Communication method and apparatus

Abstract

A communication method and apparatus, which can reduce the feedback delay of sensing information. The method comprises: an apparatus, which obtains sensing information, performing M-level discrete wavelet transform on the sensing information to obtain a first sensing information codebook, and sending the first sensing information codebook to a network, such that the network can reconstruct the sensing information on the basis of the first sensing information codebook, wherein the sensing information comprises sensing data at each position point in a sensing space; the first sensing information codebook comprises an Mth-level scale coefficient codebook and N first wavelet coefficient codebooks; a wavelet coefficient in the first wavelet coefficient codebooks is greater than or equal to a first threshold value, or a decomposition level corresponding to a wavelet coefficient in the first wavelet coefficient codebooks is higher than or equal to a first decomposition level; and the first decomposition level is greater than or equal to 1 and less than or equal to M, M being a positive integer greater than or equal to 1, and N being a positive integer less than M.

Description

Communication method and apparatus

[0001] The present application claims priority from the Chinese patent application No. 202411050482.1 filed on July 31, 2024, and entitled "Communication method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the field of communication, in particular to a communication method and apparatus. BACKGROUND

[0003] The sensing mode is generally divided into single-station sensing and double-station sensing. In the single-station sensing mode, the sending end and the receiving end of the sensing signal are the same device; in the double-station sensing mode, the sending end and the receiving end of the sensing signal are two different devices. In a communication and sensing integrated system, the sending end of the sensing signal can be a terminal or a base station, and the receiving end of the sensing signal can also be a terminal or a base station.

[0004] In the case of a terminal as the receiving end of the sensing signal, it can be necessary to feed back the sensing information obtained based on the sensing signal to the base station. At present, one feedback mode of the sensing information is to divide the sensing space into a plurality of position grids, and the sensing information fed back by the terminal includes the position index of each position grid and the power value of each position grid, wherein the power value of each position point is quantized using a plurality of bits.

[0005] In order to improve the imaging resolution and accuracy, the division granularity of the above position grid is small (for example, reaching decimeter level), the number of quantization bits of the power value is high, and the bit amount of the sensing information usually exceeds gigabit, so that under a certain transmission bandwidth, the feedback delay of the sensing information is high. SUMMARY

[0006] The present application provides a communication method and apparatus, which can reduce the feedback delay of the sensing information.

[0007] In a first aspect, a communication method is provided. The method can be performed by a first communication device, or by a component of the first communication device, such as a processor, a chip, or a chip system of the first communication device, or by a logic module or software that can implement all or part of the functions of the first communication device. The method includes obtaining sensing information, the sensing information including sensing data of each location point in a sensing space; determining a first sensing information codebook, and sending the first sensing information codebook. The first sensing information codebook is obtained by performing M-level discrete wavelet transform on the sensing information. The first sensing information codebook includes an Mth-level scale coefficient codebook and N first wavelet coefficient codebooks. The wavelet coefficients in the first wavelet coefficient codebooks are greater than or equal to a first threshold, or the wavelet coefficients in the first wavelet coefficient codebooks correspond to a decomposition level that is higher than or equal to a first decomposition level. The first decomposition level is greater than or equal to 1 and less than or equal to M, M is a positive integer greater than or equal to 1, and N is a positive integer less than M.

[0008] Based on the scheme, the sensing information including the sensing data of all location points in the sensing space is subjected to M-level discrete wavelet transform to obtain a first sensing information codebook, and the first sensing information codebook is fed back. The first sensing information codebook includes wavelet coefficients in the N first wavelet coefficient codebooks that are greater than or equal to a first threshold, or correspond to a decomposition level that is higher than or equal to a first decomposition level. That is, the first wavelet coefficient codebook includes part of the wavelet coefficients obtained after the discrete wavelet transform, thus reducing the amount of data fed back, and further reducing the feedback delay under a certain transmission bandwidth.

[0009] In addition, the wavelet coefficients with larger coefficient values or higher decomposition levels are more important for the recovery of the sensing information, and the wavelet coefficients with smaller coefficient values or lower decomposition levels have less impact on the recovery of the sensing information. Therefore, feeding back the wavelet coefficients with larger coefficient values or higher decomposition levels, and not feeding back the wavelet coefficients with smaller coefficient values or lower decomposition levels, can reduce the feedback delay and the feedback overhead while not affecting the recovery of the sensing information, thus ensuring the sensing performance.

[0010] In a possible design, the method further includes sending a second sensing information codebook, the second sensing information codebook including K second wavelet coefficient codebooks, K being a positive integer less than M. The second sensing information codebook is obtained by performing M-level discrete wavelet transform on the sensing information. The wavelet coefficients in the second wavelet coefficient codebooks are less than or equal to the first threshold, or correspond to a decomposition level that is lower than or equal to the first decomposition level.

[0011] Based on the possible design, the second sensing information codebook is further transmitted based on the first sensing information codebook, so that the receiving end combines the first sensing information codebook and the second sensing information codebook to recover the sensing information, improves the accuracy of the sensing information, and thus improves the sensing performance.

[0012] In a possible design, the first sensing information codebook is transmitted, including: transmitting the first sensing information codebook through a first channel; and the second sensing information codebook is transmitted, including: transmitting the second sensing information codebook through a second channel. The first channel is a control channel, and the second channel is a data channel; or the first channel is a first bearer, and the second channel is a second bearer, and the priority of the first bearer is higher than the priority of the second bearer.

[0013] Based on the possible design, the first sensing information codebook is transmitted based on the control channel with higher reliability or the bearer with higher priority, so that the transmission reliability of the first sensing information codebook is improved or the transmission delay of the first sensing information codebook is reduced, and thus the feedback delay of the sensing information is reduced.

[0014] In a possible design, the method further includes: receiving first information, the first information being used for scheduling the second sensing information codebook.

[0015] In a possible design, the M-level discrete wavelet transform on the sensing information further obtains a second sensing information codebook; and the method further includes: receiving second information, the second information being used for indicating that the second sensing information codebook does not need to be transmitted; and the second sensing information codebook includes K second wavelet coefficient codebooks, K being a positive integer less than M. The wavelet coefficients in the second wavelet coefficient codebooks are less than or equal to a first threshold, or the decomposition levels corresponding to the wavelet coefficients in the second wavelet coefficient codebooks are lower than or equal to a first decomposition level.

[0016] Based on the above two possible designs, the second sensing information codebook can be scheduled or not scheduled by the receiving end, improving the flexibility of sensing information feedback. In addition, in the case of scheduling the second sensing information codebook, the accuracy of the recovered sensing information at the receiving end can be improved, and the sensing performance can be improved. In the case of not scheduling the second sensing information codebook, the transmission overhead can be saved.

[0017] In a possible design, the M-level discrete wavelet transform on the sensing information further obtains a second sensing information codebook; and the method further includes: discarding the second sensing information codebook; or not transmitting the second sensing information codebook. The second sensing information codebook includes K second wavelet coefficient codebooks, the decomposition levels corresponding to the wavelet coefficients in the second wavelet coefficient codebooks are lower than or equal to a first decomposition level, and K is a positive integer less than M.

[0018] In a second aspect, a communication method is provided. The method can be performed by a second communication device, or by a component of the second communication device, such as a processor, a chip, or a chip system of the second communication device, or by a logic module or software that can implement all or part of the function of the second communication device. The method includes receiving a first sensing information codebook, and determining sensing information, the sensing information being obtained by inverse discrete wavelet transform on the first sensing information codebook, and the sensing information including sensing data of each location point in a sensing space. The first sensing information codebook includes an Mth level scale coefficient codebook and N first wavelet coefficient codebooks. The wavelet coefficients in the first wavelet coefficient codebooks are greater than or equal to a first threshold, or the wavelet coefficients in the first wavelet coefficient codebooks correspond to a decomposition level higher than or equal to a first decomposition level, the first decomposition level is greater than or equal to 1 and less than or equal to M, M is a positive integer greater than or equal to 1, and N is a positive integer less than M. The second aspect can bring the technical effects as described above with respect to the first aspect, which will not be repeated here.

[0019] In a possible design, the method further includes receiving a second sensing information codebook, the second sensing information codebook including K second wavelet coefficient codebooks. The wavelet coefficients in the second wavelet coefficient codebooks are less than or equal to the first threshold, or the wavelet coefficients in the second wavelet coefficient codebooks correspond to a decomposition level lower than or equal to the first decomposition level, and K is a positive integer less than M. The sensing information is obtained by inverse discrete wavelet transform on the first sensing information codebook and the second sensing information codebook.

[0020] In a possible design, the method further includes sending first information, the first information being used for scheduling the second sensing information codebook.

[0021] In a possible design, the receiving of the first sensing information codebook includes receiving the first sensing information codebook through a first channel, and the receiving of the second sensing information codebook includes receiving the second sensing information codebook through a second channel. The first channel is a control channel, and the second channel is a data channel. Alternatively, the first channel is a first bearer, and the second channel is a second bearer, and a priority of the first bearer is higher than a priority of the second bearer.

[0022] In a possible design, the method further includes sending second information, the second information being used for indicating that the second sensing information codebook does not need to be sent, the second sensing information codebook including K second wavelet coefficient codebooks, and K being a positive integer less than M. The wavelet coefficients in the second wavelet coefficient codebooks are less than or equal to the first threshold, or the wavelet coefficients in the second wavelet coefficient codebooks correspond to a decomposition level lower than or equal to the first decomposition level.

[0023] Any possible design of the second aspect brings about the technical effects as described above with reference to the corresponding design of the first aspect, which will not be repeated here.

[0024] In a third aspect, a communication method is provided. The method can be performed by a first communication device, or by a component of the first communication device, such as a processor, a chip, or a chip system of the first communication device, or by a logic module or software that can realize all or part of the functions of the first communication device. The method comprises: obtaining perception information, the perception information comprising perception data of each position point in a perception space; determining a first perception information codebook and a second perception information codebook, the first perception information codebook and the second perception information codebook being obtained by performing M-level discrete wavelet transform on the perception information; the first perception information codebook comprising an Mth-level scale coefficient codebook and N first wavelet coefficient codebooks, the second perception information codebook comprising K second wavelet coefficient codebooks, the priority of the first wavelet coefficient codebooks being higher than the priority of the second wavelet coefficient codebooks; M being a positive integer greater than or equal to 1, N and K being positive integers less than or equal to M; transmitting the first perception information codebook through a first channel and transmitting the second perception information codebook through a second channel. In an embodiment, the first channel is a control channel and the second channel is a data channel. In another embodiment, the first channel is a first bearer and the second channel is a second bearer, the priority of the first bearer being higher than the priority of the second bearer.

[0025] Based on the scheme, the first communication device performs M-level discrete wavelet transform on the perception information comprising the perception data of all position points in the perception space, obtains the first perception information codebook and the second perception information codebook, and reports the Mth-level scale coefficient codebook and the first wavelet coefficient codebooks of high priority through a control channel or a high-priority bearer, and reports the second wavelet coefficient of low priority through a data channel or a low-priority bearer. This ensures the priority transmission of the high-priority codebook, so that the receiving end can receive the high-priority codebook in time, and thus restore the perception information based on the high-priority codebook in time. In the case where the perception information restored based on the high-priority codebook meets the accuracy requirement, there is no need to wait for the reception of the low-priority codebook, i.e., the perception information can be restored without receiving all the perception information codebooks, thereby reducing the feedback delay of the perception information. In addition, since the low-priority codebook has little or even negligible effect on the restoration of the perception information, the perception information restored based on the high-priority codebook usually meets the accuracy requirement, i.e., the feedback delay is reduced without affecting the restoration of the perception information.

[0026] In a possible design, when N, K and M are equal, the jth first wavelet coefficient codebook in the M first wavelet coefficient codebooks and the jth second wavelet coefficient codebook in the M second wavelet coefficient codebooks correspond to the jth level of the discrete wavelet transform, j = 1, 2, …, M. The wavelet coefficients in the jth first wavelet coefficient codebook are greater than or equal to the first threshold, and the wavelet coefficients in the jth second wavelet coefficient codebook are less than the first threshold.

[0027] Based on this possible design, since the wavelet coefficients with larger coefficient values are more important for the recovery of the perceptual information, and the wavelet coefficients with smaller coefficient values have less impact on the recovery of the perceptual information, preferentially transmitting the wavelet coefficients with larger coefficient values can reduce the feedback delay and the feedback overhead while not affecting the recovery of the perceptual information, thereby guaranteeing the perceptual performance.

[0028] In a possible design, the first threshold includes M sub-thresholds. The wavelet coefficients in the jth first wavelet coefficient codebook are greater than or equal to the jth sub-threshold in the M sub-thresholds, and the wavelet coefficients in the jth second wavelet coefficient codebook are less than the jth sub-threshold in the M sub-thresholds.

[0029] Based on this possible design, different thresholds can be set for different levels of the discrete wavelet transform, improving the flexibility and accuracy of the feedback of the perceptual information.

[0030] In a possible design, the first threshold is determined according to a target compression rate of the perceptual information.

[0031] In a possible design, the first threshold is a first wavelet coefficient, which is a wavelet coefficient at a quantile corresponding to the target compression rate after all wavelet coefficients obtained after the M-level discrete wavelet transform are arranged in ascending order.

[0032] In a possible design, the wavelet coefficients in the first wavelet coefficient codebook correspond to a decomposition level higher than or equal to a first decomposition level, and the wavelet coefficients in the second wavelet coefficient codebook correspond to a decomposition level lower than the first decomposition level. The first decomposition level is greater than or equal to 1 and less than or equal to M.

[0033] Based on this possible design, the wavelet coefficients with higher decomposition levels are more important for the recovery of the perceptual information, and the wavelet coefficients with lower decomposition levels have less impact on the recovery of the perceptual information. Therefore, preferentially transmitting the wavelet coefficients with higher decomposition levels can reduce the feedback delay and the feedback overhead while not affecting the recovery of the perceptual information, thereby guaranteeing the perceptual performance.

[0034] In a fourth aspect, a communication method is provided. The method can be performed by a second communication device, or by a component of the second communication device, such as a processor, a chip, or a chip system of the second communication device, or by a logic module or software that can implement all or part of the function of the second communication device. The method includes receiving a first sensing information codebook through a first channel and receiving a second sensing information codebook through a second channel. The first channel is a control channel, and the second channel is a data channel. Alternatively, the first channel is a first bearer, and the second channel is a second bearer. The priority of the first bearer is higher than the priority of the second bearer. The method further includes determining sensing information. The sensing information is obtained by performing inverse discrete wavelet transform on the first sensing information codebook, or the sensing information is obtained by performing inverse discrete wavelet transform on the first sensing information codebook and the second sensing information codebook. The sensing information includes sensing data of each position point in a sensing space. The first sensing information codebook includes an Mth level scale coefficient codebook and N first wavelet coefficient codebooks. The second sensing information codebook includes K second wavelet coefficient codebooks. The priority of the first wavelet coefficient codebook is higher than the priority of the second wavelet coefficient codebook. M is a positive integer greater than or equal to 1. N and K are positive integers less than or equal to M. The technical effects brought by the fourth aspect can refer to the technical effects brought by the second aspect, which will not be repeated here.

[0035] In a possible design, N and K are equal to M. The jth first wavelet coefficient codebook in the M first wavelet coefficient codebooks and the jth second wavelet coefficient codebook in the M second wavelet coefficient codebooks correspond to a jth level discrete wavelet transform, where j = 1, 2, …, M. The wavelet coefficients in the jth first wavelet coefficient codebook are greater than or equal to a first threshold value, and the wavelet coefficients in the jth second wavelet coefficient codebook are less than the first threshold value.

[0036] In a possible design, the first threshold value includes M sub-threshold values. The wavelet coefficients in the jth first wavelet coefficient codebook are greater than or equal to the jth sub-threshold value in the M sub-threshold values, and the wavelet coefficients in the jth second wavelet coefficient codebook are less than the jth sub-threshold value in the M sub-threshold values.

[0037] In a possible design, the first threshold value is determined according to a target compression rate of the sensing information.

[0038] In a possible design, the first threshold value is a first wavelet coefficient. The first wavelet coefficient is a wavelet coefficient located at a quantile point corresponding to the target compression rate.

[0039] In a possible design, the wavelet coefficients in the first wavelet coefficient codebook correspond to a decomposition level higher than or equal to a first decomposition level, and the wavelet coefficients in the second wavelet coefficient codebook correspond to a decomposition level lower than the first decomposition level. The first decomposition level is greater than or equal to 1 and less than or equal to M.

[0040] Any design of the fourth aspect can bring the technical effects as described in the corresponding design of the third aspect, which will not be repeated here.

[0041] In a fifth aspect, a communication apparatus is provided, which can implement various methods. The communication apparatus includes modules, units, or means corresponding to the methods, and the modules, units, or means can be implemented in hardware, software, or by an appropriate combination thereof. The hardware or software includes one or more modules or units corresponding to the functions.

[0042] In some possible designs of the aspect, the communication apparatus can include a processing module and a transceiver module. The processing module can be configured to implement the processing functions in any of the aspects and any possible implementation thereof. The transceiver module can include a receiving module and a transmitting module, which are configured to implement the receiving function and the transmitting function in any of the aspects and any possible implementation thereof.

[0043] In some possible designs of the aspect, the transceiver module can be composed of a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0044] In a sixth aspect, a communication apparatus is provided, which includes a processor and a memory. The memory is configured to store computer instructions, and the processor is configured to execute the instructions, so that the communication apparatus performs the methods in any of the aspects and any possible design thereof.

[0045] In a seventh aspect, a communication apparatus is provided, which includes a processor and a communication interface. The communication interface is configured to communicate with modules outside the communication apparatus. The processor is configured to execute computer programs or instructions, so that the communication apparatus performs the methods in any of the aspects and any possible design thereof.

[0046] In an eighth aspect, a communication apparatus is provided, which includes at least one processor. The processor is configured to execute computer programs or instructions stored in a memory, so that the communication apparatus performs the methods in any of the aspects and any possible design thereof. The memory can be coupled with the processor, or can be independent of the processor.

[0047] In a ninth aspect, a communication apparatus (for example, the communication apparatus can be a chip or a chip system) is provided, which includes a processor configured to implement the functions in any of the aspects and any possible design thereof.

[0048] In some possible designs of the aspect, the communication apparatus includes a memory configured to store necessary program instructions and data.

[0049] In some possible design, the apparatus is a chip system, which can be composed of a chip or can include a chip and other discrete devices.

[0050] The communication apparatus in the fifth aspect to the ninth aspect can be the first communication apparatus in the first aspect or the third aspect, or an apparatus included in the first communication apparatus, such as a chip or a chip system; or the communication apparatus can be the second communication apparatus in the second aspect or the fourth aspect, or an apparatus included in the second communication apparatus, such as a chip or a chip system.

[0051] The communication apparatus in the tenth aspect can be the first communication apparatus, or a module or unit (for example, a chip, or a chip system, or a circuit) that is one-to-one correspondence of the first communication apparatus performing the method / operation / step / action described in the first aspect or the third aspect, or a module or unit that can be matched with the first communication apparatus; or the communication apparatus can be the second communication apparatus, or a module or unit (for example, a chip, or a chip system, or a circuit) that is one-to-one correspondence of the second communication apparatus performing the method / operation / step / action described in the second aspect or the fourth aspect, or a module or unit that can be matched with the second communication apparatus.

[0052] It can be understood that, when the communication apparatus in any one of the fifth aspect to the tenth aspect is a chip, the sending action / function of the communication apparatus can be understood as outputting information, and the receiving action / function of the communication apparatus can be understood as inputting information.

[0053] The computer readable storage medium in the eleventh aspect stores a computer program or instructions, which, when executed on the communication apparatus, causes the communication apparatus to perform the method in any one of the aspects and any possible design thereof.

[0054] The computer program product in the twelfth aspect includes instructions, which, when executed on the communication apparatus, causes the communication apparatus to perform the method in any one of the aspects and any possible design thereof.

[0055] The communication system in the thirteenth aspect includes the first communication apparatus and the second communication apparatus. The first communication apparatus is configured to implement the method in the first aspect and any possible design thereof, and the second communication apparatus is configured to implement the method in the second aspect and any possible design thereof; or the first communication apparatus is configured to implement the method in the third aspect and any possible design thereof, and the second communication apparatus is configured to implement the method in the fourth aspect and any possible design thereof.

[0056] The technical effects brought by any one of the designs in the fifth aspect to the thirteenth aspect can refer to the technical effects brought by different designs in the first aspect or the third aspect, which will not be described herein again. BRIEF DESCRIPTION OF DRAWINGS

[0057] FIG. 1 is a schematic diagram of a perception scene provided by an embodiment of the present application;

[0058] FIG. 2 is a flow diagram of a UE-assisted perception imaging technology based on base station sending and terminal receiving provided by an embodiment of the present application;

[0059] FIG. 3 is a schematic diagram of division of a perception space provided by an embodiment of the present application;

[0060] FIGS. 4-6 are schematic diagrams of structures of communication systems provided by embodiments of the present application;

[0061] FIGS. 7-9 are flow diagrams of communication methods provided by embodiments of the present application;

[0062] FIGS. 10-12 are schematic diagrams of structures of communication apparatuses provided by embodiments of the present application;

[0063] FIG. 13 is a schematic diagram of a structure of a processor provided by an embodiment of the present application. DETAILED DESCRIPTION

[0064] In the description of the present application, unless otherwise specified, “ / ” represents that the objects before and after the “ / ” are in an “or” relationship, for example, A / B can represent A or B; “and / or” in the present application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A alone, A and B together, B alone, where A and B can be singular or plural.

[0065] In the description of the present application, unless otherwise specified, “multiple” means two or more than two. “At least one of the following” or the like means any combination of the items, including any combination of single item (s) or multiple items (s). For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0066] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the same items or similar items with basically the same functions and effects are distinguished by using “first”, “second”, etc. The skilled in the art can understand that “first”, “second”, etc. do not limit the quantity and execution order, and “first”, “second”, etc. also do not necessarily mean different.

[0067] In the present embodiments, the word "exemplary" or "for example" is used to mean "an example of" rather than "an example that is preferred" or "an example that is the best". Thus, use of any of these terms is not intended to teach that a process, implementation, composition, or tool described in connection with the term is, for example, preferred, preferred, or essential to the practice of the application.

[0068] It can be understood that, throughout the specification, the term "embodiment" mentioned in the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It can be understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0069] It can be understood that in the present application, "when" and "if" refer to the corresponding processing under certain objective conditions, not the time limit, and do not require judgment action when implementing, nor mean that there are other limitations.

[0070] It can be understood that some optional features in the embodiments of the present application can be implemented independently in some scenarios without relying on other features, such as the scheme currently based on, to solve the corresponding technical problems and achieve the corresponding effects. In some scenarios, it can also be combined with other features according to demand. Correspondingly, the device given in the embodiments of the present application can also realize these features or functions, which will not be described here.

[0071] In the present application, the same or similar parts of each embodiment can be mutually referred to, unless otherwise specified. In various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be mutually referred to, unless otherwise specified and logically conflicting. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship. The following description of the embodiments of the present application does not constitute a limitation on the scope of protection of the present application.

[0072] In order to facilitate the understanding of the technical scheme of the embodiments of the present application, first, a brief introduction of the related technology of the present application is given as follows.

[0073] 1. Wireless communication:

[0074] In a wireless communication system, communication can be classified into different types according to the types of the sending end and the receiving end. For example, the sending of information from a network device or base station (BS) to a terminal or user equipment (UE) is usually referred to as downlink (DL) communication, and the sending of information from a terminal to a network device is referred to as uplink (UL) communication.

[0075] In a fifth generation (5G) wireless communication system, i.e., a new radio access technology (NR) system: a physical downlink shared channel (PDSCH) and a physical uplink shared channel (PUSCH) are used for DL data transmission and UL data transmission, respectively; a physical uplink control channel (PUCCH) is used for a terminal to send feedback information, a channel state report, or an uplink scheduling request, etc.; and a physical downlink control channel (PDCCH) is used to transmit downlink control information (DCI), which is mainly used for scheduling decisions for the PDSCH, the PUSCH, and the PUCCH.

[0076] 2. Wireless sensing:

[0077] Wireless sensing is an important technology in the future. Its technical principle is different from that of wireless communication. For example, in wireless communication, the sending end modulates information on a radio wave and sends it to the receiving end, and the receiving end demodulates the signal reported on the radio wave to obtain the information. Wireless sensing requires the sending end to send radio waves to the surrounding environment, and when the radio waves irradiate the surface of the sensing target, reflected waves are formed. The receiving end obtains the position, speed, and type of the sensing target by receiving and processing the reflected waves.

[0078] For example, according to whether the sensing target moves, the sensing target can be divided into a moving target (such as a car, a drone, etc.) and a stationary target (such as a road, a high-rise building, etc.). According to different modeling methods of scattering points, the sensing target can be divided into a point target (such as a small-volume drone, etc.) and an extended multi-point target (which can also be referred to as a surface target, such as a large-volume building, etc.).

[0079] Generally, perception is divided into single-station perception and double-station perception in terms of mode. In the single-station perception mode, the sending end and the receiving end of the perception signal are the same device. From the perspective of the perception process, the station not only sends the perception signal, but also receives the reflection signal of the perception signal on the target surface, so the single-station perception mode can also be called a self-transmission and self-reception module.

[0080] In the double-station perception mode, the sending end and the receiving end of the perception signal are two different devices. From the perspective of the perception process, station A sends the perception signal, and the reflection signal of the perception signal on the target surface is received by station B, so the double-station perception mode can also be called a self-transmission and other-reception or A-transmission and B-reception mode.

[0081] 3. Communication and perception integration:

[0082] In the evolution process of 5G technology to 5G-Advanced (5G-A) and future communication technology, communication and perception integration technology is considered one of the key technologies that can expand the business capabilities of mobile communication networks. The core idea of this technology is to add perception capabilities to the mobile communication network, build detection, imaging, and identification capabilities for targets, and thus integrate communication and perception capabilities in one network, achieve harmonious coexistence, and even mutual benefit.

[0083] For example, in the communication and perception integration technology, from the perspective of the perception mode, there can be six perception scenarios as shown in FIG. 1. Among them, perception scenario (1) and perception scenario (4) are single-station perception modes, perception scenario (1) is self-transmission and self-reception by the base station, and perception scenario (4) is self-transmission and self-reception by the terminal. Perception scenarios (2), (3), (5), and (6) are double-station perception modes, perception scenario (2) is base station A transmission and base station B reception, perception scenario (3) is base station transmission and terminal reception, perception scenario (5) is terminal transmission and base station reception, and perception scenario (6) is terminal A transmission and terminal B reception. Among them, perception scenarios (3)-(6) can also be called UE-assisted perception scenarios.

[0084] Perception imaging of stationary targets such as high-rise buildings is an important application scenario of communication and perception integration technology. In the UE-assisted perception scenario of base station transmission and terminal reception, the multi-view and ranging capabilities of the terminal can be used to make up for the lack of field of view and imaging accuracy of the base station self-transmission and self-reception mode. For example, as shown in FIG. 2, the UE-assisted perception imaging technology based on base station transmission and terminal reception mainly includes the following three steps:

[0085] 1) The base station sends a perception signal, the perception signal is reflected / scattered by the perception target, the terminal receives the perception signal, and algorithms such as back projection (BP) and discrete fourier transform (DFT) are used to obtain perception imaging information.

[0086] Generally, the perception imaging information is a three-dimensional power spectrum of distance-horizontal angle-vertical angle with the base station or the terminal as the coordinate origin. The three-dimensional perception power spectrum is composed of power values of all position points in the perception range, each position point corresponding to a distance, a horizontal angle, a vertical angle, and a unique perception power value.

[0087] For example, as shown in FIG. 3, the perception space can be divided into a plurality of position grids, each position grid corresponding to a position point, and the center point position of the position grid or the position index thereof is used for indication. The higher the power value of a certain position point is, the stronger the reflection / scattering ability of the perception signal through the position point is, and the more likely the perception target exists at the position point; otherwise, if the power value of the position point is very low, it indicates that the perception target does not exist at the position point.

[0088] 2) The terminal feeds back the perception imaging information to the base station. Correspondingly, the base station receives the perception imaging information fed back by the terminal.

[0089] The perception imaging information includes power values of all position points in the perception space (or the perception coverage range). The power value of each position point is quantized by a plurality of bits.

[0090] In order to improve the imaging resolution and accuracy, the segmentation granularity of the above position grid is small (for example, reaching the decimeter level), and the quantization bit number of the power value is also high. The bit amount of the perception imaging information usually exceeds gigabits. Gigabit Gbits represents gigabit (equivalent to the information unit of one billion bits).

[0091] 3) The base station processes the perception imaging information.

[0092] For example, the base station fuses the perception imaging information fed back by the terminal with other perception imaging information (such as the perception imaging information fed back by other terminals or obtained by the base station itself), and reconstructs the surrounding environment. The fusion of the perception imaging information can increase the power value of the position point where the perception target exists, thereby improving the imaging accuracy.

[0093] In the above scheme, the terminal is required to feed back the power values of all position points in the perception space, that is, the power values need to be reported position by position. Since the segmentation granularity of the position grid reaches the decimeter level, the position points in the perception space are dense, and the quantization bit number of the power value is also high, so that the bit amount of the perception imaging information usually exceeds gigabits, and then under a certain transmission bandwidth, due to the large amount of data of the perception imaging information, the feedback delay is high.

[0094] Based on this, the application provides a communication method, in which a sending end of perception information can perform discrete wavelet transform on the perception information, and report scale coefficients and partial wavelet coefficients after the discrete wavelet transform, so as to reduce the amount of feedback data by using the sparsity of the wavelet coefficients, thereby reducing the feedback delay; or report the scale coefficients and high-priority wavelet coefficients after the discrete wavelet transform by using a control channel or a high-priority bearer, and report low-priority wavelet coefficients by using a data channel or a low-priority bearer, so that a receiving end can receive the high-priority wavelet coefficients in time, thereby recovering the perception information based on the high-priority wavelet coefficients in time, and further reducing the feedback delay.

[0095] The technical solutions of the embodiments of the application can be applied to various communication systems, which can be a third generation partnership project (3GPP) communication system, for example, a fourth generation (4th generation, 4G) system such as a long term evolution (long term evolution, LTE) system, a 5G system such as an NR system, a system of mixed networking of LTE and 5G, a communication and perception integrated system, a non-terrestrial network (non-terrestrial network, NTN), a device-to-device (device-to-device, D2D) communication system, a vehicle to everything (vehicle to everything, V2X) communication system, a machine-type communication (machine-type communication, MTC) system, an internet of things (internet of things, IoT) system, or other future communication systems. The communication system can also be a non-3GPP communication system, which is not limited.

[0096] It should be noted that the above-mentioned communication system to which the application is applied is only an example, and the communication system to which the application is applied is not limited thereto. The communication system provided by the application does not cause any limitation to the solutions of the application. Here, it is uniformly stated that the following will not be described in detail.

[0097] FIG. 4 shows a possible, non-limiting system diagram. As shown in FIG. 4, the communication system 40 includes a radio access network (RAN) 400 and a core network (CN) 500. Optionally, it can also include the Internet (not shown in FIG. 4). The RAN 400 includes at least one RAN node (such as 410a and 410b in FIG. 4, collectively referred to as 410) and at least one terminal (such as 420a-420j in FIG. 4, collectively referred to as 420). The core network 500 includes at least one core network device.

[0098] Optionally, other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in FIG. 4), etc., can also be included in the RAN 400. The terminal 420 is wirelessly connected to the RAN node 410. The RAN node 410 is connected to the core network 500 through wireless or wired means. The core network devices in the core network 500 and the RAN nodes 410 in the RAN 400 can be different physical devices respectively, or can be the same physical device integrated with the logical functions of the core network and the logical functions of the wireless access network.

[0099] In a possible implementation, the RAN 400 can be a 3GPP related cellular system, such as a 4G, 5G mobile communication system, an NTN system (e.g., an NTN supporting a transparent mode and / or a regenerative mode, or an NTN supporting an earth fixed cell and / or an earth moving cell), or a future-oriented evolution system. The RAN 400 can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. The RAN 400 can also be a communication system integrating two or more of the above systems.

[0100] In some scenarios, the roles of the RAN nodes 410 and the terminals 420 are relative, for example, the network element 420i in FIG. 4 can be a helicopter or a drone, which can be configured as a mobile base station, and for a terminal 420j accessing the RAN 400 through the network element 420i, the network element 420i is a base station; but for the base station 410a, the network element 420i is a terminal. The RAN nodes 410 and the terminals 420 are sometimes collectively referred to as communication apparatuses, for example, the network elements 410a and 410b in FIG. 4 can be understood as communication apparatuses with base station functions, and the network elements 420a-420j can be understood as communication apparatuses with terminal functions.

[0101] In a possible implementation, the RAN node 410 is a network side device with wireless transceiving functions. The RAN node can also be referred to as a RAN entity or an access node, etc., and constitutes a part of the communication system to help terminals realize wireless access. The multiple RAN nodes 410 in the communication system 20 can be nodes of the same type or nodes of different types.

[0102] As one possible implementation, the RAN node 410 can be a base station, an evolved Node B (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5G mobile communication system, a base station of a future mobile communication system evolved from the 3GPP, a base station in a future mobile communication system, an access node in a WiFi system, a wireless relay node, a wireless backhaul node, etc. For example, the RAN node can contain one or more co-sited or non-co-sited transmission reception points.

[0103] For example, the RAN node can be a macro base station (e.g., 410a in FIG. 4), a micro base station or indoor station (e.g., 410b in FIG. 4), a relay node or donor node, or a radio controller in a CRAN scenario. Optionally, the RAN node can also be a server, a wearable device, a vehicle or vehicle-mounted device, etc. For example, the RAN node in a V2X technology can be a road side unit (RSU).

[0104] As another possible implementation, a plurality of RAN nodes cooperate to assist a terminal device to implement wireless access, and different RAN nodes respectively implement part of the functions of the access network device. For example, the RAN node can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), a radio unit (RU), or a sensing unit (SU), etc.

[0105] For example, the CU and the DU can be separately arranged, or can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a radio frequency remote unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0106] In different systems, the CU (or CU-CP and CU-UP), DU or RU can also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, the CU can also be referred to as the O-RAN central unit (O-CU), the DU can also be referred to as the O-RAN distributed unit (O-DU), the CU-CP can also be referred to as the O-RAN central unit control plane (O-CU-CP), the CU-UP can also be referred to as the O-RAN central unit user plane (O-CU-UP), and the RU can also be referred to as the O-RAN radio unit (O-RU).

[0107] For example, the SU is mainly used to implement functions related to sensing, such as transmitting a sensing signal and / or receiving an echo signal of the sensing signal, performing corresponding signal processing on the received echo signal to obtain sensing measurement data, performing sensing-related processing, or transmitting and / or receiving sensing information / sensing data, etc.

[0108] For example, the SU can be a function or entity within an access network device, or can also be a function or entity outside the access network device. The SU can also have other names, which are not limited in the present application.

[0109] As another possible implementation, the RAN node can also be a non-real time RAN intelligent controller (Non-RT RIC or NRT RIC) and / or a near-real time RAN intelligent controller (Near-RT RIC or nRT RIC).

[0110] Among them, the Non-RT RIC is used to implement non-real-time intelligent management of the RAN, can implement artificial intelligence (AI) / machine learning (ML) including model training and model updating, and guide applications / functions in the Near-RT RIC based on policies. The Near-RT RIC is used to implement near-real-time intelligent management of the RAN, and realizes near-real-time control and optimization of modules and resources of the O-RAN through data collection and related operations on the E2 interface. The E2 interface can be understood as an open interface between two nodes (or endpoints).

[0111] All or part of the functions of the RAN node in this application can also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform such as a cloud platform, or by software modules, hardware modules, or a combination of software modules and hardware modules. The RAN node in this application can also be a logical node, a logical module or software that can implement all or part of the access network device function, or a device with part of the access network device function, such as a chip system, which can be installed in an access network device.

[0112] In a possible implementation, the core network device can refer to a device in the core network 500 that provides service support for the terminal. In the embodiments of the application, the core network device in the core network 500 includes a sensing function (SF) network element, which is mainly used to implement sensing functions, such as sensing control functions and / or sensing calculation functions. Further, the SF network element can also support sensing billing functions when the terminal and / or the RAN node perform sensing.

[0113] For example, the sensing control function can include determining sensing devices, sensing nodes, etc. The sensing device can be understood as a device that transmits and / or receives sensing signals, and further performs corresponding signal processing on the received echo signals to obtain sensing measurement data. For example, the sensing device can be a RAN node or a terminal, etc. The sensing node can refer to a network node participating in the sensing service process in the wireless network. The sensing calculation function can include performing corresponding signal processing on the echo signals received by the sensing device to obtain sensing measurement data, and further processing the sensing measurement data and application information to obtain sensing results, etc.

[0114] For example, the SF network element can also be referred to as a communication device, for example, the SF network element can be understood as a communication device with core network sensing functions. In addition, the SF network element can also be referred to as a sensing server, etc., without limitation.

[0115] In a possible scenario, the functions of the SF network element can be implemented by a network data analysis function (NWDAF) network element, or the SF network element and the NWDAF network element can be combined. Alternatively, the SF network element can be deployed in combination with the core network, or can be deployed separately.

[0116] Optionally, in addition to the SF network element, the core network devices in the core network 500 can also include at least one of the following: an access and mobility management function (AMF) network element, a session management function (SMF) network element, a user plane function (UPF) network element, a policy control function (PCF) network element, a unified data management (UDM) network element, an application function (AF) network element, a network exposure function (NEF) network element, a location management function (LMF) network element, and the like. Of course, the core network 500 can also include other core network devices, which are not limited.

[0117] The AMF network element is mainly responsible for mobility management in the mobile network, such as user location update, user registration network, user handover, and the like. The SMF network element is mainly responsible for session management in the mobile network, such as session establishment, modification, release, and the like. The UPF network element is a functional network element of the user plane, which is mainly responsible for connecting external networks and processing user messages, such as forwarding, charging, and the like. The PCF network element is mainly responsible for providing policies to the AMF and SMF, such as quality of service (QoS) policies, slice selection policies, and the like. The UDM network element is used to store user data, such as subscription information, authentication / authorization information, and the like. The AF network element is responsible for providing services to the 3GPP network. The NEF network element is mainly used to open the capabilities of various network functions and is responsible for converting internal and external information. The LMF network element is mainly responsible for location management, for example, it can initiate a positioning process and position a specific terminal.

[0118] It should be noted that the network element in the present application can also be referred to as an entity or a functional entity, for example, the SF network element can also be referred to as an SF entity or an SF functional entity. In addition, the above-mentioned AMF network element, SMF network element, UPF network element, PCF network element, UDM network element, AF network element, NEF network element, and LMF network element can also have other names in future communication systems, which are not limited in the present application.

[0119] As an example, as shown in FIG. 5, it is a specific implementation of the system shown in FIG. 4. Among them, the SF network element exists between the interface and the network element such as AMF, and it can communicate through the interface. For example, there is an NS1 interface between the SF network element and the AMF network element, an NS2 interface between the SF network element and the NEF network element, an NS3 interface between the SF network element and the UDM network element, an NS4 interface between the SF network element and the NWDAF network element, an NS6 interface between the SF network element and the LMF network element, an NS5 interface between the SF network element and the PCF network element, and an NS7 interface between the SF network element and the UPF network element. It can be understood that the interface between the SF network element and other network elements can also have other names, which are not limited in the present application.

[0120] As a possible implementation, the perception control signaling between the SF network element and the RAN node / terminal can be transmitted through the AMF network element or directly (for example, there is a communication interface between the RAN node and the SF network element), and the perception measurement data obtained by the RAN node / terminal can be transmitted to the SF network element via the control plane or the user plane. Among them, when the perception measurement data is transmitted via the user plane, it can be forwarded through the UPF or directly transmitted to the SF network element; when the perception measurement data is transmitted via the control plane, it can be forwarded through the AMF network element.

[0121] As a possible implementation, when the RAN transmits perception information / perception data to the CB, as shown in FIG. 6, the SU can transmit the perception information / perception data to the SF network element through the AMF network element or the UPF network element; or the CU can transmit the perception information / perception data to the SF network element through the AMF network element or the UPF network element; or the SU or the CU can directly transmit the perception information / perception data to the SF network element, for example, there is a communication interface between the SU and the SF network element, or there is a communication interface between the CU and the SF network element.

[0122] As shown in FIG. 6, the SU can be connected (directly or indirectly) with the SF network element. As an example, the SU can interact with the SF network element related perception requirements. In addition, the SU can also be connected with other core network elements such as AMF network element, UPF network element, etc. On the RAN side, the SU can be connected with the CU, DU, or RU, for example, there is a communication interface between the CU and the SU. There can be a communication interface between the SU and the DU, or there can be no communication interface between the SU and the DU. In the case that there is no communication interface between the SU and the DU, the SU and the DU can communicate through the CU.

[0123] Based on the architecture shown in FIG. 6, when the terminal reports the perception information / perception data to the RAN, the transmission path of the perception information / perception data can be: terminal→DU→CU→SU, or the transmission path can be: terminal→DU→SU, or the terminal can directly send the perception information / perception data to the SU through the interface (such as S-Uu) between the terminal and the SU.

[0124] In a possible implementation, the terminal 420 is a user-side device with wireless transceiving function, which can be a fixed device, a mobile device, a handheld device (for example, a mobile phone), a wearable device, a vehicle-mounted device, or a wireless device (for example, a communication module, a modem, or a chip system, etc.) built in the above devices. The terminal is used to connect people, objects, machines, etc., and can be widely used in various scenarios, such as cellular communication, D2D communication, V2X communication, MTC communication, IoT, virtual reality (VR), augmented reality (AR), industrial control, self driving, remote medical, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, unmanned aerial vehicle, robot, etc. For example, the terminal can be a handheld terminal in cellular communication, a communication device in D2D, an Internet of Things device in MTC, a camera in smart transportation and smart city, or a communication device on an unmanned aerial vehicle, etc. Alternatively, the terminal can be a mobile phone, a tablet computer, a computer with wireless transceiving function, a wearable device, a vehicle, an unmanned aerial vehicle, a helicopter, an airplane, a ship, a robot, a mechanical arm, a smart home device, etc. The embodiments of the present application do not limit the device form of the terminal. The terminal can also be referred to as a UE, a user terminal, a user device, a user unit, a user station, a terminal, an access terminal, an access station, a UE station, a remote station, a mobile device, or a wireless communication device, etc.

[0125] It should be noted that the system described in the embodiments of the present application is used to more clearly illustrate the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0126] The communication method provided by the embodiments of the present application will be described below by taking the interaction between communication devices in the communication system shown in FIG. 4 as an example. It should be noted that the names of messages between communication devices, the names of parameters, or the names of information in the following embodiments of the present application are only examples, and other names can also be used in other embodiments. The method provided by the present application does not make a specific limitation on this.

[0127] It can be understood that, in the embodiments of the present application, each communication device can perform some or all of the steps in the embodiments of the present application, and these steps or operations are only examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, each step can be performed in a different order as presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application are performed.

[0128] It can be understood that, in the embodiments of the present application, each communication device can perform some or all of the steps in the embodiments of the present application, and these steps or operations are only examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, each step can be performed in a different order as presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application are performed.

[0129] The communication method provided by the embodiments of the present application is described below. As shown in FIG. 7, the communication method can include the following steps:

[0130] S701, the first communication device acquires perception information. The perception information includes perception data of each position point in a perception space.

[0131] In a possible implementation, the first communication device is a receiving end of the perception signal. The sending end of the perception signal can be the first communication device, or can be another communication device outside the first communication device, which is not limited. For example, the first communication device can be a terminal, or can be a RAN node.

[0132] For example, in the case that the first communication device is a terminal, the sending end of the perception signal can be a RAN node, another terminal, or the first communication device; in the case that the first communication device is a RAN node, the sending end of the perception signal can be a terminal, another RAN node, or the first communication device, which is not limited. In the case that the sending end and the receiving end of the perception signal are both the first communication device, it is a self-receiving mode.

[0133] For example, the perception data can be determined according to the perception signal, and the perception information can include the perception data of each position point in the perception space. For example, the sending end of the perception signal can send the perception signal to the surrounding environment, the first communication device receives the perception signal reflected by the target, processes the received perception signal reflected by the target, obtains the perception data of each position point in the perception space, and takes the perception data of each position point as the perception information. The embodiments of the present application do not limit the way in which the first communication device processes the perception signal reflected by the target.

[0134] In addition, the application does not make specific limitations on the implementation of the first communication device obtaining the sensing information. In addition to the above-mentioned example, the first communication device can also obtain the sensing information from other devices, for example, other devices send the sensing information to the first communication device. At this time, the first communication device can not be the receiving end of the sensing information.

[0135] In a possible implementation, the sensing space can also be understood as a sensing coverage corresponding to the sensing signal. Therefore, the sensing space can also be referred to as a sensing coverage, and the two can be replaced with each other. Here, the subsequent embodiments will not be repeated. In addition, the sensing space can also have other names, and the application does not make specific limitations on the name of the sensing space.

[0136] As a possible implementation, the sensing space is a Y-dimensional space, and Y is a positive integer greater than 1. For example, Y is equal to 2, or Y is equal to 3. For example, the Y-dimensional sensing space can be at least two-dimensional space in the distance dimension, the horizontal angle dimension, or the vertical angle dimension, for example, it can be a three-dimensional space including the distance dimension, the horizontal dimension, and the vertical dimension, or it can be a two-dimensional space including any two dimensions of the distance dimension, the horizontal dimension, or the vertical dimension. Of course, the sensing space can also be a Y-dimensional space including other dimensions, and the application does not limit the specific dimensions of the sensing space.

[0137] For example, the distance dimension can also be referred to as the subcarrier dimension, the horizontal angle dimension can also be referred to as the horizontal dimension or the horizontal direction dimension, and the vertical angle dimension can also be referred to as the vertical dimension or the vertical direction dimension. Of course, the distance dimension, the horizontal angle dimension, or the vertical angle dimension can also have other names, and the application does not make specific limitations.

[0138] For convenience of description, the following embodiments of the application take the three-dimensional space including the distance dimension, the horizontal dimension, and the vertical dimension as an example for description. It can be understood that for other dimensional sensing spaces, the method of the embodiments of the application is still applicable, and the following distance dimension, horizontal dimension, or vertical dimension can be replaced with other dimensions for understanding, and will not be repeated.

[0139] As a possible implementation, the size of the sensing space can be determined according to the configuration parameters of the sensing signal. For example, in the case of the first communication device being a terminal, the RAN node can send the configuration information of the reference signal to the terminal, and correspondingly, the terminal receives the configuration information from the RAN node, and the configuration information includes the configuration parameters of the reference signal.

[0140] Exemplarily, the configuration parameters of the reference signal configured by the RAN node can comprise: a subcarrier number N0, a horizontal port number N1, a vertical port number N2, a subcarrier oversampling factor O0, a horizontal oversampling factor O1, and a vertical oversampling factor O2. At this time, the perception space comprises N0O0 values in the distance dimension, N1O1 values in the horizontal angle dimension, and N2O2 values in the vertical angle dimension; or, the perception space has a size of N0O0 in the distance dimension, a size of N1O1 in the horizontal angle dimension, and a size of N2O2 in the vertical angle dimension. Therefore, it can be considered that the perception space comprises N0O0N1O1N2O2 position points in total.

[0141] wherein the subcarrier number can be understood as the number of subcarriers occupied by the perception signal. The horizontal port number can be understood as the number of antenna ports in the horizontal direction occupied by or used for transmitting the perception signal. The vertical port number can be understood as the number of antenna ports in the vertical direction occupied by or used for transmitting the perception signal.

[0142] As a possible implementation, the perception data of a position point in the perception space can be a power value of the perception signal received or reflected at the position point, or can be other perception data such as an amplitude value of the perception signal received or reflected at the position point, etc., and the specific form of the perception data is not limited in the present application. Exemplarily, the perception data of a certain position point in the perception space can be represented as P(s, m, n), s∈[0, N0O0-1], m∈[0, N1O1-1], n∈[0, N2O2-1]. Wherein s can be understood as an index of the distance dimension, or an oversampled subcarrier index; m can be understood as an oversampled horizontal angle index or a horizontal direction index; n can be understood as an oversampled vertical angle index or a vertical direction index.

[0143] As a possible implementation, the perception space can take the position of the transmitting end or receiving end of the perception signal as the coordinate origin. The distance R(s) between a certain position point and the coordinate origin, the horizontal angle θ(m) in the horizontal angle dimension, and the vertical angle θ(n) in the vertical angle dimension satisfy:

[0144] wherein c is the speed of light, Δf is the interval of adjacent subcarriers used for transmitting the perception signal, i.e., the subcarrier interval. λ is the subcarrier wavelength, d1 is the interval between antenna ports in the horizontal direction, and d2 is the interval between antenna ports in the vertical direction. W1 is, and W2 is. The explanations of s, m, and n can be referred to the foregoing related descriptions, and will not be repeated here.

[0145] It should be noted that the step S701 can be an optional step, i.e., the step S701 can not be performed.

[0146] S702, the first communication device determines a first perception information codebook. The first perception information codebook includes an M-level scale coefficient codebook and N first wavelet coefficient codebooks, the first wavelet coefficient codebook includes at least one wavelet coefficient, and N is a positive integer less than or equal to M.

[0147] In a possible implementation, the first communication device can perform M-level discrete wavelet transform (DWT) on the perception information to determine the first perception information codebook. That is, the first perception information codebook can be considered to be obtained by performing M-level discrete wavelet transform on the perception information. M is a positive integer greater than or equal to 1.

[0148] In addition, the first communication device can also obtain a second perception information codebook by performing M-level discrete wavelet transform on the perception information. The second perception information codebook includes K second wavelet coefficient codebooks, the second wavelet coefficient codebook includes at least one wavelet coefficient, and K is a positive integer less than or equal to M. The wavelet coefficients in the second wavelet coefficient codebook are different from the wavelet coefficients in the first wavelet coefficient codebook, or there is no overlap.

[0149] For example, one first wavelet coefficient codebook or one second wavelet coefficient codebook corresponds to 1-level discrete wavelet transform. Different first wavelet coefficient codebooks correspond to different levels of discrete wavelet transform, and different second wavelet coefficient codebooks correspond to different levels of discrete wavelet transform. A certain first wavelet coefficient codebook or a certain second wavelet coefficient codebook includes part or all of the wavelet coefficients obtained by performing discrete wavelet transform of the corresponding level.

[0150] For example, after the first communication device performs M-level discrete wavelet transform on the perception information, the first communication device can obtain M-level scale coefficients and M-level wavelet coefficients. The jth level scale coefficient in the M-level scale coefficient and the jth level wavelet coefficient in the M-level wavelet coefficient are obtained by performing j-level discrete wavelet transform on the perception information, j = 1, 2, …, M.

[0151] For example, the jth level scale coefficient includes a plurality of scale coefficients, and the jth level wavelet coefficient includes a plurality of wavelet coefficients. That is, the jth level scale coefficient includes all scale coefficients obtained by performing j-level discrete wavelet transform, and the jth level wavelet coefficient includes all wavelet coefficients obtained by performing j-level discrete wavelet transform.

[0152] In a possible implementation, the priority of the first wavelet coefficient codebook is higher than the priority of the second wavelet coefficient codebook. The first wavelet coefficient codebook can be understood as a high-priority wavelet coefficient codebook, and the second wavelet coefficient codebook can be understood as a low-priority codebook. The wavelet coefficients in the first wavelet coefficient codebook can be understood as high-priority wavelet coefficients, and the wavelet coefficients in the second wavelet coefficient codebook can be understood as low-priority wavelet coefficients. In addition, the high-priority wavelet coefficient codebook and the scale coefficient codebook can be collectively referred to as a high-priority codebook.

[0153] For example, the priority of the first wavelet coefficient codebook is higher than the priority of the second wavelet coefficient codebook, which can also be understood as: the first wavelet coefficient codebook has a greater impact or higher contribution on the recovery of the perception information, and the second wavelet coefficient codebook has a smaller impact or lower contribution on the recovery of the perception information.

[0154] That is, the Mth-level scale coefficients obtained after the M-level discrete wavelet transform of the perception information can be quantized into an Mth-level scale coefficient codebook, the M-level wavelet coefficients obtained after the M-level discrete wavelet transform of the perception information can be quantized into N first wavelet coefficient codebooks, or quantized into N first wavelet coefficient codebooks and K second wavelet coefficient codebooks.

[0155] The specific implementation of the first wavelet coefficient codebook and the second wavelet coefficient codebook will be described in detail in subsequent embodiments, and will not be described here.

[0156] S703, the first communication device sends the first perception information codebook. Correspondingly, the second communication device receives the first perception information codebook.

[0157] In a possible implementation, the second communication device can be a sending end of the perception signal, or can not be a sending end of the perception signal. For example, the second communication device can be a perception control node, a perception center node, and the like, without limitation. For example, the second communication device can be a RAN node such as a SU, or the second communication device can be a core network element such as an SF network element.

[0158] As a possible implementation, when the first communication device is a terminal and the second communication device is a SU, the terminal can send the first perception information codebook to the DU, and then the DU sends the first perception information codebook to the CU, and the CU sends the first perception information codebook to the SU. Alternatively, the terminal can send the first perception information codebook to the DU, and then the DU sends the first perception information codebook to the SU through an interface between the DU and the SU. Alternatively, the terminal can send the first perception information codebook to the SU through an interface (such as an S-Uu interface) between the terminal and the SU.

[0159] As another possible implementation, in the case that the first communication device is an access network device and the second communication device is an SF network element, the SU can send the first perception information codebook to the SF network element through an AMF network element or an SMF network element; or the CU can send the first perception information codebook to the SF network element through an AMF network element or a UPF network element; or the SU can send the first perception information codebook to the SF network element through an interface between the SU and the SF network element; or the CU can send the first perception information codebook to the SF network element through an interface between the CU and the SF network element.

[0160] As a possible implementation, the first communication device can send the first perception information codebook through a first channel. For example, the first channel can be a control channel, such as a physical uplink control channel (PUCCH); or the first channel can be a first bearer, such as a data radio bearer (DRB) or a signalling radio bearer (SRB). Of course, the first channel can also be another transmission medium, such as a physical uplink shared channel (PUSCH), without limitation.

[0161] S704, the second communication device determines the perception information.

[0162] As a possible implementation, the second communication device can perform inverse discrete wavelet transform on the first perception information codebook to determine the perception information. That is, the perception information can be considered to be obtained by performing inverse discrete wavelet transform on the first perception information codebook. The perception information includes perception data of each position point in the perception space. For details, refer to the description of the perception space, the position point, and the perception data in step S701, which will not be repeated here.

[0163] For example, the perception information determined by the second communication device according to the perception information codebook can be exactly the same as the perception information obtained by the first communication device in step S701, or can be perception information with a certain loss of accuracy based on the perception information obtained by the first communication device in step S701. The certain loss of accuracy can be understood as accuracy that does not affect the perception performance, or accuracy that has little effect on the perception performance.

[0164] As a possible implementation, after determining the perception information, the second communication device can perform corresponding processing according to the perception information, for example, determining the position, time delay, speed, and other information of the target, or fusing the perception information from other devices to reconstruct the surrounding environment, etc., which is not limited in the present application.

[0165] Based on the above scheme, the perception information including the perception data of all position points in the perception space is subjected to M-level discrete wavelet transform to obtain a first perception information codebook and a second perception information codebook. However, the first communication device can only send the first perception information codebook of high priority to the second communication device, thereby reducing the data amount of feedback information, and further reducing the feedback delay under a specific transmission bandwidth, while enabling the second communication device to recover the perception information based on the first perception information codebook in time, and further reducing the feedback delay of the perception information. In addition, since the low-priority codebook has little or even negligible influence on the recovery of the perception information, the first communication device preferentially reports the first perception information codebook of high priority and does not report the second perception information codebook of low priority, which does not have a great influence on the recovery of the perception information, and can ensure the recovery of the perception information under the condition that the accuracy requirement of the perception information is low.

[0166] The overall flow of the communication method provided by the present application is described above, and the related steps and information in the communication method are described in detail below.

[0167] In a possible implementation, the first wavelet coefficient codebook and the second wavelet coefficient codebook have the following two possible implementation manners:

[0168] Manner one, the wavelet coefficient in the first wavelet coefficient codebook is greater than or equal to a first threshold, and the wavelet coefficient in the second wavelet coefficient codebook is less than or equal to the first threshold.

[0169] It should be noted that when a certain wavelet coefficient is equal to the first threshold, the wavelet coefficient can belong to the first wavelet coefficient codebook or the second wavelet coefficient codebook. Whether the wavelet coefficient belongs to the first wavelet coefficient codebook or the second wavelet coefficient codebook can be determined by the first communication device, or can be configured by the network, or can be predefined by the protocol, and is not limited. In the following embodiments of the present application, the case that when a certain wavelet coefficient is equal to the first threshold, the wavelet coefficient belongs to the first wavelet coefficient codebook is taken as an example for description.

[0170] As a possible implementation, the first threshold can have the following two implementations:

[0171] Manner A, the first threshold is a threshold A.

[0172] As a first possible implementation, the first threshold A can be configured by the network, for example, the first communication device is a terminal, the access network device or the core network element (such as the SF network element) configures the first threshold A to the first communication device; the first communication device is a RAN node, the core network element (such as the SF network element) configures the first threshold A to the first communication device. Alternatively, the first threshold A can be pre-defined by the protocol. Alternatively, the first threshold A can be configured by the second communication device to the first communication device. Alternatively, the first threshold A can be determined by the first communication device itself.

[0173] For example, in the first possible implementation, N and K can both equal to M. That is, the first perceptual information codebook includes the M-level scale coefficient codebook and the M first wavelet coefficient codebooks, and the second perceptual information codebook includes the M second wavelet coefficient codebooks. Wherein, the jth first wavelet coefficient codebook in the M first wavelet coefficient codebooks and the jth second wavelet coefficient codebook in the M second wavelet coefficient codebooks correspond to the jth level of the discrete wavelet transform, j = 1, 2, …, M.

[0174] That is, the jth first wavelet coefficient codebook includes the wavelet coefficients greater than or equal to the first threshold among the wavelet coefficients obtained after the jth level of the discrete wavelet transform. The jth second wavelet coefficient codebook includes the wavelet coefficients less than the first threshold among the wavelet coefficients obtained after the jth level of the discrete wavelet transform. For example, the wavelet coefficients in the jth first wavelet coefficient codebook are all greater than or equal to the first threshold A, and the wavelet coefficients in the jth second wavelet coefficient codebook are all less than the first threshold A.

[0175] As a second possible implementation, the first threshold A is determined according to the target compression rate of the perceptual information. For example, the first threshold is a first wavelet coefficient, and the first wavelet coefficient is the wavelet coefficient at the quantile point corresponding to the target compression rate after arranging all the wavelet coefficients obtained after the M level of the discrete wavelet transform in ascending order.

[0176] For example, the wavelet coefficient at the quantile point corresponding to the target compression rate and the wavelet coefficients after it can meet the target compression rate of the perceptual information. For example, taking 100 wavelet coefficients obtained after the M level of the discrete wavelet transform and a target compression rate of 1 / 2 as an example, the total number of the wavelet coefficients at the quantile point corresponding to the target compression rate and the wavelet coefficients after it is 50 after arranging the 100 wavelet coefficients in ascending order. The wavelet coefficient at the quantile point corresponding to the target compression rate can be the 50th wavelet coefficient after arranging the 100 wavelet coefficients in ascending order. That is, the wavelet coefficients in the N first wavelet coefficient codebooks are the last 50 wavelet coefficients after arranging the 100 wavelet coefficients in ascending order, and the wavelet coefficients in the K second wavelet coefficient codebooks are the first 50 wavelet coefficients after arranging the 100 wavelet coefficients in ascending order.

[0177] For example, in the case that the wavelet coefficients after the wavelet coefficients at the quantile corresponding to the target compression rate and the wavelet coefficients at the quantile corresponding to the target compression rate include part or all of the wavelet coefficients obtained after the discrete wavelet transform at each level, N is equal to M; in the case that the wavelet coefficients after the wavelet coefficients at the quantile corresponding to the target compression rate and the wavelet coefficients at the quantile corresponding to the target compression rate do not include all of the wavelet coefficients obtained after the discrete wavelet transform at a certain level (or certain levels), N is less than M.

[0178] For example, based on the above example, in the case that M is equal to 5, the last 50 wavelet coefficients in the 100 wavelet coefficients arranged in ascending order do not include the wavelet coefficients obtained after the discrete wavelet transform at a certain level (e.g., the first level), i.e., the wavelet coefficients obtained after the discrete wavelet transform at the level are located before the quantile corresponding to the target compression rate, N is less than M, for example, N is equal to 4.

[0179] Similarly, in the second possible implementation, the implementation of the size relationship between K and M can refer to the related description of the size relationship between N and M, which will not be described here.

[0180] For example, in the case that N and K are both equal to M in the second possible implementation, the first perceptual information codebook includes the Mth level scale coefficient codebook and the M first wavelet coefficient codebooks, and the second perceptual information codebook includes the M second wavelet coefficient codebooks. For details, refer to the related description in the above manner A, which will not be described here.

[0181] For example, the target compression rate can be configured by the network. Alternatively, the target compression rate can be predefined by a protocol. Alternatively, the target compression rate can be configured by the second communication device to the first communication device. Alternatively, the target compression rate can be determined by the first communication device. For details, refer to the related description of the first threshold A above, which will not be described here.

[0182] In the manner B, the first threshold includes M sub-thresholds {A1, A2, …, AM}. M}。

[0183] As a possible implementation, the M sub-thresholds can be configured by the network, or can be predefined by a protocol, or can be configured by the second communication device to the first communication device, or can be determined by the first communication device. For details, refer to the related description of the first threshold A in the manner A, which will not be described here.

[0184] As a possible implementation, in the mode B, N and K can be equal to M. That is, the first perceptual information codebook includes the M-th scale coefficient codebook and the M first wavelet coefficient codebooks, and the second perceptual information codebook includes the M second wavelet coefficient codebooks. Among them, the j-th first wavelet coefficient codebook in the M first wavelet coefficient codebooks and the j-th second wavelet coefficient codebook in the M second wavelet coefficient codebooks correspond to the j-th discrete wavelet transform, j = 1, 2, …, M.

[0185] Among them, the j-th first wavelet coefficient codebook includes the wavelet coefficient greater than or equal to the sub-threshold value Aj after the j-th discrete wavelet transform. The j-th second wavelet coefficient codebook includes the wavelet coefficient less than the sub-threshold value Aj after the j-th discrete wavelet transform. For example, the wavelet coefficient in the j-th first wavelet coefficient codebook is greater than or equal to the sub-threshold value Aj, and the wavelet coefficient in the j-th second wavelet coefficient codebook is less than the sub-threshold value Aj, j = 1, 2, …, M.

[0186] In the second mode, the wavelet coefficient in the first wavelet coefficient codebook corresponds to the decomposition level higher than or equal to the first decomposition level, and the wavelet coefficient in the second wavelet coefficient codebook corresponds to the decomposition level lower than or equal to the first decomposition level. Among them, the first decomposition level is greater than or equal to 1 and less than or equal to M.

[0187] As a possible implementation, the decomposition level can also be referred to as the decomposition level, and the two can be replaced with each other. For example, taking the M-th discrete wavelet transform as an example, the decomposition level includes 1, 2, …, M. For example, the decomposition level of the 1st discrete wavelet transform is 1, the decomposition level of the 2nd discrete wavelet transform is 2, and so on, and the decomposition level of the M-th discrete wavelet transform is M.

[0188] It should be noted that when the decomposition level corresponding to a certain wavelet coefficient is equal to the first decomposition level, the wavelet coefficient can belong to the first wavelet coefficient codebook or the second wavelet coefficient codebook. Whether it belongs to the first wavelet coefficient codebook or the second wavelet coefficient codebook can be determined by the first communication device, or can be configured by the network, or can be predefined by the protocol, and is not limited. The following embodiments of the present application take the case where the wavelet coefficient belongs to the first wavelet coefficient codebook as an example for description.

[0189] As a possible implementation, the decomposition level corresponding to the wavelet coefficient in the wavelet coefficient codebook can also be understood as the decomposition level corresponding to the wavelet coefficient codebook. The decomposition level corresponding to a certain wavelet coefficient can be understood as: the wavelet coefficient is the wavelet coefficient obtained after the discrete wavelet transform of the decomposition level corresponding to the wavelet coefficient. For example, the decomposition level corresponding to a certain wavelet coefficient is 1, and the wavelet coefficient is the wavelet coefficient obtained after the 1st discrete wavelet transform.

[0190] Therefore, it can also be considered that the nth first wavelet coefficient codebook in the N first wavelet coefficient codebooks corresponds to the nth level of the discrete wavelet transform, i.e., the nth first wavelet coefficient codebook includes the wavelet coefficients obtained after the nth level of the discrete wavelet transform, n = B, B + 1, …, M, or n = B + 1, B + 2, …, M, B being the first decomposition level. The nth second wavelet coefficient codebook in the K second wavelet coefficient codebooks corresponds to the nth level of the discrete wavelet transform, i.e., the nth second wavelet coefficient codebook includes the wavelet coefficients obtained after the nth level of the discrete wavelet transform, n = 1, 2, …, B - 1, or n = 1, 2, …, B.

[0191] As a possible implementation, in the second mode, N is less than M in the case that the first decomposition level is greater than or equal to 1 and the decomposition level corresponding to the wavelet coefficient in the first wavelet coefficient codebook is higher than the first decomposition level. N is less than M in the case that the first decomposition level is greater than 1 and the decomposition level corresponding to the wavelet coefficient in the first wavelet coefficient codebook is higher than or equal to the first decomposition level. For example, in the second mode, the sum of N and K is equal to M.

[0192] As a possible implementation, the first decomposition level can be configured by the network, for example, in the case that the first communication device is a terminal, the access network device or the core network element (such as the SF network element) configures the first decomposition level to the first communication device; in the case that the first communication device is a RAN node, the core network element (such as the SF network element) configures the first decomposition level to the first communication device. Alternatively, the first decomposition level can be predefined by the protocol. Alternatively, the first decomposition level can be configured by the second communication device to the first communication device. Alternatively, the first decomposition level can be determined by the first communication device itself, which is not limited.

[0193] In a possible implementation, as shown in FIG. 8, after step S704, the communication method can further include the following steps:

[0194] S705, the second communication device sends indication information to the first communication device. Correspondingly, the first communication device receives the indication information from the second communication device.

[0195] As a first possible implementation, the indication information can be first information, the first information being used for scheduling the second sensing information codebook (or the second wavelet coefficient codebook, or the low-priority wavelet coefficient codebook), or being used for indicating the first communication device to transmit the second sensing information codebook (or the second wavelet coefficient codebook, or the low-priority wavelet coefficient codebook). In FIG. 8, the indication information is taken as the first information as an example.

[0196] As a second possible implementation, the indication information can be second information, which is used to indicate that the second sensing information codebook (or the second wavelet coefficient codebook, or the low-priority wavelet coefficient codebook) does not need to be sent, or is not sent by the first communication device, or is not scheduled.

[0197] For example, the indication information can be 1-bit information. When the 1-bit information is set to a first value, the indication information is first information, which is used to schedule the second sensing information codebook. When the 1-bit information is set to a second value, the indication information is second information, which is used to indicate that the second sensing information codebook does not need to be sent. For example, the first value is "1", and the second value is "0"; or the first value is "0", and the second value is "1", which is not limited.

[0198] For example, when the accuracy of the sensing information obtained by the second communication device after performing the inverse discrete wavelet transform on the first sensing information codebook does not meet the accuracy requirement, the indication information is first information, or the second communication device schedules the second sensing information codebook. When the accuracy of the sensing information obtained by the second communication device after performing the inverse discrete wavelet transform on the first sensing information codebook meets the accuracy requirement, the indication information is second information, or the second communication device does not schedule the second sensing information codebook, or the second communication device indicates that the second sensing information codebook does not need to be sent. Of course, the second communication device can also send the first information or the second information in other scenarios or conditions, which depends on the implementation of the second communication device, and the present application does not make specific limitations in this regard.

[0199] When the indication information is second information, the communication method further includes the following steps S706-S707:

[0200] S706, the first communication device sends the second sensing information codebook to the second communication device. Correspondingly, the second communication device receives the second sensing information codebook from the first communication device.

[0201] As a possible implementation, the first communication device can send the second sensing information codebook through a second channel. The second channel can be the same as the first channel, or the second channel can be different from the first channel. For example, the second channel can be a data channel, such as PUSCH; or the second channel is a second bearer, such as DRB or SRB. Of course, the second channel can also be another transmission medium, such as PUCCH, which is not limited.

[0202] For example, the priority of the first bearer can be higher than the priority of the second bearer, or the priority of the first bearer is the same as the priority of the second bearer, or the first bearer and the second bearer are the same, which is not limited.

[0203] S707, the second communication device performs inverse discrete wavelet transform on the first perception information codebook and the second perception information codebook to obtain perception information.

[0204] As a possible implementation, the second communication device combines the first perception information codebook and the second perception information codebook into a complete perception information codebook, and then performs inverse discrete wavelet transform on the perception information codebook to obtain perception information.

[0205] As a possible implementation, the accuracy of the perception information obtained in step S707 is higher than the accuracy of the perception information obtained in step S704.

[0206] Based on the above scheme, the second communication device can schedule or not schedule the second perception information codebook. In the case that the second communication device schedules the second perception information codebook, the accuracy of the perception information determined by the second communication device can be improved, and the perception performance can be improved. In the case that the second communication device does not schedule the second perception information codebook, the transmission overhead can be saved.

[0207] The above is described by taking whether the second communication device schedules the transmission of the second perception information codebook as an example. In addition, whether to transmit the second perception information codebook can also be determined by the first communication device. For example, the first communication device can default not to send the second perception information codebook. At this time, after obtaining the second perception information codebook in step S702, the first communication device can discard the second perception information codebook; or in step S703, the first communication device can (determine) not to send the second perception information codebook, and subsequently if the second communication device sends the first information to schedule the second perception information codebook, the first communication device can send the second perception information codebook to the second communication device.

[0208] In a possible implementation, in step S702, the first communication device performs M-level discrete wavelet transform on the perception information, which can include steps S7021 and S7022 (not shown in FIG. 7):

[0209] S7021, the first communication device determines a set of dyadic wavelet functions according to a base wavelet function.

[0210] As a possible implementation, the base wavelet function belongs to a set of base wavelet functions, and the set of base wavelet functions includes at least one wavelet function. For example, the set of base wavelet functions can be {Haar, Bior, db}. Wherein, Haar, Bior, db respectively represent a wavelet function.

[0211] For example, the set of base wavelet functions can be predefined by the protocol or can be configured by the access network device to the first communication device. For example, the access network device can send third indication information to the first communication device, and the third indication information can be used to indicate or configure the set of base wavelet functions. Subsequently, the first communication device can select a wavelet function from the set of base wavelet functions as the base wavelet function, or the access network device can indicate a wavelet function in the set of base wavelet functions as the base wavelet function.

[0212] As another possible implementation, there can be no set of base wavelet functions, and the access network device can indicate a base wavelet function to the first communication device. For example, the access network device sends third indication information to the first communication device, and the third indication information indicates the base wavelet function. For example, the third indication information includes an identifier of the base wavelet function, etc.

[0213] In one possible implementation, the set of binary wavelet functions includes a binary wavelet function corresponding to each dimension of the jth level wavelet space, j = 1, 2, …, M. Wherein, the jth level wavelet space is a Y-dimensional space, that is, the dimension of the wavelet space is the same as the dimension of the perception space. In addition, the binary wavelet function corresponding to each dimension of the jth level wavelet space can also be understood as the jth level binary wavelet function.

[0214] As a possible implementation, the jth level wavelet space is determined according to the perception space. For example, the maximum value of the index in the yth dimension of the jth level wavelet space is y = 1, 2, …, Y. Wherein, Zy is the size of the perception space in the yth dimension, represents rounding up. That is, the maximum value of the index in the 1th dimension of the jth level wavelet space is the maximum value of the index in the 2th dimension is and so on, the maximum value of the index in the Yth dimension is

[0215] For example, taking Y equal to 3, the Y dimensions of the perception space are distance dimension, horizontal angle dimension and vertical angle dimension respectively, the 1th dimension of the jth level wavelet space corresponds to the distance dimension of the perception space, the 2th dimension corresponds to the horizontal angle dimension of the perception space, and the 3th dimension corresponds to the vertical angle dimension of the perception space. For example, the index in the 1th dimension of the jth level wavelet space can be represented as k, and the maximum value of k is the index in the 2th dimension of the jth level wavelet space can be represented as l, and the maximum value of l is the index in the 3th dimension of the jth level wavelet space can be represented as i, and the maximum value of i is

[0216] As a possible implementation, taking Y equal to 3 and Y dimensions of the perception space as distance dimension, horizontal angle dimension and vertical angle dimension as an example, the first dimension of the jth level wavelet space corresponds to the dyadic wavelet function and the base wavelet function satisfy the following relationship:

[0217] wherein ψ(t) is the base wavelet function. ψ j,k (t) is the jth dyadic wavelet function (or the jth level dyadic wavelet function) corresponding to the first dimension of the jth level wavelet space, j = 1, 2, …, M, or j ∈ [1, M]. k is the index in the first dimension, k = 0, 1, …, K j -1, or k ∈ [0, K j -1],

[0218] The second dimension of the jth level wavelet space corresponds to the dyadic wavelet function and the base wavelet function satisfy the following relationship:

[0219] wherein ψ(t) is the base wavelet function. ψ j,l (t) is the jth dyadic wavelet function (or the jth level dyadic wavelet function) corresponding to the second dimension of the jth level wavelet space, j = 1, 2, …, M, or j ∈ [1, M]. l is the index in the second dimension, l = 0, 1, …, L j -1, or l ∈ [0, L j -1],

[0220] The third dimension of the jth level wavelet space corresponds to the dyadic wavelet function and the base wavelet function satisfy the following relationship:

[0221] wherein ψ(t) is the base wavelet function. ψ j,i (t) is the jth dyadic wavelet function (or the jth level dyadic wavelet function) corresponding to the third dimension of the jth level wavelet space, j = 1, 2, …, M, or j ∈ [1, M]. i is the index in the third dimension, i = 0, 1, …, I j -1, or i ∈ [0, I j -1],

[0222] As a possible implementation, taking Y equal to 3 and Y dimensions of the perception space as distance dimension, horizontal angle dimension and vertical angle dimension as an example, the jth level wavelet space in the first dimension can be represented as {u j |j ∈ [1, M]} or the first dimension of the jth level wavelet space can be represented as {u j{v j, y | y ∈ [1, Y], j ∈ [1, M]}, or the 2nd dimension of the jth level wavelet space can be represented as {v j, y | y ∈ [1, Y], j ∈ [1, M]}. j {v j, y | y ∈ [1, Y], j ∈ [1, M]}, or the 2nd dimension of the jth level wavelet space can be represented as {v j, y | y ∈ [1, Y], j ∈ [1, M]}. j {w j, y | y ∈ [1, Y], j ∈ [1, M]}, or the 3rd dimension of the jth level wavelet space can be represented as {w j, y | y ∈ [1, Y], j ∈ [1, M]}. j {w j, y | y ∈ [1, Y], j ∈ [1, M]}, or the 3rd dimension of the jth level wavelet space can be represented as {w j, y | y ∈ [1, Y], j ∈ [1, M]}. j {w j, y | y ∈ [1, Y], j ∈ [1, M]}. Wherein:

[0223] Correspondingly, the jth level three-dimensional wavelet space can be represented as denotes the Kronecker product. The meanings of various parameters can be referred to the related descriptions of the corresponding parameters described above, and will not be described herein again.

[0224] S7022, performing M-level discrete wavelet transform on the perceptual information according to the set of binary wavelet functions and the set of binary scale functions corresponding to the set of binary wavelet functions.

[0225] As a possible implementation, M can be understood as the number of levels of the discrete wavelet transform. The access network device can configure the number of levels M of the discrete wavelet transform to the first communication device. Illustratively, the access network device can send fourth indication information to the first communication device to indicate the number of levels M of the discrete wavelet transform. For example, the fourth indication information can include M, or the fourth indication information can include the index of M in the set of numbers of levels of the discrete wavelet transform. The set of numbers of levels of the discrete wavelet transform can include a plurality of numbers of levels of the discrete wavelet transform, which can be pre-defined by a protocol or configured by the access network device, without limitation.

[0226] As a possible implementation, the set of binary scale functions includes a binary scale function corresponding to each dimension of the jth level scale space, j = 1, 2, …, M. Wherein, the jth level scale space is a Y-dimensional space, that is, the dimension of the scale space is the same as the dimension of the perceptual space. In addition, the binary scale function corresponding to each dimension of the jth level scale space can also be understood as the jth level binary scale function.

[0227] Illustratively, the jth level scale space is determined according to the perceptual space. For example, the maximum value of the index in the yth dimension of the jth level scale space is y = 1, 2, …, Y. Wherein, is the size of the yth dimension of the perceptual space, denotes the ceiling. The related descriptions of the jth level wavelet space described above can be referred to, and will not be described herein again.

[0228] As a possible implementation, one dyadic wavelet function in the set of dyadic wavelet functions corresponds to one dyadic scaling function in the set of dyadic scaling functions. The correspondence can be preset or configured by the access network device, without limitation.

[0229] For example, when Y is equal to 3, and the Y dimensions of the perceived space are distance dimension, horizontal angle dimension, and vertical angle dimension, respectively, the dyadic scaling function corresponding to the dyadic wavelet function corresponding to the first dimension of the jth level wavelet space is a dyadic scaling function corresponding to the first dimension of the jth level scaling space, and is expressed as:

[0230] wherein, is a base dyadic scaling function, and the base dyadic scaling function and the base wavelet function have a correspondence. is a dyadic scaling function corresponding to the first dimension of the jth level scaling space, and the meanings of the other parameters can be referred to the above related description, which will not be repeated here.

[0231] The dyadic scaling function corresponding to the dyadic wavelet function corresponding to the second dimension of the jth level wavelet space is a dyadic scaling function corresponding to the second dimension of the jth level scaling space, and is expressed as:

[0232] wherein, is a dyadic scaling function corresponding to the second dimension of the jth level scaling space, and the meanings of the other parameters can be referred to the above related description, which will not be repeated here.

[0233] The dyadic scaling function corresponding to the dyadic wavelet function corresponding to the third dimension of the jth level wavelet space is a dyadic scaling function corresponding to the third dimension of the jth level scaling space, and is expressed as:

[0234] wherein, is a dyadic scaling function corresponding to the third dimension of the jth level scaling space, and the meanings of the other parameters can be referred to the above related description, which will not be repeated here.

[0235] For example, when Y is equal to 3, and the Y dimensions of the perceived space are distance dimension, horizontal angle dimension, and vertical angle dimension, respectively, the jth level scaling space in the first dimension can be expressed as {u′ j |j∈[1,M]} or the first dimension of the jth level scaling space can be expressed as {u′ j |j∈[1,M]}; the jth level scaling space in the second dimension can be expressed as {v′ j |j∈[1,M]} or the second dimension of the jth level scaling space can be expressed as {v′ j |j∈[1,M]}; the jth level scaling space in the third dimension can be expressed as {w′ jj∈[1, M], or the 3rd dimension of the jth level scale space can be represented as j j∈[1, M]. Wherein:

[0236] Correspondingly, the jth level three-dimensional scale space can be represented as denotes the Kronecker product. The meanings of various parameters can refer to the descriptions of the corresponding parameters described above, and will not be described here.

[0237] As a possible implementation, the first communication device performs the jth level Y-dimensional discrete wavelet transform on the perceptual information according to the jth level binary scale function in the binary scale function set and the jth level binary wavelet function in the binary wavelet function set, to obtain the jth level scale coefficient and the jth level wavelet coefficient, j = 1, 2, …, M.

[0238] For example, taking Y equal to 3, the wavelet space and the scale space including the 1st dimension, the 2nd dimension and the 3rd dimension as an example, the jth level scale coefficient can be represented as: j = {r j (k, l, i), k ∈ [0, K j -1], l ∈ [0, L j -1], i ∈ [0, I j -1], j ∈ [1, M]}

[0239] Correspondingly, the Mth level scale coefficient can be represented as: M = {r M (k, l, i), k ∈ [0, K j -1], l ∈ [0, L j -1], i ∈ [0, I j -1]}

[0240] The jth level wavelet coefficient can be represented as: j = {q j (k, l, i), k ∈ [0, K j -1], l ∈ [0, L j -1], i ∈ [0, I j -1], j ∈ [1, M]}

[0241] Wherein, the descriptions of various parameters in the above representations can refer to the descriptions of the corresponding parameters described above, and will not be described here.

[0242] For example, when Y equals 3, the perception space includes a distance dimension, a horizontal angle dimension, and a vertical angle dimension, and the perception information is represented as P(s, m, n), s∈[0, N0O0-1], m∈[0, N1O1-1], n∈[0, N2O2-1], when j=1, the first communication device performs a first level discrete wavelet transform on the perception information according to the first level binary wavelet function, which can include:

[0243] First, a one-dimensional discrete wavelet transform is performed on the perception information P(s, m, n) in the distance dimension (s∈[0, N0O0-1]) That is,

[0244] wherein, is a first level binary wavelet function ψ j＝1,k (s) corresponding to the first dimension, ψ j＝1,k (s) is a binary wavelet function ψ j＝1,k (t) corresponding to the first dimension of the first level wavelet space. After the one-dimensional discrete wavelet transform in the distance dimension, the distance dimension is transformed to the first dimension k of the wavelet space.

[0245] Further, a one-dimensional discrete wavelet transform is performed on in the horizontal angle dimension (m∈[0, N1O1-1]) That is,

[0246] wherein, is a first level binary wavelet function ψ j＝1,l (m) corresponding to the second dimension, ψ j＝1,l (m) is a binary wavelet function ψ j＝1,l (t) corresponding to the second dimension of the first level wavelet space. After the one-dimensional discrete wavelet transform in the horizontal angle dimension, is transformed to the second dimension l of the wavelet space.

[0247] Still further, a one-dimensional discrete wavelet transform is performed on in the vertical angle dimension (n∈[0, N2O2-1]) That is,

[0248] wherein, is a first level binary wavelet function ψ j＝1,i (n) corresponding to the third dimension, ψ j＝1,i (n) is a binary wavelet function ψ j＝1,i (t) corresponding to the third dimension of the first level wavelet space. After the one-dimensional discrete wavelet transform in the vertical angle dimension, After one-dimensional discrete wavelet transform is performed, the vertical angle dimension is transformed to the third dimension i of the wavelet space. j＝1 (k, l, i) is the first-level wavelet coefficient.

[0249] Similarly, the first-level discrete wavelet transform of the perception information according to the first-level dyadic scaling function can include: performing one-dimensional discrete wavelet transform on the perception information in the distance dimension by using the first-level dyadic scaling function corresponding to the first dimension to obtain the first-level scaling coefficient r The first-level scaling coefficient r Performing one-dimensional discrete wavelet transform on the perception information in the horizontal angle dimension by using the first-level dyadic scaling function corresponding to the second dimension to obtain The first-level scaling coefficient r Performing one-dimensional discrete wavelet transform on the perception information in the vertical angle dimension by using the first-level dyadic scaling function corresponding to the third dimension to obtain the first-level wavelet coefficient q j＝1 (k, l, i).

[0250] Similarly, the j-level discrete wavelet transform of the perception information according to the j-level dyadic wavelet function can include: performing one-dimensional discrete wavelet transform on the perception information in the distance dimension by using the j-level dyadic wavelet function corresponding to the first dimension to obtain The first-level scaling coefficient r Performing one-dimensional discrete wavelet transform on the perception information in the horizontal angle dimension by using the j-level dyadic wavelet function corresponding to the second dimension to obtain The first-level scaling coefficient r Performing one-dimensional discrete wavelet transform on the perception information in the vertical angle dimension by using the j-level dyadic wavelet function corresponding to the third dimension to obtain the j-level wavelet coefficient q j (k, l, i). j = 2, …, M.

[0251] Similarly, the j-level discrete wavelet transform of the perception information according to the j-level dyadic scaling function can include: performing one-dimensional discrete wavelet transform on the perception information in the distance dimension by using the j-level dyadic scaling function corresponding to the first dimension to obtain The first-level scaling coefficient r Performing one-dimensional discrete wavelet transform on the perception information in the horizontal angle dimension by using the j-level dyadic scaling function corresponding to the second dimension to obtain The first-level scaling coefficient r Performing one-dimensional discrete wavelet transform on the perception information in the vertical angle dimension by using the j-level dyadic scaling function corresponding to the third dimension to obtain the j-level scaling coefficient r j (k, l, i). j = 2, …, M.

[0252] It should be noted that the above is only an example of M-level discrete wavelet transform of the perception information, and the perception information can also be subjected to M-level discrete wavelet transform in other manners, which is not limited in the present application.

[0253] As a possible implementation, after M-level discrete wavelet transform is performed on the perceptual information to obtain M-level scale coefficients and M-level wavelet coefficients, the first wavelet coefficient codebook and the second wavelet coefficient codebook can be determined based on the above-described manner one and manner two, and reference can be made to the foregoing related description, which will not be repeated here.

[0254] In a possible implementation, the Mth-level scale coefficient codebook includes P scale coefficients (values). Wherein, Y is the dimension of the perceptual space and the Mth-level scale space, P y,M is the total number of indexes of the yth dimension of the Mth-level scale space, the Mth-level scale space being determined according to the perceptual space, for example, Z y is the size of the perceptual space in the yth dimension, and represents the product. Reference can be made to the foregoing related description of the scale space, which will not be repeated here.

[0255] For example, when Y is equal to 3 and the Mth-level scale space includes the 1st dimension, the 2nd dimension and the 3rd dimension, the total number of indexes P y,M of the 1st dimension of the Mth-level scale space is K M when y=1, the total number of indexes P y,M of the 2nd dimension of the Mth-level scale space is L M when y=2, and the total number of indexes P y,M of the 3rd dimension of the Mth-level scale space is I M when y=3. Reference can be made to the foregoing related description, which will not be repeated here.

[0256] For example, when Y is equal to 3 and the Mth-level scale space includes the 1st dimension, the 2nd dimension and the 3rd dimension, the Mth-level scale coefficient codebook includes K M ×L M ×I M scale coefficients (values). For example, each value can be indicated by A r bits, and the Mth-level scale coefficient can be encoded into a scale coefficient bitmap including A r ×K M ×L M ×I M bits in the order of the distance dimension (or the 1st dimension), the horizontal angle dimension (or the 2nd dimension) and the vertical angle dimension (or the 3rd dimension) (or in other orders).

[0257] In a possible implementation, the nth wavelet coefficient codebook in the N first wavelet coefficient codebooks includes indication information n and B n wavelet coefficients, n=1, 2, …, N. Wherein, the indication information n indicates B nThe index corresponding to the n-th wavelet coefficient in the n-th level wavelet space. The wavelet space can refer to the foregoing related description, which will not be repeated here.

[0258] For example, each wavelet coefficient in the n-th wavelet coefficient codebook can be carried or indicated by A q bits. The indication information n includes B n indexes corresponding to the n-th wavelet coefficient in the j-th level wavelet space.

[0259] For example, taking Y equal to 3, and the M-level wavelet space including the 1st dimension, the 2nd dimension and the 3rd dimension as an example, for the index k, l, i corresponding to the j-th level wavelet space, k∈[0,K j -1], l∈[0,L j -1], i∈[0,I j -1], j∈[1,M], can be respectively carried or indicated by log2K j , log2L j , log2I j bits. Therefore, the indication information n can be a bitmap including log2K n + log2L n + log2I n bits.

[0260] For example, based on the implementation of the indication information n described above, the index corresponding to the n-th wavelet coefficient in the n-th level wavelet space can be indicated in the order of k first, then l, and then i (or other order). Taking the index corresponding to a certain wavelet coefficient in the n-th wavelet coefficient codebook in the n-th level wavelet space as (2, 1, 3), and log2K n , log2L n , log2I n are all 4, then when encoding in the order of 2, 1, 3, the index corresponding to the n-th wavelet coefficient in the n-th level wavelet space can be represented as 0010 0001 0011, or in other words, the indication information j can be represented as 0010 0001 0011.

[0261] The structure (or content included) of the second wavelet coefficient codebook can refer to the related implementation of the first wavelet coefficient codebook, which will not be repeated here.

[0262] Of course, the scale coefficients in the M-th level scale coefficient codebook, the wavelet coefficients in the first and second wavelet coefficient codebooks can also have other implementations, which are not limited in the present application.

[0263] In a possible implementation, in the step S704, the second communication device determines the perception information, which can include: the second communication device performing inverse discrete wavelet transform on the first perception information codebook to obtain the perception information.

[0264] As a possible implementation, in case that N equals to M, the second communication device performs M-level inverse discrete wavelet transform on the first perception information codebook. For example, the second communication device performs M-level inverse discrete wavelet transform on the M first wavelet coefficient codebooks based on the set of binary wavelet functions, and performs M-level inverse discrete wavelet transform on the Mth level scale coefficient codebook according to the binary scaling function corresponding to the Mth level scale space in the set of binary scaling functions. The description of each parameter can refer to the above related description, and will not be repeated here.

[0265] For example, in case that the perception space is a three-dimensional space including a distance dimension, a horizontal angle dimension and a vertical angle dimension, and the perception information is represented as P(s, m, n), the second communication device performing M-level inverse discrete wavelet transform on the first perception information codebook can be represented as:

[0266] wherein, IDWTj(q) represents the jth level three-dimensional inverse discrete wavelet transform. j,1 (k, l, i) represents the jth level first wavelet coefficient, i.e., the wavelet coefficient in the jth first wavelet coefficient codebook. j＝M (k, l, i) represents the Mth level scale coefficient. IDWTj(q) represents performing inverse discrete wavelet transform on the jth level first wavelet coefficient, and ψ represents a binary wavelet function. IDWTj(q) represents performing inverse discrete wavelet transform on the Mth level scale coefficient, φ represents a binary scaling function.

[0267] For example, the inverse discrete wavelet transform corresponding to the distance dimension can be represented as:

[0268] wherein, ψ j,k (s) is a binary wavelet function corresponding to the 1st dimension of the jth level wavelet space, φ is a binary scaling function corresponding to the 1st dimension of the Mth level scale space.

[0269] Similarly, the inverse discrete wavelet transform corresponding to the horizontal angle dimension can be represented as:

[0270] wherein, ψ j,l (m) is a binary wavelet function corresponding to the 2nd dimension of the jth level wavelet space, φ is a binary scaling function corresponding to the 2nd dimension of the Mth level scale space.

[0271] Similarly, the inverse discrete wavelet transform corresponding to the vertical angle dimension can be represented as:

[0272] wherein, ψj,i (n) is a binary wavelet function corresponding to the third dimension of the jth level wavelet space, is a binary scaling function corresponding to the third dimension of the Mth level scaling space. The detailed explanation of each parameter can be referred to the related description in step S702, which will not be repeated here.

[0273] As another possible implementation, when N is less than M, the second communication device performs N-level inverse discrete wavelet transform on the N first wavelet coefficient codebooks based on the binary wavelet functions in the binary wavelet function set corresponding to the N first wavelet coefficient codebooks, and performs M-level inverse discrete wavelet transform on the Mth level scaling coefficient codebook based on the binary scaling function corresponding to the Mth level scaling space in the binary scaling function set.

[0274] For example, the binary wavelet function corresponding to the first wavelet coefficient codebook can be understood as: when the first wavelet coefficient code corresponds to the i-level discrete wavelet transform, the binary wavelet function corresponding to the first wavelet coefficient codebook is the binary wavelet function corresponding to the i-level wavelet space. In addition, the implementation of the second communication device performing inverse discrete wavelet transform can be referred to the above related description, which will not be repeated here.

[0275] In a possible implementation, in the step S707, the second communication device determining the perception information can include: combining the first perception information codebook and the second perception information codebook into a complete perception information codebook, and then performing M-level inverse discrete wavelet transform on the perception information codebook to obtain the perception information.

[0276] For example, when N is equal to M, the wavelet coefficient in the jth first wavelet coefficient codebook is represented as q j,1 (k,l,i), and the wavelet coefficient in the jth second wavelet coefficient codebook is represented as q j,2 (k,l,i). For example, the second communication device can determine the jth wavelet coefficient codebook q j,1 (k,l,i) and q j,2 (k,l,i) in the perception information codebook based on q j (k,l,i), and then perform M-level inverse discrete wavelet transform on the jth wavelet coefficient codebook q j (k,l,i).

[0277] wherein the M-level inverse discrete wavelet transform is performed on q j (k,l,i). The implementation of performing M-level inverse discrete wavelet transform on q j,1 (k,l,i) can be referred to the related description of performing M-level inverse discrete wavelet transform on the first perception information codebook, and q j (k,l,i) can be replaced by q

[0278] In addition to the method shown in FIG. 7 or FIG. 8, the embodiment of the present application further provides a communication method. As shown in FIG. 9, the communication method comprises the following steps:

[0279] S901, the first communication device acquires the perception information. The perception information comprises perception data of each position point in the perception space. For details, refer to the related description of step S701, which will not be repeated here.

[0280] S902, the first communication device determines a first perception information codebook and a second perception information codebook.

[0281] The first perception information codebook comprises an M-level scale coefficient codebook and N first wavelet coefficient codebooks, and N is a positive integer less than or equal to M. The second perception information codebook comprises K second wavelet coefficient codebooks, and K is a positive integer less than or equal to M. The priority of the first wavelet coefficient codebook is higher than the priority of the second wavelet coefficient codebook. For details, refer to the related description of step S702, which will not be repeated here.

[0282] In a possible implementation, the first communication device can perform M-level discrete wavelet transform on the perception information to determine the first perception information codebook and the second perception information codebook. That is, the first perception information codebook and the second perception information codebook can be considered as being obtained by performing M-level discrete wavelet transform on the perception information. M is a positive integer greater than or equal to 1.

[0283] S903, the first communication device transmits the first perception information codebook through a first channel and transmits the second perception information codebook through a second channel. Correspondingly, the second communication device receives the first perception information codebook through the first channel and receives the second perception information codebook through the second channel.

[0284] As a possible implementation, the first channel is a control channel, such as PUCCH, and the second channel is a data channel, such as PUSCH. For example, in this possible implementation, since the first channel is a control channel and the second channel is a data channel, the priority of the control channel is usually higher than that of the data channel. Therefore, the first communication device can first transmit the first perception information codebook through the control channel and then transmit the second perception information codebook through the data channel, that is, the first perception information codebook and the second perception information codebook are not transmitted simultaneously.

[0285] As another possible implementation, the first channel is a first bearer and the second channel is a second bearer, and the priority of the first bearer is higher than that of the second bearer. For example, the first bearer and the second bearer can be radio bearers (RBs), such as DRBs or SRBs. For example, the first bearer is a high-priority DRB, and the second bearer is a low-priority DRB.

[0286] For example, in this possible implementation, the first communication device can first transmit the first perception information codebook through the first bearer and then transmit the second perception information codebook through the second bearer, i.e., the first perception information codebook and the second perception information codebook are not transmitted simultaneously, because the priority of the first bearer is higher than the priority of the second bearer.

[0287] S904, the second communication device determines the perception information.

[0288] The perception information includes perception data of each position point in the perception space. For details, refer to the description of the perception space, the position point, and the perception data in step S701.

[0289] As a possible implementation, the second communication device can perform inverse discrete wavelet transform on the first perception information codebook to determine the perception information. That is, the perception information can be considered as being obtained by performing inverse discrete wavelet transform on the first perception information codebook.

[0290] Optionally, when the accuracy of the perception information obtained by performing inverse discrete wavelet transform on the first perception information codebook by the second communication device does not meet the accuracy requirement, the second communication device can perform inverse discrete wavelet transform on the first perception information codebook and the second perception information codebook. For example, the second communication device combines the first perception information codebook and the second perception information codebook into a complete perception information codebook, and then performs inverse discrete wavelet transform on the perception information codebook to obtain the perception information. In this scenario, the perception information can be considered as being obtained by performing inverse discrete wavelet transform on the first perception information codebook and the second perception information codebook.

[0291] For example, because the first perception information codebook is transmitted through the first channel and the second perception information codebook is transmitted through the second channel, the second communication device can first receive the first perception information codebook. After receiving the first perception information codebook, the second communication device can immediately perform M-level discrete wavelet transform on the first perception information codebook to obtain the perception information. When the perception information does not meet the accuracy requirement, after receiving the second perception information codebook, the second communication device combines the first perception information codebook and the second perception information codebook into a complete perception information codebook, and then performs inverse discrete wavelet transform on the perception information codebook to obtain the final perception information.

[0292] Based on the above scheme, the first communication device performs M-level discrete wavelet transform on the perception information including the perception data of all position points in the perception space, to obtain a first perception information codebook and a second perception information codebook, and reports the high-priority M-level scale coefficient codebook and the first wavelet coefficient codebook on a control channel or a high-priority bearer, and reports the low-priority second wavelet coefficient on a data channel or a low-priority bearer, so as to ensure the priority transmission of the high-priority codebook, and enable the receiving end to receive the high-priority codebook in time, and thus recover the perception information based on the high-priority codebook in time. In the case that the perception information recovered based on the high-priority codebook meets the accuracy requirement, there is no need to wait for the reception of the low-priority codebook, that is, the perception information can be recovered without receiving the entire perception information codebook, thereby reducing the feedback delay of the perception information. In addition, since the recovery of the perception information based on the low-priority codebook has little or even negligible effect, the perception information recovered based on the high-priority codebook generally meets the accuracy requirement, that is, the feedback delay is reduced without affecting the recovery of the perception information.

[0293] In a possible implementation, the first wavelet coefficient codebook and the second wavelet coefficient codebook have the following two possible implementation manners:

[0294] Manner one: the wavelet coefficients in the first wavelet coefficient codebook are greater than or equal to a first threshold, and the wavelet coefficients in the second wavelet coefficient codebook are less than or equal to the first threshold. For details, refer to the related description of the foregoing manner one, which will not be repeated here.

[0295] Manner two: the decomposition levels corresponding to the wavelet coefficients in the first wavelet coefficient codebook are higher than or equal to a first decomposition level, and the decomposition levels corresponding to the wavelet coefficients in the second wavelet coefficient codebook are lower than or equal to the first decomposition level. The first decomposition level is greater than or equal to 1 and less than or equal to M. For details, refer to the related description of the foregoing manner two, which will not be repeated here.

[0296] In a possible implementation, in the step S902, the implementation of the M-level discrete wavelet transform performed by the first communication device on the perception information can refer to the related description of the step S702, which will not be repeated here.

[0297] In a possible implementation, the M-level scale coefficient codebook includes P scale coefficients (values). For details, refer to the related description of the M-level scale coefficient, which will not be repeated here.

[0298] In a possible implementation, the n th wavelet coefficient codebook in the N first wavelet coefficient codebooks includes an indication information n and B n wavelet coefficients, n = 1, 2, …, N. The indication information n indicates B nThe index corresponding to the nth wavelet coefficient in the nth level wavelet space. For details, refer to the foregoing description of the first wavelet coefficient codebook.

[0299] In a possible implementation, in step S904, the implementation of the second communication device in performing the inverse discrete wavelet transform on the first perception information codebook can refer to the foregoing description of step S704; the implementation of the second communication device in performing the inverse discrete wavelet transform on the first perception information codebook and the second perception information codebook can refer to the foregoing description of step S707, and details are not described herein again.

[0300] In a possible implementation, for the foregoing method embodiments, in the CU-DU architecture or the ORAN system, the functions of the access network device interacting with the terminal can be implemented by the DU or the O-DU. The information sent by the access network device to the terminal can be generated by the DU or the O-DU, or can be generated by the CU or the O-CU and sent to the DU or the O-DU. The functions of the access network device interacting with the core network can be implemented by the CU or the O-CU. The processing functions of the access network device can be implemented by the CU or the O-CU, or can be implemented by the DU or the O-DU, or can be implemented jointly by the CU and the DU (or the O-CU and the O-DU), without limitation.

[0301] The foregoing describes the method provided by the present application. In addition, the present application also provides a communication device for implementing the functions described in the foregoing method embodiments.

[0302] It can be understood that, to implement the foregoing functions, the communication device includes a hardware structure and / or software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in the form of hardware or 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 the present application.

[0303] The embodiments of the present application can divide the functions of the communication device into function modules according to the foregoing method embodiments. For example, each function module can be divided according to each function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in the form of hardware or in the form of a software function module. It should be noted that the division of the modules in the embodiments of the present application is illustrative, and is only a logical function division. Actual implementation can have another division manner.

[0304] FIG. 10 shows a structural diagram of a communication apparatus 100. The communication apparatus 100 includes a processing module 1001 and a transceiver module 1002. The communication apparatus 100 can be used to implement the functions of the first communication apparatus or the second communication apparatus.

[0305] In some embodiments, the communication apparatus 100 can further include a storage module (not shown in FIG. 10) for storing program instructions and data.

[0306] In some embodiments, the transceiver module 1002, which can also be referred to as a transceiver unit, is configured to implement the transmitting and / or receiving functions. The transceiver module 1002 can be constituted by a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0307] In some embodiments, the transceiver module 1002 can include a receiving module and a transmitting module, which are respectively configured to perform the receiving and transmitting steps of the method embodiments performed by the first communication apparatus or the second communication apparatus, and / or other processes for supporting the techniques described herein; and the processing module 1001 can be configured to perform the processing steps of the method embodiments performed by the first communication apparatus or the second communication apparatus, and / or other processes for supporting the techniques described herein.

[0308] When the communication apparatus 100 is used to implement the functions of the first communication apparatus, in a possible implementation:

[0309] The processing module 1001 is configured to obtain perception information, the perception information including perception data of each position point in a perception space; the processing module 1001 is further configured to determine a first perception information codebook; and the transceiver module 1002 is configured to transmit the first perception information codebook. The first perception information codebook is obtained by performing M-level discrete wavelet transform on the perception information. The first perception information codebook includes an Mth-level scale coefficient codebook and N first wavelet coefficient codebooks. The wavelet coefficients in the first wavelet coefficient codebooks are greater than or equal to a first threshold, or the wavelet coefficients in the first wavelet coefficient codebooks correspond to a decomposition level greater than or equal to a first decomposition level. The first decomposition level is greater than or equal to 1 and less than or equal to M, M is a positive integer greater than or equal to 1, and N is a positive integer less than M.

[0310] Optionally, the transceiver module 1002 is further configured to transmit a second perception information codebook, the second perception information codebook including K second wavelet coefficient codebooks, K being a positive integer less than M. The second perception information codebook is obtained by performing M-level discrete wavelet transform on the perception information. The wavelet coefficients in the second wavelet coefficient codebooks are less than or equal to the first threshold, or the wavelet coefficients in the second wavelet coefficient codebooks correspond to a decomposition level less than or equal to the first decomposition level.

[0311] Optionally, the transceiver 1002 is further configured to receive first information, the first information being used for scheduling the second sensing information codebook.

[0312] Optionally, the transceiver 1002 is configured to send the first sensing information codebook, including that the transceiver 1002 is further configured to send the first sensing information codebook through a first channel; and the transceiver 1002 is further configured to send the second sensing information codebook, including that the transceiver 1002 is further configured to send the second sensing information codebook through a second channel. The first channel is a control channel, and the second channel is a data channel; or the first channel is a first bearer, and the second channel is a second bearer, the priority of the first bearer being higher than the priority of the second bearer.

[0313] Optionally, the M-level discrete wavelet transform on the sensing information further obtains a second sensing information codebook. The transceiver 1002 is further configured to receive second information, the second information being used for indicating that the second sensing information codebook does not need to be sent; and the second sensing information codebook includes K second wavelet coefficient codebooks, K being a positive integer less than M. The wavelet coefficients in the second wavelet coefficient codebooks are less than or equal to a first threshold, or the decomposition levels corresponding to the wavelet coefficients in the second wavelet coefficient codebooks are lower than or equal to a first decomposition level.

[0314] Optionally, the M-level discrete wavelet transform on the sensing information further obtains a second sensing information codebook. The processing module 1001 is further configured to discard the second sensing information codebook, or not to send the second sensing information codebook. The second sensing information codebook includes K second wavelet coefficient codebooks, the decomposition levels corresponding to the wavelet coefficients in the second wavelet coefficient codebooks being lower than or equal to a first decomposition level, and K being a positive integer less than M.

[0315] In the communication device 100 used for implementing the functions of the first communication device, in another possible implementation manner:

[0316] Processing module 1001 is used to acquire sensing information, which includes sensing data of each location point within the sensing space. Processing module 1001 is also used to determine a first sensing information codebook and a second sensing information codebook, which are obtained by performing an M-level discrete wavelet transform on the sensing information. The first sensing information codebook includes an M-level scaling coefficient codebook and N first wavelet coefficient codebooks, and the second sensing information codebook includes K second wavelet coefficient codebooks. The first wavelet coefficient codebooks have a higher priority than the second wavelet coefficient codebooks. M is a positive integer greater than or equal to 1, and N and K are positive integers less than or equal to M. Transceiver module 1002 is used to transmit the first sensing information codebook through a first channel and the second sensing information codebook through a second channel. The first channel is a control channel, and the second channel is a data channel; or, the first channel is a first bearer, and the second channel is a second bearer, with the first bearer having a higher priority than the second bearer.

[0317] In one possible implementation, when the communication device 100 is used to perform the functions of the second communication device:

[0318] The transceiver module 1002 is used to receive a first sensing information codebook; the processing module 1001 is used to determine the sensing information, which is obtained by performing a discrete wavelet inverse transform on the first sensing information codebook. The sensing information includes sensing data for each location point in the sensing space. The first sensing information codebook includes an M-th level scale coefficient codebook and N first wavelet coefficient codebooks. The wavelet coefficients in the first wavelet coefficient codebook are greater than or equal to a first threshold, or the decomposition level corresponding to the wavelet coefficients in the first wavelet coefficient codebook is higher than or equal to the first decomposition level. The first decomposition level is greater than or equal to 1 and less than or equal to M, where M is a positive integer greater than or equal to 1 and N is a positive integer less than M.

[0319] Optionally, the transceiver module 1002 is further configured to receive a second perceptual information codebook, which includes K second wavelet coefficient codebooks. The wavelet coefficients in the second wavelet coefficient codebooks are less than or equal to a first threshold, or the decomposition level corresponding to the wavelet coefficients in the second wavelet coefficient codebooks is less than or equal to the first decomposition level, where K is a positive integer less than M. The perceptual information is obtained by performing a discrete wavelet inverse transform on the first and second perceptual information codebooks.

[0320] Optionally, the transceiver module 1002 is also used to send first information, which is used to schedule the second sensing information codebook.

[0321] Optionally, the transceiver module 1002 is configured to receive the first perception information codebook, including: the transceiver module 1002 is configured to receive the first perception information codebook through a first channel; and the transceiver module 1002 is further configured to receive the second perception information codebook, including: the transceiver module 1002 is further configured to receive the second perception information codebook through a second channel. The first channel is a control channel, and the second channel is a data channel; or the first channel is a first bearer, and the second channel is a second bearer, and the priority of the first bearer is higher than the priority of the second bearer.

[0322] Optionally, the transceiver module 1002 is further configured to send second information, the second information being used to indicate that the second perception information codebook does not need to be sent, the second perception information codebook including K second wavelet coefficient codebooks, K being a positive integer less than M. The wavelet coefficients in the second wavelet coefficient codebooks are less than or equal to a first threshold value, or the wavelet coefficients in the second wavelet coefficient codebooks correspond to a decomposition level less than or equal to a first decomposition level.

[0323] In the case where the communication device 100 is configured to implement the functions of the second communication device, in another possible implementation manner:

[0324] The transceiver module 1002 is configured to receive the first perception information codebook through a first channel and receive the second perception information codebook through a second channel; the first channel is a control channel, and the second channel is a data channel; or the first channel is a first bearer, and the second channel is a second bearer, and the priority of the first bearer is higher than the priority of the second bearer; and the processing module 1001 is configured to determine perception information, the perception information being obtained by performing inverse discrete wavelet transform on the first perception information codebook, or the perception information being obtained by performing inverse discrete wavelet transform on the first perception information codebook and the second perception information codebook. The perception information includes perception data of each position point in a perception space. The first perception information codebook includes an Mth-level scale coefficient codebook and N first wavelet coefficient codebooks, the second perception information codebook includes K second wavelet coefficient codebooks, the priority of the first wavelet coefficient codebook is higher than the priority of the second wavelet coefficient codebook, M is a positive integer greater than or equal to 1, and N and K are positive integers less than or equal to M.

[0325] Wherein, all the related contents of each step involved in the above method embodiments can be cited to the function description of the corresponding function module, which will not be repeated here.

[0326] In the present application, the communication apparatus 100 can be presented in the form of integrated division of various functional modules. The "module" here can refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory executing one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0327] In some embodiments, when the communication apparatus 100 in FIG. 10 is a chip or a chip system, the function / implementation process of the transceiver module 1002 can be implemented through the input / output interface (or the communication interface) of the chip or the chip system, and the function / implementation process of the processing module 1001 can be implemented through the processor (or the processing circuit) of the chip or the chip system.

[0328] Since the communication apparatus 100 provided by the present embodiment can execute the above method, the technical effects that can be obtained thereby can refer to the above method embodiments, which will not be repeated here.

[0329] As a possible product form, the first communication apparatus or the second communication apparatus described in the embodiments of the present application can be implemented using one or more field programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing the various functions described throughout the present application.

[0330] As another possible product form, the first communication apparatus or the second communication apparatus described in the embodiments of the present application can be implemented by a general bus architecture. For ease of illustration, refer to FIG. 11, which is a structural schematic diagram of a communication apparatus 1100 provided by the embodiments of the present application, the communication apparatus 1100 comprising a processor 1101 and a transceiver 1102. The communication apparatus 1100 can be a first communication apparatus, or a chip or chip system therein; or the communication apparatus 1100 can be a second communication apparatus, or a chip or module therein. FIG. 11 only shows the main components of the communication apparatus 1100. In addition to the processor 1101 and the transceiver 1102, the communication apparatus can further comprise a memory 1103, and an input / output device (not shown in FIG. 11).

[0331] Optionally, the processor 1101 is mainly configured to process communication protocol and communication data, and control the whole communication device, execute software program, process data of the software program, so as to realize the method provided in the above method embodiments. The memory 1103 is mainly configured to store software program and data. The transceiver 1102 can include radio frequency circuit and antenna, the radio frequency circuit is mainly configured to convert baseband signal and radio frequency signal, and process the radio frequency signal. The antenna is mainly configured to transceive radio frequency signal in the form of electromagnetic wave. The input and output device, such as touch screen, display screen, keyboard and the like, is mainly configured to receive user input data and output data to the user.

[0332] Optionally, the processor 1101, the transceiver 1102, and the memory 1103 can be connected through a communication bus.

[0333] When the communication device is powered on, the processor 1101 can read the software program in the memory 1103, execute the instructions of the software program, and process the data of the software program. When it is necessary to send data wirelessly, the processor 1101 performs baseband processing on the data to be sent, and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal, and transmits the radio frequency signal in the form of electromagnetic wave through the antenna. When data is transmitted to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1101. The processor 1101 converts the baseband signal into data and processes the data.

[0334] In another implementation, the radio frequency circuit and the antenna can be arranged independently of the processor performing baseband processing, for example, in a distributed scenario, the radio frequency circuit and the antenna can be arranged remotely from the communication device.

[0335] In some embodiments, in the hardware implementation, those skilled in the art can conceive that the above-mentioned communication device 100 can adopt the form of the communication device 1100 shown in FIG. 11.

[0336] As an example, the function / implementation process of the processing module 1001 in FIG. 10 can be realized by the processor 1101 in the communication device 1100 shown in FIG. 11 calling the computer execution instructions stored in the memory 1103. The function / implementation process of the transceiving module 1002 in FIG. 10 can be realized by the transceiver 1102 in the communication device 1100 shown in FIG. 11.

[0337] As another possible product form, the first communication device or the second communication device in this application can adopt the component structure shown in FIG. 12, or include the components shown in FIG. 12. FIG. 12 is a component diagram of a communication device 1200 provided by this application, which can be the first communication device or a chip or system on chip in the first communication device; or can be the second communication device or a chip or system on chip in the second communication device.

[0338] As shown in FIG. 12, the communication device 1200 includes at least one processor 1201, and at least one communication interface (only one communication interface 1204 is shown in FIG. 12 as an example, and the processor 1201 is taken as an example for description). Optionally, the communication device 1200 can further include at least one of a communication bus 1202, a memory 1203, and a computer readable storage medium 1207.

[0339] The processor 1201 can be a general central processing unit (CPU), a general processor, a network processor (NP), a digital signal processing (DSP), a microprocessor (such as X86, ARM), a microcontroller, an FPGA, a PLD, a state machine, a gate logic, a discrete hardware circuit, other suitable hardware configured to perform various functions, or any combination thereof. The processor 1201 can also be other devices with processing functions, such as a circuit, a device, or a software module, without limitation.

[0340] The communication bus 1202 is used to connect different components in the communication device 1200, so that different components can communicate. The communication bus 1202 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is shown in FIG. 12, but it does not mean that there is only one bus or only one type of bus. For example, the communication bus 1202 can include any number of interconnected buses and bridges, depending on the specific application of the communication device and the overall design constraints. In addition, the communication bus 1202 can also link various other circuits, such as a timing source, peripherals, voltage regulators, and power management circuits, etc.

[0341] The communication interface 1204 is used to communicate with other devices or communication networks. For example, the communication interface 1204 can be a module, a circuit, or any device capable of realizing communication.

[0342] As a possible implementation, the communication interface 1204 can also be an input / output interface located in the processor 1201, used to realize the signal input and signal output of the processor.

[0343] As another possible implementation, the communication interface 1204 can also be understood as a bus interface. It is used to provide an interface between the communication bus and the transceiver. The transceiver can provide an interface or device for communicating with various other devices through wireless / wired transmission media. The transceiver can be coupled to an antenna array, and the transceiver and the antenna array can be used together to communicate with a network of a corresponding type.

[0344] The memory 1203 can be a device with a storage function, used to store instructions and / or data. Among them, the instructions can be computer programs. Exemplarily, the memory 1203 can be a read-only memory (read-only memory, ROM) or other types of static storage devices that can store static information and / or instructions, and can also be a random access memory (random access memory, RAM) or other types of dynamic storage devices that can store information and / or instructions, and can also be an electrically erasable programmable read-only memory (electrically erasable programmable read-only memory, EEPROM), a compact disc read-only memory (compact disc read-only memory, CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage medium or other magnetic storage devices, etc., without limitation.

[0345] It should be noted that the memory 1203 can exist independently of the processor 1201, or can be integrated with the processor 1201. The memory 1203 can be located inside the communication device 1200, or can be located outside the communication device 1200, without limitation.

[0346] The processor 1201 can be used to execute the instructions stored in the memory 1203, or to execute the computer programs or instructions stored in the computer readable storage medium 1207, to realize the method provided by the above-mentioned embodiments of the present application.

[0347] For example, the processor 1201 can also implement functions including at least one of the following, or the processor 1201 executes instructions or computer programs stored in the memory 1203 or the computer readable storage medium 1207 to implement at least one of the following functions: encoding, decoding, rate matching, de-rate matching, scrambling, descrambling, modulation, demodulation, layer mapping, fast Fourier transform (FFT), inverse fast Fourier transform (IFFT), inverse discrete Fourier transform (IDFT), precoding, resource element (RE) mapping, channel equalization, RE demapping, digital beam forming (BF), adding a cyclic prefix (CP), removing a CP, and the like.

[0348] Optionally, the processor 1201 and / or the memory 1203 can include an artificial intelligence (AI) module, which is configured to implement AI-related functions. The AI module can be implemented in software, hardware, or a combination of software and hardware. For example, the AI module can include a radio access network intelligent controller (RIC) module. For example, the AI module can be a near-real-time RIC or a non-real-time RIC.

[0349] As an optional implementation, the communication device 1200 can further include an output device 1205 and an input device 1206 (neither of which is shown in FIG. 12). The output device 1205 is in communication with the processor 1201 and can display information in various ways. For example, the output device 1205 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. The input device 1206 is in communication with the processor 1201 and can receive user input in various ways. For example, the input device 1206 can be a mouse, a keyboard, a touch screen device, a sensor device, etc.

[0350] In some embodiments, in a hardware implementation, those skilled in the art can conceive that the communication device 100 shown in FIG. 10 can take the form of the communication device 1200 shown in FIG. 12.

[0351] As an example, the function / implementation process of the processing module 1001 in FIG. 10 can be implemented by invoking computer-executed instructions stored in the memory 1203 by the processor 1201 in the communication apparatus 1200 shown in FIG. 12. The function / implementation process of the transceiving module 1002 in FIG. 10 can be implemented by the communication interface 1204 in the communication apparatus 1200 shown in FIG. 12.

[0352] It should be noted that the structure shown in FIG. 12 does not constitute a specific limitation on the first communication apparatus or the second communication apparatus. For example, in some other embodiments of the present application, the first communication apparatus or the second communication apparatus can include more or fewer components than those shown, or combine some components, or split some components, or different arrangement of components. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0353] In a possible implementation, the processor in the embodiments of the present application can include communication and processing circuitry. The communication and processing circuitry can include one or more hardware components that provide a physical structure that performs various processes related to wireless communication or sensing (such as signal reception and / or signal transmission). The communication and processing circuitry can include two or more transmit / receive chains. The functions implemented by the communication and processing circuitry can also be processed on a computer-readable medium.

[0354] In another possible implementation, as shown in FIG. 13, the processor can include a perception information processing module (or circuit), an encoding circuit, and a mapping circuit. The perception information processing module can be configured to perform M-level discrete wavelet transform on the perception information, the Mth-level scale coefficients, the first set of wavelet coefficients, and the second set of wavelet coefficients, the wavelet coefficients in the first set of wavelet coefficients being wavelet coefficients in a first wavelet coefficient codebook of N wavelet coefficients, and the wavelet coefficients in the second set of wavelet coefficients being wavelet coefficients in a second wavelet coefficient codebook of K wavelet coefficients. The encoding circuit can be configured to encode the scale coefficients and the wavelet coefficients, for example, the encoding circuit can include an encoder 1 and an encoder 2, the encoder 1 being configured to encode the Mth-level scale coefficients and the first set of wavelet coefficients (e.g., using Polar code encoding) to generate a high-priority codebook (i.e., a first perception information codebook), and the encoder 2 being configured to encode the second set of wavelet coefficients (e.g., using Polar code encoding) to generate a low-priority codebook (i.e., a second perception information codebook). The mapping circuit is configured to map the first perception information codebook and the second perception information codebook onto transmission resources, for example, mapping the first perception information codebook onto transmission resources corresponding to a first channel and mapping the second perception information codebook onto transmission resources corresponding to a second channel. The transmission resources can be, for example, REs in uplink transmission resources such as time slots or subframes carrying uplink channels, and the mapping can be performed using mapping / multiplexing techniques in PUCCH / PUSCH. In addition, the perception information codebooks can be encapsulated or carried in transport blocks (TBs).

[0355] For example, the functions of the perception information processing module, the encoding circuit, and the mapping circuit can also be processed on a computer readable medium. In addition, the perception information processing module, the encoding circuit, and the mapping circuit can also have other names, which are not limited in the present application.

[0356] In some embodiments, the embodiments of the present application also provide a communication device including a processor configured to implement the method in any of the method embodiments.

[0357] As a possible implementation, the communication device further includes a memory. The memory is configured to store necessary computer programs and data. The computer programs can include instructions, and the processor can invoke the instructions in the computer programs stored in the memory to instruct the communication device to perform the method in any of the method embodiments. Of course, the memory can also not be in the communication device.

[0358] As another possible implementation, the communication device further includes an interface circuit, which is a code / data read / write interface circuit, and is configured to receive computer execution instructions (stored in the memory, which can be directly read from the memory or can pass through other devices) and transmit them to the processor.

[0359] As a further possible implementation, the communication device further comprises a communication interface for communicating with a module outside the communication device.

[0360] It can be understood that the communication device can be a chip or a chip system, when the communication device is a chip system, the communication device can be composed of a chip or can contain a chip and other discrete devices, and the embodiments of the present application do not make specific limitations.

[0361] The present application also provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions realize the functions of any of the method embodiments when executed by a computer.

[0362] The present application also provides a computer program product, which realizes the functions of any of the method embodiments when executed by a computer.

[0363] Those skilled in the art can understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0364] It can be understood that the system, device and method described in the present application can also be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0365] The units described as separate components can or can not be physically separate, that is, can be located in one place, or can be distributed on a plurality of network units. The components shown as units can or can not be physical units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment scheme.

[0366] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0367] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive (SSD)). In this embodiment, the computer may include the aforementioned apparatus.

[0368] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0369] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the scope of this application. Accordingly, this specification and drawings are merely illustrative descriptions of the application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of the claims and their equivalents, this application is also intended to include such modifications and modifications.

Claims

1. A communication method characterized by comprising: The method comprises: obtaining perception information, the perception information comprising perception data of each position point in a perception space; determining a first perception information codebook, the first perception information codebook being obtained by performing M-level discrete wavelet transform on the perception information; the first perception information codebook comprising an Mth-level scale coefficient codebook and N first wavelet coefficient codebooks, a wavelet coefficient in the first wavelet coefficient codebook corresponding to a decomposition level higher than or equal to a first decomposition level, the first decomposition level being greater than or equal to 1 and less than or equal to M, M being a positive integer greater than or equal to 1, and N being a positive integer less than M; and transmitting the first perception information codebook.

2. The method of claim 1, wherein, The method further comprises transmitting a second perception information codebook, the second perception information codebook comprising K second wavelet coefficient codebooks, K being a positive integer less than M; the second perception information codebook being obtained by performing M-level discrete wavelet transform on the perception information; a wavelet coefficient in the second wavelet coefficient codebook corresponding to a decomposition level lower than or equal to the first decomposition level.

3. The method of claim 2, wherein, The method further comprises receiving first information, the first information being used for scheduling the second perception information codebook.

4. The method of claim 2 or 3, wherein transmitting the first perception information codebook comprises transmitting the first perception information codebook through a first channel; and transmitting the second perception information codebook comprises transmitting the second perception information codebook through a second channel; wherein the first channel is a control channel, and the second channel is a data channel; or the first channel is a first bearer, and the second channel is a second bearer, the first bearer having a higher priority than the second bearer. performing M-level discrete wavelet transform on the perception information further obtains a second perception information codebook; the method further comprises receiving second information, the second information being used for indicating that the second perception information codebook does not need to be transmitted; wherein the second perception information codebook comprises K second wavelet coefficient codebooks, a wavelet coefficient in the second wavelet coefficient codebook corresponding to a decomposition level lower than or equal to the first decomposition level, K being a positive integer less than M.

5. The method of claim 1, wherein, performing M-level discrete wavelet transform on the perception information further obtains a second perception information codebook; the method further comprises discarding the second perception information codebook; or not transmitting the second perception information codebook; wherein the second perception information codebook comprises K second wavelet coefficient codebooks, a wavelet coefficient in the second wavelet coefficient codebook corresponding to a decomposition level lower than or equal to the first decomposition level, K being a positive integer less than M.

6. The method of claim 1, wherein, The method comprises: receiving a first perception information codebook, the first perception information codebook comprising an Mth-level scale coefficient codebook and N first wavelet coefficient codebooks, a wavelet coefficient in the first wavelet coefficient codebook corresponding to a decomposition level higher than or equal to a first decomposition level, the first decomposition level being greater than or equal to 1 and less than or equal to M, M being a positive integer greater than or equal to 1, and N being a positive integer less than M; 7. A communication method characterized by comprising: ​ ​ determining perceptual information, the perceptual information being obtained by inverse discrete wavelet transform on the first perceptual information codebook, the perceptual information including perceptual data of each position point in a perceptual space.

8. The method of claim 7, wherein, The method further includes receiving a second perceptual information codebook, the second perceptual information codebook including K second wavelet coefficient codebooks, wavelet coefficients in the second wavelet coefficient codebooks corresponding to a decomposition level lower than or equal to the first decomposition level, K being a positive integer less than M. The perceptual information is obtained by inverse discrete wavelet transform on the first perceptual information codebook and the second perceptual information codebook.

9. The method of claim 8, wherein, The method further includes sending first information, the first information being used for scheduling the second perceptual information codebook.

10. The method of claim 8 or 9, wherein, receiving the first perceptual information codebook includes receiving the first perceptual information codebook through a first channel; receiving the second perceptual information codebook includes receiving the second perceptual information codebook through a second channel; wherein the first channel is a control channel and the second channel is a data channel, or the first channel is a first bearer and the second channel is a second bearer, the first bearer having a higher priority than the second bearer.

11. The method of claim 7, wherein, The method further includes: sending second information, the second information being used for indicating that the second perceptual information codebook does not need to be sent, the second perceptual information codebook including K second wavelet coefficient codebooks, wavelet coefficients in the second wavelet coefficient codebooks corresponding to a decomposition level lower than or equal to the first decomposition level, K being a positive integer less than M.

12. A communication method characterized by comprising: The method includes: obtaining perceptual information, the perceptual information including perceptual data of each position point in a perceptual space; determining a first perceptual information codebook and a second perceptual information codebook, the first perceptual information codebook and the second perceptual information codebook being obtained by M-level discrete wavelet transform on the perceptual information; the first perceptual information codebook including an Mth-level scale coefficient codebook and N first wavelet coefficient codebooks, the second perceptual information codebook including K second wavelet coefficient codebooks, the first wavelet coefficient codebooks having a higher priority than the second wavelet coefficient codebooks; M being a positive integer greater than or equal to 1, N and K being positive integers less than or equal to M; sending the first perceptual information codebook through a first channel and sending the second perceptual information codebook through a second channel; wherein the first channel is a control channel and the second channel is a data channel, or the first channel is a first bearer and the second channel is a second bearer, the first bearer having a higher priority than the second bearer.

13. The method of claim 12, wherein, N and K are equal to M; an jth first wavelet coefficient codebook in the M first wavelet coefficient codebooks and an jth second wavelet coefficient codebook in the M second wavelet coefficient codebooks corresponding to j-level discrete wavelet transform, j = 1, 2, …, M; wavelet coefficients in the jth first wavelet coefficient codebook being greater than or equal to a first threshold, wavelet coefficients in the jth second wavelet coefficient codebook being less than the first threshold.

14. The method of claim 13, wherein, The first threshold includes M sub-thresholds. The wavelet coefficient in the jth first wavelet coefficient codebook is greater than or equal to the jth sub-threshold value of the M sub-threshold values, and the wavelet coefficient in the jth second wavelet coefficient codebook is less than the jth sub-threshold value of the M sub-threshold values.

15. The method of claim 13, wherein, The first threshold value is determined according to a target compression rate of the perception information.

16. The method of claim 15, wherein, The first threshold value is a first wavelet coefficient, which is a wavelet coefficient at a quantile point corresponding to the target compression rate after all wavelet coefficients obtained after the M-level discrete wavelet transform are arranged in ascending order.

17. The method of claim 12, wherein, The wavelet coefficient in the first wavelet coefficient codebook corresponds to a decomposition level higher than or equal to a first decomposition level, and the wavelet coefficient in the second wavelet coefficient codebook corresponds to a decomposition level lower than the first decomposition level. The first decomposition level is greater than or equal to 1 and less than or equal to M.

18. A method of communication, comprising: The method comprises: receiving a first perception information codebook through a first channel and receiving a second perception information codebook through a second channel; wherein the first channel is a control channel, and the second channel is a data channel; or the first channel is a first bearer, and the second channel is a second bearer, and the priority of the first bearer is higher than the priority of the second bearer; determining perception information, which is obtained by performing inverse discrete wavelet transform on the first perception information codebook, or which is obtained by performing inverse discrete wavelet transform on the first perception information codebook and the second perception information codebook; the perception information comprises perception data of each position point in a perception space; wherein the first perception information codebook comprises an Mth-level scale coefficient codebook and N first wavelet coefficient codebooks, the second perception information codebook comprises K second wavelet coefficient codebooks, the priority of the first wavelet coefficient codebook is higher than the priority of the second wavelet coefficient codebook, M is a positive integer greater than or equal to 1, and N and K are positive integers less than or equal to M.

19. The method of claim 18, wherein, N and K are equal to M; the jth first wavelet coefficient codebook in the M first wavelet coefficient codebooks and the jth second wavelet coefficient codebook in the M second wavelet coefficient codebooks correspond to a jth-level discrete wavelet transform, j = 1, 2, …, M; The wavelet coefficient in the jth first wavelet coefficient codebook is greater than or equal to a first threshold value, and the wavelet coefficient in the jth second wavelet coefficient codebook is less than the first threshold value.

20. The method of claim 19, wherein, The first threshold value comprises M sub-threshold values. The wavelet coefficient in the jth first wavelet coefficient codebook is greater than or equal to the jth sub-threshold value of the M sub-threshold values, and the wavelet coefficient in the jth second wavelet coefficient codebook is less than the jth sub-threshold value of the M sub-threshold values.

21. The method of claim 19, wherein, The first threshold value is determined according to a target compression rate of the perception information.

22. The method of claim 21, wherein, The first threshold value is a first wavelet coefficient, which is a wavelet coefficient at a quantile point corresponding to the target compression rate.

23. The method of claim 18, wherein, The wavelet coefficient in the first wavelet coefficient codebook corresponds to a decomposition level higher than or equal to a first decomposition level, and the wavelet coefficient in the second wavelet coefficient codebook corresponds to a decomposition level lower than the first decomposition level. The first decomposition level is greater than or equal to 1 and less than or equal to M.

24. A communications device, characterized by The communication device comprises a processor; the processor is configured to run computer programs or instructions to enable the communication device to perform the method according to any one of claims 1-23.

25. A computer-readable storage medium, characterized in that, A computer readable storage medium stores computer instructions or programs, which, when run on a computer, enable the method according to any one of claims 1-23 to be performed.

26. A computer program product, characterised in that, The computer program product comprises computer instructions; when part or all of the computer instructions are run on a computer, the method according to any one of claims 1-23 is enabled to be performed.

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