can be one or more of the following: CU nodes, DU nodes, and AAU nodes. Furthermore, a CU can be classified as a network device in the RAN, or it can be classified as a network device in the core network (CN); this application does not limit this classification.For example, in vehicle-to-everything (V2X) technology, the access network equipment can be a roadside unit (RSU). Multiple access network devices in the communication system can be base stations of the same type or different types. Base stations can communicate with terminal devices, or they can communicate with terminal devices through relay stations. In this embodiment, the device used to implement the network device function can be the network device itself, or a device that supports the network device in implementing that function, such as a chip system or a combination of devices or components that can implement the access network device function. This device can be installed in the network device. In this embodiment, the chip system can be composed of chips, or it can include chips and other discrete devices.

[0098] A terminal device is a user-side device with wireless transceiver capabilities. It can be a fixed device, mobile device, handheld device (e.g., mobile phone), wearable device, in-vehicle device, or a wireless device (e.g., communication module, modem, or chip system) built into the aforementioned devices. Terminal devices are used to connect people, objects, and machines, and can be widely used in various scenarios, such as: cellular communication, D2D communication, V2X communication, machine-to-machine / machine-type communications (M2M / MTC), the Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, drones, robots, etc. For example, a terminal device can be a handheld terminal in cellular communication, a communication device in D2D, an IoT device in MTC, a surveillance camera in smart transportation and smart cities, or a communication device on a drone. Terminal equipment is sometimes referred to as user equipment (UE), user terminal, user device, user unit, user station, terminal, access terminal, access station, UE station, remote station, mobile device, or wireless communication device, etc. Terminal equipment can also be a terminal device in an IoT system. IoT is an important component of future information technology development. Its main technical characteristic is connecting objects to networks through communication technology, thereby realizing an intelligent network of human-machine interconnection and machine-to-machine interconnection. In the embodiments of this application, IoT technology can achieve massive connectivity, deep coverage, and terminal power saving through technologies such as narrowband (NB). In the embodiments of this application, the device used to implement the functions of the terminal equipment can be the terminal equipment itself, or it can be a device that supports the terminal equipment in implementing the functions, such as a chip system or a combination of devices or components that can implement the functions of the terminal equipment. This device can be installed in the terminal equipment. The terminal typically contains a communication module, circuit, or chip (such as a modem chip, also known as a baseband chip, or a system-on-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip) that performs the corresponding communication functions. The terminal can also be configured with program instructions for performing corresponding communication functions.

[0099] As another possible implementation, the communication system shown in Figure 1 can be a communication system that conforms to the requirements of the Wireless Local Area Network (WLAN) standard, referred to as a WLAN network. WLAN networks typically include, but are not limited to, Bluetooth, ZigBee, Ultra Wideband, IrDA infrared connectivity (infrared), HomeRF, and support for Institute of Electrical and Electronics Engineers (IEEE) 802.11 related standards, such as 802.11a / b / g, 802.11n, 802.11ac, 802.11ax, and the IEEE 802.11ax next-generation WiFi protocol. In this implementation, network devices and terminal devices can be communication devices within the WLAN network.

[0100] For example, in this implementation, the network device described above can be an access point (AP). An access point can be a node that allows a terminal (e.g., a mobile phone) to access a wired (or wireless) network. It is mainly deployed in homes, buildings, and campuses, with a typical coverage radius of tens to hundreds of meters. Of course, it can also be deployed outdoors. The access point acts as a bridge connecting wired and wireless networks, its main function being to connect various wireless network clients together and then connect the wireless network to the Ethernet.

[0101] For example, in this implementation, the terminal device can facilitate data communication between stations (STAs). A station can be a non-access point station (non-AP STA), simply referred to as a non-AP station or STA. Specifically, the access point can be a terminal or network device equipped with a WiFi chip. This network device can be a server, router, switch, bridge, computer, mobile phone, relay station, vehicle-mounted equipment, wearable device, network equipment in a 5G network, network equipment in future networks, or network equipment in a public land mobile network (PLMN), etc., and this application embodiment is not limited to these categories. The access point can be a device that supports the WiFi standard. For example, access points can also support one or more standards from the IEEE 802.11 series, such as 802.11a, 802.11b, 802.11g, 802.11n, 802.11ac, 802.11ax, 802.11be, 802.11ad, 802.11ay, 802.11bn, and 802.11bf.

[0102] For example, in this implementation, the non-AP site can be a wireless communication chip, wireless sensor, or wireless communication terminal, etc., and can also be referred to as a user, user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent, or user device. The non-AP site can be a cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication capabilities, computing device or other processing device connected to a wireless modem, vehicle-mounted device, IoT device, wearable device, terminal device in a 5G network, terminal device in a future network, or terminal device in a PLMN, etc., and this application embodiment is not limited in this regard. The non-AP site can be a device that supports the WLAN standard. For example, non-AP sites can support one or more standards in the IEEE 802.11 series, such as 802.11a, 802.11b, 802.11g, 802.11n, 802.11ac, 802.11ax, 802.11be, 802.11ad, 802.11ay, and 802.11bf.

[0103] For example, non-AP sites can be mobile phones, tablets, set-top boxes, smart TVs, smart wearable devices, vehicle communication devices, computers, Internet of Things (IoT) nodes, sensors, smart home devices such as smart cameras, smart remote controls, smart water and electricity meters, and sensors in smart cities.

[0104] The aforementioned AP or non-AP sites may include transmitters, receivers, memory, processors, etc., wherein the transmitter and receiver are used for transmitting and receiving packet structures, respectively, the memory is used for storing signaling information and pre-agreed preset values, etc., and the processor is used for parsing signaling information and processing related data, etc.

[0105] Network devices and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can also be deployed in the air on airplanes, balloons, and satellites. This application does not limit the scenario in which the network devices and terminal devices are located.

[0106] For example, the communication system 100 may further include an application function (AF) network element, which is a control plane network function provided by the operator's network for providing application layer information; the communication system 100 may also include a session management function (SMF) network element, which is a control plane network function provided by the operator's network. In this embodiment, when the communication system 100 includes both AF and SMF network elements, the AF can send service-related information to the network device through the SMF.

[0107] To facilitate understanding of the embodiments of this application, the basic concepts involved in this application will be explained first.

[0108] 1. Raw data: With the increasing variety of wireless communication application scenarios, a large amount of raw data may be generated in the next generation of wireless communication, which will bring new demands for transmission.

[0109] For example, the native data in this application includes, but is not limited to:

[0110] 1) Sensing data: acquired environmental reflection points, environmental patches, environmental data (such as environmental imaging data, environmental reconstruction maps), RF maps, positioning data, etc.

[0111] 2) AI data: including training data, model / gradient data, inference results, feature data, performance data, etc.

[0112] 3) Channel data: such as the H matrix and channel state information (CSI) fed back by the equipment in a multi-antenna system;

[0113] The above data has the following characteristics:

[0114] 1) The data is large in volume, has a lot of redundancy, and has time, frequency, or spatial domain correlations. The data to be transmitted can be compressed to reduce transmission overhead.

[0115] 2) There are multiple data types, and different types are used in different scenarios.

[0116] 2. Grid map: A simple way to represent environmental data. It uses a bitmap to record the positions of objects in the environment. For example, 1 and 0 can be used to indicate whether an occlusion is detected at a specific location.

[0117] As shown in Figure 2, the white squares correspond to a bit value of 0, and the squares filled with diagonal lines correspond to a bit value of 1. The entire environment is represented by 7*16 squares, and Figure 2 shows that it contains two obstructions. After obtaining the grid map, subsequent processing schemes (which can be AI schemes or traditional non-AI schemes) can be used to generate or estimate the channel parameters (such as wireless signal propagation direction, signal strength, etc.) in the corresponding environment.

[0118] 3. Environmental data compression of mesh graph type: including entropy coding (e.g., arithmetic coding, Huffman coding, etc.) compression, LZMA (Lempel–Ziv–Markov chain Algorithm) compression, quadtree compression and other compression methods.

[0119] 1) Entropy coding compression: The 0 and 1 bit sequences in the grid are compressed according to the distribution characteristics (e.g., the proportion of grid cells with a bit value of 0 and the proportion of grid cells with a bit value of 1).

[0120] 2) LZMA compression: This mechanism utilizes dictionary encoding to compress the 0 and 1 bit sequences in a grid diagram. Dictionary encoding refers to replacing a string of characters with symbols, treating the string as a number in the encoding process.

[0121] 3) Quadtree compression: Recursively divide the 2D bitmap into 4 regions in each round. If all data in a region contains the same value (such as 0 or 1), then the region is not further divided; otherwise, the region is divided into four regions, and this process is repeated recursively until each region contains only the same value.

[0122] The above text, in conjunction with Figure 1, briefly introduces the scenarios in which the communication method provided in the embodiments of this application can be applied, as well as the basic concepts that may be involved in the embodiments of this application. Among the basic concepts, it introduces the method of representing environmental data with a grid diagram and the method of compressing environmental data for the grid diagram type. The above compression method only considers the distribution characteristics of 0 and 1 data in the grid diagram itself, and the compression efficiency is low.

[0123] To improve the data compression efficiency of grid diagram types, this application provides a communication method to enhance the data compression efficiency of grid diagram types.

[0124] The communication method provided in this application can be applied to systems that communicate using multi-antenna technology, such as the communication system 100 shown in FIG1. ​​This communication system may include at least one network device and at least one terminal device.

[0125] The embodiments shown below do not specifically limit the structure of the execution entity of the method provided in the embodiments of this application. As long as communication can be performed according to the method provided in the embodiments of this application by running a program that records the code of the method provided in the embodiments of this application. For example, the method provided in the embodiments of this application can be executed by a first communication device. Unless otherwise specified, "first communication device" in this application can refer to the first communication device itself (e.g., network device, terminal device, encoding device, etc.), a component in the first communication device (e.g., processor, chip, or chip system, etc.), or a logic module or software that can implement all or part of the functions of the first communication device. As another example, the method provided in the embodiments of this application can be executed by a second communication device. Unless otherwise specified, "second communication device" in this application can refer to the second communication device itself (e.g., network device, terminal device, decoding device, etc.), a component in the second communication device (e.g., processor, chip, or chip system, etc.), or a logic module or software that can implement all or part of the functions of the second communication device.

[0126] Figure 3 is a schematic flowchart of a communication method provided in an embodiment of this application, including the following steps:

[0127] S310, the first communication device generates compressed information of the first data.

[0128] Specifically, the compressed information of the first data is the compressed information obtained after the first communication device compresses (or encodes) the first data. It will be referred to as compressed information or encoded information below.

[0129] In this application, the first data is of type mesh graph, corresponding to a first mesh graph. The first mesh graph records the first data using a bitmap. For example, the first data may be environmental information, where the positions of occluders and non-occluders in the environment can be represented by 1s and 0s in the bitmap. It can be understood that the first mesh graph is a graphic composed of at least one grid with a value of 1 or 0.

[0130] Specifically, the first grid diagram includes at least one object, each object being a graphic composed of grids with consecutive values ​​of 1, or each object being a graphic composed of grids with consecutive values ​​of 0.

[0131] As one possible approach, the first grid diagram can be a 2D grid diagram, such as the 2D grid diagram shown in Figure 2 above. In this case, the objects in the first grid diagram can be the graphics corresponding to the grid filled with diagonal lines in Figure 2; or, the graphics corresponding to the white grid.

[0132] In this implementation, the first object is one of at least one object in the 2D mesh graph. The following section will describe in detail how the first communication device generates compressed information, with reference to Figure 16; details will not be elaborated here.

[0133] As another possible approach, the first grid diagram can be a 3D grid diagram, as shown in Figure 4. This 3D grid diagram can be divided into multiple 2D grid diagrams. For example, the 3D grid diagram shown in Figure 4 can be divided into a 2D grid diagram corresponding to height #1, a 2D grid diagram corresponding to height #2, and a 2D grid diagram corresponding to height #3. The objects in the 2D grid diagrams corresponding to different heights can be graphics corresponding to grids filled with diagonal lines; or graphics corresponding to white grids.

[0134] In this implementation, the first mesh map can be used to determine multiple 2D first sub-mesh maps, where the first object is an object in one of these multiple 2D first sub-mesh maps; or, the multiple 2D first sub-mesh maps can form a 2D second mesh map, where the first object is an object in that 2D second mesh map. The following section will describe in detail how the first communication device generates compressed information, with reference to Figure 19; details will not be provided here.

[0135] Furthermore, after the first communication device generates compressed information, it sends the compressed information to the second communication device. Therefore, the method flow shown in Figure 3 further includes:

[0136] S320, the first communication device sends compressed information to the second communication device, and correspondingly, the second communication device receives compressed information from the first communication device.

[0137] Specifically, the first communication device can transmit the compressed information through the transmission channel between the first communication device and the second communication device. Compared with directly transmitting the first data, transmitting the compressed information of the compressed first data can reduce the overhead of transmission resources.

[0138] Alternatively, in order for the second communication device to know the method by which the first communication device compresses the first data, the first communication device can indicate the compression method of the first data through the first configuration information. Therefore, the method flow shown in Figure 3 may further include:

[0139] S311, the first communication device sends first configuration information to the second communication device, and correspondingly, the second communication device receives the first configuration information from the first communication device.

[0140] Specifically, the first configuration information is used to configure the compression method of the first data.

[0141] For example, the first configuration information includes at least one of the following:

[0142] The first instruction information, the second information, or the third information, wherein the first instruction information indicates the type of the object. The first instruction information will be described in detail below and will not be repeated here.

[0143] The second information indicates the number of coordinates of the grid reference points corresponding to the object in the compressed information and the way the coordinate information is carried. The following text will introduce the way the object's information is carried in the compressed information. Different carrying methods can be indicated by the second information.

[0144] The third information indicates the bit width of the fields carrying different information in the compressed information.

[0145] The content configured in the first configuration information can be predefined. For example, the way information of different objects in the compressed information is carried can be predefined, that is, the second information mentioned above does not need to be transmitted; for another example, the bit width of different fields in the compressed information can also be predefined by the protocol, that is, the third information mentioned above does not need to be transmitted.

[0146] As described above, the first grid diagram includes at least one object. Information about each object is sent to the second communication device via compressed information, enabling the second communication device to reconstruct the objects in the first grid diagram based on the object information in the compressed information. This allows the second communication device to determine the first grid diagram corresponding to the first data and thus obtain the first data. For ease of description, the following description uses the example of compressed information including information about a first object, where the first object is any one of the at least one objects included in the first grid diagram.

[0147] Specifically, the information of the first object includes the type information of the first object and the coordinate information of the grid reference point corresponding to the first object. The type information of the first object indicates the type of the first object, and the coordinate information of the grid reference point corresponding to the first object is used to determine the first object. Since the reference point coordinate information of different types of objects is parsed in different ways, the type information of the first object can also indicate the parsing method of the coordinate information of the grid reference point corresponding to the first object.

[0148] In this application, the mesh reference point corresponding to the first object includes, but is not limited to, at least one vertex or feature point of the first object in the first mesh graph.

[0149] For example, if the compressed information sent by the first communication device to the second communication device is used to assist communication between the first and second communication devices, and the first object is a closed polygon in the first grid diagram as shown in Figure 5, the grid reference point corresponding to the first object can be at least one feature point (feature point #1, feature point #2 and feature point #3 as shown in Figure 5). The at least one feature point is connected in sequence, and the object enclosed after the first and last points are connected can be smaller than the first object. In the communication scenario, this can minimize the impact on communication transmission while reducing transmission resources.

[0150] For example, if the compressed information sent by the first communication device to the second communication device is used to assist the second communication device in obstacle avoidance, and the first object is a closed polygon in the first grid diagram as shown in Figure 6, the grid reference point corresponding to the first object can be at least one feature point (feature point #1, feature point #2 and feature point #3 as shown in Figure 6). The at least one feature point is connected in sequence, and the object enclosed after the first and last points are connected can be larger than the first object. In the obstacle avoidance scenario, the second communication device can accurately avoid obstacles while reducing transmission resources.

[0151] For example, if the first object is a closed polygon in the first grid diagram as shown in Figure 7, the grid reference point corresponding to the first object can be at least one vertex (vertex #1, vertex #2, vertex #3, vertex #4, vertex #5, vertex #6 as shown in Figure 7). The object enclosed by the first vertex connected in sequence and the first and last vertices connected are the same as the first object. Compared with the aforementioned feature points, transmitting the object information requires more resources, but it can improve the accuracy of reconstruction.

[0152] For example, if the first object is a closed approximate circle in the first mesh diagram as shown in Figure 8, the mesh reference point corresponding to the first object can be any point on the center and circumference of the circle (center #1 and point #1 as shown in Figure 8). The center #1 and point #1 are used to determine the radius of the circle, and the first object can be reconstructed based on the object enclosed by the center and radius.

[0153] For example, if the first object is a closed approximate ellipse in the first grid diagram as shown in Figure 8, the grid reference point corresponding to the first object can be the center, the endpoint of the major axis, and the endpoint of the minor axis, which are used to determine the elliptical first object.

[0154] The above-described form of the mesh reference point corresponding to the first object is merely an example and does not constitute any limitation on the scope of protection of this application. In this application, the mesh reference point corresponding to the first object only needs to be able to be used to reconstruct the first object. For example, the mesh reference point corresponding to the first object can also be other points that can represent the shape of the first object, which will not be listed here.

[0155] The coordinate information of the grid reference point corresponding to the first object is described in detail below:

[0156] As one possible implementation, if the grid reference point corresponding to the first object is a grid reference point, the coordinate information of the grid reference point is the original coordinate data of the grid reference point in the first grid diagram.

[0157] For example, in this implementation, the first object corresponds to a single grid reference point (e.g., grid reference point #1). The original coordinates of grid reference point #1 in the first grid diagram are (x1, y1). The coordinate information of grid reference point #1 can be information indicating (x1, y1). For example, the coordinate information of grid reference point #1 is (x1, y1) or other information that can indicate (x1, y1).

[0158] As another possible implementation, if the mesh reference point corresponding to the first object is multiple mesh reference points, the coordinate information of the first mesh reference point among the multiple mesh reference points includes any one of the following:

[0159] The original coordinate data of the first grid reference point in the first grid diagram, the difference coordinate data between the original coordinate data of the first grid reference point in the first grid diagram and the original coordinate data of the second grid reference point in the first grid diagram, or the difference coordinate data between the original coordinate data of the first grid reference point in the first grid diagram and the original coordinate data of the third grid reference point in the first grid diagram, wherein the second grid reference point is a vertex adjacent to the first grid reference point among the plurality of grid reference points, the third grid reference point is a reference point among the plurality of grid reference points, and the coordinate information of the reference point is the original coordinate data of the reference point in the first grid diagram.

[0160] For example, in this implementation, the coordinate information of the grid reference point corresponding to an object can be represented in different forms:

[0161] Method 1.1: The coordinate information of the grid reference point can be the original coordinate data of the grid reference point in the first grid diagram. For example, if the original coordinates of grid reference point #1 in the first grid diagram are (x1, y1), then the coordinate information of the grid reference point can be the information indicating (x1, y1).

[0162] Method 1.2: The coordinate information of a grid reference point can be the difference between the original coordinate data of the grid reference point in the first grid diagram and the original coordinate data of the adjacent grid reference points in the first grid diagram. For example, if the original coordinates of grid reference point #1 in the first grid diagram are (x1, y1) and the original coordinates of the adjacent grid reference point #2 in the first grid diagram are (x2, y2), then the coordinate information of grid reference point #2 can be information indicating (x2–x1, y2–y1).

[0163] As an example, and not a limitation, in the case shown in Method 1.2, if the number of grid reference points corresponding to the first object is N, where N is a positive integer, then the coordinate information of the N grid reference points can be represented as: coordinate information 1 (x1, y1), coordinate information 2 (x2–x1, y2–y1), ..., coordinate information N (x N -x N-1 ,y N –y N-1 ).

[0164] Method 1.3: The coordinate information of the grid reference point can be the difference between the original coordinate data of the grid reference point in the first grid diagram and the original coordinate data of the reference point in the first object in the first grid diagram. For example, if the original coordinates of the reference point in the first object in the first grid diagram are (x1, y1) and the original coordinates of the grid reference point #3 in the first object in the first grid diagram are (x3, y3), then the coordinate information of the grid reference point #3 can be information indicating (x3–x1, y3–y1).

[0165] As an example, and not a limitation, in the case shown in method 1.3, if the number of grid reference points corresponding to the first object is N, and the first grid reference point among the N grid reference points can be the aforementioned reference point, then the coordinate information of the N grid reference points can be represented as: coordinate information 1 (x1, y1), coordinate information 2 (x2–x1, y2–y1), ..., coordinate information N (x N –x1,y N –y1).

[0166] For example, the type of the first object includes a first type and a second type. The first type of object is a closed-shape object, and the second type of object is a non-closed-shape object. The reference point coordinate information of different types of objects in this application is parsed in different ways; therefore, the information of the first object included in the compressed information carries the type information of the first object.

[0167] Optionally, the closed shapes in this application include, but are not limited to, closed shapes such as polygons, circles, ellipses, or polygons with holes in the middle. Additionally, the non-closed shapes in this application include, but are not limited to, non-closed shapes such as lines or points.

[0168] For ease of understanding, Figures 9 and 10 are used to briefly introduce the possible shapes of the closed or open shapes involved in this application.

[0169] As shown in Figure 9, a closed shape can be the shape corresponding to the grid filled with diagonal lines shown in Figure 9, such as a polygon or a polygon with a hole in the middle.

[0170] As shown in Figure 10, the non-closed shape can be the graphic corresponding to the grid filled with diagonal lines shown in Figure 10, such as a line or a point.

[0171] The way reference point coordinate information is interpreted differs for different types of objects. For example, the reference points obtained for closed-shape objects are connected end-to-end, while the reference points obtained for closed-shape objects are not connected end-to-end.

[0172] The object types mentioned above are merely examples and do not constitute any limitation on the scope of protection of this application. Objects in the mesh diagram can also be divided into other types, such as polygons, points, lines, and polygons with holes, etc., which will not be illustrated here.

[0173] For example, the type information of an object can be indicated by first indication information carried in the compressed information. For instance, the type information of the first object is contained in the first indication information in the compressed information, that is, the first indication information can indicate the type of each object in at least one object included in the compressed information.

[0174] As one possible implementation, the type of each object in at least one object included in the compressed information can be: the first indication information indicates the number of objects of the first type M1 and / or the number of objects of the second type M2, where M1 and M2 are positive integers, and the first object is one of the M1 objects of the first type or one of the M2 objects of the second type.

[0175] For example, the first grid diagram includes a first object and a second object, and both the first object and the second object are of type first. The first indication information indicates the number of objects of type first, M1, where M1 = 2; or, the first indication information indicates the number of objects of type first, M1, and the number of objects of type second, M2, where M1 = 2 and M2 = 0.

[0176] For example, the first grid diagram includes a first object and a second object, and both the first object and the second object are of type second. The first indication information indicates the number of objects of type first, M2, where M2 = 2; or, the first indication information indicates the number of objects of type first, M1, and the number of objects of type second, M2, where M1 = 0 and M2 = 2.

[0177] For example, the first grid diagram includes a first object and a second object, where the first object is of type 1 and the second object is of type 2. The first indication information indicates the number of objects of type 1, M1, and the number of objects of type 2, M2, where M1 = 1 and M2 = 1.

[0178] As another possible implementation, the type of each object in at least one of the objects included in the compressed information can be: the first indication information indicates the total number of objects M and the type of each object, where M is a positive integer and the first object is one of the M objects.

[0179] For example, the first grid diagram includes a first object and a second object, and both the first object and the second object are of type 1. The first indication information indicates the total number of objects M and the type of each object, where M = 2. The type of each object can be indicated by a bitmap, such as a bit value of "0" indicating type 1 and a bit value of "1" indicating type 2, with the bitmap set to 00; or a bit value of "0" indicating type 2 and a bit value of "1" indicating type 1, with the bitmap set to 11.

[0180] For example, the first grid diagram includes a first object and a second object, and both the first object and the second object are of type second. The first indication information indicates the total number of objects M and the type of each object, where M = 2. The type of each object can be indicated by a bitmap, such as bitmap 11.

[0181] For example, the first grid diagram includes a first object and a second object, where the first object is of type 1 and the second object is of type 2. The first indication information indicates the total number of objects M and the type of each object, where M = 2. The type of each object can be indicated by a bitmap, such as a bitmap of 0s and 1s.

[0182] The above-mentioned method of uniformly indicating the type of each object in at least one object included in the compressed information through the first indication information is merely an example and does not constitute any limitation on the scope of protection of this application. The type information of each object can also be indicated in other ways. For example, the compressed information includes at least one type indication information, and each type indication information is used to indicate the type of the corresponding object, etc., which will not be illustrated here.

[0183] As an explanation: If an object is of the first type mentioned above, and it is a polygon with a hole in the middle, then the object can be understood as an object composed of multiple sub-objects. The polygon without the hole is one sub-object, and at least one "hole" in the object is at least one other sub-object. This special type of object can be understood as a third type of object, or a special case of the first type of object. Due to the special nature of this object form, if an object of this form exists in the first mesh diagram, indication information can be added to the corresponding object information, indicating that the object includes multiple sub-objects, and the mesh reference point corresponding to the object can be divided into multiple sets of mesh reference points corresponding to the sub-objects.

[0184] For example, if object #1 includes sub-object #1 and sub-object #2, then the information of object #1 includes information #1 indicating that object #1 is an object comprising multiple sub-objects. This information #1 can also indicate that the grid reference points (points #1, #2, #3, #4, #5, #6, #7, and #8) corresponding to object #1 are divided into a set of grid reference points #1 (points #1, #2, #3, and #4) corresponding to sub-object #1 and a set of grid reference points #2 (points #5, #6, #7, and #8) corresponding to sub-object #2. This allows the second communication device to reconstruct object #1 based on information #1 and the determined set of grid reference points #1 and #2. The information #1 indicates the set of grid reference points corresponding to sub-object #1 and sub-object #2, which can be: indicating the set of grid reference points #1 corresponding to sub-object #1 and the set of grid reference points #2 corresponding to sub-object #2, respectively; or, it can simply indicate the set of grid reference points #1 corresponding to object #1, and the set of grid reference points #2 corresponding to object #2 is the set of grid reference points remaining after removing the set of grid reference points #1 corresponding to object #1 from the set of grid reference points #1 corresponding to object #1.

[0185] If an object is of the first type mentioned above and is circular, and the object's information includes information indicating that the object is circular, as well as information indicating the center of the circle, then the second communication device can determine that the object is a closed-shape object based on the first indication information, further determine that the object is a closed circle based on the circular indication information included in the object's information, and determine the grid reference point as the center and the non-center grid reference points based on the information indicating the center. Thus, the object can be reconstructed based on the center reference point and the reference points on the circumference.

[0186] If an object is of the first type mentioned above and is elliptical, and the object's information includes information indicating that the object is elliptical and information indicating the center of the circle, then the second communication device can determine that the object is a closed-shape object based on the first indication information, further determine that the object is a closed ellipse based on the elliptical indication information included in the object's information, and determine the grid reference point as the center and the non-center grid reference points (e.g., major axis endpoints and minor axis endpoints) based on the information indicating the center of the circle. Thus, the object can be reconstructed based on the center reference point, the major axis endpoints, and the minor axis endpoints.

[0187] For example, when the compressed information includes information about multiple objects, the ways in which the information about these multiple objects is carried in the compressed information include, but are not limited to, the following:

[0188] Method 2.1: The information of each object includes the object type information and the coordinate information of the grid reference point corresponding to the object. The object type information is uniformly indicated by the first indication information mentioned above, and the coordinate information of the grid reference point corresponding to the object is carried separately.

[0189] For example, the compressed information also includes information about the second object, which includes the coordinates of the grid reference point corresponding to the second object. The compressed information includes a first field and a second field. The first field carries the coordinates of the grid reference point corresponding to the first object, and the second field carries the coordinates of the grid reference point of the second object.

[0190] For ease of understanding, the possible frame formats of compressed information in the case shown in Method 2.1 will be briefly introduced with reference to Figure 11.

[0191] As shown in Figure 11, the first indication information indicates the types of M objects respectively. For example, if the M objects include M1 objects of type 1 and M2 objects of type 2, then the first indication information indicates M1 and M2; or, for example, the first indication information indicates M and the type of each object, where the type of each object can be indicated in the form of a bitmap. Additionally, field #1 in the compressed information carries the coordinate information of N1 grid reference points for object #1 (coordinate information #11, #21, ..., #N1 as shown in Figure 11), field #2 in the compressed information carries the coordinate information of N2 grid reference points for object #2 (coordinate information #12, #22, ..., #N2 as shown in Figure 11), ..., and field #M in the compressed information carries the coordinate information of N... M Coordinate information of each grid reference point (coordinate information #1 shown in Figure 11) M Coordinate information #2 M ...coordinate information #N M ).

[0192] Optionally, if object #1 is a polygon with a hole in the middle, then field #1 also includes information #1 (information #1 in Figure 11), which indicates that object #1 includes multiple sub-objects and indicates the set of grid reference points corresponding to each sub-object.

[0193] Optionally, if object #1 is circular, then field #1 also includes information #2 (as shown in Figure 11), which indicates that object #1 is circular and indicates which grid reference point among the grid reference points corresponding to object #1 is the center of the circle.

[0194] Optionally, if object #1 is elliptical, then field #1 also includes information #3 (information #3 in Figure 11), which indicates that object #1 is elliptical and indicates which grid reference point among the grid reference points corresponding to object #1 is the center of the circle.

[0195] Optionally, if object #1 is a polygon with a hole in the middle, and the "hole" is a circular hole, then field #1 also includes information #1 and information #2 (as shown in Figure 11). Information #1 indicates that object #1 includes multiple sub-objects and indicates the set of grid reference points corresponding to each sub-object. Information #2 is used to indicate that sub-object #1 among the multiple sub-objects is circular and indicates which grid reference point among the grid reference points corresponding to sub-object #1 is the center of the circle.

[0196] The above-described object forms are merely examples and do not constitute any limitation on the scope of protection of this application. The object type information and the coordinate information of the grid reference point corresponding to the object included in the compressed information in this application are sufficient to characterize the shape characteristics of the object.

[0197] Method 2.2: The information of each object includes the object's type information and the coordinate information of the grid reference point corresponding to the object. The object's type information and the coordinate information of the grid reference point corresponding to the object are carried separately.

[0198] For example, the compressed information also includes information about a second object, which includes the type information of the second object and the coordinate information of the grid reference point corresponding to the second object. The compressed information includes a first field and a second field. The first field carries the type information of the first object and the coordinate information of the grid reference point corresponding to the first object, and the second field carries the type information of the second object and the coordinate information of the grid reference point of the second object.

[0199] For ease of understanding, the possible frame formats of compressed information in the case shown in Method 2.2 will be briefly introduced with reference to Figure 12.

[0200] As shown in Figure 12, field #1 in the compressed information carries the coordinate information of N1 grid reference points of object #1 and type information #1 (as shown in Figure 12, type information #1, coordinate information #11, coordinate information #21, ..., coordinate information #N1). Field #2 in the compressed information carries the coordinate information of N2 grid reference points of object #2 and type information #2 (as shown in Figure 12, type information #2, coordinate information #12, coordinate information #22, ..., coordinate information #N2). ... Field #M in the compressed information carries the N... M Each grid reference point coordinate information and type information #M (as shown in Figure 12, type information #M, coordinate information #1) M Coordinate information #2 M ...coordinate information #N M ).

[0201] Method 2.3: The information of each object includes the object type information, the coordinate information and quantity information of the grid reference point corresponding to the object. The object type information is uniformly indicated by the first indication information mentioned above, and the coordinate information and quantity information of the grid reference point corresponding to the object are carried separately.

[0202] For example, the information of the first object also includes the number of grid reference points corresponding to the first object, and the compressed information also includes the information of the second object. The information of the second object includes the type information of the second object, the number of grid reference points corresponding to the second object, and the coordinate information. The compressed information includes a first field and a second field. The first field carries the number of grid reference points corresponding to the first object and the coordinate information, and the second field carries the number of grid reference points corresponding to the second object and the coordinate information.

[0203] For ease of understanding, the possible frame formats of compressed information in the case shown in Method 2.2 will be briefly introduced with reference to Figure 13.

[0204] As shown in Figure 13, the compressed information includes M fields, which are used to carry the quantity and coordinate information of the grid reference points of the M objects. The type of the M objects is indicated by the first indicator information. Field #1 in the compressed information carries the quantity and coordinate information of the N1 grid reference points of object #1 (as shown in Figure 13, point number #N1, coordinate information #11, coordinate information #21, ..., coordinate information #N1). Field #2 in the compressed information carries the quantity and coordinate information of the N2 grid reference points of object #2 (as shown in Figure 13, point number #N2, coordinate information #12, coordinate information #22, ..., coordinate information #N2), ... Field #M in the compressed information carries the N... M The number and coordinate information of each grid reference point (as shown in Figure 13, number of points #N) M Coordinate information #1 M Coordinate information #2 M ...coordinate information #N M ).

[0205] As an explanation: If the information of an object does not include the number of grid reference points corresponding to that object, the second communication device can determine the number of grid reference points corresponding to that object in other ways. For example, the length of the field carrying the coordinate information of the grid reference points corresponding to the object in the compressed information can be indicated by information in the compressed information, so that after parsing the compressed information, the second communication device can know the length of the field carrying the coordinate information of the grid reference points corresponding to the object in the compressed information according to the field length indication information, and thus determine the number of grid reference points based on the number of grid reference point coordinate information obtained in that field. For example, as shown in FIG11, a third indication information can be carried in the compressed information, which is used to indicate the length of each field. Alternatively, as shown in FIG11, length information (length information #1, length information #2, ..., length information #M as shown in FIG11, where length information #1 indicates the length of field #1, length information #2 indicates the length of field #2, ..., length information #M indicates the length of field #M) can be carried in each field to indicate the length of each field. Alternatively, the first indication information shown in FIG11 can also indicate the length of each field.

[0206] The examples 2.1 to 2.3 above illustrate possible ways in which information about multiple objects is carried separately in compressed information. These methods do not limit the scope of protection of this application. Other methods can also be used to carry the information about objects separately. For example, when the information about an object includes type information, coordinate information of the grid reference point corresponding to the object, and quantity information, the type information, coordinate information of the grid reference point corresponding to the object, and quantity information of each object can be carried separately. It is not necessary to uniformly indicate the types of multiple objects through the first indication information. Examples will not be provided here. It is understood that when the information about each object is carried separately, after the second communication device receives the compressed information, it can decode each object sequentially, reducing decoding latency. For example, the second communication device can obtain the information of the first object by parsing the first field.

[0207] Method 3.1: The information of each object includes the object type information, the coordinate information and quantity information of the grid reference point corresponding to the object. The object type information is uniformly indicated by the first indication information mentioned above, the coordinate information of the grid reference point corresponding to the object is uniformly carried, and the quantity information of the grid reference point corresponding to the object is uniformly carried.

[0208] For example, the information of the first object also includes the number of grid reference points corresponding to the first object, and the compressed information also includes the information of the second object. The information of the second object includes the type information of the second object, the number of grid reference points corresponding to the second object, and the coordinate information. The compressed information includes a first field and a second field. The first field carries the number of grid reference points corresponding to the first object and the number of grid reference points corresponding to the second object, and the second field carries the coordinate information of the grid reference points of the first object and the coordinate information of the grid reference points corresponding to the second object.

[0209] For ease of understanding, the possible frame formats of compressed information in the case shown in method 3.1 will be briefly introduced with reference to Figure 14.

[0210] As shown in Figure 14, the compression information includes first indication information and point information (points #N1, #N2, and #N, as shown in Figure 14). M Coordinate information (as shown in Figure 14: coordinate information #11...coordinate information #N1, coordinate information #12...coordinate information #N2, coordinate information #1...coordinate information #N2...coordinate information #N ...1...coordinate information #N2... M …Coordinate information#N M ).

[0211] Method 3.1 described above introduces a possible way to uniformly carry information of the same type and granularity among multiple objects in compressed information. This does not constitute any limitation on the scope of protection of this application. It is understood that, under this implementation method, the field carrying coordinate information and / or the field carrying quantity information can be further compressed, which can reduce transmission resources. Optionally, the compression precision of the field carrying coordinate information and the field carrying quantity information can be different. For example, the compression precision of the field carrying quantity information can be higher in order to achieve lossless compression of quantity information.

[0212] Optionally, the way in which the information of the objects shown in methods 2.1 to 2.3 and method 3.1 is carried in the compressed information can be predefined by the protocol, or it can be indicated by the second information in the compressed information. This application does not impose any limitations on this. For example, the frame format of the compressed information can be predefined by the protocol, or the frame format of the compressed information can be indicated by the first communication device through the first configuration information mentioned above.

[0213] As can be seen from the above, compressed information can carry different information through different fields. The bit width of different fields can be indicated by indicator information. For example, if the first field of the compressed information carries the number of grid reference points corresponding to each of the multiple objects, and the second field carries the coordinate information of the grid reference points corresponding to each of the multiple objects, the compressed information also includes information indicating the bit width of the first field and the bit width of the second field. The bit width of the first field and the bit width of the second field can be indicated by one indicator information; or the bit width of the first field and the bit width of the second field can be indicated by different indicator information respectively.

[0214] For example, if the first field is a field that carries information about the number of grid reference points corresponding to each object, then the bit width of the first field can be determined by the maximum number of grid reference points N. max Decision, for example, the bit width of the first field = ceil(log2(N) max ), ceil() represents the rounding up operation; if the second field is used to carry the coordinate information of the grid reference point corresponding to each object, then the bit width of the second field is determined by the maximum range X of the grid map. max Or Y max Decision, for example, the bit width of the first field = ceil(log2(max(X)) max ,Y max )))).

[0215] For example, the compressed information also includes second indication information, which is used to indicate the size of the first mesh. For example, if the coordinate information and quantity information of the mesh reference points of different objects are carried separately, the frame format of the compressed information including the second indication information can be as shown in Figure 15. The second indication information can be referred to as mesh size indication information.

[0216] For example, if the first grid diagram is a 2D grid diagram, the second indication information is used to indicate that the 2D grid diagram has p multiplied by q grids, where p and q are positive integers; or, for example, if the first grid diagram is a 3D grid diagram, the second indication information is used to indicate the dimensions of the length, width, and height of the 3D grid diagram.

[0217] Furthermore, after receiving the compressed information, the second communication device can reconstruct the first data based on the compressed information. Therefore, the method flow shown in Figure 3 further includes:

[0218] S330, the second communication device reconstructs the first data based on compressed information.

[0219] The reconstruction method of the second communication device differs depending on whether the first grid diagram is 2D or 3D. The following will explain the cases of 2D and 3D grid diagrams with reference to the attached figures, which will not be elaborated here.

[0220] In the communication method shown in Figure 3, the first communication device compresses (or encodes) the first data to obtain compressed information, which is then sent to the second communication device. The second communication device reconstructs the first data based on the compressed information, thereby reducing the transmission resources of the first data. Furthermore, in this technical solution, the compressed information includes information about a first object, which is an object in the first mesh graph corresponding to the first data. The compressed information includes the type information of the first object and the coordinate information of the mesh reference point corresponding to the first object. The coordinate information of the mesh reference point corresponding to the first object is used to determine the mesh reference point corresponding to the first object, and this mesh reference point can be used to characterize the shape of the first object. That is, the shape characteristics of the object in the mesh graph are considered during the generation of the compressed information, which can improve the compression efficiency of the first data.

[0221] Regarding the case where the first grid diagram is a 2D grid diagram, the process of the first communication device generating compressed information and the second communication device decompressing compressed information will be described in detail below with reference to Figure 16.

[0222] Figure 16 is a schematic flowchart of another communication method provided in an embodiment of this application, including the following steps:

[0223] S1610, the first communication device determines at least one object from the first grid diagram.

[0224] The first object mentioned above is any one of the at least one objects.

[0225] As shown in Figure 17, the first grid diagram uses 1 and 0 to indicate whether an obstruction is detected (as shown in Figure 17, a bit value of 1 is marked as a grid filled with diagonal lines, and a bit value of 0 is marked as a white grid). A bit value of 1 indicates that an obstruction is detected. The first communication device can extract at least one object based on consecutive bit values ​​of 1 (object #1, object #2, object #3, object #4, object #5, and object #6 as shown in Figure 17). Each of these at least one object corresponds to an obstruction.

[0226] S1620, determine the type of at least one object based on the shape of at least one object.

[0227] Optionally, in this application, based on the different shapes of the extracted objects, the objects can be divided into the following two types:

[0228] 1) First type of objects: As shown in Figure 17, objects #1, #2, and #3 have a closed structure. Key information about first type of objects can be recorded using two or more grid reference points. If the first grid diagram is a 2D grid diagram, then two-dimensional coordinates (x, y, z) are used. i ,y i ) represents a grid reference point, where i is the grid reference point number. If there are N vertices, then i can take the values ​​1, 2, ..., N.

[0229] 2) Second type of objects: As shown in Figure 17, objects #4, #5 and #6 can be line segments, polylines or single points. Key information of the second type of objects can be recorded through grid reference points, such as recording the endpoints of the lines and the coordinates of the polyline positions. The method of representing grid reference points is the same as that of the first type of objects mentioned above, and will not be repeated here.

[0230] S1630, determine the coordinate information of the grid reference point corresponding to each object in at least one object.

[0231] For example, the information recorded for each object includes the coordinate information of the grid reference point corresponding to the object and the number of grid reference points corresponding to the object. For example, the specific format of the recorded information is [number of points N, coordinate information 1, coordinate information 2, ..., coordinate information N]. The coordinate information can be recorded as the original coordinate data, or it can be recorded by differential encoding to reduce the amount of data. There can be different differential encoding modes, as shown in methods 1.1 to 1.3 above, which will not be elaborated here.

[0232] Optionally, the mesh reference point corresponding to each object is shown in Figure 17. The information of at least one mesh reference point corresponding to different objects includes the coordinate information and quantity information of at least one mesh reference point.

[0233] S1640, generate compressed information based on the type of each object in at least one object and the coordinate information of the corresponding grid reference point of each object.

[0234] For example, the frame format of the compressed information is any of the forms shown in Figures 11 to 15 above, including the type information of each object and the coordinate information of the corresponding mesh reference point. Furthermore, it may also include the number of mesh reference points corresponding to each object, which will not be elaborated here.

[0235] Optionally, as shown in 17, the compressed information includes first indication information, which indicates that the first grid diagram includes 6 objects and the type of each object. For example, a bit value of "0" indicates that the object type is the first type, a bit value of "1" indicates that the object type is the second type, the first indication information indicates M=6, and the bitmap indicating the type is 000111.

[0236] Furthermore, since object #1 is a polygon with a hole in the middle, the information of object #1 includes information #1, which indicates that object #1 is composed of two sub-objects, and the coordinate information of the grid reference points corresponding to the two sub-objects are {coordinate information #1, coordinate information #2, coordinate information #3, coordinate information #4} and {coordinate information #5, coordinate information #6, coordinate information #7, coordinate information #8}, respectively.

[0237] S1650, the first communication device sends compressed information to the second communication device.

[0238] Referring to step S320 in Figure 3 above, it will not be repeated here.

[0239] S1660, the second communication device determines the coordinate information of the grid reference point corresponding to each object in at least one object in the first grid diagram based on the compressed information.

[0240] As shown in Figure 18, after receiving the compressed information, the second communication device decodes it to obtain the coordinate information of the grid reference points corresponding to different objects.

[0241] As an explanation: In the case of object #1, although it is a closed shape, object #1 has a hole. Therefore, for polygons with holes, it is necessary to indicate the location of the hole, that is, the coordinate information of the grid reference point corresponding to the "hole".

[0242] In this application, an object with a cutout is understood as an object composed of multiple sub-objects. For example, as shown in Figure 17, object #1 is composed of an outer large quadrilateral and an inner small quadrilateral. Therefore, the compressed information includes information #1 indicating that object #1 includes an outer large quadrilateral and an inner small quadrilateral. When an object is composed of multiple sub-objects, the coordinate information of the grid reference point corresponding to the object includes the coordinate information of the grid reference points corresponding to each of the multiple sub-objects. Through this indication method, the second communication device decodes the two sub-objects of object #1 and determines the small quadrilateral as the cutout location of object #1 based on the relative position of the two sub-objects.

[0243] S1670, obtain at least one object based on the coordinate information of the grid reference point corresponding to each object in at least one object and the type information of each object in at least one object.

[0244] As one possible implementation, if the first object is an object of the first type, the first object is obtained based on the coordinate information of the grid reference point corresponding to the first object and the type information of the first object, including: determining the grid reference point corresponding to the first object based on the coordinate information of the grid reference point corresponding to the first object, connecting the grid reference points corresponding to the first object in sequence, and connecting the first and last vertices to obtain the first object.

[0245] As shown in Figure 18, objects #2 and #3 are objects of the first type. The second communication device can connect the mesh reference points corresponding to object #2 in sequence, and connect the first and last vertices to obtain object #2; and the second communication device can connect the mesh reference points corresponding to object #3 in sequence, and connect the first and last vertices to obtain object #3.

[0246] As another possible implementation, if the first object is a second type of object, the first object is obtained based on the coordinate information of the grid reference point corresponding to the first object and the type information of the first object, including: determining the grid reference point corresponding to the first object based on the coordinate information of the grid reference point corresponding to the first object, and connecting the grid reference points corresponding to the first object in sequence to obtain the first object.

[0247] As shown in Figure 18, objects #4, #5, and #6 are objects of the first type. Specifically, object #4 is a "point" in the second type of object; the second communication device can obtain object #4 by determining a grid reference point corresponding to object #4. Object #5 is a linear object; the second communication device can sequentially connect the grid reference points corresponding to object #5 to obtain object #5. Object #6 is a polyline object; the second communication device can sequentially connect the grid reference points corresponding to object #6 to obtain object #6.

[0248] As another possible implementation, if the first object is an object of the first type and the first object is composed of multiple sub-objects, then the first object is obtained according to the coordinate information of the grid reference point corresponding to the first object and the type information of the first object, including: determining the grid reference point corresponding to each of the multiple sub-objects according to the coordinate information of the grid reference point corresponding to the first object, connecting the grid reference points corresponding to each sub-object in sequence, and connecting the first and last vertices, and obtaining the first object according to the orientation relationship and / or size relationship of the multiple sub-objects.

[0249] As shown in Figure 18, the second communication device determines that object #1 is an object of the first type, and based on information #1 included in the information of object #1, it learns that object #1 consists of two sub-objects, as well as the corresponding set of grid reference points for different sub-objects. Therefore, it can be determined that object #1 is a polygon with a cutout. For example, the information of object #1 includes information #1, which indicates that object #1 is composed of two sub-objects, and the coordinate information of the grid reference points corresponding to the two sub-objects are {coordinate information #1, coordinate information #2, coordinate information #3, coordinate information #4} and {coordinate information #5, coordinate information #6, coordinate information #7, coordinate information #8}, respectively. Then the second communication device can connect coordinate information #1, coordinate information #2, coordinate information #3, and coordinate information #4 in sequence, and connect the first and last vertices to obtain sub-object #1 of object #1. Then, it can connect coordinate information #5, coordinate information #6, coordinate information #7, and coordinate information #8 in sequence, and connect the first and last vertices to obtain sub-object #2 of sub-object #1. Based on the orientation and / or size relationship between sub-object #1 and sub-object #2, it is determined that sub-object #2 is the hole to be drilled in sub-object #1, thereby determining object #1.

[0250] This application mainly uses the example of an object having a single hole to illustrate the concept. When an object has multiple holes, the information of the object can carry information indicating that the object has multiple sub-objects, and indicating the set of grid reference points corresponding to each sub-object, as well as the orientation and / or size relationship between the multiple sub-objects.

[0251] For example, object #1 consists of Q sub-objects, where Q is an integer greater than 1. Q-1 of these Q sub-objects are the sub-objects corresponding to the Q-1 "holes" in object #1. The information of object #1 includes information #1, which indicates the set of grid reference points corresponding to each of the Q sub-objects, as well as the orientation and / or size relationships between the Q sub-objects.

[0252] For example, information #1 indicates the set of grid reference points #1 corresponding to sub-object #1, the set of grid reference points #2 corresponding to sub-object #2, ..., the set of grid reference points #Q corresponding to sub-object #Q, and sub-objects #2 to #Q are contained in sub-object #1. After the second communication device decodes the compressed information, it can obtain the information of object #1. Based on information #1 included in the information of object #1, it is known that object #1 includes Q sub-objects and the orientation relationship between the Q sub-objects. Sub-objects #2 to #Q are determined to be the holes in sub-object #1.

[0253] For example, information #1 indicates the set of grid reference points #1 corresponding to sub-object #1, the set of grid reference points #2 corresponding to sub-object #2, ..., the set of grid reference points #Q corresponding to sub-object #Q, and sub-objects #2 to #Q are all smaller than sub-object #1, with sub-object #1 being the largest sub-object. After decoding the compressed information, the second communication device can obtain the information of object #1. Based on information #1 included in the information of object #1, it is known that object #1 includes Q sub-objects and the size relationship between the Q sub-objects, determining that sub-object #1 is the largest, and sub-objects #2 to #Q are the holes in sub-object #1. S1680, reconstruct the first data based on at least one object.

[0254] For example, after the second communication device determines at least one object in the first grid diagram, it can determine the specific form of the first grid diagram, thereby determining first data based on the first grid diagram. For instance, the first data may be environmental information, and the second communication device can determine the locations of obstructions and non-obstructions in the environment based on the determined at least one object. This application does not provide a detailed description of how the second communication device reconstructs the first data; however, reference can be made to existing or future related technologies that determine data after determining the grid diagram of the data object.

[0255] Regarding the case where the first grid diagram is a 3D grid diagram, the process of the first communication device generating compressed information and the second communication device decompressing compressed information will be described in detail below with reference to Figure 19.

[0256] Figure 19 is a schematic flowchart of another communication method provided in an embodiment of this application, including the following steps:

[0257] S1910, the first communication device determines multiple 2D first sub-mesh maps based on the first mesh map.

[0258] For example, as shown in Figure 4, if the height dimension is 3, then 3 groups of 2D first sub-mesh diagrams can be split.

[0259] As one possible implementation, each 2D first sub-mesh graph is compressed and transmitted based on the method shown in Figure 16 above.

[0260] In this implementation, the method flow shown in Figure 19 includes the following steps:

[0261] S1920, the first communication device determines at least one object from each determined 2D first sub-mesh graph of a plurality of 2D first sub-mesh graphs.

[0262] S1930, determine the type of at least one object based on the shape of each object.

[0263] S1940, determine the coordinate information of the grid reference point corresponding to each object.

[0264] S1950 generates compressed information based on the type of each object and the coordinate information of the corresponding grid reference point of each object.

[0265] Steps S1920 to S1950 can be referred to the description of steps S1610 to S1640 in Figure 16 above, and will not be repeated here. The difference is that the finally generated compressed information includes compressed information corresponding to multiple 2D first sub-mesh maps.

[0266] For example, taking the frame format of the compressed information of each 2D first sub-mesh as shown in Figure 17 above as an example, the compressed information of the first mesh can be as shown in Figure 20 under this implementation.

[0267] S1960, the first communication device sends compressed information to the second communication device.

[0268] S1970, the second communication device determines the coordinate information of the grid reference point corresponding to the object in each of the multiple 2D first sub-grids based on the compressed information.

[0269] S1980, determine the object based on the coordinate information of the grid reference point corresponding to each object and the type information of each object.

[0270] S1990, First data based on object reconstruction.

[0271] Steps S1960 to S1990 can be referred to the description of steps S1650 to S1680 in Figure 16 above, and will not be repeated here. The difference is that the second communication device can first determine multiple 2D first sub-mesh maps, and then determine the first mesh map based on these multiple 2D first sub-mesh maps.

[0272] As another possible implementation, multiple 2D first sub-mesh maps are combined to form a 2D second mesh map. The second mesh map is compressed and transmitted based on the method shown in Figure 16 above. The first mesh map in Figure 16 can be replaced with the second mesh map, which will not be elaborated here.

[0273] As shown in Figure 21, the first grid image has 3 sets of grids in the height direction, which can be split into 3 2D first sub-grid images. These sub-grid images are then stitched together by aligning rows or columns to obtain a 2D second grid image. Finally, the stitched grid image is compressed and transmitted using the method shown in Figure 16 to obtain a set of compressed information.

[0274] The sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0275] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0276] In the above embodiments, examples of devices in existing network architectures (such as a first communication device, a second communication device, etc.) are used for illustrative purposes. The specific form of the devices is not limited in the embodiments of this application. For example, any device that can achieve the same function in the future is applicable to the embodiments of this application.

[0277] It is understood that, in the above-described method embodiments, the methods and operations implemented by the device (such as the first communication device or the second communication device) can also be implemented by components of the device (such as chips or circuits).

[0278] The communication method provided in the embodiments of this application has been described in detail above with reference to Figure 2. The above communication method is mainly described from the perspective of the interaction between the first communication device and the second communication device. It can be understood that, in order to realize the above functions, the first communication device and the second communication device include hardware structures and / or software modules corresponding to the execution of each function.

[0279] Those skilled in the art will recognize that, based on the units and algorithm steps described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is implemented in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0280] The communication device provided in the embodiments of this application will be described in detail below with reference to Figures 22 to 25. The description of the device embodiments corresponds to the description of the method embodiments. Therefore, for content not described in detail, please refer to the method embodiments above. For the sake of brevity, some content will not be repeated.

[0281] This application embodiment can divide the communication device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware, software, or a combination of both. The module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation. The following description uses the division of functional modules according to each function as an example.

[0282] Figure 22 is an exemplary block diagram of the communication device 10 provided in an embodiment of this application.

[0283] As shown in Figure 22, for example, the communication device 10 may include a chip system 110, a memory 120, a bus 130, a power management module 140, or a transceiver 150, etc.

[0284] The chip system 110 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method (e.g., S310 and S330 in Figure 3) can be completed through the integrated logic circuits in the hardware of the chip system 110 or through software instructions.

[0285] As an example and not a limitation, chip system 110 may include circuitry or chips responsible for signal processing (such as a modem chip, also known as a baseband chip, or a system-on-chip (SoC) chip or system-in-package (SIP) chip containing a modem core).

[0286] Optionally, the chip system 110 may also include a memory (such as a cache) for storing instructions and data. In some embodiments, the memory in the chip system 110 is a cache memory. This memory can store instructions or data that the chip system 110 has just used or that are used repeatedly. If the chip system 110 needs to use the instruction or data again, it can directly retrieve it from the memory. This avoids repeated accesses, reduces the waiting time of the chip system 110, and thus improves the efficiency of the system.

[0287] In some embodiments, the chip system 110 may include one or more interfaces. Interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0288] Memory 120 may include random access memory (RAM) and read-only memory (ROM). Memory 120 may store computer-readable, computer-executable code, including instructions that, when executed, cause the processor to perform the various functions described in this application.

[0289] Optionally, the code may include instructions for implementing various aspects of the embodiments of this application, including instructions for supporting the generation or parsing of the first symbol. The code may be stored in a non-transitory computer-readable medium such as system memory or other types of memory. In some cases, the code may not be directly executable by the chip system 110, but may instead enable a computer (e.g., at compile and execution time) to perform the functions described in this application. In some cases, memory 120 may in particular contain a basic I / O system that controls basic hardware or software operations, such as interaction with peripheral components or devices.

[0290] For example, the chip system 110 executes various functional applications and data processing of the communication device 10 by running instructions stored in the memory 120. For instance, when the communication device 10 transfers files with other devices (which may also be terminals or access network devices), the chip system 110 of the communication device 10 can call the computer-executable program code stored in the memory 120 to implement the data and / or signaling transmission methods provided in the embodiments of this application.

[0291] In addition, the memory 120 can be integrated into the chip system 110 or independent of the chip system 110.

[0292] Bus 130 may be a universal serial bus (USB) used to support communication between the various parts of the communication device 10.

[0293] The power management module 140 is used to receive charging input from the charger. Optionally, the power management module 140 can also supply power to the communication device 10 while charging it (e.g., the battery module of the communication device 10). By way of example and not limitation, the power management module 140 can also supply power to other devices besides the communication device 10.

[0294] Transceiver 150 can communicate bidirectionally via one or more antennas, wired links, or wireless links. For example, transceiver 150 can represent a wireless transceiver and can communicate bidirectionally with another wireless transceiver. Transceiver 150 may also include a modem for modulating packets and providing the modulated packets to the antenna for transmission, and for demodulating packets received from the antenna. Transceiver 150 may include a receiver and a transmitter, the receiver performing the function of receiving information and the transmitter performing the function of transmitting information.

[0295] In some cases, a wireless device may include a single antenna. However, in other cases, the device may have more than one antenna, such as antenna 1 and antenna 2 shown in FIG. 22, which may be capable of simultaneously transmitting or receiving multiple wireless transmissions. Exemplarily, antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in communication device 10 can be used to cover one or more communication frequency bands. Different antennas can also be multiplexed to improve antenna utilization. For example, antenna 1 can be multiplexed as a diversity antenna for a wireless local area network. In other embodiments, the antennas can be used in conjunction with a tuning switch. Communication device 10 can transfer files to other devices via wireless communication functions.

[0296] In one design, the communication device 20 may correspond to the first communication device in the above method embodiment.

[0297] The device 10 can implement the steps or processes corresponding to those performed by the first communication device in the above method embodiments. The transceiver 150 can be used to perform operations related to the transmission and reception of the first communication device in the above method embodiments, such as performing step S320 of sending compressed information in the above method embodiments. The chip system 110 can be used to perform processing-related operations of the first communication device in the above method embodiments, such as performing step S310 of generating compressed information in the above method embodiments.

[0298] In another design, the communication device 10 may correspond to the second communication device in the above method embodiment.

[0299] The device 10 can implement the steps or processes performed by the second communication device corresponding to the method embodiment above. The transceiver 150 can be used to perform the transmission and reception related operations of the second communication device in the method embodiment above, such as performing the step S320 of receiving compressed information in the method embodiment above. The chip system 110 can be used to perform the processing related operations of the second communication device in the method embodiment above, such as performing the step S330 of reconstructing the first data in the method embodiment above.

[0300] Under this design, the communication device 10 may include modules such as a short-range communication module 164, a sensor 161, a display 162, or a camera 163, as shown in Figure 22.

[0301] The short-range communication module 164 may include modules that support short-range communication, such as WIFI and Bluetooth.

[0302] Sensor 161 may include pressure sensors, gyroscope sensors, barometric pressure sensors, magnetic sensors, accelerometers, distance sensors, proximity sensors, fingerprint sensors, temperature sensors, touch sensors, ambient light sensors, bone conduction sensors, etc.

[0303] Display 162 is used to display images, videos, etc. The display includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a Miniled LED, a MicroLED, a Micro-OLED, a quantum dot light-emitting diode (QLED), etc. For example, in this embodiment, the display can be used to display the interface required by the communication device 10. Exemplarily, the communication device 10 implements display functions through a GPU, a display, and an application processor. The GPU is a microprocessor for image processing, connected to the display and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The chip system 110 may include one or more GPUs that execute program instructions to generate or modify display information.

[0304] Camera 163 is used to acquire images, videos, etc.

[0305] It is understood that the structure shown in Figure 22 does not constitute a specific limitation on the communication device 10, and the specific structure of the terminal device and / or network device can be referred to Figure 22. In some embodiments, the communication device 10 may also include more or fewer components than shown in Figure 22, or combine some components, or split some components, or have different component arrangements, etc. Alternatively, some components shown in Figure 22 may be implemented in hardware, software, or a combination of software and hardware, and the terminal device and / or network device may add or reduce components based on the structure given in Figure 22.

[0306] Figure 23 is a schematic block diagram of the communication device 20 provided in an embodiment of this application.

[0307] As shown in Figure 23, the communication device 20 may include a baseband unit 210, which can communicate with external devices through a cellular RF transceiver 220 (e.g., if the communication device 20 is a terminal device, the baseband unit 210 can communicate with access network devices through the cellular RF transceiver 220; or, if the communication device 20 is an access network device, the baseband unit 210 can communicate with terminal devices and / or core network devices through the cellular RF transceiver 220).

[0308] Baseband unit 210 may include computer-readable medium / memory. Baseband unit 210 is responsible for general processing, including the execution of software stored on the computer-readable medium / memory. When executed by baseband unit 304, the software causes baseband unit 210 to perform the various functions described above. The computer-readable medium / memory may also be used to store data manipulated by baseband unit 210 during software execution.

[0309] The baseband unit 210 further includes a receiving unit 201, a management unit 202, and a transmitting unit 203. The management unit 202 includes one or more sub-units shown in FIG. 23 (e.g., an encoding sub-unit and a decoding sub-unit), wherein the encoding sub-unit can be used for generating compressed information in the above method embodiments, and the signal decoding sub-unit can be used for decoding compressed information in the above method embodiments. The units within the management unit 201 can be stored in a computer-readable medium / memory and / or configured as hardware within the baseband unit 210. The receiving unit 201 and the transmitting unit 203 can be referred to as transceiver units.

[0310] When the communication device 20 is used to implement the function of the first communication device in the above method embodiments, the receiving unit 201 is used to execute the receiving step of the first communication device, the sending unit 203 is used to execute the sending step of the first communication device, and the management unit 202 is used to execute the processing step of the first communication device.

[0311] For example, when the communication device 20 is used to implement the functions of the first communication device in the above method embodiments, the management unit 202 is used to generate compressed information of the first data. The sending unit 203 is used to send the compressed information to the second communication device. The compressed information includes information about a first object, which is an object in a first grid diagram. The first grid diagram corresponds to the first data. The information about the first object includes type information of the first object and coordinate information of the grid reference point corresponding to the first object. The type information of the first object indicates the type of the first object.

[0312] For example, when the device 20 is used to execute the method in FIG3, the receiving unit 201 can be used to execute the step of receiving information in the method; the sending unit 203 can be used to execute the step of sending information in the method, such as S320; the management unit 202 can be used to execute the processing step in the method, such as S310.

[0313] When the communication device 20 is used to implement the function of the second communication device in the above method embodiments, the receiving unit 201 is used to execute the receiving step of the second communication device, the sending unit 203 is used to execute the sending step of the second communication device, and the management unit 202 is used to execute the processing step of the second communication device.

[0314] For example, when the communication device 20 is used to implement the functions of the second communication device in the above-described method embodiments, the receiving unit 201 is used to receive compressed information from the first communication device, the compressed information including information about a first object, the first object being an object in a first grid diagram, the first grid diagram corresponding to the first data. The management unit 202 is used to reconstruct the first data according to the compressed information, wherein the information about the first object includes type information about the first object and coordinate information of the grid reference point corresponding to the first object, the type information of the first object indicating the type of the first object.

[0315] For example, when the device 20 is used to execute the method in FIG3, the receiving unit 201 can be used to execute the step of receiving information in the method, such as step S320; the sending unit 203 can be used to execute the step of sending information in the method; and the management unit 202 can be used to execute the processing step in the method, such as step S330.

[0316] For a more detailed description of the receiving unit 201, management unit 202 and sending unit 203, please refer to the relevant descriptions in the above method embodiments, which will not be repeated here.

[0317] As can be seen from the foregoing description of the communication device shown in Figure 22, the communication device may include a chip system. Unless otherwise specified, the term "second communication device" may refer to the second communication device itself, or it may refer to a device that enables the first communication device to perform its functions. Optionally, the second communication device may be an access network device; or, the second communication device may be a chip system within an access network device.

[0318] Furthermore, unless otherwise specified, the term "first communication device" may refer to the first communication device itself or to a device that enables the first communication device to perform its functions. Optionally, the first communication device may be a terminal device; or, the first communication device may be a chip system within a terminal device.

[0319] By way of example and not limitation, the chip system in this application is shown in Figure 24, which is a schematic block diagram of the chip system 30 provided in an embodiment of this application. The chip system includes, but is not limited to, a modem chip, also known as a baseband chip, or a system-on-chip (SoC) chip or a system-in-package (SIP) chip containing a modem core.

[0320] As can be seen from Figure 24, the chip system (or processing system) includes a processor 310, a memory 320, and an input / output interface 330.

[0321] The processor 310 can be a processing circuit in the chip system (including at least one processor, such as processor 1 and processor 2 as shown in FIG. 24). The processor 310 can be coupled to the memory 320 to call the instructions in the memory 320, so that the chip system can implement the methods and functions of the various embodiments of this application. The input / output interface 330 can be an input / output circuit in the chip system, which outputs the information processed by the chip system, or inputs the data or signaling information to be processed into the chip system for processing.

[0322] As one approach, the chip system is used to implement the operations performed by the first or second communication device in the various method embodiments described above.

[0323] For example, processor 310 is used to implement the processing-related operations performed by the first communication device or the second communication device in the above method embodiments. Specifically, refer to the description in the foregoing embodiments and execute steps S310 or S330 as shown in FIG3. Input / output interface 330 is used to implement the sending and / or receiving-related operations performed by the first communication device or the second communication device in the above method embodiments. Specifically, refer to the description in the foregoing embodiments and execute step S320 as shown in FIG3.

[0324] As an example and not a limitation, the chip system in this application is shown in FIG25, which is a schematic block diagram of the chip system 40 provided in an embodiment of this application.

[0325] As shown in Figure 25, the chip system (or processing system) includes an input / output interface 410 and logic circuitry 420. The input / output interface 410 can be an input / output circuit within the chip system, outputting processed information or inputting data or signaling information to be processed. Specifically, it can be referred to the description in the preceding embodiments, executing, for example, step S320 as shown in Figure 3. The logic circuitry 420 is used to execute the aforementioned communication method, specifically referring to the description in the preceding embodiments, executing, for example, steps S310 or S330 as shown in Figure 3.

[0326] As one approach, the chip system is used to implement the operations performed by the first or second communication device in the various method embodiments described above.

[0327] For example, logic circuit 420 is used to implement processing-related operations performed by the first communication device or the second communication device in the above method embodiments; input / output interface 410 is used to implement sending and / or receiving-related operations performed by the first communication device or the second communication device in the above method embodiments.

[0328] This application also provides a computer-readable storage medium storing computer instructions for implementing the methods executed by the device in the above-described method embodiments.

[0329] For example, when the computer program is executed by a computer, it enables the computer to implement the methods executed by the terminal device or network device in the various embodiments of the above methods.

[0330] This application also provides a computer program product comprising instructions that, when executed by a computer, implement the methods performed by a terminal device or network device in the above-described method embodiments.

[0331] This application also provides a communication system, including the aforementioned terminal device and network device.

[0332] The explanations and beneficial effects of the relevant contents in any of the devices provided above can be found in the corresponding method embodiments provided above, and will not be repeated here.

[0333] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0334] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0335] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0336] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0337] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0338] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A communication method characterized by comprising: The method is applied to a first communication device, and the method comprises: generating compression information of first data; sending the compression information to a second communication device, wherein the compression information comprises information of a first object, and the first object is an object in a first mesh graph corresponding to the first data, wherein the information of the first object comprises type information of the first object and coordinate information of a mesh reference point corresponding to the first object, and the type information of the first object indicates a type of the first object.

2. The method of claim 1, wherein, The type of the first object comprises a first type or a second type, the object of the first type is an object of a closed shape, and the object of the second type is an object of a non-closed shape.

3. The method according to claim 1 or 2, characterized in that, If the mesh reference point corresponding to the first object is one mesh reference point, the coordinate information of the mesh reference point is original coordinate data of the mesh reference point in the first mesh graph. If the mesh reference point corresponding to the first object is a plurality of mesh reference points, the coordinate information of a first mesh reference point in the plurality of mesh reference points comprises any one of the following: original coordinate data of the first mesh reference point in the first mesh graph, difference coordinate data between the original coordinate data of the first mesh reference point in the first mesh graph and original coordinate data of a second mesh reference point in the first mesh graph, or difference coordinate data between the original coordinate data of the first mesh reference point in the first mesh graph and original coordinate data of a third mesh reference point in the first mesh graph, wherein the second mesh reference point is a vertex adjacent to the first mesh reference point in the plurality of mesh reference points, and the third mesh reference point is a control reference point in the plurality of mesh reference points, and the coordinate information of the control reference point is original coordinate data of the control reference point in the first mesh graph.

4. The method according to any one of claims 1 to 3, characterized in that, The type information of the first object is contained in first indication information in the compression information, the first indication information is used to indicate a number M1 of objects of the first type and / or a number M2 of objects of the second type; or the first indication information is used to indicate a total number M of objects and a type of each object. wherein M, M1 and M2 are positive integers, and the first object is one of the M1, M2 or M objects.

5. The method according to any one of claims 1 to 4, characterized in that, The compression information further comprises information of a second object, and the information of the second object comprises coordinate information of a mesh reference point corresponding to the second object, wherein the compression information comprises a first field and a second field, the first field carries the coordinate information of the mesh reference point corresponding to the first object, and the second field carries the coordinate information of the mesh reference point of the second object.

6. The method according to any one of claims 1 to 4, characterized in that, The information of the first object further comprises number information of the mesh reference point corresponding to the first object, the compression information further comprises information of a second object, and the information of the second object comprises coordinate information and number information of a mesh reference point corresponding to the second object, The compression information includes a first field and a second field. The first field carries quantity information of a grid reference point corresponding to the first object and quantity information of a grid reference point corresponding to the second object. The second field carries coordinate information of the grid reference point of the first object and coordinate information of the grid reference point corresponding to the second object.

7. The method according to any one of claims 1 to 6, characterized in that, The compression information further includes second indication information, which is used to indicate the size of the first grid map.

8. The method according to any one of claims 1 to 7, characterized in that, If the first grid map is a two-dimensional (2D) grid map, the first grid map represents the first data by using a bitmap with a first value and a second value. The method of generating the compression information of the first data includes the following steps. At least one object is determined according to a part of the first grid map with the first value. The first object is one of the at least one object. The type of the first object is determined according to the shape of the first object. The coordinate information of the grid reference point corresponding to the first object is determined. The compression information is generated according to the type of the first object and the coordinate information of the grid reference point corresponding to the first object.

9. The method according to any one of claims 1 to 7, characterized in that, If the first grid map is a three-dimensional (3D) grid map, the method further includes the following steps. A plurality of two-dimensional (2D) first sub-grid maps are determined based on the first grid map. The first object is an object in any one of the plurality of 2D first sub-grid maps. Alternatively, the plurality of 2D first sub-grid maps form a 2D second grid map, and the first object is an object in the 2D second grid map.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes the following steps. First configuration information is sent to a second communication device. The first configuration information is used to configure the compression mode of the first data.

11. A communication method, comprising: The method applied to a second communication device includes the following steps. Compression information is received from a first communication device. The compression information includes information of a first object. The first object is an object in a first grid map. The first grid map corresponds to first data. The first data is reconstructed according to the compression information. The information of the first object includes the following information. The type information of the first object and the coordinate information of the grid reference point corresponding to the first object. The type information of the first object indicates the type of the first object.

12. The method of claim 11, wherein, The type of the first object includes a first type or a second type. The object of the first type is an object with a closed shape. The object of the second type is an object with an unclosed shape.

13. The method according to claim 11 or 12, characterized in that, The reconstruction of the first data according to the compression information includes the following steps. The coordinate information of the grid reference point corresponding to the first object is determined according to the compression information. The first object is obtained according to the coordinate information of the grid reference point corresponding to the first object and the type information of the first object. The first data is reconstructed based on the first object.

14. The method of claim 13, wherein, If the first object is an object of the first type, the first object is obtained according to the coordinate information of the grid reference point corresponding to the first object and the type information of the first object. determining the grid reference point corresponding to the first object according to the coordinate information of the grid reference point corresponding to the first object, connecting the grid reference points corresponding to the first object in sequence, and connecting the first and last vertices to obtain the first object; if the first object is a second type of object, the obtaining the first object according to the coordinate information of the grid reference point corresponding to the first object and the type information of the first object comprises: determining the grid reference point corresponding to the first object according to the coordinate information of the grid reference point corresponding to the first object, and connecting the grid reference points corresponding to the first object in sequence to obtain the first object; if the first object is a first type of object and the first object is composed of a plurality of sub-objects, the obtaining the first object according to the coordinate information of the grid reference point corresponding to the first object and the type information of the first object comprises: determining the grid reference point corresponding to each of the plurality of sub-objects according to the coordinate information of the grid reference point corresponding to the first object, connecting the grid reference points corresponding to each of the plurality of sub-objects in sequence, and connecting the first and last vertices, and obtaining the first object according to the positional relationship and / or size relationship of the plurality of sub-objects.

15. The method according to any one of claims 11 to 14, characterized in that, if the grid reference point corresponding to the first object is one grid reference point, the coordinate information of the grid reference point is the original coordinate data of the grid reference point in the first grid map; if the grid reference point corresponding to the first object is a plurality of grid reference points, the coordinate information of a first grid reference point in the plurality of grid reference points comprises any one of: the original coordinate data of the first grid reference point in the first grid map, difference coordinate data between the original coordinate data of the first grid reference point in the first grid map and the original coordinate data of a second grid reference point in the first grid map, or difference coordinate data between the original coordinate data of the first grid reference point in the first grid map and the original coordinate data of a third grid reference point in the first grid map, wherein the second grid reference point is a vertex adjacent to the first grid reference point in the plurality of grid reference points, and the third grid reference point is a control reference point in the plurality of grid reference points, and the coordinate information of the control reference point is the original coordinate data of the control reference point in the first grid map.

16. The method according to any one of claims 11 to 15, characterized in that, the type information of the first object is contained in first indication information in the compressed information, the first indication information is used to indicate the number M1 of objects of the first type and / or the number M2 of objects of the second type; or the first indication information is used to indicate the total number M of objects and the type of each object, wherein M, M1, and M2 are positive integers, and the first object is one of the M1, M2, or M objects.

17. The method according to any one of claims 11 to 16, characterized in that, the compressed information further comprises information of a second object, and the information of the second object comprises type information of the second object and coordinate information of a grid reference point corresponding to the second object, The compressed information includes a first field and a second field, the first field carries coordinate information of the grid reference point corresponding to the first object, and the second field carries coordinate information of the grid reference point of the second object.

18. The method according to any one of claims 11 to 16, characterized in that, The information of the first object further includes quantity information of the grid reference point corresponding to the first object, and the compressed information further includes information of the second object, the information of the second object including coordinate information and quantity information of the grid reference point corresponding to the second object, The compressed information includes a first field and a second field, the first field carries quantity information of the grid reference point corresponding to the first object and quantity information of the grid reference point corresponding to the second object, and the second field carries coordinate information of the grid reference point of the first object and coordinate information of the grid reference point corresponding to the second object.

19. The method according to any one of claims 11 to 18, characterized in that, The compressed information further includes second indication information, and the second indication information is used to indicate the size of the first grid map.

20. The method of any one of claims 11 to 19, wherein, The method further includes: receiving first configuration information from the first communication device, the first configuration information being used to configure the compression mode of the first data.

21. A communications device, characterized by The communication device includes at least one processor, the at least one processor is used to execute computer programs or instructions, so that the method as claimed in any one of claims 1 to 10 is executed; or, so that the method as claimed in any one of claims 14 to 20 is executed.

22. The communication device according to claim 21, wherein, The communication device further includes a memory, the memory is used to store the computer programs or instructions; and / or, The communication device further includes a communication interface, the communication interface is coupled with the at least one processor, and the communication interface is used to input and / or output information.

23. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer programs or instructions, when the computer programs or instructions are run on a computer, so that the method as claimed in any one of claims 1 to 20 is executed.

24. A chip system, characterized by The computer readable storage medium includes a processor, the processor is used to call and run computer programs from the memory, so that the method as claimed in any one of claims 1 to 20 is executed.

25. A computer program product, characterised in that, When the computer program product is run on a computer, so that the method as claimed in any one of claims 1 to 20 is executed.

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