Sensing method and apparatus

Abstract

A sensing method and apparatus, which belong to the technical field of sensing. The method comprises: receiving first point cloud data corresponding to N grid points, wherein N is a positive integer, the first point cloud data is obtained by means of fusing second point cloud data, which corresponds to M grid points, M being a positive integer; and determining a sensing result on the basis of the first point cloud data. In the solution, by means of transmitting first point cloud data obtained after fusion, the processing overheads and processing latency of a central node for fusing point cloud data can be reduced, thereby improving the processing efficiency of the central node. In addition, in some scenarios, the data volume of first point cloud data obtained after fusion is less than the data volume of second point cloud data before being fused. Therefore, compared with directly transmitting the second point cloud data, the solution can reduce the transmission overheads for point cloud data without affecting a sensing result.

Description

Sensing methods and devices

[0001] This application claims priority to Chinese Patent Application No. 202411218628.9, filed with the China National Intellectual Property Administration on August 30, 2024, entitled "Sensing Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of sensing technology, and more specifically, to a sensing method and apparatus. Background Technology

[0003] With the development and advancement of communication technology, in future cellular networks, communication devices (e.g., base stations) will not only be able to achieve the Internet of Things, but will also possess sensing capabilities. The enabling technology that achieves the coexistence, mutual assistance, and mutual benefit of communication and sensing functions is called integrated sensing and communication (ISAC). As research on ISAC deepens in academia and industry, using radio frequency signals from communication systems for environmental sensing, such as moving target detection and environmental imaging, is becoming an increasingly popular research direction.

[0004] In multi-node sensing, sensing nodes can transmit the point cloud data they have sensed to the central node. The central node can then fuse the point cloud data to obtain the fused sensing result.

[0005] However, in multi-node sensing, how to improve the processing efficiency of the central node is an urgent problem to be solved. Summary of the Invention

[0006] This application provides a sensing method and apparatus that can improve the processing efficiency of the central node.

[0007] Firstly, a sensing method is provided. The executing entity of the method provided in the first aspect can be a central node. Unless otherwise specified, the central node in this application can refer to a central node device (e.g., a network device, terminal device, or other device), a component in the central node device (e.g., a processor, chip, or chip system), or a logical module or software that can implement all or part of the functions of the central node device. For ease of description, the following description uses a central node as an example.

[0008] The method includes: receiving first point cloud data corresponding to N grid points, where N is a positive integer, the first point cloud data being obtained by fusing second point cloud data, the second point cloud data corresponding to M grid points, where M is a positive integer; and determining the perception result based on the first point cloud data.

[0009] Based on the above scheme, the first point cloud data is fused data. If the second point cloud data before fusion is directly transmitted, the central node needs to fuse the second point cloud data before determining the perception result. Therefore, the above scheme, by transmitting the fused first point cloud data, can reduce the processing overhead and latency of the central node in fusing point cloud data, thereby improving the processing efficiency of the central node. Furthermore, in some scenarios, the amount of data in the fused first point cloud data is smaller than the amount of data in the unfused second point cloud data. Therefore, compared to directly transmitting the second point cloud data, the above scheme can reduce the transmission overhead of point cloud data without affecting the perception result.

[0010] The first point cloud data can correspond to N grid points. For example, the first point cloud data can include N intensity information points, each corresponding to one of the N grid points. In other words, the first point cloud data can include the intensity information of each of the N grid points. Alternatively, the first point cloud data can also include the location information of the N grid points.

[0011] The second point cloud data can correspond to M grid points. For example, the second point cloud data can include M intensity information points, each corresponding one-to-one with one of the M grid points. In other words, the second point cloud data can include the intensity information of each of the M grid points. Alternatively, the second point cloud data can also include the location information of the M grid points.

[0012] The N grid points and M grid points can be different. For example, the N grid points can be obtained by fusing the M grid points. Or, the position information of the N grid points can be obtained by fusing the position information of the M grid points. As an example, the position information of the M grid points can be obtained by weighting the position information of the N grid points.

[0013] In some implementations, the method further includes sending first information, which is used to indicate the fusion method of the first point cloud data.

[0014] Based on the above scheme, the first information can indicate the fusion method. Thus, the receiving end of the first information can fuse the second point cloud data according to the indicated fusion method. In this scheme, the point cloud data received by the central node is obtained by fusing the data using the indicated fusion method. Therefore, this scheme can avoid the central node requesting retransmission of point cloud data due to an inappropriate fusion method, thereby saving the transmission overhead of point cloud data and further reducing the processing latency for the central node to determine the perception result.

[0015] In some implementations, the first information includes a first index, which corresponds to the fusion method of the first point cloud data.

[0016] Based on the above scheme, the first information can indicate the fusion method of the first point cloud data through an index of the fusion method (e.g., a first index). In this implementation, the receiving end and the sending end of the first information pre-store the correspondence between the index and the fusion method. Thus, the receiving end of the first information can directly determine the fusion method corresponding to the received index, fuse the second point cloud data, and obtain the first point cloud data. This scheme can reduce the signaling overhead of indicating the fusion method.

[0017] In some implementations, the method further includes receiving second information, which indicates the supported fusion method.

[0018] Based on the above scheme, the second information can indicate the supported fusion methods, which can be one or at least two. In this way, the central node can determine a reasonable fusion method based on the content indicated by the second information (for example, if only one fusion method is indicated, the central node can determine it directly; if at least two fusion methods are indicated, the central node can select one of them according to some rules), and then instruct the sensing node accordingly. For example, the central node can avoid the fusion method indicated to the sensing node not matching the fusion methods supported by the sensing node, thereby preventing the sensing node from being unable to execute the fusion method indicated by the central node.

[0019] In some implementations, the supported fusion method includes at least one of the following: addition of complex intensity numbers, or addition of intensity magnitudes; transmission intensity complex numbers, or transmission intensity magnitudes; or determining the position of grid points based on equal weights, or determining the position of grid points based on resolution-related weights, or determining the position of grid points based on imaging intensity-related weights, or determining the position of grid points based on confidence-related weights, or determining the position of grid points based on sidelobe level-related weights, or determining the position of grid points based on signal-to-noise ratio-related weights.

[0020] Based on the above scheme, the supported fusion methods can include multiple combinations. Sensing nodes can flexibly report the supported fusion methods according to their own circumstances, thus facilitating the central node to determine the appropriate fusion method. The central node can also flexibly determine the appropriate fusion method based on the supported methods and then instruct the sensing nodes accordingly.

[0021] In some implementations, the method further includes receiving third information, which indicates the fusion method of the first point cloud data.

[0022] Based on the above scheme, the sensing node can indicate the fusion method of the first point cloud data to the central node, which facilitates the central node to perform subsequent processing on the first point cloud data.

[0023] In some implementations, the third information includes a second index that corresponds to the fusion method of the first point cloud data.

[0024] Based on the above scheme, the third piece of information can indicate the fusion method of the first point cloud data through an index of the fusion method (e.g., a second index). In this way, the central node can know the fusion method of the first point cloud data based on the index, and thus perform subsequent processing on the first point cloud data.

[0025] In some implementations, the fusion method of the first point cloud data includes at least one of the following: the first point cloud data is determined by the addition of complex intensity numbers, or by the addition of intensity magnitudes; the first point cloud data includes the complex intensity numbers of the N grid points, or the intensity magnitudes of the N grid points; or the weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0026] Based on the above scheme, the fusion method can include a variety of combinations, and the central node can flexibly choose the required fusion method, which facilitates the further processing of the fused first point cloud data by the central node, thereby further improving the processing efficiency of the central node in determining the perception result.

[0027] In some implementations, the first point cloud data includes the location indices of the N grid points, each of which corresponds to a position of one of the N grid points.

[0028] Compared to transmitting three-dimensional position information (e.g., x, y, and z), the above scheme can transmit one-dimensional position indices. Therefore, the above scheme can reduce the transmission overhead of grid point position information, thereby further reducing the transmission overhead of point cloud data.

[0029] In some implementations, the first point cloud data includes the intensity modulus values ​​of the N grid points.

[0030] The amount of data for intensity modulus is less than that for intensity complex numbers. Therefore, compared to the scheme that transmits intensity complex numbers, the above scheme can further reduce the transmission overhead of point cloud data.

[0031] In some implementations, the method further includes: acquiring third point cloud data, which corresponds to the N grid points; wherein, determining the perception result based on the first point cloud data includes: determining the perception result based on the first point cloud data and the third point cloud data.

[0032] Based on the above scheme, the central node can determine the perception result based on the point cloud data of multiple nodes, thereby obtaining a better perception result.

[0033] Secondly, a sensing method is provided. The subject executing the method provided in this application can be a sensing node. Unless otherwise specified, the sensing node in this application can refer to a sensing node device (e.g., a network device, terminal device, or other device), a component within the sensing node device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the sensing node device. For ease of description, the following description uses a sensing node as an example.

[0034] The method includes: fusing the second point cloud data to obtain the first point cloud data, wherein the second point cloud data corresponds to M grid points, where M is a positive integer, and the first point cloud data corresponds to N grid points, where N is a positive integer; and sending the first point cloud data, which is used to determine the perception result.

[0035] In some implementations, the method further includes: receiving first information, the first information being used for the fusion method of the first point cloud data; wherein fusing the second point cloud data to obtain the first point cloud data includes: fusing the second point cloud data according to the first information to obtain the first point cloud data.

[0036] In some implementations, the first information includes a first index, which corresponds to the fusion method of the first point cloud data.

[0037] In some implementations, the method further includes sending a second message indicating the supported fusion method.

[0038] In some implementations, the supported fusion method includes at least one of the following: addition of complex intensity numbers, or addition of intensity magnitudes; transmission intensity complex numbers, or transmission intensity magnitudes; or determining the position of grid points based on equal weights, or determining the position of grid points based on resolution-related weights, or determining the position of grid points based on imaging intensity-related weights, or determining the position of grid points based on confidence-related weights, or determining the position of grid points based on sidelobe level-related weights, or determining the position of grid points based on signal-to-noise ratio-related weights.

[0039] In some implementations, the method further includes sending third information, which indicates the fusion method of the first point cloud data.

[0040] In some implementations, the third information includes a second index that corresponds to the fusion method of the first point cloud data.

[0041] In some implementations, the fusion method of the first point cloud data includes at least one of the following: the first point cloud data is determined by the addition of complex intensity numbers, or by the addition of intensity magnitudes; the first point cloud data includes the complex intensity numbers of the N grid points, or the intensity magnitudes of the N grid points; or the weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0042] In some implementations, the first point cloud data includes the location indices of the N grid points, where each of the N grid point indices corresponds to a position of the N grid points, and N is a positive integer.

[0043] In some implementations, the first point cloud data includes the intensity modulus values ​​of the N grid points.

[0044] Thirdly, a sensing method is provided. The implementing entity of the method provided in this third aspect can be a central node. Unless otherwise specified, the central node in this application can refer to a central node device (e.g., a network device, terminal device, or other device), a component within the central node device (e.g., a processor, chip, or chip system), or a logical module or software capable of implementing all or part of the functions of the central node device. For ease of description, the following description uses a central node as an example.

[0045] The method includes: sending first information, which indicates the fusion method of first point cloud data corresponding to N grid points; receiving first point cloud data, where N is a positive integer; and determining the perception result based on the first point cloud data.

[0046] In some implementations, the first point cloud data is obtained by fusing the second point cloud data, which corresponds to M grid points, where M is a positive integer.

[0047] In some implementations, the first information includes a first index, which corresponds to the fusion method of the first point cloud data.

[0048] In some implementations, the method further includes receiving second information, which indicates the supported fusion method.

[0049] In some implementations, the supported fusion method includes at least one of the following: addition of complex intensity numbers, or addition of intensity magnitudes; transmission intensity complex numbers, or transmission intensity magnitudes; or determining the position of grid points based on equal weights, or determining the position of grid points based on resolution-related weights, or determining the position of grid points based on imaging intensity-related weights, or determining the position of grid points based on confidence-related weights, or determining the position of grid points based on sidelobe level-related weights, or determining the position of grid points based on signal-to-noise ratio-related weights.

[0050] In some implementations, the fusion method of the first point cloud data includes at least one of the following: the first point cloud data is determined by the addition of complex intensity numbers, or by the addition of intensity magnitudes; the first point cloud data includes the complex intensity numbers of the N grid points, or the intensity magnitudes of the N grid points; or the weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0051] In some implementations, the first point cloud data includes the location indices of the N grid points, each of which corresponds to a position of one of the N grid points.

[0052] In some implementations, the first point cloud data includes the intensity modulus values ​​of the N grid points.

[0053] In some implementations, the method further includes: acquiring third point cloud data, which corresponds to the N grid points; wherein, determining the perception result based on the first point cloud data includes: determining the perception result based on the first point cloud data and the third point cloud data.

[0054] Fourthly, a sensing method is provided. The subject executing the method provided in this fourth aspect can be a sensing node. Unless otherwise specified, the sensing node in this application can refer to a sensing node device (e.g., a network device, terminal device, or other device), a component within the sensing node device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the sensing node device. For ease of description, the following description uses a sensing node as an example.

[0055] The method includes: receiving first information, the first information being used for the fusion method of first point cloud data corresponding to N grid points; fusing second point cloud data according to the first information to obtain first point cloud data corresponding to N grid points, the second point cloud data corresponding to M grid points, where M is a positive integer and N is a positive integer; and sending the first point cloud data, the first point cloud data being used to determine the perception result.

[0056] In some implementations, the first information includes a first index, which corresponds to the fusion method of the first point cloud data.

[0057] In some implementations, the method further includes sending a second message indicating the supported fusion method.

[0058] In some implementations, the supported fusion method includes at least one of the following: addition of complex intensity numbers, or addition of intensity magnitudes; transmission intensity complex numbers, or transmission intensity magnitudes; or determining the position of grid points based on equal weights, or determining the position of grid points based on resolution-related weights, or determining the position of grid points based on imaging intensity-related weights, or determining the position of grid points based on confidence-related weights, or determining the position of grid points based on sidelobe level-related weights, or determining the position of grid points based on signal-to-noise ratio-related weights.

[0059] In some implementations, the fusion method of the first point cloud data includes at least one of the following: the first point cloud data is determined by the addition of complex intensity numbers, or by the addition of intensity magnitudes; the first point cloud data includes the complex intensity numbers of the N grid points, or the intensity magnitudes of the N grid points; or the weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0060] In some implementations, the first point cloud data includes the location indices of the N grid points, where each of the N grid point indices corresponds to a position of the N grid points, and N is a positive integer.

[0061] In some implementations, the first point cloud data includes the intensity modulus values ​​of the N grid points.

[0062] Fifthly, a communication device (or sensing device) is provided, including a processing circuit (or processor) and an input / output interface (also called an interface circuit), the input / output interface being used to input and / or output signals, the processing circuit being used to perform the first aspect and any possible method of the first aspect, or the processing circuit being used to perform the second aspect and any possible method of the second aspect, or the processing circuit being used to perform the third aspect and any possible method of the third aspect, or the processing circuit being used to perform the fourth aspect and any possible method of the fourth aspect.

[0063] In some implementations, the processing circuit is used to communicate with other devices through the interface circuit and to perform the first aspect and any possible method of the first aspect, or to perform the second aspect and any possible method of the second aspect, or to perform the third aspect and any possible method of the third aspect, or to perform the fourth aspect and any possible method of the fourth aspect.

[0064] In a sixth aspect, a communication device (or sensing device) is provided. This communication device (or sensing device) may include units, modules, or means for performing the functions of the communication device (or sensing device).

[0065] In some implementations, the communication device (or sensing device) may include modules, units or means corresponding to the methods / operations / steps / actions described in the first aspect and any possible implementation of the first aspect. These modules, units or means may be hardware circuits, software, or a combination of hardware circuits and software.

[0066] The device includes a processing unit and a transceiver unit. The transceiver unit can be used to receive first point cloud data corresponding to N grid points, where N is a positive integer. The first point cloud data is obtained by fusing second point cloud data, which corresponds to M grid points, where M is a positive integer. The processing unit can be used to determine the sensing result based on the first point cloud data.

[0067] In some implementations, the transceiver unit is also used to: send first information, which is used to indicate the fusion method of the first point cloud data.

[0068] In some implementations, the first information includes a first index, which corresponds to the fusion method of the first point cloud data.

[0069] In some implementations, the transceiver unit is also used to: receive second information, which is used to indicate the supported fusion method.

[0070] In some implementations, the supported fusion method includes at least one of the following: addition of complex intensity numbers, or addition of intensity magnitudes; transmission intensity complex numbers, or transmission intensity magnitudes; or determining the position of grid points based on equal weights, or determining the position of grid points based on resolution-related weights, or determining the position of grid points based on imaging intensity-related weights, or determining the position of grid points based on confidence-related weights, or determining the position of grid points based on sidelobe level-related weights, or determining the position of grid points based on signal-to-noise ratio-related weights.

[0071] In some implementations, the transceiver unit is also used to: receive third information, which is used to indicate the fusion method of the first point cloud data.

[0072] In some implementations, the third information includes a second index that corresponds to the fusion method of the first point cloud data.

[0073] In some implementations, the fusion method of the first point cloud data includes at least one of the following: the first point cloud data is determined by the addition of complex intensity numbers, or by the addition of intensity magnitudes; the first point cloud data includes the complex intensity numbers of the N grid points, or the intensity magnitudes of the N grid points; or the weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0074] In some implementations, the first point cloud data includes the location indices of the N grid points, each of which corresponds to a position of one of the N grid points.

[0075] In some implementations, the first point cloud data includes the intensity modulus values ​​of the N grid points.

[0076] In some implementations, the processing unit is further configured to: acquire third point cloud data, which corresponds to the N grid points; specifically, the processing unit is configured to: determine the perception result based on the first point cloud data and the third point cloud data.

[0077] In some implementations, the communication device (or sensing device) may include modules, units or means corresponding to the methods / operations / steps / actions described in the second aspect and any possible implementation of the second aspect. These modules, units or means may be hardware circuits, software, or a combination of hardware circuits and software.

[0078] The device includes a processing unit and a transceiver unit. The processing unit is used to fuse the second point cloud data to obtain the first point cloud data, which corresponds to M grid points, where M is a positive integer, and the first point cloud data corresponds to N grid points, where N is a positive integer. The transceiver unit is used to send the first point cloud data, which is used to determine the sensing result.

[0079] In some implementations, the transceiver unit is further configured to: receive first information, the first information being used for the fusion method of the first point cloud data; wherein, the processing unit is specifically configured to: fuse the second point cloud data according to the first information to obtain the first point cloud data.

[0080] In some implementations, the first information includes a first index, which corresponds to the fusion method of the first point cloud data.

[0081] In some implementations, the transceiver unit is also used to: send second information, which indicates the supported fusion method.

[0082] In some implementations, the supported fusion method includes at least one of the following: addition of complex intensity numbers, or addition of intensity magnitudes; transmission intensity complex numbers, or transmission intensity magnitudes; or determining the position of grid points based on equal weights, or determining the position of grid points based on resolution-related weights, or determining the position of grid points based on imaging intensity-related weights, or determining the position of grid points based on confidence-related weights, or determining the position of grid points based on sidelobe level-related weights, or determining the position of grid points based on signal-to-noise ratio-related weights.

[0083] In some implementations, the transceiver unit is also used to: send third information, which is used to indicate the fusion method of the first point cloud data.

[0084] In some implementations, the third information includes a second index that corresponds to the fusion method of the first point cloud data.

[0085] In some implementations, the fusion method of the first point cloud data includes at least one of the following: the first point cloud data is determined by the addition of complex intensity numbers, or by the addition of intensity magnitudes; the first point cloud data includes the complex intensity numbers of the N grid points, or the intensity magnitudes of the N grid points; or the weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0086] In some implementations, the first point cloud data includes the location indices of the N grid points, where each of the N grid point indices corresponds to a position of the N grid points, and N is a positive integer.

[0087] In some implementations, the first point cloud data includes the intensity modulus values ​​of the N grid points.

[0088] In some implementations, the communication device (or sensing device) may include modules, units or means for performing the methods / operations / steps / actions described in the third aspect and any possible implementation of the third aspect, which may be hardware circuits, software, or a combination of hardware circuits and software.

[0089] The device includes a transceiver unit and a processing unit. The transceiver unit is used to transmit first information, which indicates the fusion method of first point cloud data corresponding to N grid points; the transceiver unit is also used to receive the first point cloud data, where N is a positive integer; the processing unit is used to determine the sensing result based on the first point cloud data.

[0090] In some implementations, the first point cloud data is obtained by fusing the second point cloud data, which corresponds to M grid points, where M is a positive integer.

[0091] In some implementations, the first information includes a first index, which corresponds to the fusion method of the first point cloud data.

[0092] In some implementations, the transceiver unit is also used to: receive second information, which is used to indicate the supported fusion method.

[0093] In some implementations, the supported fusion method includes at least one of the following: addition of complex intensity numbers, or addition of intensity magnitudes; transmission intensity complex numbers, or transmission intensity magnitudes; or determining the position of grid points based on equal weights, or determining the position of grid points based on resolution-related weights, or determining the position of grid points based on imaging intensity-related weights, or determining the position of grid points based on confidence-related weights, or determining the position of grid points based on sidelobe level-related weights, or determining the position of grid points based on signal-to-noise ratio-related weights.

[0094] In some implementations, the fusion method of the first point cloud data includes at least one of the following: the first point cloud data is determined by the addition of complex intensity numbers, or by the addition of intensity magnitudes; the first point cloud data includes the complex intensity numbers of the N grid points, or the intensity magnitudes of the N grid points; or the weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0095] In some implementations, the first point cloud data includes the location indices of the N grid points, each of which corresponds to a position of one of the N grid points.

[0096] In some implementations, the first point cloud data includes the intensity modulus values ​​of the N grid points.

[0097] In some implementations, the processing unit is also used to acquire third point cloud data, which corresponds to the N grid points; specifically, the processing unit is used to determine the perception result based on the first point cloud data and the third point cloud data.

[0098] In some implementations, the communication device (or sensing device) may include modules, units or means corresponding to the methods / operations / steps / actions described in the fourth aspect and any possible implementation of the fourth aspect. These modules, units or means may be hardware circuits, software, or a combination of hardware circuits and software.

[0099] The device includes a transceiver unit and a processing unit. The transceiver unit is used to receive first information, which is used to determine the fusion method of first point cloud data corresponding to N grid points; the processing unit is used to fuse second point cloud data according to the first information to obtain first point cloud data corresponding to N grid points, where the second point cloud data corresponds to M grid points, M is a positive integer, and N is a positive integer; the transceiver unit is also used to transmit the first point cloud data, which is used to determine the sensing result.

[0100] In some implementations, the first information includes a first index, which corresponds to the fusion method of the first point cloud data.

[0101] In some implementations, the transceiver unit is also used to: send second information, which indicates the supported fusion method.

[0102] In some implementations, the supported fusion method includes at least one of the following: addition of complex intensity numbers, or addition of intensity magnitudes; transmission intensity complex numbers, or transmission intensity magnitudes; or determining the position of grid points based on equal weights, or determining the position of grid points based on resolution-related weights, or determining the position of grid points based on imaging intensity-related weights, or determining the position of grid points based on confidence-related weights, or determining the position of grid points based on sidelobe level-related weights, or determining the position of grid points based on signal-to-noise ratio-related weights.

[0103] In some implementations, the fusion method of the first point cloud data includes at least one of the following: the first point cloud data is determined by the addition of complex intensity numbers, or by the addition of intensity magnitudes; the first point cloud data includes the complex intensity numbers of the N grid points, or the intensity magnitudes of the N grid points; or the weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0104] In some implementations, the first point cloud data includes the location indices of the N grid points, where each of the N grid point indices corresponds to a position of the N grid points, and N is a positive integer.

[0105] In some implementations, the first point cloud data includes the intensity modulus values ​​of the N grid points.

[0106] In a seventh aspect, a computer-readable storage medium is provided, on which a computer program or instructions are stored, which, when executed, cause the first aspect and any possible method of the first aspect to be performed (or implemented), or cause the second aspect and any possible method of the second aspect to be performed (or implemented), or cause the third aspect and any possible method of the third aspect to be performed (or implemented), or cause the fourth aspect and any possible method of the fourth aspect to be performed (or implemented).

[0107] Eighthly, a computer program product is provided, comprising a computer program or instructions that, when executed, cause the first aspect and any possible method of the first aspect to be performed (or implemented), or cause the second aspect and any possible method of the second aspect to be performed (or implemented), or cause the third aspect and any possible method of the third aspect to be performed (or implemented), or cause the fourth aspect and any possible method of the fourth aspect to be performed (or implemented).

[0108] A ninth aspect provides a communication device (or sensing device) comprising a processor configured to execute (or implement) any of the possible methods of the first aspect, or any of the possible methods of the second aspect, or any of the possible methods of the third aspect, or any of the possible methods of the fourth aspect, by executing a computer program (or computer-executable instructions) stored in a memory, and / or by logic circuitry.

[0109] In one possible implementation, the device also includes a memory. In another possible implementation, the processor and memory are integrated together. In yet another possible implementation, the memory is located outside the device. The processor may include one or more processors.

[0110] In some possible implementations, the memory may be used to store part or all of the computer programs or instructions necessary to implement the functions involved in the first aspect above.

[0111] In some possible implementations, the memory may be used to store part or all of the computer programs or instructions necessary to implement the functions involved in the second aspect above.

[0112] In some possible implementations, the memory may be used to store part or all of the computer programs or instructions necessary to implement the functions involved in the third aspect above.

[0113] In some possible implementations, the memory may be used to store part or all of the computer programs or instructions necessary to implement the functions involved in the fourth aspect above.

[0114] In one possible implementation, the communication device further includes a communication interface for communicating with other devices, such as transmitting or receiving data and / or signals. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, input / output interface, or other types of communication interface.

[0115] In one implementation, the communication device of the fifth, sixth or ninth aspect mentioned above can be a terminal device or a communication module in a terminal device, or a chip or chip system in a terminal device.

[0116] In one implementation, the communication device of the fifth, sixth or ninth aspect mentioned above can be a network device or a communication module in a network device, or a chip or chip system in a network device.

[0117] In one implementation, the communication device of the fifth, sixth, or ninth aspect mentioned above may be a communication module in other equipment or a chip or chip system in network equipment.

[0118] In a tenth aspect, a chip is provided, including a processor for calling a computer program or computer instructions in a memory to cause the processor to execute or implement any of the implementations of the first aspect, or to cause the processor to execute or implement any of the implementations of the second aspect, or to cause the processor to execute or implement any of the implementations of the third aspect, or to cause the processor to execute or implement any of the implementations of the fourth aspect.

[0119] In some implementations, the processor is coupled to the memory via an interface.

[0120] Eleventhly, a communication system is provided, comprising a central node and sensing nodes. The central node is configured to execute the first aspect and any possible implementation thereof, and the sensing nodes are configured to execute the second aspect and any possible implementation thereof. Alternatively, the central node is configured to execute the third aspect and any possible implementation thereof, and the sensing nodes are configured to execute the fourth aspect and any possible implementation thereof.

[0121] The description of the beneficial effects of any of the second to eleventh aspects can be referred to the description of the beneficial effects of the first aspect. Attached Figure Description

[0122] Figure 1 is a schematic diagram of a communication system.

[0123] Figure 2 is a schematic diagram of another communication system.

[0124] Figure 3 is a schematic flowchart of a sensing method provided in an embodiment of this application.

[0125] Figure 4 is a schematic flowchart of another sensing method provided in an embodiment of this application.

[0126] Figure 5 is a schematic flowchart of another sensing method provided in an embodiment of this application.

[0127] Figure 6 is a schematic flowchart of another sensing method provided in an embodiment of this application.

[0128] Figure 7 is a schematic flowchart of another sensing method provided in an embodiment of this application.

[0129] Figure 8 is a schematic block diagram of a communication device provided in an embodiment of this application.

[0130] Figure 9 is a schematic diagram of another communication device provided in an embodiment of this application.

[0131] Figure 10 is a schematic diagram of a chip system provided in an embodiment of this application.

[0132] Figure 11 is a schematic diagram of another chip system provided in an embodiment of this application. Detailed Implementation

[0133] In this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0134] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can mean: a, or, b, or, c, or, a and b, or, a and c, or, b and c, or, a, b, and c. Here, a, b, and c can be single or multiple.

[0135] In this application, the terms "first," "second," and various numerical designations (e.g., #1, #2, etc.) indicate distinctions made for ease of description and are not intended to limit the scope of the embodiments of this application. For example, they may distinguish different messages, rather than describing a specific order or sequence. It should be understood that such descriptions can be interchanged where appropriate to describe solutions other than those in the embodiments of this application.

[0136] In this application, descriptions such as "when," "under the circumstances," and "if" all refer to the fact that the device will take corresponding actions under certain objective circumstances. They are not time limits, nor do they require the device to perform a judgment action during implementation, nor do they imply any other limitations.

[0137] In this application, "instruction" or "for instruction" can include both direct and indirect instruction. When describing instruction information as being used to instruct A, it can include whether the instruction information directly or indirectly instructs A, but does not necessarily mean that the instruction information carries A.

[0138] The indication methods involved in the embodiments of this application should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated. The information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately. Moreover, the sending period and / or sending time of these sub-information can be the same or different. This application does not limit the sending method, for example.

[0139] The "instruction information" in the embodiments of this application can be an explicit instruction, that is, a direct instruction through signaling, or an instruction obtained by combining other rules or parameters with the parameters indicated by the signaling, or by deduction. It can also be an implicit instruction, that is, an instruction obtained based on rules or relationships, or based on other parameters, or by deduction. This application does not specifically limit it in this regard.

[0140] In this application, "protocol" can refer to a standard protocol in the field of communications, such as 5G (5G) protocols. th This application does not limit the scope of protocols such as generation (5G), new radio (NR), and related protocols applied in future communication systems. "Predefined" may include predefined terms, such as protocol definitions. "Preconfiguration" can be achieved by pre-storing corresponding codes, tables, or other means that can be used to indicate relevant information in the device; this application does not limit the implementation method.

[0141] In this application, "communication" can also be described as "data transmission," "information transmission," "data processing," etc. "Transmission" includes "sending" and "receiving." For example, transmission can be uplink transmission, such as a terminal device sending a signal to a network device; transmission can also be downlink transmission, such as a network device sending a signal to a terminal device; transmission can also be sidelink transmission, such as a terminal device sending a signal to another terminal device. For example, "transmission" can be air interface level transmission, or it can be signal transmission from a chip input (I) / output (O) port, rather than air interface level transmission.

[0142] In this application, terms such as "message," "information," "signal," or "information element (IE)" can be used interchangeably. There are no restrictions on the name of the message or information, as long as it can achieve the corresponding function.

[0143] "Sending information to XX (device)" can be understood as the destination of the information being that device. This can include sending information directly or indirectly to that device. "Receiving information from XX (device), or receiving information from XX (device)" can be understood as the source of the information being that device. This can include receiving information directly or indirectly from that device. Information may undergo necessary processing between the source and destination, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be understood in a similar way, and will not be repeated here. Furthermore, "sending" can also be understood as the "output" of the chip interface, and "receiving" can also be understood as the "input" of the chip interface. In other words, "sending" or "receiving" can occur between devices, for example, between network devices and terminal devices via an air interface. "Sending" or "receiving" can also occur within a device, for example, between components, modules, chips, software modules, or hardware modules within the device via a bus, wiring, or interface.

[0144] In this application, terms such as "exemplarily" and "for example" are used to indicate examples, illustrations, or descriptions to present concepts in a specific manner. Any embodiment or design described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. In the embodiments of this application, the terms "of," "corresponding (relevant)," "corresponding," and "associate" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent unless their distinctions are emphasized.

[0145] In this application, configuration can be signaling configuration or can be described as configuring signaling. For example, signaling configuration includes configuration using signaling sent by network devices, which can be radio resource control (RRC) messages, DCI, or system information blocks (SIB). Another example is signaling configuration between network devices. These network devices can include access network devices, core network devices, or management plane devices, etc. Optionally, signaling configuration can also be pre-configured signaling to terminal devices or network devices, or configured to terminal devices or network devices through pre-configuration. Here, pre-configuration means defining or configuring the values ​​of corresponding parameters in advance using a protocol, and storing them in the terminal device or network device during communication. The pre-configured messages can be modified or updated when the terminal device or network device is connected to the network.

[0146] This application will present various aspects, embodiments, or features relating to systems that may include multiple devices, components, modules, etc. Each system may include devices, components, modules, etc., other than those illustrated, and / or may not include all and all of the devices, components, modules, etc. discussed in conjunction with the accompanying drawings.

[0147] The business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0148] In the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The terms "comprising," "including," "having," and their variations all mean "including but not limited to," unless otherwise specifically emphasized.

[0149] Figure 1 is a schematic diagram of a communication system 100. As shown in Figure 1, the communication system 100 includes a wireless access network 110 and a core network 120. Optionally, the communication system 100 may also include an Internet 130. The wireless access network 110 may include at least one network device (111a and 111b in Figure 1) and at least one terminal device (112a-112j in Figure 1). The terminal device is connected to the network device wirelessly. The network device is connected to the core network 120 wirelessly or via a wired connection. The core network 120 may include one or more core network devices. The core network device and the network device may be independent physical devices, or the functions of the core network device and the logical functions of the network device may be integrated on the same physical device, or a single physical device may integrate some of the functions of the core network device and some of the functions of the network device. Terminal devices and network devices can be interconnected via wired or wireless means. Terminal devices can communicate wirelessly with each other, network devices with each other, and terminal devices with each other via air interface resources. For example, air interface resources may include at least one of time-domain resources, frequency-domain resources, code resources, and spatial resources. Figure 1 is only a schematic diagram, and the communication system 100 may also include other network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 1.

[0150] Network devices are sometimes also referred to as access network devices or access network nodes. It is understood that the names of devices with network device functions may differ in systems employing different wireless access technologies. For ease of description, the embodiments of this application collectively refer to devices providing wireless communication access functions for terminal devices as base stations. In the embodiments of this application, network devices include, but are not limited to: various forms of macro base stations (as shown in Figure 1, 111a), micro base stations or indoor stations (as shown in Figure 1, 111b), pico base stations, small stations, balloon stations, relay stations, access points, etc. Among them, micro base stations can be referred to as small stations. Network equipment may include evolved node B (eNB or eNodeB) in LTE, radio controllers in cloud radio access network (CRAN) scenarios, network equipment in future public land mobile networks (PLMNs), access points (APs), radio relay nodes, radio backhaul nodes, transmission points (TPs) or transmission reception points (TRPs) in wireless fidelity (WiFi) systems, etc. It may also include next-generation NodeB (gNB) or transmission points (TRPs or TPs) in 5G systems, one or a group of antenna panels (including multiple antenna panels) of base stations in 5G systems, network nodes constituting gNBs or transmission points, such as baseband units (BBUs) or distributed units (DUs), and network equipment, servers, wearable devices, or vehicle-mounted devices in future mobile communication systems and other networks that evolve after 5G. Network equipment can also be modules or units that perform some of the functions of a base station; for example, it can be a central unit (CU) or a unit (DU). Furthermore, network equipment can be understood as a collective term for all equipment on the network side (including sites); for example, multiple sites can be collectively referred to as network equipment. A site refers to a transmission node located in a specific physical location. In other words, network equipment conceptually includes sites.

[0151] In this embodiment, the means for implementing the function of the network device can be the network device itself, or it can be a means that enables the network device to implement the function, such as a chip system or a chip, which can be installed in the network device. The chip system can be composed of chips, or it can include chips and other discrete components.

[0152] In another possible scenario, multiple network devices collaborate to assist the terminal in achieving wireless access, with each network device performing a portion of the base station's functions. For example, network devices could be CUs, DUs, CUs (control plane, CP), CUs (user plane, UP), or radio units (RUs). CUs and DUs can be configured separately or included in the same network element, such as a BBU. RUs can be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0153] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an O-RAN system, CU can also be called O-CU (Open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules. The embodiments of this application do not limit the specific technology or specific device form used in the network device.

[0154] Terminal equipment can be a device that provides voice and / or data connectivity to users; it can also be a device with wireless connectivity. Terminal equipment can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; it can also be deployed on water (such as on ships); and it can also be deployed in the air (such as on airplanes, balloons, and satellites). Terminal equipment can also be referred to as user equipment (UE), access terminal, terminal, subscriber unit, user station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, wireless network equipment, user agent, or user device. In this application embodiment, terminal devices include, but are not limited to: cellular phones, mobile phones, wireless data cards, wireless modems, tablets, laptop computers, notebook computers, handheld computers, mobile internet devices (MIDs), computers with wireless transceiver capabilities, cordless phones, session initiation protocol (SIP) phones, smartphones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handsets with wireless communication capabilities, computing devices or other devices connected to wireless modems, vehicle-mounted devices (e.g., cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed trains, etc.), automated guided vehicles (AGVs), wearable devices (e.g., smartwatches, smart bracelets, pedometers, smart glasses, etc.), satellite terminals, terminal devices in the Internet of Things or the Internet of Vehicles, as well as any form of terminal in future networks, relay user equipment, or terminals in future evolved PLMNs, etc.Terminal devices can also be virtual reality (VR) devices, augmented reality (AR) devices, smart point-of-sale (POS) machines, customer-premises equipment (CPE), light user equipment (UE), reduced capability user equipment (RedCap UE), machine type communication (MTC) terminals, terminal devices in industrial control, terminal devices in self-driving, terminal devices in remote medical care, terminal devices in smart grids, wireless terminals in transportation safety, terminal devices in smart cities, terminal devices in smart homes, tactile terminal devices, smart home devices (e.g., refrigerators, televisions, air conditioners, electricity meters, etc.), smart robots, robotic arms, workshop equipment, wireless terminals in self-driving, or flying devices (e.g., smart robots, hot air balloons, drones, airplanes), etc. The terminal device can also be a vehicle device, such as a transport vehicle with wireless communication capabilities, a communication module, a complete vehicle device, an on-board module, an on-board chip, an on-board unit (OBU), or a telematics box (T-BOX). The terminal device can also be other devices with terminal functions; for example, it can be a device that acts as a terminal in device-to-device (D2D) communication. This application does not limit the scope of the embodiments.

[0155] In this application embodiment, the device for implementing the functions of the terminal device can be the terminal device itself, or it can be any device capable of supporting the terminal device in implementing those functions, such as a chip or chip system. This device can be installed in the terminal device. The chip system can consist of chips or include chips and other discrete components. In the technical solutions of this application embodiment, the device for implementing the functions of the terminal device is exemplified by the terminal device itself. The terminal device can also be called a terminal. The following description may use a UE (User Equipment) as an example to illustrate the technical solutions provided in this application embodiment.

[0156] The roles of base stations and terminals can be relative. For example, the helicopter or drone 112i in Figure 1 can be configured as a mobile base station. For terminals 112j that access the wireless access network 110 via 112i, terminal 112i is a base station; however, for base station 111a, 112i is a terminal, meaning that 111a and 112i communicate via a wireless air interface protocol. Of course, 111a and 112i can also communicate via a base station-to-base station interface protocol. In this case, relative to 111a, 112i is also a base station. Therefore, both base stations and terminals can be collectively referred to as communication devices. 111a and 111b in Figure 1 can be called communication devices with base station functions, and 112a-112j in Figure 1 can be called communication devices with terminal functions.

[0157] Network devices and terminal devices can communicate via wireless links. The transmission link from a network device to a terminal device can be called a downlink (DL) or downlink channel, used for transmitting downlink signals. The transmission link from a terminal device to a network device can be called an uplink (UL) or uplink channel, used for transmitting uplink signals. The transmission link from a terminal device to a terminal device can be called a sidelink (SL) or sidelink channel. In this application embodiment, multiple network devices can send information to multiple different terminal devices and receive information from multiple different terminal devices; multiple network devices can also send information to the same terminal device and receive information from the same terminal device, and this application is not limited in this respect.

[0158] The communication between different devices involved in the embodiments of this application can refer to direct communication between different devices (i.e., without the need for relaying or forwarding by other devices), or communication between different devices through other devices (i.e., requiring relaying or forwarding by other devices), or communication between functional units within a device and other devices through another functional unit. Information may undergo necessary processing between the source and destination ends, such as format changes, digital-to-analog conversion, amplification, or filtering, but the destination end can understand the valid information from the source end. Similar expressions in this application can be understood in a similar way, and will not be elaborated further here.

[0159] In cellular network sensing technology, radio frequency (RF) signals from cellular communication systems can be used for sensing. For example, environmental imaging can be performed using RF signals from the communication system. The basic principle of this environmental imaging is similar to that of synthetic aperture radar (SAR), the main difference being that the former does not require a dedicated radar system and can reuse signals from the communication system.

[0160] Figure 2 is a schematic diagram of another communication system 200. This system 200 can utilize ISAC technology. For example, this system 200 can be used for both communication and sensing. An example of the system 200 being used for sensing is described below.

[0161] Referring to the dashed arrows in Figure 2, one device (e.g., any one of UE#1 to UE#3) can send a probe signal. The probe signal passes through the sensing target and becomes an echo signal. The echo signal can carry information about the sensing target. Another device (e.g., BS#1) can receive the echo signal and image the environment through signal processing. The transmitted probe signal can be used solely for detection purposes or simultaneously for communication purposes. This method of achieving sensing and imaging through the cooperation of two devices can be called bistatic sensing. The subjects of bistatic sensing are not limited to UE and BS devices. For example, bistatic sensing can also be performed by two UEs or two BSs.

[0162] Referring to the solid arrows in Figure 2, besides the method where one device transmits a signal and another receives it, a single device (e.g., any one of BS#1 to BS#3) can also perform self-transmission and self-reception for environmental imaging; this sensing method is called monostatic sensing.

[0163] In a cellular network, there can be multiple nodes that can work together to enhance communication and sensing performance.

[0164] For example, BS#1 to BS#3 in Figure 2 can send the sensing results to the central node. The central node can be one of the devices in BS#1 to BS#3, or it can be a device other than BS#1, BS#2 and BS#3, such as a sensing management function (SMF) or a location management function (LMF).

[0165] In one example scenario, the sensing node can be a base station or a terminal device; the central node can be a base station.

[0166] As an example, BS#1 to BS#3 can perceive the target from various angles. In this way, the central node can fuse the perception results obtained from each perception node (e.g., BS#1 to BS#3) to obtain a fused imaging result.

[0167] Specifically, each sensing node can transmit the point cloud data of its sensing results to the central node. This point cloud data includes location information and complex intensity information. In this way, the central node can fuse the point cloud data from each sensing node, potentially increasing the coverage area of ​​radio frequency sensing imaging and enhancing sensing performance.

[0168] However, in multi-node sensing, how to improve the processing efficiency of the central node is an urgent problem to be solved.

[0169] Figure 3 is a schematic flowchart of a sensing method 300 provided in an embodiment of this application. Method 300 can improve the processing efficiency of the central node. Optional operations in method 300 are shown in Figure 3 with dashed lines. The various operations of method 300 will be described below with reference to Figure 3, taking the central node and sensing node as examples. However, method 300 is only an example; any device or apparatus capable of implementing the functions of the central node and sensing node is applicable to the embodiments of this application.

[0170] S310, the sensing node fuses the second point cloud data to obtain the first point cloud data.

[0171] Among them, the sensing node can be used to send information to the central node, receive fusion grid instruction information from the central node, or fuse point cloud data according to the fusion grid instruction, and so on.

[0172] A sensing node can be a sensing node in monobasic sensing or a sensing node in bibasic sensing.

[0173] In single-base sensing, a sensing node can send a probe signal and receive the echo signal of the probe signal. In two-base sensing, a sensing node can receive the echo signal of the probe signal. The probe signal can be sent by another sensing node. In two-base sensing, a sensing node can also be replaced by a receiving node.

[0174] For example, a sensing node may include: a terminal device, a component in the terminal device (e.g., a processor, a chip, or a chip system), a logic module or software that enables the functions of the terminal device, a component in a network device, or a logic module or software that enables the functions of the network device.

[0175] There can be one or more sensing nodes. This application does not limit the specific number of sensing nodes.

[0176] The second point cloud data can correspond to M grid points. M can be a positive integer. For example, the second point cloud data can include M intensity information points that correspond one-to-one with the M grid points. In other words, the second point cloud data can include the intensity information of each of the M grid points. As another example, the second point cloud data can also include the location information of the M grid points.

[0177] The strength information may include a complex strength number or a strength modulus.

[0178] For example, a complex intensity can be an intensity that exists in complex form. Or, a complex intensity can be intensity information indicated in complex form. For instance, a complex intensity can be a + bj, where a and b can be real numbers, and j can be an imaginary number.

[0179] For example, the strength modulus can be strength existing in the form of a modulus. Alternatively, the strength modulus can be strength information indicated in the form of a modulus. For instance, the strength modulus can be... The strength modulus can be obtained by taking the modulus of the strength complex number.

[0180] In this context, grid points can be points within a grid. For example, if the grid is square, grid points can be the four vertices of that square grid. Similarly, if the grid is triangular, grid points can be the three vertices of that triangular grid.

[0181] The first point cloud data can correspond to N grid points. N can be a positive integer. N and M can be different. The N grid points and M grid points can be different.

[0182] For example, the first point cloud data may include N intensity information points corresponding one-to-one with N grid points. In other words, the first point cloud data may include the intensity information of each of the N grid points. As another example, the first point cloud data may also include the location information of the N grid points.

[0183] The first point cloud data can be obtained by fusing the second point cloud data.

[0184] For example, N grid points can be obtained by fusing M grid points. Alternatively, the location information of N grid points can be obtained by fusing the location information of M grid points. As an example, by weighting the location information of N grid points, the location information of M grid points can be obtained.

[0185] For example, the intensity information in the first point cloud data can be obtained by fusing the intensity information in the second point cloud data. As an example, adding the complex intensity values ​​of multiple grid points in the second point cloud data yields the complex intensity value of a single grid point in the first point cloud data. As another example, adding the magnitudes of the intensity values ​​of multiple grid points in the second point cloud data yields the magnitude of the intensity value of a single grid point in the first point cloud data. As yet another example, adding the complex intensity values ​​of multiple grid points in the second point cloud data and taking the modulus of the sum yields the magnitude of the intensity value of a single grid point in the first point cloud data.

[0186] In some possible implementation scenarios, the sensing node may send point cloud data corresponding to a first set of grid points to the central node. This first set of grid points may include at least one grid point. Alternatively, it may include N grid points. For example, the first set of grid points may include N grid points and other grid points. Or, it may simply include N grid points. Furthermore, the first set of grid points may be the set of grid points from the same sensing node.

[0187] The point cloud data corresponding to the aforementioned first grid point set may include the first point cloud data. For example, the point cloud data corresponding to the first grid point set may include the first point cloud data and the point cloud data corresponding to other grid points. Alternatively, the point cloud data corresponding to the first grid point set may only include the first point cloud data. The aforementioned "other grid points" may be grid points other than the N grid points in the first grid point set.

[0188] The point cloud data corresponding to the first grid point set can be obtained by fusing the point cloud data corresponding to the second grid point set. The second grid point set can include at least one grid point. The second grid point set can include M grid points. For example, the second grid point set can include M grid points and other grid points. Alternatively, the second grid point set can include only M grid points.

[0189] The point cloud data corresponding to the aforementioned second grid point set may include the aforementioned second point cloud data. For example, the point cloud data corresponding to the second grid point set may include the second point cloud data and the point cloud data corresponding to other grid points. As another example, the point cloud data corresponding to the second grid point set may only include the second point cloud data. The aforementioned "other grid points" may be grid points other than the M grid points in the second grid point set.

[0190] S320, the central node receives the first point cloud data corresponding to N grid points from the sensing nodes. Correspondingly, the sensing nodes send the first point cloud data corresponding to N grid points to the central node.

[0191] The central node can be used to receive information sent by the sensing nodes, determine the fusion sensing grid instruction based on the information sent by the sensing nodes, send the fusion grid instruction to the sensing nodes, or form a fusion result based on the point cloud data of multiple sensing nodes, and so on.

[0192] The central node can be used for sensing, for example, to send probe signals and / or receive echo signals of probe signals. Alternatively, the central node can function solely as a control node, such as for resource configuration, without performing sensing tasks, i.e., without sending probe signals or receiving echo signals of probe signals.

[0193] For example, the central node may include: a terminal device, a component in the terminal device (e.g., a processor, a chip, or a chip system), a logical module or software that can implement the functions of the terminal device, a component in a network device, a logical module or software that can implement the functions of the network device, a device where the SMF is located, a component in the device where the SMF is located, a logical module or software that can implement the SMF, a device where the LMF is located, a component in the device where the LMF is located, or a logical module or software that can implement the LMF.

[0194] S330, the central node determines the perception result based on the first point cloud data.

[0195] In some examples, the central node can determine the perception result based solely on the first point cloud data.

[0196] In other examples, the data required by the central node to determine the sensing result is not limited to the first point cloud data. For example, the central node can determine the sensing result based on the first point cloud data and other point cloud data.

[0197] For example, referring to Figure 2, assuming the central node is BS#1, the first point cloud data is sent by BS#2.

[0198] As an example, BS#1 can determine the sensing result based on the first point cloud data and the point cloud data obtained by BS#1 performing a sensing task. The point cloud data obtained by BS#1 performing the sensing task may include: point cloud data obtained by BS#1 performing single-base sensing of the sensing target, and / or, point cloud data obtained by BS#1 performing dual-base sensing of the sensing target. Specifically, the point cloud data obtained by BS#1 performing dual-base sensing of the sensing target may include: point cloud data obtained by BS#1 when any one of UE#1, UE#2, or UE#3 is the transmitting node of the probe signal and BS#1 is the receiving node of the echo signal of the probe signal.

[0199] As another example, BS#1 can determine the perception result based on the first point cloud data and the point cloud data obtained by BS#3 performing a perception task. For example, the point cloud data obtained by BS#3 performing a perception task may include: point cloud data obtained by BS#3 performing single-base perception on the perceived target.

[0200] As another example, BS#1 can determine the perception result based on the first point cloud data, the point cloud data obtained by BS#1 performing the perception task, and the point cloud data obtained by BS#3 performing the perception task.

[0201] The following is an example of the relationship between the size of M and N.

[0202] In some examples, M is greater than N. That is, the number of grids M corresponding to the second point cloud data can be greater than the number of grids N corresponding to the first point cloud data. In this way, after the sensing nodes are fused, the number of grids is reduced, thereby reducing the amount of point cloud data to be transmitted and reducing the transmission overhead of point cloud data.

[0203] In other examples, M may be less than N, or M may be equal to N. This application does not impose any limitations.

[0204] Based on the above scheme, the first point cloud data is fused data. If the second point cloud data before fusion is directly transmitted, the central node needs to fuse the second point cloud data before determining the perception result. Therefore, the above scheme, by transmitting the fused first point cloud data, can reduce the processing overhead and latency of the central node in fusing point cloud data, thereby improving the processing efficiency of the central node. Furthermore, in some scenarios, the amount of data in the fused first point cloud data is smaller than the amount of data in the unfused second point cloud data. Therefore, compared to directly transmitting the second point cloud data, the above scheme can reduce the transmission overhead of point cloud data without affecting the perception result.

[0205] In some possible implementations, the method also includes S340 before S310. This will be described in detail below with reference to Figure 3.

[0206] S340, the central node sends first information to the sensing node. This first information can be used to indicate the fusion method of the first point cloud data. Correspondingly, the sensing node receives the first information from the central node.

[0207] Optionally, S310 includes: the sensing node fusing the second point cloud data according to the first information to obtain the first point cloud data. For example, the sensing node fusing the second point cloud data according to the fusion method indicated by the first information to obtain the first point cloud data.

[0208] In some possible implementations, prior to S340, method 300 also includes: the central node determining the fusion method of the first point cloud data.

[0209] The fusion method can be a way to merge the original grid points and / or intensity information in point cloud data into new grid points and / or intensity information. In other words, the fusion method can indicate how to merge the original grid points and / or intensity information in point cloud data into new grid points and / or intensity information.

[0210] For example, the fusion method can indicate how to merge M grid points into N grid points. Or, the fusion method can indicate how to merge the position information of M grid points into the position information of N grid points.

[0211] For example, the fusion method can indicate how to fuse the M intensity information corresponding to M grid points into N intensity information corresponding to N grid points.

[0212] The first information may also be called a fusion sensing grid indicator, fusion mode indicator, or other names, which are not limited in this application.

[0213] Based on the above scheme, the first information can indicate the fusion method. Thus, the receiving end of the first information can fuse the second point cloud data according to the indicated fusion method. In this scheme, the point cloud data received by the central node is obtained by fusing the data using the indicated fusion method. Therefore, this scheme can avoid the central node requesting retransmission of point cloud data due to an inappropriate fusion method, thereby saving the transmission overhead of point cloud data and further reducing the processing latency for the central node to determine the perception result.

[0214] For example, the fusion method of the first point cloud data includes at least one of the following:

[0215] (a) The first point cloud data is determined by the sum of the intensity complex numbers, or by the sum of the intensity moduli.

[0216] (b) The first point cloud data includes the intensity complex number of the N grid points, or the intensity modulus of the N grid points.

[0217] (c) The weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the image intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0218] The above numbers are for ease of description and understanding only and are not intended to limit this application.

[0219] The above (a) can also be called a coherent indication or other name, and is referred to as indication information (a).

[0220] For example, coherence indication can guide coherent fusion. In coherent fusion, the first point cloud data can be determined by the addition of complex intensity numbers.

[0221] For example, coherent indication can indicate incoherent fusion. In incoherent fusion, the first point cloud data can be determined by adding the intensity moduli.

[0222] Among them, (b) above can also be called fusion complex intensity indicator or other names, referred to as indicator information (b).

[0223] For example, a fused complex intensity indicator can indicate the phase value to be retained after fusion. Thus, the first point cloud data needs to include the complex intensity values ​​of those N grid points.

[0224] For example, a fused complex intensity indicator can indicate that phase values ​​are not retained after fusion. Thus, the first point cloud data needs to include the intensity magnitudes of these N grid points.

[0225] The above (c) can also be called location weighting method indication or other names, and is referred to as indication information (c).

[0226] The position weighting method indicator can be used to indicate how the position of the merged grid point is determined when multiple grid points within a grid are merged to form a single grid point.

[0227] For example, the location weighting method indicator can indicate "equal weight". In this case, the locations of M grid points have equal weight. As a concrete example, w m =w0. Where, w m It can be the weight of the m-th grid point out of M grid points, that is, the positions of each grid point (or scattering point) are equally weighted. Here, m is a positive integer less than or equal to M, and w0 can be a non-zero constant.

[0228] For example, the position weighting method indicator can specify "weights based on resolution values." In this case, the weights of the positions of the M grid points are related to the resolution. As a concrete example, w m =α / δ m Among them, δ m It can be the theoretical resolution of the m-th grid point out of M grid points. α can be a constant greater than 0.

[0229] For example, the location-weighted method indicator could specify "weights based on intensity values ​​(or imaging intensity)." In this case, the weights of the locations of the M grid points are related to the imaging intensity. As a concrete example, w m =βV m Among them, V m It can be the imaging intensity of the m-th grid point out of M grid points, and β can be a constant greater than 0.

[0230] For example, the location-weighted method indicator can specify "confidence-based weights." In this case, the weights of the locations of the M grid points are related to their confidence levels. As a concrete example, w m =γC m Among them, C m It can be the confidence level of the m-th grid point out of M grid points, and γ can be a constant greater than 0.

[0231] For example, the location-weighted method indicator can specify "weights based on sidelobe levels." In this case, the weights of the locations of the M grid points are related to the sidelobe levels. As a concrete example, w m =δ / S m Among them, S m It can be the sidelobe level of the m-th grid point out of M grid points, and δ can be a constant greater than 0.

[0232] For example, the location weighting method indicator could specify "weights based on signal-to-noise ratio". In this case, the weights of the locations of the M grid points are related to the signal-to-noise ratio. As a concrete example, w m =εR m Among them, R m It can be the signal-to-noise ratio of the m-th grid point out of M grid points, and ε can be a constant greater than 0.

[0233] Based on the above scheme, the fusion method can include a variety of combinations, and the central node can flexibly choose the required fusion method, which facilitates the further processing of the fused first point cloud data by the central node, thereby further improving the processing efficiency of the central node in determining the perception result.

[0234] In some examples, the first information may directly indicate the aforementioned fusion method. For example, the first information may include at least one of the aforementioned indication information (a) to (c). Alternatively, the first information may explicitly indicate at least one of the aforementioned indication information (a) to (c).

[0235] In other examples, the first information may indirectly indicate the aforementioned fusion method. For example, the first information may include an index of the fusion method. As another example, the first information may include an index of at least one of the aforementioned indication information (a) to (c).

[0236] The correspondence between the fusion method index and the fusion method can be predefined, pre-configured, or pre-indicated. For example, the central node can send indication information to the sensing nodes in advance. This indication information can be used to indicate the correspondence between the fusion method index and the fusion method.

[0237] Table 1 shows the correspondence between the index of the fusion method and the fusion method.

[0238] Table 1

[0239] One entry (or row) in Table 1 above can correspond to the first point cloud data (or the second point cloud data, or N grid points, or M grid points).

[0240] The coherence indicator "Yes" indicates coherent fusion. For example, the first point cloud data could be determined by adding the intensity complex numbers. The coherence indicator "No" indicates incoherent fusion. For example, the first point cloud data could be determined by adding the intensity moduli.

[0241] The "Yes" option for fusion complex intensity indicates that the phase value is retained after fusion. Therefore, the first point cloud data needs to include the complex intensity values ​​of the N grid points. The "No" option indicates that the phase value is not retained after fusion. Therefore, the first point cloud data needs to include the intensity magnitude values ​​of the N grid points.

[0242] The location weighting method is indicated by "A", which means "equal weight". In this case, the locations of the M grid points have equal weights. The location weighting method is indicated by "B", which means "weight based on resolution value". In this case, the weights of the M grid points are related to the resolution. The location weighting method is indicated by "C", which means "weight based on intensity value (or imaging intensity)". In this case, the weights of the M grid points are related to the imaging intensity.

[0243] The symbols "Yes", "No", "A", "B", and "C" mentioned above are merely exemplary notations provided for ease of understanding and description. Substitution of these exemplary notations still falls within the scope of the embodiments of this application.

[0244] Optionally, the first information includes a first index, which corresponds to the fusion method of the first point cloud data. Optionally, S310 includes: the sensing node fuses the second point cloud data according to the fusion method corresponding to the first index to obtain the first point cloud data.

[0245] Taking Table 1 above as an example, the first index is 1, which can correspond to the coherence indicator "Yes", the fusion complex intensity indicator "Yes", and the position weighting method indicator "A". In this way, the first point cloud data can be determined by the sum of the intensity complex numbers, and the first point cloud data needs to include the intensity complex numbers of the N grid points, and in the process of merging M grid points into N grid points, the position weights of the M grid points are equal.

[0246] Table 1 is for illustrative purposes only and is not intended to limit this application.

[0247] On the one hand, the correspondence between the index and the fusion method can also be in other ways, not limited to the values ​​shown in Table 1. For example, an index value of 1 can correspond to other fusion methods.

[0248] On the other hand, the fusion method may include some or all of the coherence indicator, fusion complex strength indicator, and position-weighted method indicator. In other words, the fusion method may include one or more of the coherence indicator, fusion complex strength indicator, or position-weighted method indicator. Furthermore, the fusion method may also include other elements.

[0249] Based on the above scheme, the first information can indicate the fusion method of the first point cloud data through an index of the fusion method (e.g., a first index). In this implementation, the receiving end and the sending end of the first information pre-store the correspondence between the index and the fusion method. Thus, the receiving end of the first information can directly determine the fusion method corresponding to the received index, fuse the second point cloud data, and obtain the first point cloud data. This scheme can reduce the signaling overhead of indicating the fusion method.

[0250] In some possible implementation scenarios, the first information can be used to indicate the fusion method of the point cloud data corresponding to the first set of grid points. The first set of grid points may include the aforementioned N grid points. The fusion method of the point cloud data corresponding to the grid points other than the aforementioned N grid points in the first set can be indicated directly (or in plaintext) by the first information, or it can be indicated indirectly. For example, it can be indirectly indicated through the index of the fusion method shown in Table 1.

[0251] Furthermore, the fusion method of the point cloud data corresponding to the grid points other than the above N grid points in the first grid point set can be the same as or different from the fusion method of the point cloud data corresponding to the N grid points, and this application does not limit it.

[0252] Optionally, the first information may also indicate the location information of each grid point in the first grid point set, for example, including one of the following:

[0253] Center point location [x cf ,y cf ,z cf ], grid spacing [dx f ,dy f ,dz f ], number of grid points [Nx f ,Ny f ,Nz f For example, the center point location can be the location of the center point of a grid composed of multiple grid points (e.g., a square grid). Here, 'c' can represent the center, and 'f' can represent fusion. For example, the grid spacing can be the interval between two adjacent grid points.

[0254] Center point location [x cf,y cf ,z cf ], grid range [Dx f ,Dy f ,Dz f ], number of grid points [Nx f ,Ny f ,Nz f For example, the grid range can be the area containing N grid points.

[0255] Grid point position [x if ,y if ,z if ].

[0256] In this way, the sensing node can fuse the second point cloud data corresponding to M grid points based on the position information of N grid points in the first grid point set indicated by the first information, and obtain the first point cloud data corresponding to N grid points.

[0257] In some possible implementations, the method also includes S350 before S340. This will be described in detail below with reference to Figure 3.

[0258] S350, the central node receives the second information. This second information can be used to indicate the supported fusion method. Correspondingly, the sensing node sends the second information to the central node.

[0259] The supported fusion methods can be understood as the fusion methods supported by the sensing nodes.

[0260] Based on the above scheme, the second information can indicate the supported fusion methods, which can be one or at least two. In this way, the central node can determine a reasonable fusion method based on the content indicated by the second information (for example, if only one fusion method is indicated, the central node can determine it directly; if at least two fusion methods are indicated, the central node can select one of them according to some rules), and then instruct the sensing node accordingly. For example, the central node can avoid the fusion method indicated to the sensing node not matching the fusion methods supported by the sensing node, thereby preventing the sensing node from being unable to execute the fusion method indicated by the central node.

[0261] For example, the supported fusion methods include at least one of the following:

[0262] (1) The sum of complex strengths, or the sum of strength moduli.

[0263] (2) Transmission strength complex number, or transmission strength modulus.

[0264] (3) The grid point position is determined based on equal weights, or based on resolution-related weights, or based on imaging intensity-related weights, or based on confidence-related weights, or based on sidelobe level-related weights, or based on signal-to-noise ratio-related weights.

[0265] The above numbers are for ease of description and understanding only and are not intended to limit this application.

[0266] In some possible implementations, method 300 further includes: the central node determining the fusion method of the first point cloud data indicated by the first information based on the supported fusion method indicated by the second information. In other words, the fusion method of the first point cloud data indicated by the first information is determined based on the supported fusion method indicated by the second information. Examples are described below.

[0267] The above (1) can also be called the capability information of coherent indication or other names, referred to as capability information (1).

[0268] For example, if the second information carries capability information (1), and the capability information (1) indicates the addition of complex intensity numbers, the first information determined by the central node can carry indication information (a), which can indicate that the first point cloud data is determined based on the addition of complex intensity numbers.

[0269] For example, if the second information carries capability information (1) and the capability information (1) indicates the sum of intensity moduli, the first information determined by the central node can carry indication information (a), which can indicate that the first point cloud data is determined based on the sum of intensity moduli.

[0270] The above (2) can also be called the capability information of the fusion complex intensity indication or other names, referred to as capability information (2).

[0271] For example, if the second information carries capability information (2) and the capability information (2) indicates a complex number of transmission strengths, the first information determined by the central node can carry indication information (b), which can indicate that the first point cloud data needs to include the complex number of strengths of the N grid points.

[0272] For example, if the second information carries capability information (2) and the capability information (2) indicates the transmission strength modulus, the first information determined by the central node can carry indication information (b), which can indicate that the first point cloud data needs to include the strength modulus of the N grid points.

[0273] The above (3) can also be called the location-weighted capability information or other names, referred to as capability information (3).

[0274] For example, if the second information carries capability information (3), and the capability information (3) indicates that the position of the grid point is determined based on equal weights, the first information determined by the center node can carry indication information (c), which can indicate that the positions of the M grid points have equal weights.

[0275] For example, if the second information carries capability information (3), and the capability information (3) indicates that the position of the grid point is determined based on the weights related to the resolution, the first information determined by the center node can carry indication information (c), which can indicate that the weights of the positions of the M grid points are related to the resolution.

[0276] For example, if the second information carries capability information (3), and the capability information (3) indicates that the position of the grid point is determined based on the weights related to the imaging intensity, the first information determined by the center node can carry indication information (c), which can indicate that the weights of the positions of the M grid points are related to the imaging intensity.

[0277] For example, if the second information carries capability information (3), and the capability information (3) indicates that the position of the grid point is determined based on the weights related to the confidence level, the first information determined by the central node can carry indication information (c), which can indicate that the weights of the positions of the M grid points are related to the confidence level.

[0278] For example, if the second information carries capability information (3), and the capability information (3) indicates that the position of the grid point is determined based on the weights related to the sidelobe level, the first information for determining the center node can carry indication information (c), which can indicate that the weights of the positions of the M grid points are related to the sidelobe level.

[0279] For example, if the second information carries capability information (3), and the capability information (3) indicates that the position of the grid point is determined based on the weights related to the signal-to-noise ratio, the first information determined by the center node can carry indication information (c), which can indicate that the weights of the positions of the M grid points are related to the signal-to-noise ratio.

[0280] Based on the above scheme, the supported fusion methods can include multiple combinations. Sensing nodes can flexibly report the supported fusion methods according to their own circumstances, thus facilitating the central node to determine the appropriate fusion method. The central node can also flexibly determine the appropriate fusion method based on the supported methods and then instruct the sensing nodes accordingly.

[0281] In some examples, the second information may directly indicate the supported fusion method. For example, the second information may include at least one of the capability information (1) to (3) above. Or, the second information may explicitly indicate at least one of the capability information (1) to (3) above.

[0282] In other examples, the second information may indirectly indicate the supported fusion methods mentioned above. For example, the second information may include an index of the supported fusion methods. As another example, the second information may include an index of at least one of the capability information (1) to (3) mentioned above.

[0283] For example, the index of supported fusion methods can be the same as the index of fusion methods. In some examples, the index of supported fusion methods can be found in Table 1. For example, the second information includes index 2, which may correspond to a coherence indicator of "Yes", a fusion complex intensity indicator of "No", and a position weighting method indicator of "A". In this way, the central node can know that the sensing node can perform the addition of complex intensity values, transmit intensity modulus values, and determine the position of grid points based on equal weights. Further, the first information sent by the central node may include index 2.

[0284] Furthermore, the supported fusion methods can be associated with M grid points (or N grid points). For example, the second set of grid points includes M grid points. In the second set of grid points, the fusion method for the point cloud data corresponding to the grid points other than the aforementioned M grid points can be the same as or different from the fusion method for the aforementioned M grid points (or N grid points).

[0285] The second information may also be called capability information, imaging grid parameter information, or other names, which are not limited in this application.

[0286] Optionally, the second information may also indicate the location information of each grid point in the third grid point set. The third grid point set is the set of grid points that the sensing node can fuse. For example, the sensing node can fuse the point cloud data corresponding to the second grid point set to obtain the point cloud data corresponding to the third grid point set.

[0287] In some examples, the third set of grid points can be the same as the first set of grid points. That is, the grid points supported by the second information can be the same as the grid points indicated by the first information.

[0288] In other examples, the third set of grid points may include the first set of grid points. That is, the grid points supported by the second information may include the grid points indicated by the first information. In other words, the grid points indicated by the first information fall within the range of the supported grid points indicated by the second information. In other words, the grid points indicated by the first information are within the capability range indicated by the second information.

[0289] For example, the location information of each grid point in the third grid point set may include one of the following:

[0290] Center point location [x c ,y c ,z c ], grid spacing [dx,dy,dz], number of grid points [Nx,Ny,Nz].

[0291] Center point location [x c ,y c ,z c ], grid range [Dx,Dy,Dz], number of grid points [Nx,Ny,Nz].

[0292] Grid point position [x i ,y i ,z i ].

[0293] The above, with reference to S340 and S350 in Figure 3, presents a possible example of method 300. In the example above, the central node can determine and instruct the sensing nodes how to fuse the point cloud data.

[0294] The following describes another possible example of method 300. In the example below, the perception node can decide how to fuse the point cloud data and instruct the central node on the fusion method.

[0295] In some possible implementations, the method also includes S360 before S330. This will be described in detail below with reference to Figure 3.

[0296] S360, the central node receives third information from the sensing node. This third information can be used to indicate the fusion method of the first point cloud data. Correspondingly, the sensing node sends the third information to the central node.

[0297] In some examples, the third information can be sent simultaneously with the first point cloud data corresponding to N grid points. That is, S320 and S360 can be executed concurrently. For example, the third information and the first point cloud data corresponding to N grid points can be carried in the same message. Or, for another example, the third information can be carried within the first point cloud data.

[0298] In other examples, the third information and the first point cloud data corresponding to N grid points can be sent at different times. That is, S320 and S360 can be executed at different times.

[0299] In some possible implementations, prior to S360, method 300 also includes: the sensing node determining the fusion method of the first point cloud data.

[0300] Based on the above scheme, the sensing node can indicate the fusion method of the first point cloud data to the central node, which facilitates the central node to perform subsequent processing on the first point cloud data.

[0301] Optionally, the third information includes a second index, which corresponds to the fusion method of the first point cloud data.

[0302] The second index is similar to the first index. A description of the second index can be found in the example of the first index above, and will not be repeated here.

[0303] Based on the above scheme, the third piece of information can indicate the fusion method of the first point cloud data through an index of the fusion method (e.g., a second index). In this way, the central node can know the fusion method of the first point cloud data based on the index, and thus perform subsequent processing on the first point cloud data.

[0304] For example, S330 includes: the central node determining a perception result based on the third information and the first point cloud data. For instance, if the third information indicates that the first point cloud data includes a complex intensity number and the perception result requires an intensity modulus value, the central node can take the modulus of the complex intensity number in the first point cloud data to obtain the intensity modulus value. Furthermore, the central node can determine the perception result based on the intensity modulus value.

[0305] Optionally, the first point cloud data includes the location indices (or grid indices) of the N grid points. The location indices of the N grid points correspond to the locations of the respective N grid points.

[0306] For example, the location index may include at least one of the following: 0, 1, 2, 3, ...

[0307] There is a one-to-one correspondence between the position indices of the N grid points and their positions. This correspondence can be predefined or preconfigured, or it can be indicated by the central node.

[0308] For example, the first information may also indicate the correspondence between the position indices of N grid points and the positions of the N grid points. Exemplarily, the first information may include the starting position of the position index [x...]. s ,y s ,z s ] and the endpoint position [x e ,y e ,z e ], and the direction in which the position index is written. For example, the writing direction could be [vec y ,vec x ,vec z Among them, [vec] y ,vec x ,vec z The symbol ] can represent the priority of index writing. Starting from the starting position, the x and z coordinates remain unchanged. First, move along the y-axis to write the index. After writing the index for different y values, move along the x-axis to change the x position. Then move along the y-axis again to continue writing until the index for all x and y values ​​at the current z position is completed. Then move along the z-axis to change the z position, and so on, until the index for all grid points is completed.

[0309] Compared to transmitting three-dimensional position information (e.g., x, y, and z), the above scheme can transmit one-dimensional position indices. Therefore, the above scheme can reduce the transmission overhead of grid point position information, thereby further reducing the transmission overhead of point cloud data.

[0310] Optionally, the first point cloud data includes the intensity modulus values ​​of the N grid points.

[0311] The amount of data for intensity modulus is less than that for intensity complex numbers. Therefore, compared to the scheme that transmits intensity complex numbers, the above scheme can further reduce the transmission overhead of point cloud data.

[0312] In some possible implementations, the method 300 further includes: the central node acquiring third point cloud data; wherein, S330 includes: the central node determining the perception result based on the first point cloud data and the third point cloud data.

[0313] In some examples, the acquisition of third-point cloud data by the central node can include: the central node performing sensing to obtain the third-point cloud data. That is, the central node can also be a sensing node, performing sensing tasks.

[0314] For ease of distinction, the preceding sensing node can be referred to as the first sensing node.

[0315] In other examples, the acquisition of third point cloud data by the central node may include: the central node receiving third point cloud data from a second sensing node. The first and second sensing nodes may be different.

[0316] As an example, this third point cloud data corresponds to N grid points. In this way, the central node can fuse the first and third point cloud data corresponding to the N grid points to obtain a perception result with a higher signal-to-noise ratio and / or higher resolution.

[0317] As another example, the third point cloud data corresponds to the Q grid points, where Q is a positive integer. The N grid points and the Q grid points can be partially the same (or have overlap) or completely different (or have no overlap), which is not limited in this application. Thus, the central node can fuse the first point cloud data corresponding to the N grid points and the third point cloud data corresponding to the Q grid points to obtain a more comprehensive sensing result (or imaging result). For example, the central node can project the first and third point cloud data onto a unified grid region. This grid region includes the aforementioned N grid points and the aforementioned Q grid points.

[0318] Based on the above scheme, the central node can determine the perception result based on the point cloud data of multiple nodes, thereby obtaining a better perception result.

[0319] Figure 4 is a schematic flowchart of another sensing method 400 provided in an embodiment of this application. Method 400 is applied in a single-base sensing network, where the sensing nodes are used for single-base sensing. Method 400 can be applied with one central node and multiple sensing nodes. The central node can configure sensing resource parameters.

[0320] In method 400, the central node can determine the fusion method and instruct the sensing nodes. Method 400 is described below with reference to Figure 4.

[0321] S410, Sensing Node 1 and Sensing Node 2 send imaging grid parameter information to the central node. Correspondingly, the central node receives the imaging grid parameter information from Sensing Node 1 and Sensing Node 2.

[0322] Imaging grid information can also be referred to as second information. For example, the second information is used to indicate the following two items:

[0323] Supported fusion methods. For example, a predefined set of indexes from a table (e.g., Table 1) can be used. Alternatively, supported fusion methods can be sent directly, such as at least one of a coherence indicator, a fusion complexity indicator, or a location-weighted method indicator.

[0324] Information such as imaging grid extent and grid spacing. This information can indicate the imaging grid extent and grid spacing of a second set of grid points, or the imaging grid extent and grid spacing of a third set of grid points. For example, this information can indicate one of the following:

[0325] ■Center point location [x] c ,y c ,z c ], grid spacing [dx,dy,dz], number of grid points [Nx,Ny,Nz].

[0326] ■Center point location [x] c ,y c ,z c ], grid range [Dx,Dy,Dz], number of grid points [Nx,Ny,Nz].

[0327] ■ Grid point location [x] i ,y i ,z i ].

[0328] For further details, please refer to the example of S350 mentioned above, which will not be repeated here.

[0329] S420, the central node determines the fused sensing grid indication based on the imaging grid parameters of each sensing node and the required resolution.

[0330] The fused sensing grid indicator can also be referred to as the first information. For example, the first information is used to indicate the following three items:

[0331] Merging method. For example, the index of the merging method within each grid can be determined according to a pre-agreed instruction table (e.g., Table 1).

[0332] This integrates information such as mesh extent and mesh spacing. For example, this information may indicate one of the following:

[0333] ■Center point location [x] cf ,y cf ,z cf ], grid spacing [dx f ,dy f ,dz f ], number of grid points [Nx f ,Ny f ,Nz f ].

[0334] ■Center point location [x] cf ,y cf ,zcf ], grid range [Dx f ,Dy f ,Dz f ], number of grid points [Nx f ,Ny f ,Nz f ].

[0335] ■ Grid point location [x] if ,y if ,z if ].

[0336] The method for writing the location indexes corresponding to the fused mesh. Alternatively, it can be described as the correspondence between the location indexes of the fused mesh and the locations of the fused meshes. This information may not be included in the fused-aware mesh specification; for example, it can be predefined, pre-configured, or pre-indicated.

[0337] To facilitate understanding, a possible specific example of S420 is introduced below.

[0338] For example, the central node can determine the fused imaging grid based on the imaging grids of each sensing node and the required resolution. The range of the fused imaging grid can intersect with the imaging grids of each sensing node. One possible scenario is that the range of the fused imaging grid includes the individual imaging grids of all sensing nodes, i.e., min(x... c -Dx / 2)≥(x cf -Dx f / 2), max(x c +Dx / 2)≤(x cf +Dx f / 2). Among them, min() means to take the minimum value, and max() means to take the maximum value.

[0339] Among them, the merged grid spacing [dx f ,dy f ,dz f All values ​​can be less than or equal to the desired resolution [δx, δy, δz]. For example, dx f ≤δx,dy f ≤δy,dz f ≤δz.

[0340] Furthermore, the central node can determine the index of the fusion method within each grid based on a pre-agreed instruction table (e.g., Table 1).

[0341] In some possible implementations, if multiple sensing nodes cover a grid, and coherent fusion is required between all of these sensing nodes, then the coherence indicator can be selected as "Yes"; otherwise, "No" should be selected.

[0342] In other possible implementations, if a grid is covered by only a single sensing node, that is, if there is only data from a single sensing node in the grid, the fusion complexity indicator can be selected as "No".

[0343] The specific examples above are for illustrative purposes only and are not intended to limit this application.

[0344] S430, the central node sends a fused sensing grid instruction to sensing node 1 and sensing node 2. Correspondingly, sensing node 1 and sensing node 2 receive the fused sensing grid instruction from the central node.

[0345] Among them, the fused sensing grid indication can also be referred to as the first information, as described above.

[0346] S440, sensing node 1 and sensing node 2 process point cloud data according to the instructions of the fused sensing grid.

[0347] For example, sensing node 1 and sensing node 2 can perform operations similar to those of the sensing nodes in S310 to obtain point cloud data under the fused mesh.

[0348] S450, Sensing Node 1 and Sensing Node 2 respectively send point cloud data under the fused mesh to the central node.

[0349] For example, the point cloud data under the fused mesh may include the following two items:

[0350] The position index of the corresponding grid point in the point cloud under the fused mesh.

[0351] Intensity information corresponding to point clouds.

[0352] Assuming there are K grid points after merging, where K is a positive integer, then the position index can be represented as: Where n represents the index of the sensing node. For example, n=1 represents sensing node 1; n=2 represents sensing node 2.

[0353] Intensity information can be represented as

[0354] S460: The central node processes point cloud data from multiple sensing nodes to form or determine the fusion result (or sensing result).

[0355] The above method 400 can reduce the overhead of transmitting point clouds over the air interface. Furthermore, method 400 unifies the point cloud region and density by using the fusion sensing grid indication of the central node, thereby achieving fusion at the required grid resolution and region.

[0356] Figure 5 is a schematic flowchart of another sensing method 500 provided in an embodiment of this application. Method 500 is applied in a single-base sensing network, where the sensing nodes are used for single-base sensing. Method 500 can be applied with one central node and multiple sensing nodes. The central node can configure sensing resource parameters.

[0357] In method 500, the sensing node can determine the fusion method and instruct the central node. Method 500 is described below with reference to Figure 5.

[0358] S510, the central node determines the sensing grid indication based on the required grid area and resolution.

[0359] The sensing grid indicator can also be referred to as the first information. For example, the first information indicates the following two items:

[0360] This integrates information such as mesh extent and mesh spacing. For example, this information may indicate one of the following:

[0361] ■Center point location [x] cf ,y cf ,z cf ], grid spacing [dx f ,dy f ,dz f ], number of grid points [Nx f ,Ny f ,Nz f ].

[0362] ■Center point location [x] cf ,y cf ,z cf ], grid range [Dx f ,Dy f ,Dz f ], number of grid points [Nx f ,Ny f ,Nz f ].

[0363] ■ Grid point location [x] if ,y if ,z if ].

[0364] The method for writing the location indexes corresponding to the fused mesh. Alternatively, it can be described as the correspondence between the location indexes of the fused mesh and the locations of the fused meshes. This information may not be included in the fused-aware mesh specification; for example, it can be predefined, pre-configured, or pre-indicated.

[0365] S520, the central node sends a sensing grid instruction to sensing node 1 and sensing node 2. Correspondingly, sensing node 1 and sensing node 2 receive the sensing grid instruction from the central node.

[0366] The sensing grid indication can also be referred to as the first information, as described above.

[0367] S530, sensing node 1 and sensing node 2 process point cloud data according to the sensing grid instructions.

[0368] For example, sensing node 1 and sensing node 2 can perform operations similar to those of the sensing nodes in S310 to obtain point cloud data under the fused mesh.

[0369] In addition, sensing node 1 and sensing node 2 can each determine the fusion method and use the determined fusion method to fuse the point cloud data collected by sensing.

[0370] S540, Sensing Node 1 and Sensing Node 2 respectively send point cloud data under the fused mesh to the central node.

[0371] For example, point cloud data fused from a grid can include the following three items:

[0372] The position index of the corresponding grid point in the point cloud under the fused mesh.

[0373] Intensity information corresponding to point clouds.

[0374] Indication information about the fusion method. For example, the index of the fusion method within each grid.

[0375] Assuming there are K grid points after merging, where K is a positive integer, then the position index can be represented as: Where n represents the index of the sensing node. For example, n=1 represents sensing node 1; n=2 represents sensing node 2.

[0376] Intensity information can be represented as

[0377] The index of the fusion method can be represented as

[0378] The S550's central node processes point cloud data from multiple sensing nodes to form a fusion result (or sensing result).

[0379] The above method 500 can reduce the overhead of air interface transmission of point clouds.

[0380] Figure 6 is a schematic flowchart of another sensing method 600 provided in an embodiment of this application. Method 600 is applied in a single-base sensing network, where the sensing nodes are used for single-base sensing. Method 600 can be applied with one central node and multiple sensing nodes. The central node can configure sensing resource parameters.

[0381] In method 600, the central node can determine the fusion method and instruct the sensing nodes. Furthermore, the central node can also act as a sensing node, performing sensing tasks. Method 600 is described below with reference to Figure 6.

[0382] S610, Sensing Node 1 and Sensing Node 2 send imaging grid parameter information to the central node. Correspondingly, the central node receives the imaging grid parameter information from Sensing Node 1 and Sensing Node 2.

[0383] Imaging grid information can also be referred to as secondary information. For a detailed description, please refer to S410, which will not be repeated here.

[0384] S620, the central node determines the fused sensing grid indication based on the imaging grid parameters of each sensing node.

[0385] The fused sensing grid indication can also be referred to as the first information. For a detailed description, please refer to S420, which will not be repeated here.

[0386] S630, the central node sends a fused sensing grid instruction to sensing node 1 and sensing node 2. Correspondingly, sensing node 1 and sensing node 2 receive the fused sensing grid instruction from the central node.

[0387] Among them, the fusion sensing grid indication can also be called the first information, as described above, and will not be repeated here.

[0388] S640, sensing node 1, sensing node 2, and the central node process point cloud data according to the instructions of the fused sensing grid.

[0389] For example, sensing node 1 and sensing node 2 can perform operations similar to those of the sensing nodes in S310 to obtain point cloud data under the fused mesh.

[0390] In addition, the central node can perform operations similar to those of the sensing node in S310 to obtain point cloud data under the fused mesh.

[0391] S650, Sensing Node 1 and Sensing Node 2 respectively send point cloud data under the fused mesh to the central node.

[0392] For a detailed description, please refer to S450, which will not be repeated here.

[0393] The S660 central node processes the point cloud data of multiple sensing nodes and the central node to form a fusion result (or sensing result).

[0394] The method 600 described above can reduce the overhead of transmitting point clouds over the air interface. Furthermore, by using the fusion sensing grid indication from the central node, method 600 unifies the point cloud region and density, achieving fusion at the required grid resolution and region. In addition, the central node can also perform sensing tasks, increasing the amount of sensing data and contributing to better sensing results.

[0395] Figure 7 is a schematic flowchart of another sensing method 700 provided in an embodiment of this application. The scenario in which method 700 is applied is a dual-base sensing network, i.e., sensing nodes are used for dual-base sensing. Method 700 can be applied with one central node and multiple sensing nodes. The central node can configure sensing resource parameters.

[0396] In method 700, the central node can determine the fusion method and instruct the sensing nodes. For ease of description, the sensing nodes in method 700 can also be referred to as receiving nodes. The receiving nodes can be used to receive the echo signals of the probe signals. In addition to the receiving nodes, there are also transmitting nodes. The transmitting nodes can be used to transmit the probe signals.

[0397] Method 700 will be described below with reference to Figure 7.

[0398] S710, receiving node 1 and receiving node 2 send imaging grid parameter information to the central node. Correspondingly, the central node receives the imaging grid parameter information from receiving node 1 and receiving node 2.

[0399] Imaging grid information can also be referred to as secondary information. For a detailed description, please refer to S410, which will not be repeated here.

[0400] S720: The central node determines the fusion sensing grid indication based on the imaging grid parameters of each receiving node.

[0401] The fused sensing grid indication can also be referred to as the first information. For a detailed description, please refer to S420, which will not be repeated here.

[0402] S730, the central node sends a fused sensing grid instruction to receiving node 1 and receiving node 2. Correspondingly, receiving node 1 and receiving node 2 receive the fused sensing grid instruction from the central node.

[0403] Among them, the fusion sensing grid indication can also be called the first information, as described above, and will not be repeated here.

[0404] S740, receiving node 1 and receiving node 2 process point cloud data according to the fusion sensing grid instructions.

[0405] For example, receiving node 1 and receiving node 2 can perform operations similar to those of the receiving node in S310 to obtain point cloud data under the fused mesh.

[0406] In one example, a transmitting node can send a probe signal. The echo signal of this probe signal can be received by receiving node 1 and receiving node 2. That is, receiving node 1 and receiving node 2 can correspond to the same transmitting node.

[0407] In another example, two transmitting nodes can each transmit a probe signal. The echo signals of these two probe signals can be received by receiving node 1 and receiving node 2, respectively. That is, receiving node 1 and receiving node 2 can correspond to different transmitting nodes.

[0408] S750, receiving node 1 and receiving node 2 respectively send point cloud data under the fused mesh to the central node.

[0409] For a detailed description, please refer to S450, which will not be repeated here.

[0410] The S760's central node processes point cloud data from multiple receiving nodes and the central node itself to form a fusion result (or perception result).

[0411] Method 700 can be applied to dual-base networking scenarios. Method 700 reduces the overhead of transmitting point clouds over the air interface. Furthermore, by using the fusion sensing grid indication of the central node, Method 700 unifies the point cloud region and density, achieving fusion at the required grid resolution and region.

[0412] The communication device provided in the embodiments of this application will be described in detail below with reference to Figures 8 to 11. The description of the device embodiments corresponds to the description of the method embodiments. Therefore, for contents not described in detail, please refer to the method embodiments above. For the sake of brevity, some contents will not be repeated.

[0413] This application embodiment can divide the communication device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware, software, or a combination of both. The module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation. The following description uses the division of functional modules according to each function as an example.

[0414] Figure 8 is an exemplary block diagram of the communication device 10 provided in an embodiment of this application.

[0415] As shown in Figure 8, for example, the communication device 10 may include a chip system 110, a memory 120, a bus 130, a power management module 140, or a transceiver 150, etc.

[0416] The chip system 110 can be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed through integrated logic circuits in the hardware of the chip system 110 or through software instructions.

[0417] By way of example and not limitation, chip system 110 may include circuitry or chips responsible for signal processing (such as a modem chip, also known as a baseband chip, or a system-on-chip (SoC) chip or system-in-package (SIP) chip containing a modem core).

[0418] Optionally, the chip system 110 may also include a memory (such as a cache) for storing instructions and data. In some embodiments, the memory in the chip system 110 is a cache memory. This memory can store instructions or data that the chip system 110 has just used or that are used repeatedly. If the chip system 110 needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, reduces the waiting time of the chip system 110, and thus improves the efficiency of the system.

[0419] In some embodiments, the chip system 110 may include one or more interfaces. Interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0420] The memory 120 may include random access memory (RAM) and read-only memory (ROM). The memory 120 may store computer-readable and computer-executable code, including instructions that, when executed, cause the processor to perform the various functions of this application.

[0421] Optionally, the code may include instructions for implementing various aspects of the embodiments of this application, such as instructions for sending a CSI report. The code may be stored in a non-transitory computer-readable medium such as system memory or other types of memory. In some cases, the code may not be directly executable by the chip system 110, but may enable a computer (e.g., at compile and execution time) to perform the functions of this application. In some cases, memory 120 may contain a basic I / O system that controls basic hardware or software operations, such as interaction with peripheral components or devices.

[0422] For example, the chip system 110 executes various functional applications and data processing of the communication device 10 by running instructions stored in the memory 120. For instance, when the communication device 10 transfers files with other devices (which may also be terminals or access network devices), the chip system 110 of the communication device 10 can call the computer-executable program code stored in the memory 120 to implement the communication method provided in the embodiments of this application.

[0423] In addition, the memory 120 can be integrated into the chip system 110 or independent of the chip system 110.

[0424] For example, bus 130 may be USB for supporting communication between various parts of communication device 10.

[0425] The power management module 140 is used to receive charging input from the charger. Optionally, the power management module 140 can also supply power to the communication device 10 while charging it (e.g., the battery module of the communication device 10). By way of example and not limitation, the power management module 140 can also supply power to other devices besides the communication device 10.

[0426] Transceiver 150 can communicate bidirectionally via one or more antennas, wired links, or wireless links. For example, transceiver 150 can represent a wireless transceiver and can communicate bidirectionally with another wireless transceiver. Transceiver 150 may also include a modem for modulating packets and providing the modulated packets to the antenna for transmission, and for demodulating packets received from the antenna. Transceiver 150 may include a receiver and a transmitter, the receiver performing the function of receiving information and the transmitter performing the function of transmitting information.

[0427] In some cases, a wireless device may include a single antenna. However, in other cases, the device may have more than one antenna, such as antenna 1 and antenna 2 as shown in FIG8, which may be capable of simultaneously transmitting or receiving multiple wireless transmissions. Exemplarily, antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in communication device 10 can be used to cover one or more communication frequency bands. Different antennas can also be multiplexed to improve antenna utilization. For example, antenna 1 can be multiplexed as a diversity antenna for a wireless local area network. In other embodiments, the antennas can be used in conjunction with a tuning switch. Communication device 10 can transfer files to other devices via wireless communication functions.

[0428] In one design, the communication device 20 may correspond to the central node in the above method embodiments.

[0429] The device 10 can implement the steps or processes corresponding to those executed by the central node in the above method embodiments. The transceiver 150 can be used to execute operations related to the transmission and reception of the central node in the above method embodiments, such as executing steps S320 and S340. The chip system 110 can be used to execute processing-related operations of the central node in the above method embodiments, such as S330.

[0430] In another design, the communication device 10 may correspond to the sensing node in the above method embodiment.

[0431] The device 10 can implement the steps or processes corresponding to the sensing node executed in the above method embodiments. The transceiver 150 can be used to execute operations related to the transmission and reception of the sensing node in the above method embodiments, such as executing steps S320 and S340. The chip system 110 can be used to execute operations related to the processing of the sensing node in the above method embodiments, such as S310.

[0432] In a design where the communication device 20 corresponds to a sensing node (e.g., a terminal device), the communication device 10 may include modules such as a short-range communication module 164, a sensor 161, a display 162, or a camera 163, as shown in FIG8.

[0433] The short-range communication module 164 may include modules that support short-range communication, such as WiFi and Bluetooth.

[0434] For example, sensor 161 may include pressure sensor, gyroscope sensor, barometric pressure sensor, magnetic sensor, accelerometer, distance sensor, proximity sensor, fingerprint sensor, temperature sensor, touch sensor, ambient light sensor, bone conduction sensor, etc.

[0435] For example, display 162 is used to display images, videos, etc. The display includes a display panel. The display panel may be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a mini light-emitting diode (LED), a micro LED, a micro OLED, a quantum dot light-emitting diode (QLED), etc. For example, in this embodiment, the display may be used to display the interface required by the communication device 10. For example, the communication device 10 implements display functions through a graphics processing unit (GPU), a display, and an application processor. The GPU is a microprocessor for image processing, connected to the display and the application processor. The GPU performs mathematical and geometric calculations for graphics rendering. The chip system 110 may include one or more GPUs that execute program instructions to generate or modify display information.

[0436] For example, camera 163 is used to acquire images, videos, etc.

[0437] It is understood that the structure shown in Figure 8 does not constitute a specific limitation on the communication device 10, and the specific structure of the terminal device and / or access network device can be referred to Figure 8. In some embodiments, the communication device 10 may also include more or fewer components than shown in Figure 8, or combine some components, or split some components, or have different component arrangements, etc. Alternatively, some components shown in Figure 8 may be implemented in hardware, software, or a combination of software and hardware, and the terminal device and / or access network device may add or remove components based on the structure given in Figure 8.

[0438] Figure 9 is a schematic block diagram of the communication device 20 provided in an embodiment of this application.

[0439] As shown in Figure 9, the communication device 20 may include a baseband unit 210, which can communicate with external devices via a cellular radio frequency (RF) transceiver 220 (e.g., if the communication device 20 is a terminal device, the baseband unit 210 can communicate with access network devices via the cellular RF transceiver 220; or, if the communication device 20 is an access network device, the baseband unit 210 can communicate with terminal devices and / or core network devices via the cellular RF transceiver 220).

[0440] Exemplarily, baseband unit 210 may include a computer-readable medium / memory. Baseband unit 210 may be responsible for general processing, including the execution of software stored on the computer-readable medium / memory. When executed by baseband unit 304, the software causes baseband unit 210 to perform the various functions described above. The computer-readable medium / memory may also be used to store data manipulated by baseband unit 210 during software execution.

[0441] Optionally, the baseband unit 210 further includes a receiving unit 201, a management unit 202, and a transmitting unit 203. The management unit 202 includes one or more sub-units shown in FIG. 9. For example, a fusion sub-unit, wherein the fusion sub-unit can be used for the operation of fusing second point cloud data to obtain first point cloud data in the above method embodiments. The units within the management unit 201 can be stored in a computer-readable medium / memory and / or configured as hardware within the baseband unit 210. The management unit 201 can also be referred to as a processing unit. The receiving unit 201 and the transmitting unit 203 can be referred to as transceiver units.

[0442] When the communication device 20 is used to implement the function of the central node in the above method embodiments, the receiving unit 201 is used to perform the receiving step of the central node, the sending unit 203 is used to perform the sending step of the central node, and the management unit 202 is used to perform the processing step of the central node.

[0443] For example, when the communication device 20 is used to implement the function of the central node in the above method embodiments, the receiving unit 201 is used to receive the first point cloud data corresponding to N grid points, where N is a positive integer. The first point cloud data is obtained by fusing the second point cloud data, where the second point cloud data corresponds to M grid points, where M is a positive integer. The management unit 202 is used to determine the perception result based on the first point cloud data.

[0444] For example, when the device 20 is used to perform the methods in Figures 3 to 7, the receiving unit 201 can be used to perform the step of receiving information in the method; the management unit 202 can be used to perform the processing step in the method; and the sending unit 203 can be used to perform the step of sending information in the method.

[0445] When the communication device 20 is used to implement the function of the sensing node in the above method embodiments, the receiving unit 201 is used to perform the receiving step of the sensing node, the sending unit 203 is used to perform the sending step of the sensing node, and the management unit 202 is used to perform the processing step of the sensing node.

[0446] For example, when the communication device 20 is used to implement the function of the sensing node in the above method embodiments, the management unit 202 is used to fuse the second point cloud data to obtain the first point cloud data, the second point cloud data corresponds to M grid points, where M is a positive integer, and the first point cloud data corresponds to N grid points, where N is a positive integer; the sending unit 203 is used to send the first point cloud data, which is used to determine the sensing result.

[0447] For example, when the device 20 is used to perform the methods in Figures 3 to 7, the receiving unit 201 can be used to perform the step of receiving information in the method; the management unit 202 can be used to perform the processing step in the method; and the sending unit 203 can be used to perform the step of sending information in the method.

[0448] For a more detailed description of the receiving unit 201, management unit 202 and sending unit 203, please refer to the relevant descriptions in the above method embodiments, which will not be repeated here.

[0449] By way of example and not limitation, the chip system in this application is shown in Figure 10, which is a schematic block diagram of the chip system 30 provided in an embodiment of this application. The chip system includes, but is not limited to, a modem chip, also known as a baseband chip, or a system-on-chip (SoC) chip or a system-in-package (SIP) chip containing a modem core.

[0450] As can be seen from Figure 10, the chip system (or processing system) includes a processor 310, a memory 320, and an input / output interface 330.

[0451] The processor 310 can be a processing circuit in the chip system (including at least one processor, such as processor 1 and processor 2 as shown in FIG. 10). The processor 310 can be coupled to the memory 320 to call the instructions in the memory 320, so that the chip system can implement the methods and functions of the various embodiments of this application. The input / output interface 330 can be an input / output circuit in the chip system, which outputs the information processed by the chip system, or inputs the data or signaling information to be processed into the chip system for processing.

[0452] As one approach, the chip system is used to implement the operations performed by the central node or the sensing node in the various method embodiments described above.

[0453] For example, processor 310 is used to implement the processing-related operations performed by the central node or the sensing node in the above method embodiments, as described in the foregoing embodiments; input / output interface 330 is used to implement the sending and / or receiving-related operations performed by the central node or the sensing node in the above method embodiments, as described in the foregoing embodiments.

[0454] As an example and not a limitation, the chip system in this application is shown in FIG11, which is a schematic block diagram of the chip system 40 provided in an embodiment of this application.

[0455] As shown in Figure 11, the chip system (or processing system) includes an input / output interface 410 and logic circuitry 420. The input / output interface 410 can be an input / output circuit within the chip system, outputting processed information or inputting data or signaling information to be processed into the chip system for processing. Specific details can be found in the descriptions of the preceding embodiments, executing examples such as those shown in Figures 3 to 7. The logic circuitry 420 is used to execute the aforementioned communication method, as described in the preceding embodiments.

[0456] As one approach, the chip system is used to implement the operations performed by the central node or the sensing node in the various method embodiments described above.

[0457] For example, logic circuit 420 is used to implement processing-related operations performed by the central node or sensing node in the above method embodiments; input / output interface 410 is used to implement sending and / or receiving-related operations performed by the central node or sensing node in the above method embodiments.

[0458] This application also provides a computer-readable storage medium storing computer instructions for implementing the methods executed by the device in the above-described method embodiments.

[0459] For example, when the computer program is executed by a computer, it enables the computer to implement the methods executed by the central node or the sensing node in the various embodiments of the above methods.

[0460] This application also provides a computer program product containing instructions that, when executed by a computer, implement the methods performed by the central node or the sensing node in the above-described method embodiments.

[0461] This application also provides a communication system, including the aforementioned central node and sensing node.

[0462] The explanations and beneficial effects of the relevant contents in any of the devices provided above can be found in the corresponding method embodiments provided above, and will not be repeated here.

[0463] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0464] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0465] In the several embodiments provided in this application, the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0466] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0467] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0468] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A sensing method, characterized in that, The method includes: Receive first point cloud data corresponding to N grid points, where N is a positive integer. The first point cloud data is obtained by fusing second point cloud data, where the second point cloud data corresponds to M grid points, where M is a positive integer. Based on the first point cloud data, the perception result is determined.

2. The method according to claim 1, characterized in that, The method further includes: Send a first message, which is used to indicate the fusion method of the first point cloud data.

3. The method according to claim 2, characterized in that, The first information includes a first index, which corresponds to the fusion method of the first point cloud data.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Receive second information, which indicates the supported fusion method.

5. The method according to claim 4, characterized in that, The supported fusion methods include at least one of the following: The summation of complex strengths, or the summation of strength moduli; The transmission strength is a complex number, or the transmission strength modulus; or... The grid point positions can be determined based on equal weights, or based on resolution-related weights, or based on imaging intensity-related weights, or based on confidence-related weights, or based on sidelobe level-related weights, or based on signal-to-noise ratio-related weights.

6. The method according to claim 1, characterized in that, The method further includes: Receive third information, which is used to indicate the fusion method of the first point cloud data.

7. The method according to claim 6, characterized in that, The third information includes a second index, which corresponds to the fusion method of the first point cloud data.

8. The method according to any one of claims 2, 3, 6 or 7, characterized in that, The fusion method of the first point cloud data includes at least one of the following: The first point cloud data is determined by adding the intensity complex numbers, or by adding the intensity moduli; The first point cloud data includes the complex intensity of the N grid points, or the intensity modulus of the N grid points; or, The weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

9. The method according to any one of claims 1 to 8, characterized in that, The first point cloud data includes the location indices of the N grid points, and the location indices of the N grid points correspond to the locations of the N grid points respectively.

10. The method according to any one of claims 1 to 9, characterized in that, The first point cloud data includes the intensity modulus values ​​of the N grid points.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Obtain third point cloud data, which corresponds to the N grid points; wherein, The step of determining the perception result based on the first point cloud data includes: The perception result is determined based on the first point cloud data and the third point cloud data.

12. A sensing method, characterized in that, The method includes: The second point cloud data is fused to obtain the first point cloud data. The second point cloud data corresponds to M grid points, where M is a positive integer, and the first point cloud data corresponds to N grid points, where N is a positive integer. The first point cloud data is sent, and the first point cloud data is used to determine the perception result.

13. The method according to claim 12, characterized in that, The method further includes: Receive first information, which is used to determine the fusion method of the first point cloud data; The process of fusing the second point cloud data to obtain the first point cloud data includes: Based on the first information, the second point cloud data is fused to obtain the first point cloud data.

14. The method according to claim 13, characterized in that, The first information includes a first index, which corresponds to the fusion method of the first point cloud data.

15. The method according to any one of claims 12 to 14, characterized in that, The method further includes: Send a second message, which indicates the supported fusion method.

16. The method according to claim 15, characterized in that, The supported fusion methods include at least one of the following: The summation of complex strengths, or the summation of strength moduli; The transmission strength is a complex number, or the transmission strength modulus; or... The grid point positions can be determined based on equal weights, or based on resolution-related weights, or based on imaging intensity-related weights, or based on confidence-related weights, or based on sidelobe level-related weights, or based on signal-to-noise ratio-related weights.

17. The method according to claim 12, characterized in that, The method further includes: Send a third message, which is used to indicate the fusion method of the first point cloud data.

18. The method according to claim 17, characterized in that, The third information includes a second index, which corresponds to the fusion method of the first point cloud data.

19. The method according to any one of claims 13, 14, 17 or 18, characterized in that, The fusion method of the first point cloud data includes at least one of the following: The first point cloud data is determined by adding the intensity complex numbers, or by adding the intensity moduli; The first point cloud data includes the complex intensity of the N grid points, or the intensity modulus of the N grid points; or, The weights of the positions of the M grid points are equal, or the weights of the positions of the M grid points are related to the resolution, or the weights of the positions of the M grid points are related to the imaging intensity, or the weights of the positions of the M grid points are related to the confidence level, or the weights of the positions of the M grid points are related to the sidelobe level, or the weights of the positions of the M grid points are related to the signal-to-noise ratio.

20. The method according to any one of claims 12 to 19, characterized in that, The first point cloud data includes the location indices of the N grid points, where each of the N grid point location indices corresponds to the location of the N grid points, and N is a positive integer.

21. The method according to any one of claims 12 to 20, characterized in that, The first point cloud data includes the intensity modulus values ​​of the N grid points.

22. A sensing device, characterized in that, It includes at least one module or at least one unit, said at least one module or at least one unit being used to perform the method of any one of claims 1 to 21.

23. A sensing device, characterized in that, include: At least one processor, the at least one processor being configured to execute a computer program or instructions to cause the method of any one of claims 1 to 21 to be performed.

24. The sensing device according to claim 23, characterized in that, The sensing device further includes a memory for storing the computer program or the instructions.

25. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions, and when the computer program or instructions are run, the method of any one of claims 1 to 21 is performed.

26. A computer program product, characterized in that, It includes a computer program or instructions that, when run, implement the method as described in any one of claims 1 to 21.

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