Communication method and apparatus

Abstract

A communication method and an apparatus, which are used for selecting a suitable sensing node to participate in joint sensing, so as to improve sensing performance. The method comprises: determining the value of at least one first resolution unit for a first area, the value of one first resolution unit corresponding to one sensing node, or the value of one first resolution unit corresponding to a group of sensing nodes, and the group of sensing nodes comprising one or more sensing nodes; and sending first indication information or second indication information, the first indication information being used for instructing a target sensing node to participate in joint sensing, or indicating an identifier of a group to which the target sensing node belongs, the target sensing node being determined on the basis of the value of the at least one first resolution unit, and the second indication information being used for instructing not participating in joint sensing. In this way, on the basis of the value of at least one first resolution unit, a control node may select a suitable sensing node to participate in joint sensing, so as to improve sensing performance.

Description

Communication method and apparatus

[0001] Cross-reference to Related Applications

[0002] This application claims priority to the Chinese Patent Application No. 202411261533.5, filed on September 9, 2024, and titled “A Communication Method and Apparatus”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of communication technology, and in particular, to a communication method and apparatus. BACKGROUND

[0004] In a perception scene, the perception capability of a single perception node is usually limited due to factors such as distance and viewing angle, resulting in that the perception result cannot meet the demand. Based on this, when there are multiple perception nodes in the perception scene, joint perception of multiple perception nodes can be performed to improve the perception performance. Therefore, how to select appropriate perception nodes to participate in joint perception to make the perception performance better is a problem to be solved. SUMMARY

[0005] Embodiments of the present application provide a communication method and apparatus to select appropriate perception nodes to participate in joint perception to improve the perception performance.

[0006] In a first aspect, the present application provides a communication method, which can be applied to a communication apparatus. The communication apparatus can be a control node, or can be a component (such as a processor, a chip, a chip system, a circuit, an assembly, a module, or a functional module, etc.) in the control node. The method can include: determining values of at least one first resolution unit for a first area, one value of a first resolution unit corresponding to one perception node, or one value of a first resolution unit corresponding to a group of perception nodes, the group of perception nodes including one or more perception nodes; sending first indication information or second indication information, the first indication information being used to indicate that a target perception node participates in joint perception, or being used to indicate an identity of a group to which the target perception node belongs, the target perception node being determined according to the values of the at least one first resolution unit; and the second indication information being used to indicate not participating in joint perception.

[0007] Through the above communication method, the control node can select appropriate perception nodes to participate in joint perception based on the values of the at least one first resolution unit to improve the perception performance.

[0008] In a possible design, the value of the at least one first resolution unit for the first region can be determined by: sending, to at least one sensing node, first information respectively, where the first information is used to indicate the first region and a first resolution parameter; and receiving, from the at least one sensing node, a value of the first resolution unit corresponding to the at least one sensing node respectively, where the value of the first resolution unit corresponding to any sensing node is determined based on the first resolution parameter and a second resolution parameter of the any sensing node. Based on this method, the control node can accurately obtain the value of the first resolution unit corresponding to the at least one sensing node respectively, and then select a suitable sensing node to participate in joint sensing based on the value of the first resolution unit, so as to improve sensing performance.

[0009] In a possible design, any of the first resolution parameter and the second resolution parameter can include at least one of: a range direction resolution parameter, an azimuth direction resolution parameter, or an elevation direction resolution parameter. In this way, the conventional resolution parameters of an existing radar system or sensing system can be reused.

[0010] In a possible design, the first region includes at least one sub-region, the first resolution parameter includes at least one first sub-resolution parameter, and the second resolution parameter includes at least one second sub-resolution parameter, where the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond to each other in a one-to-one manner. In this way, a scenario in which resolution changes with a spatial position can be adapted to.

[0011] In a possible design, the value of the at least one first resolution unit for the first region can be determined by: receiving, from at least one sensing node, a third resolution parameter for the first region respectively; and determining, according to the third resolution parameter of each sensing node, a value of the first resolution unit corresponding to the each sensing node. In this way, the control node can determine the value of the resolution unit corresponding to joint sensing of each sensing node based on sensing results of the at least one sensing node, and then select a suitable sensing node to participate in joint sensing, so as to improve sensing performance.

[0012] In a possible design, the value of the first resolution unit corresponding to each sensing node can be determined according to the third resolution parameter of the each sensing node, and the method can be: determining, according to the first resolution parameter and the third resolution parameter of the each sensing node, the value of the first resolution unit corresponding to the each sensing node. In this way, the value of the resolution unit corresponding to joint sensing can be determined based on existing sensing results and current sensing results, and then a suitable sensing node can be selected to participate in joint sensing, so as to improve sensing performance.

[0013] In a possible design, the target perception node is a perception node corresponding to a first resolution unit with a minimum value among the values of the at least one first resolution unit. In this way, the target perception node participating in the joint perception can improve the perception performance.

[0014] In a possible design, the value of the at least one first resolution unit for the first area is determined by: receiving third resolution parameters for the first area from a plurality of perception nodes respectively; grouping the plurality of perception nodes, and determining a value of a first resolution unit corresponding to each group of perception nodes according to the third resolution parameters corresponding to the group of perception nodes. Based on this method, the value of the first resolution unit corresponding to each group of perception nodes can be determined by grouping, and one or more groups of perception nodes can be selected to participate in the joint perception, which can improve the perception performance while reducing the perception overhead and dispersing the perception load.

[0015] In a possible design, the value of the first resolution unit corresponding to each group of perception nodes is determined according to the third resolution parameters corresponding to the group of perception nodes, and the method can be: determining the value of the first resolution unit corresponding to each group of perception nodes according to the first resolution parameter and the third resolution parameters corresponding to the group of perception nodes. In this way, the value of the resolution unit for joint perception can be determined based on the existing perception result and the current perception result, and a suitable group of perception nodes can be selected to participate in the joint perception, thereby improving the perception performance.

[0016] In a possible design, the target perception node is one or more groups of perception nodes, and the value of the first resolution unit corresponding to the one or more groups of perception nodes is less than or equal to a first threshold. In this way, one or more groups of perception nodes can be selected to participate in the joint perception, which can improve the perception performance while reducing the perception overhead and dispersing the perception load.

[0017] In a possible design, second information is sent to at least one perception node, and the second information is used to request a resolution parameter for the first area. In this way, the perception result can be reported by the at least one perception node, so that the control node can accurately determine the value of the at least one first resolution unit.

[0018] In a possible design, any resolution parameter can include one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or a resolution ellipsoid corresponding to a resolution unit, a transformation matrix corresponding to the resolution unit, or an eigenvalue and eigenvector of the transformation matrix corresponding to the resolution unit. In this way, the resolution parameter can be expressed in multiple forms, and the value of the first resolution unit can be accurately determined in a flexible manner.

[0019] In a possible design, the value of the first resolution unit is an area of a resolution ellipse or a volume of a resolution ellipsoid corresponding to the first resolution unit. In this way, the value of the first resolution unit can be accurately obtained.

[0020] In a possible design, the sending of the first indication information or the second indication information comprises: sending the first indication information to the target perception node; or sending the second indication information to at least one perception node other than the target perception node. In this way, it can be informed which perception nodes need to participate in joint perception and which perception nodes do not need to participate in joint perception.

[0021] In a second aspect, the present application provides a communication method, which can be applied to a communication device. The communication device can be a perception node, or can be a component (for example, a processor, a chip, a chip system, a circuit, an assembly, a module, or a functional module) in a perception node. The method can comprise: receiving first information, the first information being used to indicate a first region and a first resolution parameter; sending a value of a first resolution unit, wherein the value of the first resolution unit is determined according to the first resolution parameter and a second resolution parameter for the first region; receiving first indication information or second indication information, the first indication information being used to indicate participation in joint perception, and the second indication information being used to indicate non-participation in joint perception.

[0022] Through the above communication method, a suitable perception node can be selected to participate in joint perception based on the value of at least one first resolution unit, so as to improve the perception performance.

[0023] In a possible design, any one of the first resolution parameter and the second resolution parameter can comprise at least one of the following: a distance direction resolution parameter, an azimuth direction resolution parameter, or an elevation direction resolution parameter. In this way, the conventional resolution parameters of an existing radar system or a perception system can be reused.

[0024] In a possible design, the first region comprises at least one sub-region, the first resolution parameter comprises at least one first sub-resolution parameter, and the second resolution parameter comprises at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond to each other in a one-to-one manner. In this way, the resolution change with the spatial position can be adapted to.

[0025] In a possible design, any one of the resolution parameters comprises one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or a resolution ellipsoid corresponding to a resolution unit, a transformation matrix corresponding to the resolution unit, or eigenvalues and eigenvectors of the transformation matrix corresponding to the resolution unit. In this way, the resolution parameters can be expressed in various forms, so that the value of the first resolution unit can be determined flexibly and accurately.

[0026] In a possible design, the value of the first resolution unit is an area of a resolution ellipsoid or a volume of a resolution ellipsoid corresponding to the first resolution unit. In this way, the value of the first resolution unit can be obtained accurately.

[0027] In a third aspect, this application provides a communication method, which can be applied to a communication device. The communication device can be a sensing node, or can be a component (for example, a processor, a chip, a chip system, a circuit, an assembly, a module, or a functional module) in a sensing node. The method can include: receiving second information, where the second information is used to request resolution parameters for a first region; sending third resolution parameters for the first region; receiving first indication information or second indication information, where the first indication information is used to indicate participation in joint sensing, or is used to indicate an identity of a group; and the second indication information is used to indicate non-participation in joint sensing.

[0028] Through the above communication method, a suitable sensing node can be selected to participate in joint sensing based on the value of at least one first resolution unit, so as to improve sensing performance.

[0029] In a possible design, the third resolution parameters comprise one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or a resolution ellipsoid corresponding to a resolution unit, a transformation matrix corresponding to the resolution unit, or eigenvalues and eigenvectors of the transformation matrix corresponding to the resolution unit. In this way, the resolution parameters can be expressed in various forms, so that the value of the first resolution unit can be determined flexibly and accurately.

[0030] In a possible design, the value of the first resolution unit is an area of a resolution ellipsoid or a volume of a resolution ellipsoid corresponding to the first resolution unit. In this way, the value of the first resolution unit can be obtained accurately.

[0031] In a fourth aspect, the present application also provides a communication apparatus, which can be a control node, or can be a component (e.g., a processor, a chip, a chip system, a circuit, a component, a module, or a functional module) in the control node. The communication apparatus has the function of implementing the method in the first aspect or in any possible design example of the first aspect. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0032] In a possible design, the communication apparatus can include a processing unit, and optionally, a transceiver unit. The units can perform the function of implementing the method in the first aspect or in any possible design example of the first aspect, which will not be repeated here.

[0033] In a possible design, the communication apparatus can include one or more processors, and optionally, a memory and / or a transceiver. The transceiver is configured to transceive data, messages, information, and the like, and to perform communication interaction with other devices in the system. The processor is configured to support the communication apparatus to perform the corresponding functions in the first aspect or in any possible design example of the first aspect. The memory is coupled to the processor, and stores necessary program instructions and data of the communication apparatus.

[0034] In a fifth aspect, the present application also provides a communication apparatus, which can be a sensing node, or can be a component (e.g., a processor, a chip, a chip system, a circuit, a component, a module, or a functional module) in the sensing node. The communication apparatus has the function of implementing the method in the second aspect or in any possible design example of the second aspect. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0035] In a possible design, the communication apparatus can include a processing unit, and optionally, a transceiver unit. The units can perform the function of implementing the method in the second aspect or in any possible design example of the second aspect, which will not be repeated here.

[0036] In a possible design, the communication apparatus can include one or more processors, and optionally, a memory and / or a transceiver. The transceiver is configured to transceive data, messages, information, and the like, and to perform communication interaction with other devices in the system. The processor is configured to support the communication apparatus to perform the corresponding functions in the second aspect or in any possible design example of the second aspect. The memory is coupled to the processor, and stores necessary program instructions and data of the communication apparatus.

[0037] In a sixth aspect, the present application provides a communication apparatus, which can be a sensing node, or can be a component (e.g., a processor, a chip, a chip system, a circuit, a component, a module, or a functional module, etc.) in a sensing node. The communication apparatus has the function of implementing the method in the third aspect or in any possible design of the third aspect. The function can be implemented by hardware, or by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the above functions.

[0038] In a possible design, the communication apparatus can include a processing unit, and optionally, a transceiving unit, which can perform the function of implementing the method in the third aspect or in any possible design of the third aspect, and details are not described herein.

[0039] In a possible design, the communication apparatus can include one or more processors, and optionally, a memory and / or a transceiver, where the transceiver is configured to transceive data, messages, or information, and to perform communication interaction with other devices in a system, and the processor is configured to support the communication apparatus to perform the corresponding functions in the third aspect or in any possible design of the third aspect. The memory is coupled to the processor, and stores necessary program instructions and data of the communication apparatus.

[0040] In a seventh aspect, the embodiments of the present application provide a communication system, which can include a control node and a sensing node. The control node can be configured to implement the method in the first aspect or in any possible design of the first aspect. The sensing node can be configured to implement the method in the second aspect or in any possible design of the second aspect, or implement the method in the third aspect or in any possible design of the third aspect.

[0041] In an eighth aspect, a computer-readable storage medium is provided, which stores program instructions. When the program instructions are executed on a computer, the computer is caused to perform the method in the first aspect and any possible design thereof, or the method in the second aspect and any possible design thereof, or the method in the third aspect and any possible design thereof. Exemplarily, the computer-readable storage medium can be any available medium that can be accessed by a computer. For example, but not limited to: the computer-readable medium can include a non-transitory computer-readable medium, a random-access memory (RAM), a read-only memory (ROM), an electrically EPROM (EEPROM), a CD-ROM or other optical disk storage, a magnetic disk storage medium or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

[0042] In a ninth aspect, a computer program product is provided, which includes a computer program or instructions. When the computer program or instructions are executed on a computer, the method in the first aspect or any possible design thereof, or the method in the second aspect or any possible design thereof, or the method in the third aspect or any possible design thereof is performed.

[0043] In a tenth aspect, a chip or chip system is also provided, which includes one or more processors coupled with at least one memory for reading and executing program instructions stored in the memory, so that the chip or chip system implements the method in the first aspect or any possible design thereof, or the method in the second aspect or any possible design thereof, or the method in the third aspect or any possible design thereof.

[0044] The technical effects of each of the above fourth to tenth aspects and each possible design thereof can refer to the technical effects of the first aspect or any possible design thereof, or the technical effects of the second aspect or any possible design thereof, or the technical effects of the third aspect or any possible design thereof, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0045] FIG. 1 is a schematic diagram of an architecture of a communication system provided by the present application;

[0046] FIG. 2 is a schematic diagram of a possible perception scenario provided by the present application;

[0047] Fig. 3 is a schematic diagram of a distance resolution Dr and a lateral resolution Da of a perception node 1 in a perception area according to an embodiment of the present application;

[0048] Fig. 4 is a schematic diagram of an example of transforming an isochrone ellipse of a resolution cell from a ra coordinate system to an xy coordinate system according to an embodiment of the present application;

[0049] Fig. 5 is a schematic diagram of another example of transforming an isochrone ellipse of a resolution cell from a ra coordinate system to an xy coordinate system according to an embodiment of the present application;

[0050] Fig. 6 is a flowchart of a communication method according to an embodiment of the present application;

[0051] Fig. 7 is a schematic diagram of resolution cells of a perception node 1, a perception node 2 and a perception node 3 according to an embodiment of the present application;

[0052] Fig. 8 is a flowchart of an example of a communication method according to an embodiment of the present application;

[0053] Fig. 9 is a flowchart of another example of a communication method according to an embodiment of the present application;

[0054] Fig. 10 is a flowchart of another example of a communication method according to an embodiment of the present application;

[0055] Fig. 11 is a schematic diagram of a structure of a communication apparatus according to an embodiment of the present application;

[0056] Fig. 12 is a schematic diagram of a structure of a communication apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0057] Embodiments of the present application provide a communication method and apparatus for selecting appropriate perception nodes to participate in joint perception to improve perception performance. The method and apparatus described in the present application are based on the same technical concept. Since the principles of the method and apparatus for solving problems are similar, the implementation of the apparatus and the method can be mutually referred to, and the repeated parts will not be described again.

[0058] In the description of the present application, the words "first", "second", etc. are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor indicating or implying order.

[0059] In the description of the present application, "at least one" means one or more, and more means two or more. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0060] In the description of the present application, the association relationship between the associated objects is described by "and / or", which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. " / " represents "or", for example, a / b represents a or b.

[0061] In order to more clearly describe the technical solutions of the embodiments of the present application, the communication method and device provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0062] The technical solutions in the embodiments of the present application can be applied to various communication systems, such as universal mobile telecommunications system (UMTS), wireless local area network (WLAN), wireless fidelity (Wi-Fi) system, 4th generation (4G) mobile communication system (such as long term evolution (LTE) system), 5th generation (5G) mobile communication system (such as new radio (NR) system), and future communication network.

[0063] For example, FIG. 1 shows a schematic diagram of the architecture of a possible communication system to which the embodiments of the present application are applicable. As shown in FIG. 1, the communication system 10 can include a radio access network (RAN) 100 and a core network (CN) 200. Optionally, the communication system 10 can also include an Internet 300.

[0064] The RAN 100 includes at least one RAN node (such as 110a and 110b in FIG. 1, collectively referred to as 110) and at least one terminal device (such as 120a-120j in FIG. 1, collectively referred to as 120). The RAN 100 can also include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in FIG. 1), etc. The terminal devices 120 are connected to the RAN nodes 110 in a wireless manner. The RAN nodes 110 are connected to the core network 200 in a wireless or wired manner. The core network devices in the core network 200 and the RAN nodes 110 in the RAN 100 can be different physical devices respectively, or can be the same physical device integrated with the logical functions of the core network and the logical functions of the radio access network.

[0065] The RAN 100 can be a 3rd generation partnership project (3GPP) related cellular system, e.g., a 4G, 5G mobile communication system, or a future oriented evolved system, e.g., a 6G mobile communication system. The RAN 100 can also be an open radio access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a WiFi system. The RAN 100 can also be a communication system that combines two or more of the above systems.

[0066] The RAN nodes 110, which can also be referred to as RAN entities or access nodes, etc., form part of the communication system 100 and are configured to facilitate wireless access to the communication system 100 for terminal devices. The RAN nodes 110 in the communication system 100 can be of the same type or of different types. In some scenarios, the roles of the RAN nodes 110 and the terminal devices 120 are relative, e.g., the network element 120i in Figure 1 can be a helicopter or a drone, which can be configured to be a mobile base station, for those terminal devices 120j that access to the RAN 100 via the network element 120i, the network element 120i is a base station; but for the base station 110a, the network element 120i is a terminal device. The RAN nodes 110 and the terminal devices 120 are sometimes referred to as communication apparatuses, e.g., the network elements 110a and 110b in Figure 1 can be understood as communication apparatuses with base station functionalities, and the network elements 120a-120j can be understood as communication apparatuses with terminal device functionalities.

[0067] The RAN nodes can also be referred to as network devices. In the following, the network devices are used for description, unless specified otherwise.

[0068] In a possible scenario, the network device can also be referred to as an access network device, which can be a base station, an evolved NodeB (eNodeB), an access point (AP), a station (STA), a transmission reception point (TRP), a next generation NodeB (gNB), a base station in a future mobile communication system, or an access node in a WiFi system, and the like. The access network device can be a macro base station (such as 110a in FIG. 1), a micro base station or an indoor station (such as 110b in FIG. 1), a relay node or a donor node, or a wireless controller in a CRAN scenario. Optionally, the access network device can also be a server, a wearable device, a vehicle or a vehicle-mounted device, and the like. For example, the access network device in vehicle to everything (V2X) technology can be a road side unit (RSU). All or part of the functions of the access network device in this application can also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform (such as a cloud platform). The access network device in this application can also be a logical node, a logical module or software that can implement all or part of the functions of the access network device.

[0069] In another possible scenario, multiple access network devices cooperate to assist a terminal device to implement wireless access, and different access network devices respectively implement part of the functions of a base station. For example, the access network device can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), and the like. The CU and the DU can be separately arranged, or can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a radio frequency remote unit (RRU), an active antenna processing unit (AAU), or a remote radio head (RRH).

[0070] In different systems, the CU (or CU-CP and CU-UP), DU or RU can also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, the CU can also be referred to as an open CU (O-CU), the DU can also be referred to as an open DU (O-DU), the CU-CP can also be referred to as an open CU-CP (O-CU-CP), the CU-UP can also be referred to as an open CU-UP (O-CU-UP), and the RU can also be referred to as an open RU (O-RU). Any of the CUs (or CU-CP, CU-UP), DUs and RUs in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0071] A terminal device can also be referred to as a user equipment (UE), a mobile station, a mobile terminal, a wireless terminal device, a subscriber unit, a subscriber station, a mobile station, a remote station, a user terminal device, a user agent or a user device, etc. The terminal device can be widely applied to various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), internet of things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, remote medical treatment, smart power grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. For example, the terminal device can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a mechanical arm, a smart home device, etc. The terminal device applied to a vehicle can be referred to as a vehicle-mounted terminal device, which is also referred to as an on-board unit (OBU), for example. Embodiments of the present application do not limit the device form of the terminal device.

[0072] In recent years, sensing technology has attracted widespread attention in the academic community. Sensing technology analyzes the changes of wireless signals in the propagation process to obtain the characteristics of the signal space or channel, so as to realize the perception of the environment. The environment here can include buildings, moving vehicles and other factors.

[0073] The technical solutions in the embodiments of the present application can be applied to a perception scene. For example, FIG. 2 shows a schematic diagram of a possible perception scene to which the embodiments of the present application are applicable. As shown in FIG. 2, the perception scene can include multiple perception nodes (for example, three perception nodes, namely, perception node 1, perception node 2 and perception node 3, are shown in FIG. 2) and a control node. The control node can communicate with the multiple perception nodes in a wired or wireless manner. The multiple perception nodes each have different perception capabilities and spatial positions. A target to be perceived is located in a perception area.

[0074] For example, a perception node can be a terminal device, an access network device, a positioning reference unit (PRU), a reflective intelligent surface (RIS) or the like. The terminal device and the access network device can refer to the foregoing related description, which is not repeated here. It should be understood that the perception nodes in FIG. 2 are all shown as access network devices, which is only an example. The devices of the three perception nodes can be the same or different, which is not limited in the present application.

[0075] The control node can be a perception node and have perception capability. That is, the device form of the control node can refer to the device form of the perception node. Alternatively, the control node can be a core network device, such as an access and mobility function (AMF) or the like. Alternatively, the control node can be a location management function (LMF), a sensing management function (SMF), a location server (LS), a distribution system (DS) or the like.

[0076] The communication system and scene architecture described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It can be known by those skilled in the art that, with the evolution of network architecture and the appearance of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0077] The related terms or technologies involved in the embodiments of the present application are explained below. It should be noted that these explanations are used to make the embodiments of the present application easier to understand, and should not be regarded as a limitation on the scope of protection required by the present application.

[0078] 1) lateral resolution, azimuth resolution, elevation resolution, angular resolution

[0079] The angular resolution describes the resolution capability of the sensing node for targets at different angles. The angular resolution is determined by the array specification of the antenna array equipped by the sensing node. For example, for an antenna array with 10 elements in total and half wavelength element spacing, the corresponding angular resolution is about 10°. When the sensing node is equipped with a two-dimensional array, such as a cross-shaped linear array or a two-dimensional planar array, the sensing node will have two-dimensional angular resolution capability, i.e., the sensing node has corresponding angular resolutions in two directions respectively. Generally, the angular resolution in the horizontal direction is referred to as the azimuth angular resolution, and the angular resolution in the vertical direction is referred to as the elevation angular resolution.

[0080] For a specific sensing area, based on the angular resolution capability (e.g., the azimuth angular resolution and / or the elevation angular resolution) possessed by the sensing node, the spatial resolution capability of the sensing node in the sensing area can be calculated. Unlike the angular resolution capability, the spatial resolution capability describes the resolution capability of the sensing node for targets at different spatial positions. For example, for the azimuth angular resolution possessed by the sensing node, in combination with the distance from the sensing area to the sensing node, the spatial resolution capability of the sensing node for targets at different azimuth positions in the sensing area, i.e., the azimuth resolution, can be calculated. Similarly, for the elevation angular resolution possessed by the sensing node, in combination with the distance from the sensing area to the sensing node, the spatial resolution capability of the sensing node for targets at different elevation positions in the sensing area, i.e., the elevation resolution, can be calculated. Generally, for the same angular resolution, the farther the sensing area is from the sensing node, the worse the corresponding spatial resolution is.

[0081] If the sensing node has the resolution capability for targets at different distances, the sensing node is said to have a distance resolution or a radial distance resolution. The radial distance resolution is also referred to as a radial resolution. At the same time, if the sensing node also has an azimuth resolution and / or an elevation resolution, the azimuth resolution and / or the elevation resolution are collectively referred to as a lateral resolution.

[0082] 2) Resolution parameter

[0083] The resolution parameter in the present application can also be described as a resolution vector, etc.

[0084] The resolution vector can include the following multiple forms of representation:

[0085] The first representation: the resolution vector can be a vector composed of the projections of the spatial resolution of the perception node in each dimension (such as the range direction, the azimuth direction, and the elevation direction) on each coordinate axis of a global coordinate system, containing the length and direction information of the vector. It can also be understood that the resolution vector (i.e., the resolution parameter) can contain at least one of the following: a range direction resolution vector (i.e., a range direction resolution parameter), an azimuth direction resolution vector (i.e., an azimuth direction resolution parameter), or an elevation direction resolution vector (i.e., an elevation direction resolution parameter). The following will be described in detail by way of example:

[0086] For example, for a perception node with two-dimensional resolution capability, the resolution capability it has includes range direction resolution and lateral direction resolution. Among them, the range direction resolution is also called radial distance resolution, which is usually provided by a wideband signal; and the lateral direction resolution is usually provided by an array antenna. When the array antenna provides azimuth angle resolution capability, the lateral direction resolution corresponds to the azimuth direction resolution; when the array antenna provides elevation angle resolution capability, the lateral direction resolution corresponds to the elevation direction resolution.

[0087] The direction of the range direction resolution vector is the gradient direction of the distance of the perception node when perceiving the target in the two-dimensional space. The length of the range direction resolution vector is the value of the range direction resolution. Therefore, each component of the range direction resolution vector is the projection amount of the range direction resolution vector along the x-axis and the y-axis of the global coordinate system.

[0088] The direction of the lateral direction resolution vector is the gradient direction of the lateral distance of the perception node when perceiving the target in the two-dimensional space. The length of the lateral direction resolution vector is the value of the lateral direction resolution. Therefore, each component of the lateral direction resolution vector is the projection amount of the lateral direction resolution vector along the x-axis and the y-axis of the global coordinate system.

[0089] As shown in FIG. 3, a perception node 1 has a range direction resolution Δr and a lateral direction resolution Δa in a perception area. Correspondingly, the range direction resolution vector can be represented as Δr = [Δr x , Δr y ], and the lateral direction resolution vector can be represented as Δa = [Δa x , Δa y ]. Δr x and Δr y represent the components of the range direction resolution vector Δr on the x-axis and the y-axis, respectively, and Δa x and Δa y represent the components of the lateral direction resolution vector Δa on the x-axis and the y-axis, respectively. Among them, the bold symbol represents the vector, and the non-bold symbol represents the numerical value, such as the length of the vector. The range direction resolution vector and the lateral direction resolution vector together determine a two-dimensional resolution unit.

[0090] Similarly, for a sensing node with three-dimensional resolution capability, the resolution capability includes distance resolution, azimuth resolution and elevation resolution. Similarly, the resolution vector can include distance resolution vector, azimuth resolution vector and elevation resolution vector. The three vectors are respectively represented as distance resolution vector Δr = [Δr x ,Δr y ,Δr z ], azimuth resolution vector Δa = [Δa x ,Δa y ,Δa z ], and elevation resolution vector Δe = [Δe x ,Δe y ,Δe z ]. The three aforementioned vectors together determine the three-dimensional resolution cell.

[0091] Second representation: the transformation matrix corresponding to the resolution cell or the eigenvalue and eigenvector of the transformation matrix corresponding to the resolution cell. The following will be described in detail:

[0092] The size of the resolution cell can be defined as the size of the area enclosed by a closed contour or contour surface of the amplitude response of the target in the sensing result. For two-dimensional sensing, the resolution cell is the area enclosed by the contour; for three-dimensional sensing, the resolution cell is the area enclosed by the contour surface. The amplitude value at any point on the contour or contour surface is the peak value of the target amplitude response minus 3 decibels (dB).

[0093] Wherein, the amplitude response of the target along each resolution vector direction is usually a sinc function. For example, for two-dimensional sensing, the amplitude response of the target along the distance direction and the lateral direction is a sinc function respectively. For three-dimensional sensing, the amplitude response of the target along the distance direction, the azimuth direction and the elevation direction is a sinc function respectively. The specific parameters of the sinc function in each direction can be different, which is determined by the resolution vector in each direction.

[0094] For convenience of analysis, a quadratic function can be used to approximate the sinc function. Taking two-dimensional sensing as an example, assuming that the sensing node has distance and lateral resolution capability, and assuming that the lateral direction here is the azimuth direction. In the distance-azimuth domain (ra coordinate system), the amplitude response g(r,a) of the target can be represented as shown in the following formula one:

[0095] The peak value of the amplitude response of the target is normalized to 1, when or , g(r,a) = 0.75, i.e. power attenuation of 3dB. The closed contour corresponding to the 3dB attenuation of the peak value of the amplitude response of the target determines the resolution cell. This closed contour f(r,a) can be represented as shown in the following formula two:

[0096] It can be seen that the closed contour is an elliptic curve in the ra coordinate system, i.e., the resolution unit is an ellipse.

[0097] The expression f(r, a) = 1 of the closed contour shown in Equation Two is expressed as a matrix and a vector as Equation Three:

[0098] Further, based on the resolution vectors Δr = [Δr x , Δr y ] and Δa = [Δa x , Δa y ], the distance coordinate r and the azimuth coordinate a are transformed to the global xy coordinate system, and Equation Four is obtained as follows:

[0099] Equation Four can be simplified as Equation Five as follows:

[0100] wherein,

[0101] It can be seen that the contour of the resolution unit is an elliptic curve in the xy coordinate system. A is defined as a transformation matrix. A is a positive definite matrix, and its eigenvalues [λ1, λ2] are obtained by eigenvalue decomposition. Here, the resolution vector can be expressed by the transformation matrix A or by the eigenvalues [λ1, λ2] and the corresponding eigenvectors.

[0102] The square root of the reciprocal of the eigenvalue is the length of the major axis of the ellipse. Assuming λ1≥ λ2, then is the length of the shorter major axis of the ellipse, is the length of the longer major axis of the ellipse. Therefore, the size of the resolution unit, i.e., the area of the ellipse, is

[0103] For example, FIG. 4 and FIG. 5 show examples of transforming the contour ellipse of a resolution unit from the ra coordinate system to the xy coordinate system. In the example shown in FIG. 4, the range-wise resolution vector and the cross-range resolution vector are orthogonal in the xy coordinate system. Therefore, after transforming from the ra coordinate system to the xy coordinate system, the shape of the contour ellipse of the resolution unit does not change, only the direction is rotated. In the xy coordinate system, the major axis of the ellipse is still perpendicular to the range-wise resolution vector or the cross-range resolution vector. In the example shown in FIG. 5, the range-wise resolution vector and the cross-range resolution vector are not orthogonal in the xy coordinate system. Therefore, after transforming from the ra coordinate system to the xy coordinate system, the contour ellipse of the resolution unit not only rotates in direction, but also changes in shape. Note that the major axis of the contour ellipse in the xy plane is no longer perpendicular to the range-wise resolution vector or the cross-range resolution vector. The lengths of the two major axes are marked in FIG. 5 as and

[0104] Similarly, for three-dimensional perception, the resolution unit is an ellipsoid in the xyz coordinate system, and the size of the resolution unit is the volume of the ellipsoid. Using the foregoing method, based on the range-wise resolution vector, the azimuth-wise resolution vector, and the elevation-wise resolution vector, a 3x3 transformation matrix A can be obtained, and eigenvalues [λ1, λ2, λ3] can be obtained by eigenvalue decomposition. That is, the resolution vector can be represented by the 3x3 transformation matrix A, or by the eigenvalues [λ1, λ2, λ3] and the corresponding eigenvectors. The size of the resolution unit can be the volume of the ellipsoid

[0105] Third representation: the vectors corresponding to the major axes of the resolution ellipse or the resolution ellipsoid corresponding to the resolution unit.

[0106] 3) Single-base perception, double-base perception, multi-base perception

[0107] Single-base perception can also be referred to as single-station perception, double-base perception can also be referred to as double-station perception, and multi-base perception can also be referred to as multi-station perception

[0108] Perception technology can generally be divided into the following three modes: single-station perception, double-station perception, and multi-station perception.

[0109] Among them, single-station perception refers to the sending end device of the perception signal and the receiving end device of the echo signal of the perception signal being the same device. In other words, in single-station perception, the sending end device not only sends the perception signal, but also receives the echo signal of the perception signal reflected on the surface of the perception target. Therefore, this single-station perception can also be referred to as a self-transmission and self-reception mode, without limitation.

[0110] The dual-station sensing refers to that the sending device of the sensing signal and the receiving device of the echo signal of the sensing signal are different two devices. In other words, the sensing station A sends the sensing signal, and the echo signal of the sensing signal reflected on the sensing target surface is received by the sensing station B. Therefore, the dual-station sensing can also be called the A-sending-B-receiving mode. It should be noted that the echo signal of the sensing signal is obtained by the sensing signal after the sensing target action (for example, reflection, diffraction or scattering, etc.), and therefore the echo signal can still be called the sensing signal.

[0111] The multi-station sensing refers to that the sending of the sensing signal and the receiving of the echo signal of the sensing signal are jointly completed by multiple devices. Specifically, the multi-station sensing can be further divided into single-sending-multiple-receiving, multiple-sending-single-receiving, multiple-sending-multiple-receiving, etc. For example, in one possible case, the sensing station A sends the sensing signal, and the echo signal of the sensing signal after the sensing target action is received by the sensing stations B1 and B2. For another example, in another possible case, the sensing stations A1 and A2 simultaneously or successively send the sensing signal, and the echo signal of the sensing signal after the sensing target action is received by the sensing station B. For another example, in another possible case, the sensing stations A1 and A2 simultaneously or successively send the sensing signal, and the echo signal of the sensing signal after the sensing target action is received by the sensing stations B1 and B2. A special case is that the multi-station sensing is realized by multiple single-station sensings, for example, in a system, the sensing station A performs the single-station sensing, and the sensing station B also performs the single-station sensing, and the final sensing result is fused. The multi-station sensing has multiple working forms, which are not limited in the present application.

[0112] Currently, in order to solve the problem that the sensing capability of a single sensing node is limited, resulting in that the sensing result cannot meet the demand, it is proposed that when multiple sensing nodes exist in a sensing scene, the multiple sensing nodes can be jointly used for sensing to improve the sensing performance. However, how to select appropriate sensing nodes to participate in the joint sensing to make the sensing performance better is a problem to be solved. Based on this, the embodiment of the present application provides a communication method to select appropriate sensing nodes to participate in the joint sensing to improve the sensing performance.

[0113] In the following embodiments, the communication method provided by the embodiment of the present application is described in detail taking the control node and the sensing node as examples. It should be understood that the operations performed by the control node can also be realized by a processor, or a chip or chip system, or a functional module, etc. in the control node, and the operations performed by the sensing node can also be realized by a processor, or a chip or chip system, or a functional module, etc. in the sensing node, which are not limited in the present application.

[0114] Based on the above description, the embodiment of the present application provides a communication method, as shown in FIG. 6, the flow of the method can include:

[0115] Step 601: The control node determines a value of at least one first resolution unit for a first area, the value of one first resolution unit corresponds to one perception node, or the value of one first resolution unit corresponds to a group of perception nodes, and the group of perception nodes includes one or more perception nodes.

[0116] The value of the resolution unit in the present application can be understood as the size of the resolution unit.

[0117] The value of the first resolution unit can be the area of the resolution ellipse or the volume of the resolution ellipsoid corresponding to the first resolution unit. For details, refer to the related description described above, which will not be described in detail here.

[0118] The first area can also be described as a first perception area or other descriptions, and the present application only exemplarily describes the first area.

[0119] Step 602: The control node sends first indication information or second indication information, the first indication information is used to indicate that a target perception node participates in joint perception, or is used to indicate the identity of a group to which the target perception node belongs, and the target perception node is determined according to the value of at least one first resolution unit; the second indication information is used to indicate not participating in joint perception. Correspondingly, the perception node receives the first indication information or the second indication information.

[0120] It should be understood that only one perception node is exemplified in FIG. 6, and other perception nodes can also be included in practice, which will not be exemplified one by one here.

[0121] The target perception node indicates a perception node that can participate in joint perception, and can be understood as a finally selected perception node. The target perception node can also be described as a first perception node, a selected perception node, or other names, and the present application does not limit this.

[0122] The perception node in the present application can be a perception node in single-base perception, or a perception node in double-base perception, or a perception node in multi-base perception.

[0123] In the present application, sending can also be described as outputting. Wherein, the control node sending the first indication information or the second indication information can be alternatively described as: the control node outputting the first indication information or the second indication information. For example, the control node outputting the first indication information or the second indication information can be understood as the baseband unit of the control node outputting the first indication information or the second indication information to the radio frequency unit in the control node. For another example, the control node outputting the first indication information or the second indication information can be understood as the radio frequency unit in the control node outputting the first indication information or the second indication information to the perception node through the air interface.

[0124] In an optional implementation a1, the control node can determine the value of the at least one first resolution unit for the first area by the following method: the control node can send first information to the at least one perception node respectively, the first information being used to indicate the first area and a first resolution parameter; the control node receives the value of the first resolution unit corresponding to the at least one perception node from the at least one perception node respectively, wherein the value of the first resolution unit corresponding to any perception node is determined based on the first resolution parameter and the second resolution parameter of the any perception node.

[0125] Wherein, the first resolution parameter is the current existing perception result for the first area. Optionally, the first resolution parameter can be the perception result of the control node for the first area, or can be the perception result of the control node for the first area obtained from other perception nodes, or can also be the joint perception result of multiple perception nodes for the first area, which is not limited in the present application.

[0126] In the implementation a1, after the at least one perception node receives the first information, each perception node can determine the value of the first resolution unit according to the first resolution parameter and the second resolution parameter for the first area, and then send the value of the first resolution unit corresponding to each perception node to the control node.

[0127] Here, the value of the first resolution unit of each perception node can be understood as the joint perception result of the perception result of each perception node and the current existing perception result, and can be understood as the value of the resolution unit of the joint perception.

[0128] In the implementation a1, among the values of the at least one first resolution unit, the perception node corresponding to the value of the one or more first resolution units with the smallest value can be the target perception node. That is, after the control node receives the value of the first resolution unit corresponding to the at least one perception node from the at least one perception node respectively, the sizes of the values of the first resolution unit corresponding to the at least one perception node are compared, and the perception node corresponding to the value of the one or more first resolution units with the smallest value is selected as the target perception node.

[0129] Optionally, the number of target sensing nodes finally selected by the control node can be predefined or preconfigured.

[0130] Further, the control node can send first indication information to the target sensing nodes to indicate that the target sensing nodes participate in the joint sensing; and / or, the control node can send second indication information to at least one sensing node other than the target sensing nodes respectively to indicate that the corresponding sensing node does not participate in the joint sensing.

[0131] Optionally, the first indication information indicates that the target sensing nodes participate in the joint sensing, which can also be understood as the first indication information being a trigger request to trigger the target sensing nodes to participate in the joint sensing.

[0132] In some embodiments, before sending the first information to the at least one sensing node respectively, the control node can determine that the at least one sensing node can participate in the joint sensing, which can also be understood as the at least one sensing node can support participating in the joint sensing, or can also be understood as the at least one sensing node has the capability of joint sensing. That is, the control node sends the first information to only the at least one sensing node that can participate in the joint sensing.

[0133] In yet some embodiments, the control node can not need to determine whether the at least one sensing node can participate in the joint sensing, and after receiving the first information, each sensing node determines whether itself can participate in the joint sensing, and then the sensing nodes that can participate in the joint sensing send the value of the corresponding first resolution unit to the control node.

[0134] Optionally, the nodes that cannot participate in the joint sensing can also send a rejection message to the control node, and the rejection message can include a rejection reason. For example, the rejection reason can be that the joint sensing is not supported or the resources are insufficient to cause the joint sensing to be not participated in or the value of the first resolution unit does not satisfy a threshold, etc.

[0135] In some possible manners, before sending the value of the first resolution unit to the control node, one sensing node can determine that the value of the first resolution unit is less than or equal to a threshold. That is, one sensing node sends the value of the first resolution unit to the control node only when it is determined that the value of the first resolution unit is less than or equal to the threshold.

[0136] Optionally, the threshold can be configured by the control node for the sensing node. For example, the threshold can be contained in the first information or other information.

[0137] Optionally, the thresholds configured by the control node for different sensing nodes can be the same or different, which is not limited in the present application.

[0138] In an alternative implementation a2, the control node can determine the value of the at least one first resolution unit for the first area by: receiving, from the at least one perception node, a third resolution parameter for the first area, respectively; and determining the value of the first resolution unit corresponding to each perception node according to the third resolution parameter of each perception node.

[0139] In some embodiments, in implementation a2, before the control node receives, from the at least one perception node, a third resolution parameter for the first area, respectively, the control node sends second information to the at least one perception node, respectively, the second information being used to request a resolution parameter for the first area.

[0140] Accordingly, the at least one perception node receives the second information, respectively, and each perception node sends a third resolution parameter for the first area to the control node.

[0141] In some embodiments, in the initial perception scenario, the control node can use the aforementioned second information to make the at least one perception node report the initial perception result (i.e. the corresponding third resolution parameter).

[0142] Optionally, when the control node determines the value of the first resolution unit corresponding to each perception node according to the third resolution parameter of each perception node, the control node can determine the value of the first resolution unit corresponding to each perception node based on the third resolution parameter of each perception node and the third resolution parameter of any other perception node.

[0143] In other embodiments, when the control node determines the value of the first resolution unit corresponding to each perception node according to the third resolution parameter of each perception node, the control node can determine the value of the first resolution unit corresponding to each perception node according to the first resolution parameter and the third resolution parameter of each perception node.

[0144] Here, the first resolution parameter can refer to the description of the first resolution parameter in implementation a1.

[0145] Here, the value of the first resolution unit of each perception node can be understood as the joint perception result of the perception result of each perception node and the currently available perception result, and can be understood as the value of the resolution unit of the joint perception.

[0146] In the implementation a2, among the values of the at least one first resolution unit, the target perception node can be the perception node corresponding to the value of the first resolution unit with the smallest value. That is, after the control node determines the value of the first resolution unit corresponding to each perception node, the control node compares the values of the first resolution units corresponding to the at least one perception node, and selects the perception node corresponding to the value of the first resolution unit with the smallest value as the target perception node.

[0147] Optionally, the number of the target perception nodes finally selected by the control node can be predefined or preconfigured.

[0148] Further, the control node can send first indication information to the target perception node to indicate that the target perception node participates in the joint perception; and / or, the control node can send second indication information to at least one perception node other than the target perception node to indicate that the corresponding perception node does not participate in the joint perception.

[0149] Optionally, the first indication information indicates that the target perception node participates in the joint perception, which can also be understood as the first indication information being a trigger request to trigger the target perception node to participate in the joint perception.

[0150] In an optional implementation a3, the control node can determine the value of the at least one first resolution unit for the first area by the following method: the control node receives third resolution parameters for the first area from the plurality of perception nodes respectively; then the control node groups the plurality of perception nodes, and determines the value of the first resolution unit corresponding to each group of perception nodes according to the third resolution parameters corresponding to each group of perception nodes.

[0151] Similar to the implementation a2, before the control node receives the third resolution parameters for the first area from the plurality of perception nodes respectively, the control node sends second information to the plurality of perception nodes respectively, and the second information is used to request resolution parameters for the first area. For details, please refer to the related description in the implementation a2, which will not be described in detail here.

[0152] Optionally, the grouping manner of the control node to the plurality of perception nodes is not limited. Any perception node in the plurality of perception nodes can be divided into a plurality of different groups, or can be divided into only one group. For example, when the plurality of perception nodes include perception node 1, perception node 2 and perception node 3, the control node can group the perception node 1 and the perception node 2 as a group of perception nodes, group the perception node 2 and the perception node 3 as a group of perception nodes, and group the perception node 1 and the perception node 3 as a group of perception nodes. It should be understood that the above is only an example, and other grouping manners can also be used.

[0153] In some embodiments, the control node determines the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter corresponding to each group of sensing nodes. For example, for a group of sensing nodes consisting of sensing node 1 and sensing node 2, the control node can determine the value of the first resolution unit corresponding to the group of sensing nodes according to the third resolution parameter corresponding to sensing node 1 and the third resolution parameter corresponding to sensing node 2. The value of the first resolution unit corresponding to the group of sensing nodes can be understood as the value of the resolution unit of the joint sensing of the existing sensing result, sensing node 1 and sensing node 2.

[0154] In some embodiments, the control node determines the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter corresponding to each group of sensing nodes. For example, for a group of sensing nodes consisting of sensing node 1 and sensing node 2, the control node can determine the value of the first resolution unit corresponding to the group of sensing nodes according to the third resolution parameter corresponding to sensing node 1 and the third resolution parameter corresponding to sensing node 2. The value of the first resolution unit corresponding to the group of sensing nodes can be understood as the value of the resolution unit of the joint sensing of the existing sensing result, sensing node 1 and sensing node 2.

[0155] In some embodiments, the control node determines the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter corresponding to each group of sensing nodes. For example, for a group of sensing nodes consisting of sensing node 1 and sensing node 2, the control node can determine the value of the first resolution unit corresponding to the group of sensing nodes according to the third resolution parameter corresponding to sensing node 1 and the third resolution parameter corresponding to sensing node 2. The value of the first resolution unit corresponding to the group of sensing nodes can be understood as the value of the resolution unit of the joint sensing of the existing sensing result, sensing node 1 and sensing node 2.

[0156] In some embodiments, the control node determines the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter corresponding to each group of sensing nodes. For example, for a group of sensing nodes consisting of sensing node 1 and sensing node 2, the control node can determine the value of the first resolution unit corresponding to the group of sensing nodes according to the third resolution parameter corresponding to sensing node 1 and the third resolution parameter corresponding to sensing node 2. The value of the first resolution unit corresponding to the group of sensing nodes can be understood as the value of the resolution unit of the joint sensing of the existing sensing result, sensing node 1 and sensing node 2.

[0157] In some embodiments, the control node determines the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter corresponding to each group of sensing nodes. For example, for a group of sensing nodes consisting of sensing node 1 and sensing node 2, the control node can determine the value of the first resolution unit corresponding to the group of sensing nodes according to the third resolution parameter corresponding to sensing node 1 and the third resolution parameter corresponding to sensing node 2. The value of the first resolution unit corresponding to the group of sensing nodes can be understood as the value of the resolution unit of the joint sensing of the existing sensing result, sensing node 1 and sensing node 2.

[0158] In this embodiment a3, the target sensing node can be one or more groups of sensing nodes, and the value of the first resolution unit corresponding to the one or more groups of sensing nodes is less than or equal to the first threshold. That is, after the control node determines the value of the first resolution unit corresponding to each group of sensing nodes, it compares the values of the plurality of first resolution units, and selects one or more groups of sensing nodes corresponding to the values of the first resolution unit less than or equal to the first threshold as the target sensing node.

[0159] In some embodiments, the control node determines the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter corresponding to each group of sensing nodes. For example, for a group of sensing nodes consisting of sensing node 1 and sensing node 2, the control node can determine the value of the first resolution unit corresponding to the group of sensing nodes according to the third resolution parameter corresponding to sensing node 1 and the third resolution parameter corresponding to sensing node 2. The value of the first resolution unit corresponding to the group of sensing nodes can be understood as the value of the resolution unit of the joint sensing of the existing sensing result, sensing node 1 and sensing node 2.

[0160] Further, the control node can send first indication information to the target perception node to indicate the identity of the group to which the target perception node belongs; and / or send second indication information to the perception nodes other than the target perception node respectively to indicate that the corresponding perception nodes do not participate in joint perception.

[0161] Here, the "group to which the target perception node belongs" can be understood as a group to which the target perception node belongs, a group to which the target perception node belongs, or a group to which the target perception node is divided, etc. For example, the group to which the target perception node belongs can be understood as the group to which the target perception node belongs, and can also be understood as the group to which the target perception node belongs, and can also be understood as the group to which the target perception node is divided.

[0162] Optionally, the identity of the group to which the target perception node belongs can be an index of the group, etc.

[0163] The control node can send first indication information to the target perception node, and send the first indication information to each perception node in one or more groups of perception nodes.

[0164] Among them, the perception nodes included in any group of perception nodes as the target perception node jointly participate in joint perception.

[0165] Optionally, when the control node sends second indication information to the perception nodes other than the target perception node respectively, it can send invalid grouping identifiers, such as -1, etc., to some perception nodes that are not selected as target perception nodes.

[0166] In some possible manners, any one of the first resolution parameter, the second resolution parameter, and the third resolution parameter in the present application can include at least one of the following: a distance direction resolution parameter, an azimuth direction resolution parameter, or an elevation direction resolution parameter.

[0167] Any one of the resolution parameters can include one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or resolution ellipsoid corresponding to a resolution unit, a transformation matrix corresponding to a resolution unit, or eigenvalues and eigenvectors of a transformation matrix corresponding to a resolution unit.

[0168] Specifically, the resolution parameter can refer to the related description in the foregoing technical explanation, which will not be described here again.

[0169] In some possible manners, the first region can include at least one sub-region, the first resolution parameter includes at least one first sub-resolution parameter, the second resolution parameter includes at least one second sub-resolution parameter, and the third resolution parameter includes at least one third sub-resolution parameter. Wherein, the at least one sub-region, the at least one first sub-resolution parameter and the at least one second sub-resolution parameter correspond one by one. Wherein, the at least one sub-region, the at least one first sub-resolution parameter and the at least one third sub-resolution parameter correspond one by one.

[0170] Optionally, the first region and the sub-region can be represented by geometric information. For example, when the first region (or the sub-region) is a two-dimensional region, the first region (or the sub-region) can be represented by a center point coordinate and a radius of the first region (or the sub-region), or represented by a center point coordinate and a length and a width of the first region (or the sub-region). When the first region (or the sub-region) is a three-dimensional region, the first region (or the sub-region) can be represented by a center point coordinate and a radius corresponding to a three-dimensional coordinate of the region of the first region (or the sub-region), or represented by a center point coordinate and a length, a width and a height of the first region (or the sub-region). It should be understood that, in addition to the above methods, the first region and the sub-region can also be represented by other methods, such as a cell identifier, etc.

[0171] In some embodiments, the sensing node in the above embodiment a1 or the control node in the above embodiments a2 and a3 can obtain a value of a resolution unit of joint sensing by averaging or superimposing target amplitude responses corresponding to two or more sensing results when determining the value of the first resolution unit.

[0172] For example, taking two sensing results as an example, a relationship between a transformation matrix A corresponding to a resolution unit of joint sensing and transformation matrices A1 and A2 corresponding to resolution units of the two sensing results can be obtained by the following formula six or formula seven: A=w1A1+w2A2 Formula seven.

[0173] wherein w1 and w2 are weight coefficients, w1+w2=1, w1 is a value greater than or equal to 0, and w2 is a value greater than or equal to 0.

[0174] Taking the formula six as an example, assuming that p=[x,y] or p=[x,y,z] is a point in a space range of a target amplitude response, a target amplitude response corresponding to a sensing result 1 (for example, a first resolution parameter) can be shown in the following formula eight: g1(p)=1-0.25·p T A1p Formula eight.

[0175] A target amplitude response corresponding to a sensing result 2 (for example, a second resolution parameter) can be shown in the following formula nine: g2(p)=1-0.25·p T A2p Formula nine.

[0176] Then, a target amplitude response after joint of the two sensing results can be shown in the following formula ten:

[0177] According to the formula, w1=0.5 and w2=0.5 are obtained. That is, the formula six is obtained.

[0178] From the above process, different perception results are combined, different transformation matrix A can be obtained, that is, the size of the final resolution unit obtained can be different, and different perception performance can be obtained. That is, by selecting different perception nodes for joint perception, different resolution unit sizes can be obtained, and different perception performance can be obtained.

[0179] For example, taking the schematic diagram of the resolution unit of the perception node 1, the perception node 2 and the perception node 3 shown in FIG. 7 as an example. It is assumed that the distance resolution of each perception node is the same, and is Δr = 1; the lateral resolution of each perception node is the same, and is Δa = 2. The difference lies in the direction of the resolution unit of each perception node. The values of the resolution units corresponding to the perception node 1, the perception node 2 and the perception node 3 are all 1.57, which are calculated by the following process.

[0180] As can be seen from FIG. 7, the shapes of the ellipses corresponding to the resolution units of the perception node 1, the perception node 2 and the perception node 3 are the same, only the directions of the ellipses are different. Among them, the length of the major axis of the ellipse is equal to the lateral resolution, that is, Δa = 2, and the length of the minor axis of the ellipse is equal to the distance resolution, that is, Δr = 1. Therefore, the area of the ellipse is That is, the values of the resolution units corresponding to the perception node 1, the perception node 2 and the perception node 3 are all 1.57.

[0181] Further, the values of the resolution units of the joint perception of the perception node 1 and 2 are 1.26, the values of the resolution units of the joint perception of the perception node 1 and 3 are 1.39, and the values of the resolution units of the joint perception of the perception node 2 and 3 are 1.39, which are calculated by the following process.

[0182] Taking the joint perception of the perception node 1 and the perception node 2 as an example, the value S of the resolution unit of the joint perception is calculated as follows: 12 In order to calculate the value of the resolution unit of the joint perception, the transformation matrix A corresponding to the joint perception needs to be calculated 12 , and this requires that the transformation matrices A1 and A2 corresponding to the perception node 1 and the perception node 2 are calculated first. According to the foregoing description, combined with FIG. 7, it can be known that the distance resolution vector of the perception node 1 is , the azimuth resolution vector is , and the transformation matrix is as follows A1:

[0183] Similarly, the transformation matrix of the perception node 2 can be calculated as follows A2:

[0184] The transformation matrix corresponding to the joint perception of the perception node 1 and the perception node 2 is calculated by using formula six, that is:

[0185] It can be seen that the eigenvalue of the transformation matrix A corresponding to the joint perception is λ1=λ2=2.5. The value S of the resolution unit corresponding to the joint perception is 1.39. 12 12 The transformation matrix A corresponding to the joint perception of the perception node 1 and the perception node 3 is 12 The area of the resolution ellipse corresponding to the transformation matrix A is, that is,

[0186] Similarly, it can be calculated that the value of the resolution unit corresponding to the joint perception of the perception node 1 and the perception node 3 is 1.39, and the value of the resolution unit corresponding to the joint perception of the perception node 2 and the perception node 3 is 1.39.

[0187] Here, only the value of the resolution unit corresponding to the joint perception of the perception node 1 and the perception node 2 is taken as an example for description, and the value of the resolution unit corresponding to other joint perceptions can be calculated in the same way, which will not be described one by one.

[0188] Based on the above results, it can be determined that the joint perception of the perception node 1 and the perception node 2 can obtain a smaller resolution unit, thereby obtaining better perception performance.

[0189] Based on the above method, the control node can determine the target perception node.

[0190] Through the above communication method, the control node can select appropriate perception nodes to participate in joint perception based on the value of at least one first resolution unit, so as to improve the perception performance.

[0191] Based on the above embodiment, the communication method provided by the present application will be described below through examples shown in FIGS. 8-10. In the following examples, two perception nodes (perception node 1 and perception node 2) are taken as examples for description.

[0192] FIG. 8 shows an example of a communication method, and the flow of the example can include:

[0193] Step 801: The control node sends first information to the perception node 1 and the perception node 2, and the first information is used to indicate a first region and a first resolution parameter.

[0194] For details, please refer to the description in the foregoing embodiment a1, which will not be described here again.

[0195] Optionally, before sending the first information to the perception node 1 and the perception node 2, the control node can determine that the perception node 1 and the perception node 2 can participate in joint perception.

[0196] Step 802a: The perception node 1 determines the value of the first resolution unit according to the first resolution parameter and a second resolution parameter of the perception node 1 for the first region.

[0197] ​Step 802b: The perception node 2 determines the value of the first resolution unit according to the first resolution parameter and the second resolution parameter of the perception node 2 for the first area.

[0198] Specifically, the process of determining the value of the first resolution can refer to the related description in the foregoing embodiment shown in FIG. 6, which will not be repeated here.

[0199] It should be understood that the order of step 802a and step 802b is not limited in the present application.

[0200] Step 803a: The perception node 1 sends the value of the corresponding first resolution unit to the control node.

[0201] Step 803b: The perception node 2 sends the value of the corresponding first resolution unit to the control node.

[0202] It should be understood that the order of step 803a and step 803b is not limited in the present application.

[0203] Optionally, before performing step 803a, the perception node 1 can first determine that the perception node 1 can participate in joint perception, and before performing step 803b, the perception node 2 can first determine that the perception node 2 can participate in joint perception.

[0204] Optionally, if the perception node 1 and / or the perception node 2 determines that itself cannot participate in joint perception, the perception node 1 no longer performs step 803a and / or the perception node 2 no longer performs step 803b; or the perception node 1 and / or the perception node 2 sends a rejection message to the control node, which can refer to the related description in embodiment a1, which will not be repeated here.

[0205] Step 804: The control node selects the perception node corresponding to the value of the first resolution unit with the smallest value as the target perception node.

[0206] Step 805: The control node sends first indication information to the target perception node, the first indication information indicating that the target perception node participates in joint perception; and / or the control node sends second indication information to the perception nodes other than the target perception node, the second indication information indicating that the corresponding perception node does not participate in joint perception.

[0207] Optionally, taking the perception node 1 as the target perception node as an example, as shown in step 805a of FIG. 8, the control node can send the first indication information to the perception node 1, as shown in step 805b of FIG. 8, the control node can send the second indication information to the perception node 2.

[0208] Based on the example, the control node can select a suitable perception node to participate in joint perception based on the value of the at least one first resolution unit to improve the perception performance.

[0209] FIG. 9 shows an example of another communication method, the flow of which can include:

[0210] Step 901: The control node sends second information to the perception node 1 and the perception node 2, the second information being used for requesting a resolution parameter for the first area.

[0211] For details, please refer to the description in the aforementioned embodiment a2, which will not be repeated here.

[0212] Step 902a: The perception node 1 sends a third resolution parameter for the first area to the control node.

[0213] Step 902b: The perception node 2 sends a third resolution parameter for the first area to the control node.

[0214] It should be understood that the order of step 902a and step 902b is not limited in the present application.

[0215] Step 903: The control node determines the value of the first resolution unit corresponding to each perception node according to the first resolution parameter and the third resolution parameter of each perception node.

[0216] Specifically, the method for determining the value of the first resolution can refer to the related description in the aforementioned embodiment shown in FIG. 6, which will not be repeated here.

[0217] Step 904: The control node selects the perception node corresponding to the value of the first resolution unit with the smallest value as the target perception node.

[0218] Step 905: The control node sends first indication information to the target perception node, the first indication information indicating that the target perception node participates in joint perception; and / or, the control node sends second indication information to the perception nodes other than the target perception node, the second indication information indicating that the corresponding perception node does not participate in joint perception.

[0219] Optionally, taking the perception node 1 as the target perception node as an example, as shown in step 905a of FIG. 9, the control node can send first indication information to the perception node 1, as shown in step 905b of FIG. 9, the control node can send second indication information to the perception node 2.

[0220] Based on this example, the control node can select appropriate perception nodes to participate in joint perception based on the value of at least one first resolution unit, so as to improve the perception performance.

[0221] FIG. 10 shows an example of another communication method, the flow of which can include:

[0222] Step 1001: The control node sends second information to the perception node 1 and the perception node 2, and the second information is used to request a resolution parameter for the first area.

[0223] For details, refer to the description in the foregoing embodiment a3, which will not be repeated here.

[0224] Step 1002a: The perception node 1 sends a third resolution parameter for the first area to the control node.

[0225] Step 1002b: The perception node 2 sends a third resolution parameter for the first area to the control node.

[0226] It should be understood that the order of step 1002a and step 1002b is not limited in the present application.

[0227] Step 1003: The control node groups the perception node 1 and the perception node 2, and determines a value of a first resolution unit corresponding to each group of perception nodes according to a third resolution parameter corresponding to each group of perception nodes.

[0228] For details, refer to the description in the foregoing embodiment a3, which will not be repeated here.

[0229] Step 1004: The control node selects a group of perception nodes corresponding to a value of one or more first resolution units less than or equal to a first threshold value as target perception nodes.

[0230] Step 1005: The control node sends first indication information to the target perception nodes, and the first indication information indicates an identity of a group to which the target perception nodes belong; and / or, the control node sends second indication information to perception nodes other than the target perception nodes, and the second indication information indicates that the corresponding perception nodes do not participate in joint perception.

[0231] Optionally, taking the perception node 1 itself as an example, as shown in step 1005a of FIG. 10, the control node can send first indication information to the perception node 1, and as shown in step 1005b of FIG. 10, the control node can send second indication information to the perception node 2.

[0232] Based on the example, the control node can select appropriate perception nodes to participate in joint perception based on the value of at least one first resolution unit, so as to improve the perception performance. Meanwhile, the control node selects one or more groups of perception nodes to participate in joint perception through grouping, so as to reduce the perception overhead and disperse the perception load.

[0233] Based on the above embodiments, the application further provides a communication device. Referring to FIG. 11, the communication device 1100 can include a transceiver unit 1101 and a processing unit 1102. The transceiver unit 1101 is configured to perform communication, such as receiving information (signals or data) or transmitting information (signals or data), and the processing unit 1102 is configured to control and manage the actions of the communication device 1100. The processing unit 1102 can also control the steps performed by the transceiver unit 1101.

[0234] For example, the communication device 1100 can be a control node, a processor of the control node, a chip, a chip system, or a component, a module, a functional module, etc. in the above embodiments. Alternatively, the communication device 1100 can be a perception node, a processor of the perception node, a chip, a chip system, or a component, a module, a functional module, etc. in the above embodiments.

[0235] In one embodiment, when the communication device 1100 is used to implement the functions of the control node in the above embodiments, the processing unit 1102 can be configured to determine values of at least one first resolution unit for a first area, one value of the first resolution unit corresponding to one perception node or one value of the first resolution unit corresponding to a group of perception nodes, the group of perception nodes including one or more perception nodes; and the transceiver unit 1101 can be configured to transmit first indication information or second indication information, the first indication information being used to indicate a target perception node participating in joint perception or an identity of a group to which the target perception node belongs, the target perception node being determined according to the values of the at least one first resolution unit; and the second indication information being used to indicate not participating in joint perception.

[0236] In an optional implementation, when the processing unit 1102 determines the values of the at least one first resolution unit for the first area, the processing unit 1102 can be configured to control the transceiver unit 1101 to transmit first information to at least one perception node, the first information being used to indicate the first area and a first resolution parameter; and control the transceiver unit 1101 to receive values of the first resolution unit corresponding to the at least one perception node from the at least one perception node, respectively, wherein the value of the first resolution unit corresponding to any perception node is determined based on the first resolution parameter and a second resolution parameter of the any perception node.

[0237] For example, any of the first resolution parameter and the second resolution parameter includes at least one of a distance direction resolution parameter, an azimuth direction resolution parameter, or an elevation direction resolution parameter.

[0238] In some embodiments, the first region comprises at least one sub-region, the first resolution parameter comprises at least one first sub-resolution parameter, and the second resolution parameter comprises at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond to each other one by one.

[0239] In another alternative implementation, the processing unit 1102, when determining the value of the at least one first resolution unit for the first region, can be configured to control the transceiver unit 1101 to receive, respectively, third resolution parameters for the first region from at least one sensing node, and determine the value of the first resolution unit corresponding to each sensing node according to the third resolution parameter of the sensing node.

[0240] Optionally, the processing unit 1102, when determining the value of the first resolution unit corresponding to each sensing node according to the third resolution parameter of the sensing node, can be configured to determine the value of the first resolution unit corresponding to each sensing node according to the first resolution parameter and the third resolution parameter of the sensing node.

[0241] In an example, in the values of the at least one first resolution unit, the sensing node corresponding to the value of one or more first resolution units with the smallest value is the target sensing node.

[0242] In yet another alternative implementation, the processing unit 1102, when determining the value of the at least one first resolution unit for the first region, can be configured to control the transceiver unit 1101 to receive, respectively, third resolution parameters for the first region from a plurality of sensing nodes, group the plurality of sensing nodes, and determine the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter of the sensing node in the group.

[0243] Optionally, the processing unit 1102, when determining the value of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter of the sensing node in the group, can be configured to determine the value of the first resolution unit corresponding to each group of sensing nodes according to the first resolution parameter and the third resolution parameter of the sensing node in the group.

[0244] In an example, the target sensing node is one or more groups of sensing nodes, and the value of the first resolution unit corresponding to the one or more groups of sensing nodes is less than or equal to a first threshold value.

[0245] In some embodiments, the transceiver unit 1101 can also be configured to send second information to the at least one sensing node, the second information being used to request a resolution parameter for the first region.

[0246] Optionally, any of the resolution parameters comprises one or more of: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or a resolution ellipsoid corresponding to the resolution unit, a transformation matrix corresponding to the resolution unit, or eigenvalues and eigenvectors of the transformation matrix corresponding to the resolution unit.

[0247] Optionally, the value of the first resolution unit is an area of a resolution ellipsoid corresponding to the first resolution unit or a volume of a resolution ellipsoid corresponding to the first resolution unit.

[0248] In a possible implementation, when the transceiver 1101 transmits the first indication information or the second indication information, the transceiver 1101 can be configured to: transmit the first indication information to the target perception node; or transmit the second indication information to at least one perception node other than the target perception node.

[0249] In another embodiment, when the communication apparatus 1100 is configured to implement the functions of the perception node in the above embodiments, the transceiver 1101 can be configured to: receive first information, the first information being used to indicate a first region and a first resolution parameter; transmit a value of a first resolution unit, wherein the value of the first resolution unit is determined according to the first resolution parameter and a second resolution parameter for the first region; receive first indication information or second indication information, the first indication information being used to indicate participation in joint perception, and the second indication information being used to indicate non-participation in joint perception. The processing unit 1102 can be configured to control the operation of the transceiver 1101.

[0250] For example, any of the first resolution parameter and the second resolution parameter comprises at least one of: a range direction resolution parameter, an azimuth direction resolution parameter, or an elevation direction resolution parameter.

[0251] Optionally, the first region comprises at least one sub-region, the first resolution parameter comprises at least one first sub-resolution parameter, and the second resolution parameter comprises at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond to each other in a one-to-one manner.

[0252] In some embodiments, any of the resolution parameters comprises one or more of: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or a resolution ellipsoid corresponding to the resolution unit, a transformation matrix corresponding to the resolution unit, or eigenvalues and eigenvectors of the transformation matrix corresponding to the resolution unit.

[0253] Optionally, the value of the first resolution unit is an area of a resolution ellipse or a volume of a resolution ellipsoid corresponding to the first resolution unit.

[0254] In yet another embodiment, when the communication device 1100 is configured to implement the function of the sensing node in the above embodiments, the transceiver unit 1101 can be configured to receive second information, the second information being used to request a resolution parameter for a first region; transmit a third resolution parameter for the first region; receive first indication information or second indication information, the first indication information being used to indicate participation in joint sensing or to indicate an identity of a group to which the communication device 1100 belongs; and the second indication information being used to indicate non-participation in joint sensing. The processing unit 1102 can be configured to control the operation of the transceiver unit 1101.

[0255] In some embodiments, the third resolution parameter includes one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipse or a resolution ellipsoid corresponding to the resolution unit, a transformation matrix corresponding to the resolution unit, or eigenvalues and eigenvectors of the transformation matrix corresponding to the resolution unit.

[0256] Optionally, the value of the first resolution unit is an area of a resolution ellipse or a volume of a resolution ellipsoid corresponding to the first resolution unit.

[0257] It should be noted that the division of the units in the embodiments of the present application is illustrative, and is merely a logical functional division. In actual implementation, another division manner can be used. The functional units in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0258] The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0259] Based on the above embodiments, the embodiments of the present application also provide a communication device. Referring to FIG. 12, the communication device 1200 can include one or more processors 1202. Optionally, the communication device 1200 can also include one or more transceivers 1201. Optionally, the communication device 1200 can also include at least one memory 1203. The memory 1203 can be arranged inside the communication device 1200, or arranged outside the communication device 1200. The processor 1202 can control the transceiver 1201 to receive and send information, messages or data, etc.

[0260] Specifically, the processor 1202 can be a central processing unit (CPU), a network processor (NP) or a combination of CPU and NP. The processor 1202 can further include a hardware chip. The hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0261] The transceiver 1201, the processor 1202 and the memory 1203 are connected with each other. Optionally, the transceiver 1201, the processor 1202 and the memory 1203 are connected with each other through a bus 1204. The bus 1204 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of indication, only one thick line is used in FIG. 12, but it does not mean that there is only one bus or only one type of bus.

[0262] In an optional implementation, the memory 1203 is configured to store programs, etc. Specifically, the programs can include program codes including computer operation instructions. The memory 1203 can include a RAM, and can also include a non-volatile memory such as one or more disk memories. The processor 1202 executes the programs stored in the memory 1203 to implement the above functions, thereby implementing the functions of the communication device 1200.

[0263] For example, the communication device 1200 can specifically implement the functions of the control node or the sensing node in the above-described embodiments.

[0264] In one embodiment, when the communication device 1200 implements the functions of the control node in the above-described method embodiments, the transceiver 1201 can implement the transceiving operations performed by the control node in the above-described method embodiments, and the processor 1202 can implement the operations other than the transceiving operations performed by the control node in the above-described method embodiments. For specific details, refer to the related descriptions in the above-described method embodiments, which will not be described in detail here.

[0265] In another embodiment, when the communication device 1200 implements the functions of the control node in the above-described method embodiments, the processor 1202 can implement the operations performed by the control node in the above-described method embodiments. For specific details, refer to the related descriptions in the above-described method embodiments, which will not be described in detail here.

[0266] In yet another embodiment, when the communication apparatus 1200 implements the functions of the sensing node in the foregoing method embodiments, the transceiver 1201 can implement the transceiving operations performed by the sensing node in the foregoing method embodiments; the processor 1202 can implement operations other than the transceiving operations performed by the sensing node in the foregoing method embodiments. For specific details, refer to the related descriptions in the foregoing method embodiments.

[0267] In yet another embodiment, when the communication apparatus 1200 implements the functions of the sensing node in the foregoing method embodiments, the processor 1202 can implement the operations performed by the sensing node in the foregoing method embodiments. For specific details, refer to the related descriptions in the foregoing method embodiments.

[0268] Based on the foregoing embodiments, the embodiments of the present application provide a communication system, which can include the control node and the sensing node and the like involved in the foregoing embodiments.

[0269] The embodiments of the present application further provide a computer readable storage medium for storing a computer program or instructions, which, when executed by a computer, can implement the communication method provided by the foregoing method embodiments.

[0270] The embodiments of the present application further provide a computer program product for storing a computer program or instructions, which, when executed by a computer, can implement the communication method provided by the foregoing method embodiments.

[0271] The embodiments of the present application further provide a chip or chip system, which includes a logic circuit configured to execute the communication method provided by the foregoing method embodiments.

[0272] The embodiments of the present application further provide a chip or chip system, which includes one or more processors coupled with at least one memory, configured to invoke a program in the memory so that the chip or chip system implements the communication method provided by the foregoing method embodiments.

[0273] The embodiments of the present application further provide a chip or chip system, which is coupled with at least one memory, and is configured to implement the communication method provided by the foregoing method embodiments.

[0274] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a software embodiment, various software modules in accordance with embodiments of the present application are stored in a memory such as a computer memory or disk storage for use by, or in connection with, the software on the computer system. The software can provide for programs to be transferred to another computer readable medium (e.g., a removable medium, or a medium conveyed through a computer network) for use in a different system.

[0275] The present application is described in reference to the flow diagrams and / or block diagrams of the methods, apparatus (systems) and computer program products according to this application. It will be understood that each block of the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks.

[0276] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flow diagrams and / or block diagrams block or blocks.

[0277] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks.

[0278] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A communication method characterized by comprising: The method comprises: determining values of at least one first resolution unit for a first region, one of the values of the first resolution unit corresponding to one sensing node, or one of the values of the first resolution unit corresponding to a group of sensing nodes, the group of sensing nodes comprising one or more sensing nodes; sending first indication information or second indication information, the first indication information being used for indicating that a target sensing node participates in joint sensing, or being used for indicating an identity of a group to which the target sensing node belongs, the target sensing node being determined according to the values of the at least one first resolution unit; the second indication information being used for indicating that joint sensing is not participated in.

2. The method of claim 1, wherein, The determining of the values of the at least one first resolution unit for the first region comprises: sending first information to at least one sensing node respectively, the first information being used for indicating the first region and a first resolution parameter; receiving values of the first resolution unit corresponding to the at least one sensing node from the at least one sensing node respectively, wherein the value of the first resolution unit corresponding to any sensing node is determined based on the first resolution parameter and a second resolution parameter of the any sensing node.

3. The method of claim 2, wherein, Any of the first resolution parameter and the second resolution parameter comprises at least one of a distance direction resolution parameter, an azimuth direction resolution parameter or an elevation direction resolution parameter.

4. The method of claim 2 or 3, wherein, The first region comprises at least one sub-region, the first resolution parameter comprises at least one first sub-resolution parameter, and the second resolution parameter comprises at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter and the at least one second sub-resolution parameter correspond to each other in one-to-one manner.

5. The method of claim 1, wherein, The determining of the values of the at least one first resolution unit for the first region comprises: receiving third resolution parameters for the first region from at least one sensing node respectively; determining values of the first resolution unit corresponding to each sensing node according to the third resolution parameter of the each sensing node.

6. The method of claim 5, wherein, The determining of the values of the first resolution unit corresponding to each sensing node according to the third resolution parameter of the each sensing node comprises: determining the values of the first resolution unit corresponding to the each sensing node according to the first resolution parameter and the third resolution parameter of the each sensing node.

7. The method according to any one of claims 2 to 6, wherein, The values of the at least one first resolution unit, the values of one or more first resolution units with minimum values correspond to the target sensing node.

8. The method of claim 1, wherein, The determining of the values of the at least one first resolution unit for the first region comprises: receiving third resolution parameters for the first region from a plurality of sensing nodes respectively; grouping the plurality of sensing nodes, and determining values of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter of the each group of sensing nodes.

9. The method of claim 8, wherein, The determining of the values of the first resolution unit corresponding to each group of sensing nodes according to the third resolution parameter of the each group of sensing nodes comprises: determining the values of the first resolution unit corresponding to the each group of sensing nodes according to the first resolution parameter and the third resolution parameter of the each group of sensing nodes. The value of the first resolution unit corresponding to each group of the sensing nodes is determined according to the first resolution parameter and a third resolution parameter corresponding to each group of the sensing nodes.

10. The method of claim 8 or 9, wherein, The target sensing node is one or more groups of sensing nodes, and a value of a first resolution unit corresponding to the one or more groups of sensing nodes is less than or equal to a first threshold value.

11. The method of any one of claims 5-6, 8-10, wherein, The method further comprises: sending second information to at least one sensing node, the second information being used for requesting resolution parameters for the first region.

12. The method of any one of claims 2-6, 8-11, wherein, Any one resolution parameter comprises one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or a resolution ellipsoid corresponding to a resolution unit, a transformation matrix corresponding to the resolution unit, or an eigenvalue and eigenvector of the transformation matrix corresponding to the resolution unit.

13. The method of any one of claims 1-12, wherein, The value of the first resolution unit is an area of a resolution ellipsoid or a volume of a resolution ellipsoid corresponding to the first resolution unit.

14. The method of any one of claims 1-13, wherein, The first indication information or the second indication information is sent, comprising: sending the first indication information to the target sensing node; or sending the second indication information to at least one sensing node other than the target sensing node.

15. A method of communication, comprising: Comprising: receiving first information, the first information being used for indicating a first region and a first resolution parameter; sending a value of a first resolution unit, wherein the value of the first resolution unit is determined according to the first resolution parameter and a second resolution parameter for the first region; receiving first indication information or second indication information, the first indication information being used for indicating participation in joint sensing, and the second indication information being used for indicating non-participation in joint sensing.

16. The method of claim 15, wherein, Any one of the first resolution parameter and the second resolution parameter comprises at least one of the following: a distance direction resolution parameter, an azimuth direction resolution parameter, or an elevation direction resolution parameter.

17. The method of claim 15 or 16, wherein, The first region comprises at least one sub-region, the first resolution parameter comprises at least one first sub-resolution parameter, and the second resolution parameter comprises at least one second sub-resolution parameter, wherein the at least one sub-region, the at least one first sub-resolution parameter, and the at least one second sub-resolution parameter correspond to each other in one-to-one correspondence.

18. The method of any one of claims 15-17, wherein, Any one resolution parameter comprises one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or a resolution ellipsoid corresponding to a resolution unit, a transformation matrix corresponding to the resolution unit, or an eigenvalue and eigenvector of the transformation matrix corresponding to the resolution unit.

19. The method of any one of claims 15-18, wherein, The value of the first resolution unit is an area of a resolution ellipsoid or a volume of a resolution ellipsoid corresponding to the first resolution unit.

20. A method of communication, comprising: Comprising: receiving second information, the second information being used for requesting resolution parameters for a first region; sending a third resolution parameter for the first region; receiving first indication information or second indication information, the first indication information being used for indicating participation in joint sensing or for indicating an identity of a group, and the second indication information being used for indicating non-participation in joint sensing.

21. The method of claim 20, wherein, The third resolution parameter comprises one or more of the following: a projection vector of a spatial resolution on each coordinate axis of a global coordinate system, a vector corresponding to each principal axis of a resolution ellipsoid or resolution ellipsoid corresponding to the resolution unit, a transformation matrix corresponding to the resolution unit, or eigenvalues and eigenvectors of the transformation matrix corresponding to the resolution unit.

22. The method of claim 20 or 21, wherein, The value of the first resolution unit is an area of a resolution ellipsoid or a volume of a resolution ellipsoid corresponding to the first resolution unit.

23. A communications device, characterized by A unit or module for performing the method of any one of claims 1-14, or a unit or module for performing the method of any one of claims 15-19, or a unit or module for performing the method of any one of claims 20-22.

24. A communications device, characterized by A processor for executing computer programs or instructions to implement the method of any one of claims 1-14, or to implement the method of any one of claims 15-19, or to implement the method of any one of claims 20-22.

25. A computer readable storage medium, characterized in that, A computer readable storage medium storing computer programs or instructions, which, when executed by a communication device, implement the method of any one of claims 1-14, or implement the method of any one of claims 15-19, or implement the method of any one of claims 20-22.

26. A computer program product, characterised in that, A computer program product containing computer programs or instructions, which, when executed by a computer, cause the method of any one of claims 1-14 to be implemented, or the method of any one of claims 15-19 to be implemented, or the method of any one of claims 20-22 to be implemented.

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