Communication method and node

Abstract

The present application provides a communication method and a node. The method comprises: acquiring measurement data, wherein the measurement data comprises at least one of the distance or angle between a first node and a second node; when the measurement data falls within a preset measurement range, sending a first request to the first node to establish a first connection state, wherein the first connection state comprises: establishing a connection between the first node and the second node and performing video data transmission; or when the measurement data does not fall within the preset measurement range, sending a second request to the first node to establish a second connection state, wherein the second connection state comprises: establishing a connection between the first node and the second node and not performing video data transmission. The connection efficiency and security can be improved. The present application supports a spark link / nearlink protocol, or the present application supports an IEEE protocol, such as an IEEE 802.11be / WiFi 7 / EHT protocol, an IEEE 802.11bn / WiFi 8 / UHR protocol, an IEEE IMMW protocol, an IEEE 802.15.4ab / UWB protocol, an IEEE 802.11bf / sensing protocol, etc.

Description

A communication method and node Technical Field

[0001] This application relates to the field of communications, and more particularly to a communication method and node. Background Technology

[0002] With the rapid development of intelligent driving technology, 360-degree surround view systems, as an important safety-assisting driving technology, have been widely used in the automotive industry. These systems utilize multiple cameras installed around the vehicle to generate a panoramic view of the surroundings through image processing and data transmission, effectively eliminating blind spots and improving driving safety. Currently, 360-degree surround view systems can be implemented using either wired or wireless communication technology.

[0003] In a 360° wireless surround view system, each communication node on the vehicle body used to collect video, such as a camera or a sensor node including a camera, needs to be paired (or connected) and transmit data with the vehicle's master node. Improving the efficiency and security of this connection is a problem that needs to be solved. Summary of the Invention

[0004] This application provides a communication method and node that can improve the efficiency and security of the connection between the communication node for acquiring video and the communication node for processing video.

[0005] Firstly, this application provides a communication method that can be executed by a second node. Unless otherwise specified, "second node" in this application can refer to a second node (e.g., an electronic device), a component within the second node (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the second node. The method includes: acquiring measurement data, the measurement data including at least one of distance or angle between the first node and the second node; if the measurement data falls within a preset measurement range, sending a first request to the first node to establish a first connection state, the first connection state including establishing a connection between the first node and the second node and transmitting video data; or, if the measurement data does not fall within the preset measurement range, sending a second request to the first node to establish a second connection state, the second connection state including establishing a connection between the first node and the second node but not transmitting video data.

[0006] The communication method provided in this application can pre-set a preset measurement range. By determining whether the measurement data belongs to the preset measurement range, a first connection state or a second connection state can be established with the first node. That is, the second node can compare the acquired measurement data with the preset measurement range. If the measurement data belongs to the preset measurement range, a first connection state capable of transmitting video data can be established with the first node; if the measurement data does not belong to the preset measurement range, a second connection state where video transmission is not performed can be established with the first node. Not performing video transmission may include the second node not allowing (or prohibiting) the first node from transmitting video, or the first node's video being unable to be transmitted to the second node, etc., which are not limited in this application.

[0007] In other words, the communication method provided in this application can determine which connection state the first node should establish by comparing whether at least one of the distance or angle between the first node and the second node is within a preset measurement range, effectively improving the accuracy and efficiency of establishing the connection state. If the first node establishes a second connection state with the second node, it effectively avoids the first node from continuously trying to access the second node when it is not connected to the second node, thus interfering with other nodes establishing a first connection state. This reduces the security risks caused by nodes that cannot establish a first connection state frequently trying to access the second node, enhancing security and reliability.

[0008] It should be understood that the preset measurement range may be determined by the second node based on at least one of the distance or angle from the location of the source of the required video data.

[0009] In one possible implementation, the second node can record at least one of a first connection state or a second connection state. Optionally, if the measurement data does not fall within the preset measurement range, the method further includes recording information about the first node, including at least one of the first node's ID, the measurement data, the deviation value between the measurement data and the preset measurement range, or the reason for establishing the second connection state. If the measurement data falls within the preset measurement range, the method further includes at least one of the first node's ID, the measurement data, or the reason for establishing the first connection state.

[0010] By recording information related to the establishment of at least one of the first or second connection states, the second node can manage the connected first node more effectively. For example, if a connection request from the first node is received again after a second connection state has already been recorded, or if measurement data indicates that the first node is no longer within the preset measurement range, further verification can be performed on the first node, potentially identifying it as an abnormal node. Saving records of information related to the establishment of at least one of the first or second connection states helps identify abnormal nodes and improves connection security.

[0011] In one possible implementation, the second request includes a message type, or a reason for establishing the second connection state, or both a message type and a reason for establishing the second connection state. The second request can include different content to be applicable to different connection scenarios. For example, in scenarios such as Wireless Fidelity (WiFi) and Sparklink Basic (SLB), a suitable transmission method can be selected to generate and send the request to establish the second connection state, making the second request applicable to a wider range of scenarios.

[0012] Optionally, in Sparklink scenarios, for example, if the second request is in an SLB, it can reuse messages in the SLB, such as G-link system messages, which include the message type and the reason for establishing the second connection state; or, the second request is a data frame, including the reason for establishing the second connection state, for example, in Sparklink Low Energy (SLE), the second request can reuse its data frame, which includes the reason for establishing the second connection state; or, the second request is a data frame, including the message type and the reason for establishing the second connection state, for example, the second request can be a newly created data frame or a reused data frame, such as in WiFi, a management frame can be reused.

[0013] It should be understood that in SLB and other starflash scenarios, there are grant nodes (G nodes) and terminal nodes (T nodes). Uplink and downlink transmissions exist between G nodes and T nodes. Downlink transmission is achieved through the G link, which is the link between the G node and the T node.

[0014] In one possible implementation, after sending the second request to the first node, the method further includes: detecting whether a response has been received from the first node; if the response is detected, establishing the second connection state; if the response is not detected, identifying the first node as an abnormal node.

[0015] It should be understood that the first node should typically respond upon receiving the second request. If the first node is an aberrant node, it may not respond to the second node's second request. Therefore, if the second node does not receive a response after sending the second request, it can identify (or mark) the unresponsive node as an aberrant node. An aberrant node can be understood as a node whose purpose is to consume the resources of the second node. Examples of aberrant nodes include nodes performing denial-of-service (DoS) attacks (or simply DoS attack nodes). DoS attacks involve injecting interference information to exhaust the communication channel capacity, rendering it inoperable. Identifying aberrant nodes can effectively reduce the security risks posed by them and improve security.

[0016] In one possible implementation, the response includes a message type, or the response includes confirmation information for establishing the second connection state, or the response includes both a message type and confirmation information for establishing the second connection state. The different content included in the response allows it to be applicable to various connection scenarios, such as WiFi, SLB, and SLE. A suitable transmission method can be selected for each scenario to generate and send a response to the second request, thus broadening the applicability of the response.

[0017] In one possible implementation, the response is a G-link system message, including a message type and confirmation information for establishing the second connection state; or, the response is a data frame, including confirmation information for establishing the second connection state.

[0018] In one possible implementation, if the measurement data does not fall within the preset measurement range, the method further includes sending a release frame to the first node to release the second connection state. The first node establishes a connection with the second node in the second connection state, but cannot transmit video data. In this application, to prevent the first node from frequently attempting to connect with the second node, the second node can maintain a second connection state with the first node while the second node is establishing multiple first connection states. However, when it is no longer necessary to maintain the second connection state, this connection state should be released promptly to avoid affecting the first node's ability to make other connections. One possibility is that in subsequent connections or connections to other systems, it is necessary to establish a first connection state with the first node. Therefore, sending a release frame facilitates the timely release of the second connection state, making it easier to establish a connection next time.

[0019] In one possible implementation, the release frame includes the frame type, or the reason for releasing the second connection state, or the release frame includes both the frame type and the reason for releasing the second connection state. Different content in the release frame can be applied to different connection scenarios. For example, in scenarios such as WiFi, SLB, and SLE, a suitable transmission method can be selected to release the second connection state, thus broadening its applicability.

[0020] In one possible implementation, if the measurement data falls within the preset measurement range, the method further includes sending a release frame to the first node to release the first connection state, facilitating the establishment of subsequent connection states.

[0021] In one possible implementation, the release frame includes the frame type, or the reason for releasing the first connection state, or the release frame includes both the frame type and the reason for releasing the first connection state, making the release frame applicable to a wider range of scenarios.

[0022] In one possible implementation, the method further includes setting a time window within which either the first connection state or the second connection state is established.

[0023] The duration of the time window can be preset or obtained in real time. The second node should establish either a first or second connection state within the time window. Once the time window expires, it will no longer establish connections with other nodes (including both first and second connection states), effectively exiting the connection mechanism (or pairing mechanism). The second node can perform other operations after exiting the connection mechanism; therefore, setting a time window can prevent the second node from remaining in the connection mechanism for too long.

[0024] Secondly, this application provides a communication method, comprising: upon receiving a first request from a second node, establishing a first connection state, the first connection state including establishing a connection between the first node and the second node and performing video data transmission; or, upon receiving a second request from a second node, establishing a second connection state, the second connection state including establishing a connection between the first node and the second node but not performing video data transmission.

[0025] In one possible implementation, after establishing the second connection state, a release frame is received from the second node; the second connection state is then released. Timely release of the second connection state allows the first node to attempt other connections in subsequent operations, making the method more efficient.

[0026] In one possible implementation, the release frame includes the frame type and / or the reason for releasing the second connection state.

[0027] In one possible implementation, the second request includes a message type and / or the reason for establishing the second connection state.

[0028] In one possible implementation, the second request is a G-link system message, including the message type and the reason for establishing the second connection state; or, the second request is a data frame, including the reason for establishing the second connection state.

[0029] In one possible implementation, the method further includes sending a response to the second node to establish the second connection state.

[0030] In one possible implementation, the response is a G-link system message, including a message type and confirmation information for establishing the second connection state; or, the response is a data frame, including confirmation information for establishing the second connection state.

[0031] It should be understood that the second aspect of this application corresponds to the technical solution of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0032] Thirdly, this application provides a second node, including a processing module and a transceiver module.

[0033] The processing module is used to acquire measurement data, which includes at least one of the distance or angle between the first node and the second node.

[0034] The transceiver module is configured to send a first request to the first node to establish a first connection state when the measurement data falls within a preset measurement range. The first connection state includes establishing a connection between the first node and the second node and transmitting video data. Alternatively, when the measurement data does not fall within the preset measurement range, the module sends a second request to the first node to establish a second connection state. The second connection state includes establishing a connection between the first node and the second node but does not transmit video data.

[0035] In one possible implementation, the second node further includes a storage module for recording information about the first node, including at least one of the following: the first node's identification ID, the measurement data, the deviation value between the measurement data and the preset measurement range, or the reason for establishing the second connection state.

[0036] In one possible implementation, the transceiver module is also configured to send a release frame to the first node to release the second connection state.

[0037] In one possible implementation, the release frame includes the frame type and / or the reason for releasing the second connection state.

[0038] In one possible implementation, the second request includes a message type and / or the reason for establishing the second connection state.

[0039] In one possible implementation, the second request is a G-link system message, including the message type and the reason for establishing the second connection state; or, the second request is a data frame, including the reason for establishing the second connection state.

[0040] In one possible implementation, the processing module is further configured to detect whether the transceiver module has received a response from the first node; if the response is detected, the second connection state is established; if the response is not detected, the first node is identified as an abnormal node.

[0041] In one possible implementation, the response includes a message type and / or confirmation information for establishing the second connection state.

[0042] In one possible implementation, the response is a G-link system message, including a message type and confirmation information for establishing the second connection state; or, the response is a data frame, including confirmation information for establishing the second connection state.

[0043] In one possible implementation, the processing module is also configured to set a time window within which either the first connection state or the second connection state is established.

[0044] It should be understood that the third aspect of this application is the same as or corresponds to the technical solution of the first aspect of this application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation are similar, so they will not be repeated here.

[0045] Fourthly, this application provides a first node, including a processing module and a transceiver module.

[0046] The processing module is configured to establish a first connection state when the transceiver module receives a first request from the second node, the first connection state including establishing a connection between the first node and the second node and performing video data transmission; or, when receiving a second request from the second node, establish a second connection state, the second connection state including establishing a connection between the first node and the second node but not performing video data transmission.

[0047] In one possible implementation, the transceiver module is also used to receive release frames from the second node.

[0048] This processing module is also used to release the second connection state.

[0049] In one possible implementation, the release frame includes the frame type and / or the reason for releasing the second connection state.

[0050] In one possible implementation, the second request includes a message type and / or the reason for establishing the second connection state.

[0051] In one possible implementation, the second request is a G-link system message, including the message type and the reason for establishing the second connection state; or, the second request is a data frame, including the reason for establishing the second connection state.

[0052] In one possible implementation, the transceiver module is also used to send a response to the second node to establish the second connection state.

[0053] In one possible implementation, the response is a G-link system message, including a message type and confirmation information for establishing the second connection state; or, the response is a data frame, including confirmation information for establishing the second connection state.

[0054] It should be understood that the fourth aspect of this application corresponds to the technical solution of the first aspect of this application and is the same as the technical solution of the second aspect of this application. The beneficial effects obtained by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0055] Fifthly, this application provides a communication node, which may be a terminal device or a device (e.g., a chip) within a terminal device. The communication node includes modules for performing the methods described in any of the foregoing aspects or any possible implementations of any of the foregoing aspects, such as processing modules and transceiver modules (e.g., sending modules and receiving modules).

[0056] Sixthly, this application provides a communication node including at least one processor coupled to a storage medium storing instructions that, when executed by the processor, enable the processor to perform the methods described in any of the foregoing aspects or any possible implementations thereof. The storage medium may be included within the node or located externally to the node.

[0057] In a seventh aspect, this application provides a communication node, comprising: an input / output interface and a logic circuit, wherein the input / output interface is used to acquire input information and / or output information; and the logic circuit is used to execute the method described in any of the above aspects or any possible implementation thereof, processing the input information and / or generating output information.

[0058] Eighthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method as described in any of the foregoing aspects or any possible implementations of any of the foregoing aspects.

[0059] Ninthly, this application provides a computer program product comprising instructions that, when executed on a processor, implement the method as described in any of the foregoing aspects or any possible implementations of any of the foregoing aspects.

[0060] In a tenth aspect, this application provides a communication system comprising a second node as provided in the third aspect and a first node as provided in the fourth aspect.

[0061] In the eleventh aspect, this application provides a system that includes nodes or devices as provided in any of the third to tenth aspects.

[0062] It should be understood that the fifth to eleventh aspects of this application are consistent with or correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here. Attached Figure Description

[0063] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 is a schematic diagram of the structure of a communication system 100 provided in an embodiment of this application;

[0065] Figure 2 is a structural schematic diagram of a 360° surround view system provided in an embodiment of this application;

[0066] Figure 3 is a flowchart illustrating one of the communication methods provided in an embodiment of this application;

[0067] Figure 4 is a second schematic flowchart of a communication method provided in an embodiment of this application;

[0068] Figure 5a is a third schematic flowchart of a communication method provided in an embodiment of this application;

[0069] Figure 5b is a fourth schematic flowchart of a communication method provided in an embodiment of this application;

[0070] Figure 6 is a top view structural diagram of a communication scenario provided in an embodiment of this application;

[0071] Figure 7a is a fifth schematic flowchart of a communication method provided in an embodiment of this application;

[0072] Figure 7b is a schematic flowchart of a communication method provided in an embodiment of this application;

[0073] Figure 8 is a flowchart of a communication method provided in an embodiment of this application (the seventh one).

[0074] Figure 9 is a schematic diagram of one of the structures of a second node provided in an embodiment of this application;

[0075] Figure 10 is a second structural schematic diagram of a second node provided in an embodiment of this application;

[0076] Figure 11 is a schematic diagram of the structure of a first node provided in an embodiment of this application;

[0077] Figure 12 is a schematic diagram of the structure of a device 50 according to an embodiment of this application;

[0078] Figure 13 is a schematic diagram of the structure of a device 60 provided in an embodiment of this application;

[0079] Figure 14 is a schematic diagram of a 360-degree surround view system architecture provided in an embodiment of this application. Detailed Implementation

[0080] To enable those skilled in the art to better understand the solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0081] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Here, A and B can be single or multiple. "At least one of the following" or similar expressions are used to represent any combination of the listed items. For example, at least one of A, B, and / or C can represent: A existing alone, B existing alone, C existing alone, A and B existing simultaneously, B and C existing simultaneously, A and C existing simultaneously, and A, B, and C existing simultaneously. Here, A, B, and C can be single or multiple.

[0082] The terms "first" and "second," etc., used in the specification and claims of this application are used to distinguish different objects, not to describe a specific order of objects. For example, "first target object" and "second target object," etc., are used to distinguish different target objects, not to describe a specific order of target objects.

[0083] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0084] In the description of the embodiments in this application, unless otherwise stated, "multiple" means two or more. For example, multiple processing units means two or more processing units; multiple systems means two or more systems.

[0085] Figure 1 is a schematic diagram of the structure of a communication system 100 provided in an embodiment of this application. As shown in Figure 1, the communication system 100 to which this application embodiment applies may include multiple communication devices, each of which may correspond to a communication node (it should be understood that the communication node provided in this application embodiment may include communication capabilities, and may also include sensing capabilities, etc. The communication device corresponding to the communication node can be understood as the communication device being a communication node, or the communication device being a part of a communication node, or the communication node being a part of a communication device, etc.). For example, the communication devices included in the communication system 100 include at least one first device 10 and a second device 20. The first device 10 and the second device 20 are communication devices capable of establishing a communication link. The first device 10 may be regarded as a first node, or a part of a first node, or the first node is a part of the first device 10. The second device 20 may be regarded as a second node, or a part of a second node, or the second node is a part of the second device 20, etc. For example, the communication device provided in this application embodiment can support Spark Link / NearLink protocols, or IEEE protocols such as IEEE 802.11be / WiFi 7 / Extremely High Throughput (EHT) protocol, IEEE 802.11bn / WiFi 8 / Ultra High Reliability (UHR) protocol, IEEE Integrated Millimeter Wave (IMMW) protocol, IEEE 802.15.4ab / UWB protocol, and IEEE 802.11bf / Sensing protocol. It can establish at least one of Bluetooth (BT) communication, Spark Link (or NearLink) communication, WiFi communication, etc. Spark Link includes SLE, SLB, or Spark Link Positioning (SLP) mode, or BLE, or Ultra Wideband (UWB), etc.

[0086] At least one first device 10 and a second device 20 provided in the embodiments of this application can be deployed in the same network (or access the same network). The communication device (including the first device 10 and the second device 20) in the embodiments of this application can be a processor, a chip, or a chip system, etc. Alternatively, the communication device can also be a logic module or software that can realize all or part of the functions, etc. The embodiments of this application do not impose any restrictions.

[0087] The communication device provided in this application embodiment can be any device or part of a device with wireless transceiver function. Such device includes, but is not limited to, cellular phone, cordless phone, session initiation protocol (SIP) phone, smartphone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication function, computing device, vehicle device, wearable device, drone device, electronic device in the Internet of Things or the Internet of Vehicles, and other devices connected to a wireless modem.

[0088] The communication device provided in this application embodiment may have wireless communication capability. For example, the communication device may be any device or part of a device with wireless communication capability. This device may be configured with multiple antennas (or antenna modules), which may include at least one transmitting antenna for transmitting signals and at least one receiving antenna for receiving signals. In addition, each communication device also includes a transmitter chain and a receiver chain. It should be understood that they may each include multiple components related to signal transmission and reception (e.g., processors, modulators, multiplexers, demodulators, demultiplexers, or antennas, etc.).

[0089] The communication device can also be other electronic devices or part of electronic devices.

[0090] The electronic device may also include electronic devices in virtual reality (VR), augmented reality (AR), machine type communication (MTC), industrial control (e.g., smart manufacturing), self-driving, remote medical, smart grid, smart city, and smart home.

[0091] The electronic device may also include personal portable electronic devices, computer peripherals, and various household or industrial electrical equipment, including but not limited to terminal devices such as various types of user equipment (UE), mobile phones, tablets, desktop computers, headphones, speakers, etc.

[0092] This electronic device can also include various terminal devices, such as wireless headphones, VR headsets, monitors, televisions, remote controls, network adapters, cameras, controllers, laptops, in-vehicle computers, in-vehicle terminals (such as microphones and speakers), projectors, printers, and high-fidelity (HiFi) speakers. It should be understood that in the Internet of Things (IoT) scenario, terminal devices can be in the form of tags or any other arbitrary terminal form.

[0093] The electronic device may also include machine intelligence devices, such as self-driving devices, transportation safety devices, smartphones, smart screens, smart speakers (such as artificial intelligence (AI) speakers), smart sensors, smart wristbands, smart watches, smart glasses, smart cars, smart lathes, smart monitoring equipment, etc.

[0094] The electronic device may also include wearable devices such as smartwatches, smart bracelets, pedometers, etc.

[0095] The electronic device may also include various in-vehicle devices, such as cockpit domain devices, or a module of a cockpit domain device (such as one or more modules such as a cockpit domain controller (CDC), camera, screen, microphone, audio system, electronic key, keyless entry or start system controller, etc.).

[0096] The electronic device may also include data relay devices, such as routers, repeaters, bridges, or switches.

[0097] In some possible implementations, the communication device may also be a logic module or software that can implement all or part of the functions of the first node or the second node.

[0098] In some possible implementations, the communication method provided in this application embodiment can be applied to wireless short-range communication systems and wireless communication systems that support longer-distance transmission. That is, the technical solution of this application embodiment can be applied to, but is not limited to, wireless short-range communication systems and wireless communication systems that support longer-distance transmission (such as 1km-18km, or over 18km) (such as the next-generation SparkLink / NearLink wireless communication system). The wireless short-range communication system can include wireless short-range communication technology (also known as SparkLink 1.0 technology), which has advantages such as ultra-low latency, ultra-high reliability, and precise synchronization, and is suitable for applications in smart cars, smart homes, smart terminals, and smart manufacturing scenarios. For example, applications in smart car scenarios include: immersive in-vehicle sound field & noise reduction, wireless interactive projection, and 360-degree panoramic surround view, which can achieve an immersive interactive experience and improve vehicle safety. Wireless communication systems that support longer transmission distances (such as 1km to 18km) mainly include next-generation StarSpark wireless communication systems, such as StarSpark 2.0 and StarSpark 3.0 wireless communication systems. They are not only suitable for communication scenarios with low latency requirements, such as the aforementioned vehicle communication and industrial control scenarios, but also for communication scenarios with low latency requirements.

[0099] It should be understood that the wireless short-range communication system provided in this application embodiment, such as the Starflash system, may include G nodes and T nodes. A G node can be a node in the wireless short-range communication system that has resource scheduling capabilities and can send at least one of the control information, such as resource management information or data scheduling information. A T node can be a node in the wireless short-range communication system that receives at least one of the resource management information or data scheduling information sent by the G node and performs data transmission or reception accordingly. Uplink and downlink transmission exist between the G node and the T node. Uplink transmission is implemented through the T link, which is the link between the T node and the G node, and can also be called the uplink link. Downlink transmission is implemented through the G link, which is the link between the G node and the T node, and can also be called the downlink link. In the example of this application embodiment, the second node can act as the G node, and the first node can act as the T node to achieve communication.

[0100] In examples of different scenarios, the management node (i.e., the G node) is located on the network side of the aforementioned communication system. It assists terminal nodes (i.e., T nodes) in achieving wireless access and is a device with wireless transceiver capabilities, or a chip or chip system that can be installed on this device. This management node includes, but is not limited to: network devices, access network devices, access network nodes, radio access network (RAN) nodes, RAN entities or access nodes, base stations, evolved NodeBs (eNodeBs), access points (APs), transmission reception points (TRPs or transmission points (TPs), next-generation NodeBs (gNBs), next-generation base stations in sixth-generation (6G) mobile communication systems, base stations in future mobile communication systems, or access points (APs) in WiFi systems. The management node can be a macro base station, micro base station, indoor station, relay node, donor node, open radio access network (ORAN), or a radio controller in a centralized radio access network (CRAN) scenario. The management node can also be one or a group of antenna panels (including multiple antenna panels) of a 5G base station, or it can be a network node constituting a gNB, TRP, TP, or transmission measurement function (TMF), such as a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), a radio unit (RU), or a roadside unit (RSU) with base station functionality. Optionally, the management node can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, the management node in vehicle-to-everything (V2X) technology can be an RSU. Optionally, the management node can also be a control unit in autonomous driving, a central controller in a smart factory / smart home, or a handheld or automatic control remote sensor for flight equipment. Optionally, the management node can also be a control device such as a central control or control panel, such as a drone controller or a control unit in industrial control.All or part of the functions of the management node in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The management node in this application can also be a logical node, logical module, or software capable of implementing all or part of the management node functions. The form of the management node is not limited in the embodiments of this application.

[0101] A terminal node (i.e., a T-node) is a device, equipment, module, chip, or chip system with transceiver capabilities. It can also be referred to as terminal equipment, user equipment (UE), access terminal, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent, or user equipment. The terminal nodes in the embodiments of this application can be mobile phones, cellular phones, smartphones, tablets, mice, remote controls, styluses, set-top boxes, routers, cameras, screens, smart screens, wireless data cards, PDAs, wireless modems, handsets, laptop computers, smartwatches, smart bracelets, wireless headphones, electronic whiteboards, MTC terminals, computers with wireless transceiver capabilities, VR terminals, AR terminals, smart home devices (e.g., refrigerators, televisions, air conditioners, washing machines, rice cookers, table lamps, electricity meters, etc.), smart robots, robotic arms, workshop equipment, wireless terminals in autonomous driving, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, and wireless terminals in smart homes. The terminal node in this application can be a wireless terminal, vehicle terminal, vehicle screen, vehicle audio system, car key, roadside unit (RSU) with terminal function, or flying equipment (e.g., intelligent robot, hot air balloon, drone, airplane). The terminal node in this application can also be an onboard module, onboard unit, onboard component, onboard chip, or onboard unit built into a vehicle as one or more components or units. The terminal node can also be other devices with terminal function; for example, it can be a device that performs terminal function in device-to-device (D2D) communication.

[0102] In some possible implementations, the aforementioned communication system may be used in conjunction with a mobile communication system, such as a mobile communication system.

[0103] In some possible implementations, the communication method provided in this application embodiment can be applied to wireless local area network (WLAN), narrowband Internet of Things (NB-IoT), global system for mobile communications (GSM), enhanced data rate for GSM evolution (EDGE), wideband code division multiple access (WCDMA), code division multiple access 2000 (CDMA2000), time division-synchronization code division multiple access (TD-SCDMA), satellite communication and mobile communication systems. Mobile communication systems include, but are not limited to, fourth-generation (4G) communication systems (e.g., long term evolution (LTE) systems), fifth-generation (5G) communication systems (e.g., new radio (NR) systems), and future mobile communication systems such as sixth-generation (6G) mobile communication systems.

[0104] The following uses a 360° surround view system (also known as 360° surround view, 360° panoramic surround view, or 360° wireless surround view system, etc.) as an example to illustrate some applications of this communication method. For instance, the 360° surround view system can be used as an important safety-assisted driving technology in the automotive industry. For example, this application provides a schematic diagram of a vehicle structure. Referring to Figure 2, the 360° surround view system can generate a panoramic view of the vehicle's surroundings by installing multiple cameras around the vehicle, processing images, and transmitting them wirelessly. This method can effectively eliminate blind spots and improve driving safety. Referring to the communication system 100 in Figure 1, the first device 10 can be considered as a sensor node included in the 360° surround view system, and the second device 20 can be considered as a master node included in the 360° surround view system. The sensor node includes communication nodes installed on the vehicle body for video acquisition, such as cameras. The master node can establish an initial secure connection with the sensor nodes and transmit video data through further pairing (also known as connection). That is, the master node and the sensor node need to be paired and transmit video data. It should be understood that the positions of the master node and the sensor node in Figure 2 are only examples and are not limited.

[0105] It should be understood that this communication method, in addition to the 360° surround view system for automobiles illustrated in Figure 2, can also be applied to other systems such as drone swarm control systems, industrial automation systems, or smart home systems. For example, in a drone swarm control system, multiple drones can be regarded as sensor nodes, and the master node can be set up at the ground control station. Wireless communication technology is used to establish connections with the drones, enabling collaborative control and data transmission of the drone swarm. In an industrial automation system, the master node can be set up in the central control room, and sensor nodes can be set up at the locations that need to be monitored (or detected, monitored, etc.). Wireless communication technology is used to achieve real-time monitoring and data transmission of the status of the monitored equipment. In a smart home system, such as in a home environment, the home gateway can be regarded as the master node, and sensor nodes can be distributed in various rooms or on different monitored devices. Wireless communication technology is used to achieve intelligent control and data transmission of home devices.

[0106] Optionally, the wireless communication technologies provided in the embodiments of this application include BT communication technology, Star Flash communication technology, WiFi communication technology, Bluetooth Low Energy (BLE) communication technology, etc.

[0107] The following explanation uses the pairing (or establishment of the first connection state) between the master node and sensor nodes in a 360-degree surround view system for automobiles as an example. The master node of the vehicle generates a 360-degree bird's-eye view of the vehicle's surroundings by installing multiple cameras (as sensor nodes) around the vehicle body. Through camera calibration, distortion correction, perspective transformation, and image stitching, the system helps the driver eliminate blind spots and improve driving safety. This 360-degree surround view system is applicable to scenarios including, but not limited to, the surround view scenario shown in Figure 2. It can also be applied to large-scale applications such as multi-camera systems in long-haul freight vehicles and buses, or train applications where one cab corresponds to multiple carriages.

[0108] In one example, the master node and sensor nodes can be paired via password input. For instance, an operator can obtain the password for the master node at the vehicle site and then enter the password at the corresponding sensor node to establish pairing. While this method has a high success rate, it relies on manual operation, resulting in low efficiency and inconvenience. One possibility is that in some scenarios, the sensor node may not have a corresponding user interface, preventing the operator from entering the password and leading to pairing failure (or failure to establish an initial connection, pairing failure, or pairing method ineffectiveness). These issues may cause the 360-degree surround view system to malfunction in practical applications.

[0109] In one example, the master node and sensor nodes can automatically pair up using a pre-shared key (PSK). For instance, before deploying a system like a 360° surround view system, operators pre-configure the PSK into the master node and each sensor node. These sensor nodes include those expected by the master node (or simply referred to as expected nodes, anticipated nodes, etc.). This also includes unexpected sensor nodes (or simply unexpected nodes, etc.). "Expected" can be understood as meeting the requirements of the master node or providing video that meets the master node's needs. Similarly, an expected node can be understood as a node that meets the requirements of the master node or provides video that meets the master node's needs. It should be understood that the expected nodes provided in this application embodiment are merely examples. In different application scenarios, this node may use other applicable names, such as target node, and is not limited to the names in this application example. The pairing of the master node and sensor nodes only verifies the PSK and does not distinguish between expected and unexpected nodes. That is, pairing via PSK may be affected by the channel environment. For example, if the channel environment of an unexpected node is better, the sensor node connected to the master node may be an unexpected node. The access of these unexpected nodes has several drawbacks. First, it crowds out the access of expected nodes, compromising the accuracy of pairing. In some pairing scenarios, the master node needs to pair with all expected sensor nodes. The access of unexpected nodes causes the master node to frequently process pairing requests from unexpected nodes before completing all expected pairings, prolonging the overall pairing time and affecting efficiency and success rate. Second, it also consumes the energy and resources of the master node. Multiple accesses from various unexpected nodes may cause the master node, which has limited power storage, to run out of power.

[0110] In one example, the master node and sensor nodes can automatically pair up using a simple connection request and response mechanism. The master node broadcasts a pairing connection request, and any sensor node that receives this request can pair with the master node. This method suffers from similar issues to PSK, such as the impact of unexpected node access affecting pairing efficiency and success rate.

[0111] To address the aforementioned issues, this application proposes a communication method in which a second node can ensure that only intended nodes can establish a first connection state with it based on at least one of wireless ranging and wireless angle measurement technologies. Although unintended nodes may establish a second connection state with the second node, video data transmission is not performed in this second connection state.

[0112] Figure 3 is a flowchart illustrating one of the communication methods provided in this application embodiment, which is explained using an example of a method executed by a second node (e.g., a processor, chip, or chip system). As shown in Figure 3, the method includes steps S101 to S104.

[0113] In some examples, the communication method provided in this application embodiment can be applied to different scenarios, including a second node and multiple other nodes with video acquisition capabilities, among which the first node is included. For example, scenarios such as 360-degree surround view of a car or drone swarm control can include at least one master node and multiple sensor nodes. The second node can be regarded as the master node, and the first node can be regarded as one of the multiple sensor nodes, but this is not limited.

[0114] S101, The second node acquires measurement data, which includes at least one of the distance or angle between the first node and the second node.

[0115] Alternatively, the second node can acquire measurement data in various ways. One example is that the second node uses wireless communication technology to measure at least one of the distances or angles between each of multiple other nodes (such as sensor nodes) and the second node (such as the master node).

[0116] For example, the measurement data acquired by the second node includes at least one of the distance and angle between the second node and the first node. One example is that the second node can acquire at least one of the distance or angle between itself and each other node through other auxiliary means. For instance, the second node can receive measurements from other high-precision ranging and angle measuring modules located outside the node, obtaining at least one of the distance or angle between itself and each other node. The high precision can be flexibly determined based on the accuracy requirements of the application scenario, or it can be determined based on the general accuracy level set in the application scenario.

[0117] It should be understood that, in this embodiment of the application, the measurement data obtained by the second node is the measurement data between the first node and the second node, and other nodes can refer to the operation of the first node to implement this communication method, which will not be elaborated further.

[0118] S102. The second node determines whether the measurement data belongs to the preset measurement range. If yes, execute S103; otherwise, execute S104.

[0119] For example, the second node has a preset measurement range, which may include at least one of a preset distance range or a preset angle range. For example, the preset measurement range can be set differently for each other node. One example is to set a preset measurement range for each sensor node. This preset measurement range can also include a preset distance range. For example, in a certain scenario, four sensor nodes are needed at distances of 1 meter, 2 meters, 3 meters, and 4 meters from the second node, respectively, with a measurement accuracy of 0.3 meters. The preset measurement range can include 0.7 meters to 1.3 meters, 1.7 meters to 2.3 meters, 2.7 meters to 3.3 meters, and 3.7 meters to 4.3 meters. If the distance between the first node and the second node is 4.2 meters, it can be determined that the first node belongs to the preset measurement range, that is, the first node is one of the four sensor nodes required by the second node. If the distance between the first node and the second node is 2.5 meters, it can be determined that the first node does not belong to the preset measurement range, that is, the first node is not one of the four sensor nodes required by the second node. The implementation of a preset measurement range including a preset angle range, or a preset measurement range including both a preset distance range and a preset angle range, can be referenced in this example and will not be elaborated further. Alternatively, the preset measurement range can include a uniform preset distance or range precision, such as a preset distance precision of 0.5 meters and a preset angle precision of 5°. Suppose that in a certain scenario, a sensor node needs to acquire video data at a position 2 meters away from a second node. If the measurement data acquired by the second node is between 1.5 meters (i.e., 2 meters - 0.5 meters) and 2.5 meters (i.e., 2 meters + 0.5 meters) from the first node, then the measurement data can be determined to belong to the preset measurement range. Similarly, suppose that in a certain scenario, a sensor node needs to acquire video data at a position 45 degrees from a second node. If the measurement data acquired by the second node is between 1.5 meters (i.e., 2 meters - 0.5 meters) and 2.5 meters (i.e., 2 meters + 0.5 meters) from the first node, then the measurement data can be determined to belong to the preset measurement range. If the angle of a node is between 40° (i.e., 45°-5°) and 50° (i.e., 45°+5°), then the measurement data can be determined to be within the preset measurement range. Suppose that in a certain scenario, a sensor node needs to acquire video data at a position with an angle of 45 degrees to a second node and a distance of 2 meters. If the distance between the second node and the first node is between 1.5 meters and 2.5 meters, and the angle between the second node and the first node is between 40° and 50°, then the measurement data can be determined to be within the preset measurement range.

[0120] S103. The second node sends a first request to the first node to establish a first connection state, which includes establishing a connection between the first node and the second node and transmitting video data.

[0121] In the first connection state (which can be called the connection state, or the first connection, etc.), or in other words, when the first connection state is established, the second node can transmit video data with the first node. For example, the second node can receive video data from the first node. In a 360-degree surround view scenario, the second node can start receiving surround view data, etc.

[0122] Optionally, the establishment of a first connection state and video transmission between the first node and the second node can be achieved through one or more of the following methods: the second node opens a corresponding port, through which the first node can transmit video data to the second node; or, the second node sends an instruction to the first node, instructing the first node to transmit video data to the second node, and the first node transmits video data to the second node according to the instruction; or, the first node sends a negotiation for the video data transmission port to the second node, and upon receiving feedback from the second node (such as negotiation result or agreement to negotiation), sends video data to the second node.

[0123] S104. The second node sends a second request to the first node to establish a second connection state. The second connection state includes establishing a connection between the first node and the second node, but does not involve video data transmission.

[0124] For example, in the second connection state (which may be called the half-connection state, or the second connection, etc.), not transmitting video data can be achieved through one or more of the following:

[0125] The second node does not allow (or prohibits) the first node from sending video data to the second node; or,

[0126] The video data sent by the first node cannot be transmitted to the second node;

[0127] The second node and the first node agreed in advance that no video data transmission would occur in the second connection state.

[0128] For example, a second node disallowing (or prohibiting) the first node from sending video data to the second node could include: the second node sending an instruction to the first node to prohibit (or disallow) the first node from transmitting video data to the second node; for example, the second node sending an identifier to the first node to disallow (or prohibit) the first node from sending video data to the second node. Alternatively, the second node might refuse to negotiate when it receives a video data transmission port negotiation from the first node.

[0129] The inability of video data sent by the first node to be transmitted to the second node may include situations where the second node closes the corresponding port for receiving video data from the first node. This embodiment of the invention does not limit the specific method by which video data transmission is not performed in the second connection state.

[0130] For example, in the second connection state, the first node and the second node can maintain the connection (or maintain the second connection state) through the transmission of heartbeat frames.

[0131] The communication method provided in this application embodiment can pre-set a preset measurement range. For example, the preset measurement range can be pre-set by the second node according to expectations (or according to the distance and / or angle of the video required by the second node). This communication method can establish different connection states between the second node and the first node based on whether the measurement data belongs to the preset measurement range (or whether it is within the preset measurement range). That is, by comparing the measurement data obtained by the second node with the preset measurement range, if the measurement data belongs to the preset measurement range, the first node can be regarded as the expected node, and a first connection state is established; if the measurement data does not belong to the preset measurement range (or is not within the preset measurement range), the second node can be regarded as the unexpected node, and a second connection state is established. Different connection states can achieve different connection effects. For example, in the first connection state, the second node allows the first node to establish a connection and transmit video data. The second node can accurately establish the first connection with the intended node and complete subsequent services, such as transmitting video data, image processing based on the received video data, and other subsequent operations. In the second connection state, the second node allows the first node to establish a connection but does not transmit video data. This is equivalent to the first node being an unintended node, and the second node does not allow it to transmit video data. This avoids the first node transmitting unnecessary video data to the second node, thus reducing unnecessary transmission overhead for the second node. Simultaneously, maintaining a second connection with the first node prevents the first node from continuously attempting to connect to the second node without establishing a second connection, thus preventing it from crowding out connections to other intended nodes. In other words, the communication method provided in this application can improve connection efficiency. Furthermore, the second node determines whether the first node is the expected node by measuring data, such as wireless ranging and angle measurement, and establishes different connection states for expected and unexpected nodes. This effectively avoids frequent access by unexpected nodes and reduces the security risks to communication when unexpected nodes are abnormal nodes. For example, it reduces the security risks that may occur due to key leakage in PSK leading to connection with abnormal nodes, or due to the response mechanism responding to abnormal nodes to establish connections, thereby enhancing security and reliability.

[0132] It should be understood that in the communication method provided in this application embodiment, nodes within a preset measurement range can be considered as expected nodes, and nodes outside the preset measurement range can be considered as unexpected nodes. In other words, the communication method provided in this application embodiment can determine whether an accessed node is an expected node based on measurement data and a preset measurement range. This effectively reduces the impact of unexpected node access on the efficiency and success rate of establishing the first connection state.

[0133] Figure 4 is a second flowchart of a communication method provided in an embodiment of this application. The method is illustrated by example of execution by a first node (e.g., a processor, chip, or chip system) and a second node (e.g., a processor, chip, or chip system). As shown in Figure 4, the method includes S201 to S203.

[0134] S201. The second node sends a request to the first node, which may include either a first request or a second request.

[0135] S202. If the first node receives the first request, it establishes a first connection state, which includes establishing a connection between the first node and the second node and transmitting video data.

[0136] In the first connection state, the first node can transmit video data with the second node. For example, the first node can send video data to the second node. In a 360-degree surround view scenario, the first node can start sending surround view data.

[0137] The establishment of the first connection state between the first node and the second node and the transmission of video can be referred to the example in S103, which will not be elaborated here.

[0138] It should be understood that in this embodiment, the first node is used as an example for explanation, and other nodes can refer to the operation of the first node, without further elaboration.

[0139] S203. If the first node receives the second request, it establishes a second connection state. The second connection state includes establishing a connection between the first node and the second node, but does not transmit video data.

[0140] The first node establishes a second connection state with the second node, but does not transmit video data. You can refer to the example in S104, which will not be elaborated here.

[0141] The communication method provided in this application is applicable to scenarios including a second node and multiple other nodes with video acquisition capabilities, among which the first node is included. This method, using at least one of ranging and angle measurement techniques, establishes a first connection state between the first node and the second node when the first node is determined to be the expected node; otherwise, it establishes a second connection state. This avoids the situation where, if the first node is not the expected node, it repeatedly attempts to connect due to the lack of connection with the second node, thus improving the efficiency and security of establishing the first connection state. The method will be described below with different examples, but these are not intended to be limiting.

[0142] Figure 5a is a flowchart illustrating a communication method according to an embodiment of this application. In some possible implementations, the second node can be a master node, and the first node can be a sensor node. Alternatively, the second node and the first node can be other master nodes, such as the second node being a G node and the first node being a T node. In this embodiment, the first node is one of multiple sensor nodes, denoted as sensor node 1, and the second node is a master node, but the first and second nodes are not limited. It should be understood that the communication method provided in this embodiment can be applied to different scenarios, such as 360-degree surround view in automobiles and drone swarm control scenarios.

[0143] Other sensor nodes among multiple sensor nodes can refer to sensor node 1 to perform operations, which will not be elaborated further. As shown in Figure 5a, the method includes steps S302 to S306.

[0144] Optionally, the method may include S301 before S302.

[0145] S301. The master node establishes initial connections with multiple sensor nodes.

[0146] The initial connection, also known as the initial secure connection, involves the master node establishing an initial secure connection with multiple sensor nodes. This includes the master node establishing an initial secure connection with multiple nearby sensor nodes via wireless technology (such as BT, WiFi, BLE, SLB, or SLE). It should be understood that "nearby" as described in this embodiment can be considered as the range within which wireless connections can be established, or the range within which the master node needs to establish a wireless connection, and is not limited thereto.

[0147] It should be understood that the master node and sensor nodes can support one or more wireless technologies such as BitTorrent, WiFi, BLE, SLB, or SLE. In practical applications, the most suitable communication technology can be selected based on the specific needs of the application scenario, thereby improving the flexibility and adaptability of the communication method. For example, in scenarios requiring high-bandwidth transmission, the master node and multiple sensor nodes can establish an initial secure connection via WiFi; in scenarios requiring low-power, short-range communication, the master node and multiple sensor nodes can establish an initial secure connection via BLE; in scenarios requiring high-precision positioning, SLB supports high-precision ranging and angle measurement, and the master node and multiple sensor nodes can establish an initial secure connection via SLB; in scenarios requiring both high-bandwidth transmission and low-power, short-range communication, the master node and multiple sensor nodes can establish an initial secure connection via WiFi and BLE, and so on. By selecting different wireless technologies to establish an initial secure connection, the communication method provided in this application embodiment can be applied to a wider range of scenarios. For example, it is not only applicable to the example car 360-degree surround view system, but can also be extended to scenarios such as trains, trucks, buses, cars, and drone swarms.

[0148] In one possible implementation, in scenarios where the master node may move, the initial secure connection can be triggered when the master node reaches a preset (or specified) location. For example, in a scenario involving a train or freight car with a locomotive and multiple carriages, assuming the locomotive has a master node deployed on it and each carriage has a sensor node deployed on it, with the locomotive consisting of locomotive 1 and locomotive 2, and carriages 1 through 8, this scenario might include 2 master nodes and 10 sensor nodes, with the 10 sensor nodes deployed on 8 carriages. One possible implementation is that after locomotive 1 reaches the specified location, the master node establishes initial secure connections with each of the 10 sensor nodes. This method of establishing an initial secure connection after the vehicle head 1 arrives at the designated location can effectively prevent situations where the master node in the vehicle head 2 connects with the sensor node in scenarios where the vehicle head 1 needs to establish a connection, due to the location of the vehicle head 2 and the signal strength being better. This avoids the situation where the master node 1, which needs to connect, cannot connect with the sensor node that needs to transmit video data.

[0149] It should be understood that the master node can have a pre-set measurement range (which can also be named a pre-configured list, etc.), or it can measure the expected nodes in real time after establishing the initial secure connection, such as the locations of the eight carriages that need to acquire video data, and at least one of the distances or angles between these locations and the master node, to generate the pre-set measurement range. For example, referring to the example above, the video data that the master node in the locomotive 1 needs to acquire should come from eight locations deployed on carriages 1 to 8. Therefore, after the locomotive 1 reaches the designated location, it can measure the distance between these eight locations and the master node in the locomotive 1 using at least one of the ranging or angle measurement techniques to generate the pre-set measurement range. For example, by using ranging and angle measurement techniques, eight sets of real-time measurement data can be obtained, with each set of real-time measurement data corresponding to one location (the eight locations include that location).

[0150] S302, the master node acquires measurement data.

[0151] Optionally, the master node can measure at least one of the distances or angles between itself and each sensor node with which it has established an initial secure connection; alternatively, the master node can obtain at least one of the distances or angles between itself and each sensor node in the scene from other auxiliary devices. For ease of description, the following description will use the measurement data including distance and angle, but this is not limiting.

[0152] Based on the example in S301, the master node in vehicle head 1 can obtain the distance and angle of the 10 sensor nodes that have established an initial safe connection with it in the scene.

[0153] It should be understood that the communication method provided in this application embodiment can support distance measurement (referred to as ranging) or angle measurement (referred to as angle measurement) through different wireless technologies. Taking ranging as an example: distance can be measured through pulse ranging (or time ranging), phase ranging, and frequency ranging; in one possible implementation, the subject performing the ranging, such as the master node, has sensing capabilities. In this case, ranging can be achieved through sensing technology, or by combining communication and sensing technologies, etc. This application embodiment does not limit the method of obtaining measurement data through wireless technology. Similarly, angle measurement can also be obtained through at least one of communication or sensing methods, which will not be elaborated further.

[0154] S303. The master node compares the measurement data with the preset measurement range to determine whether the sensor node is the expected node.

[0155] If the master node compares the measurement data with the preset measurement range and determines that sensor node 1 is the expected node, then S304 is executed.

[0156] Referring to the example of S302, the master node in the vehicle front 1 can obtain the distance and angle of the 10 sensor nodes that have established an initial safe connection with it in the scene. The measurement results are recorded as distance and angle 1 to distance and angle 10, and the 10 sensor nodes are recorded as sensor node 1 to sensor node 10. Taking the distance and angle 1 corresponding to sensor node 1 as an example, the distance and angle 1 are compared with a preset measurement range. If the distance and angle belong to a set in the preset measurement range (assuming that the preset measurement range includes a preset distance and a preset angle; if it only includes one of them, then only one of them is compared, and this will not be elaborated further), then sensor node 1 is determined to be the expected node. If the distance and angle do not belong to any set in the preset measurement range, then sensor node 1 is determined not to be the expected node. The following example uses sensor node 1 as an example. Other sensor nodes can be implemented by referring to sensor node 1.

[0157] Figure 6 is a top-view structural diagram of a communication scenario provided in an embodiment of this application. As shown in Figure 6, this scenario includes a truck, which includes one master node and four expected nodes. The master node is simply denoted as M, and the four expected nodes are simply denoted as S1, S2, S3, and S4, respectively. It should be understood that in actual application scenarios, the number of sensor nodes may be greater than or equal to the number of expected nodes M. Referring to Figure 6, it is assumed that the specifications of the truck are: the cab is 3 meters × 2 meters (i.e., the width of the truck is 3 meters and the length of the cab is 2 meters), and the length of the cargo box is 15 meters. The preset measurement range is set according to the accuracy of distance measurement and angle measurement. For example, the distance measurement accuracy should be within 0.5 meters, and the angle measurement accuracy should be within 5°.

[0158] Suppose M measures multiple sensor nodes in a truck, obtaining multiple sets of measurement data, and compares them with a preset measurement range. The preset measurement range can be obtained based on the positions of S1, S2, S3, and S4. For example, if the distance between a certain sensor node and M is between 1.5 meters (i.e., 2 meters - 0.5 meters) and 2.5 meters (i.e., 2 meters + 0.5 meters), and the angle is between 85° (i.e., 90° - 5°) and 95° (i.e., 90° + 5°), then this sensor node can be considered S1; if the distance between a certain sensor node and M is... Rice and Between meters, the angle is and Between these points, the sensor node can be considered as S2; if the distance between a certain sensor node and M is within... Rice and Between, the angle is and If the distance between a sensor node and M is between 14.5 meters (15 meters - 0.5 meters) and 15.5 meters (15 meters + 0.5 meters), and the angle is between 85° (90° - 5°) and 95° (90° + 5°), then the sensor node can be considered S3. In other words, the preset measurement range can include four sets of data, such as: the distance between the sensor node and M is between 1.5 meters and 2.5 meters, and the angle is between 85° and 95°; the distance between the sensor node and M is between... Rice and Between meters, the angle is and Between; the distance between the sensor node and M is within Rice and Between, the angle is and The distance between the sensor node and M is between 14.5 meters and 15.5 meters, and the angle is between 85° and 95°. If M measures the distance and angle between itself and sensor node 1, and the result is that the distance is between 1.5 meters and 2.5 meters, and the angle is between 85° and 95°, then sensor node 1 can be determined to be the expected node and can be considered as S1. If M measures the distance and angle between itself and sensor node 1, and the result is that the distance is between... Rice and Between, the angle is and If the distance and angle between M and sensor node 1 are not within any of the four sets of data in the preset measurement range, then sensor node 1 can be determined to be an unexpected node.

[0159] It should be understood that S304 can be executed when sensor node 1 is the expected node, and S308 can be executed when sensor node 1 is the expected node.

[0160] S304. The master node sends a first request to sensor node 1 to establish the first connection state.

[0161] It should be understood that the master node can be regarded as the second node in the examples of Figures 3 and 4, and the sensor node 1 can be regarded as the first node in the examples of Figures 3 and 4. The master node sends a request to the sensor node 1, which includes a first request to establish a first connection state.

[0162] For example, the first request may include a message type, or the first request may include a reason for establishing the first connection state, or the first request may include both a message type and a reason for establishing the first connection state.

[0163] Optionally, the first request can be generated based on different wireless technologies. For example, taking a scenario where the first request includes a message type and a reason for establishing a first connection state as an example, in a scenario where an initial secure connection is established via WiFi, the first request can be a data frame used to transmit video data. The data frame can include a message type and a reason for establishing a first connection state. The message type can include a data frame or a management frame, and the reason for establishing a first connection state can include that the sensor node 1 is a target node. In a scenario where an initial secure connection is established via SLB, the first request can be reused from a message used to transmit video data. The message includes a message type and a reason for establishing a first connection state. The message type can include a message or a request message, and the reason for establishing a first connection state can include that the sensor node 1 is a target node. It should be understood that the first request can be generated independently or can reuse data frames or messages transmitted in the current wireless connection; this application embodiment does not limit this.

[0164] S305, Sensor node 1 receives the first request and responds.

[0165] For example, sensor node 1 can respond by sending response messages, response frames, etc. This response may include a first connection state establishment confirmation, used to confirm the establishment of the first connection state with the master node.

[0166] S306. The master node receives the response and establishes the first connection state with sensor node 1.

[0167] It should be understood that after the master node receives the response and establishes the first connection with sensor node 1, it can start transmitting video data. For example, the master node and sensor node 1 negotiate the video transmission port, and sensor node 1 sends the collected video data to the master node through this port.

[0168] Optionally, S307 may be included after S306.

[0169] S307. The master node sends a release frame to sensor node 1 to release the first connection state.

[0170] This release of the first connection state can also be referred to as disconnecting the first connection, etc.

[0171] It should be understood that after the master node finishes transmitting video data, it can release the connection with sensor node 1. For example, if in a scenario, the master node needs to periodically acquire video data collected in that scenario, after one video data acquisition cycle ends, the master node or sensor node may move, causing the expected node for the master node to change in the next cycle. By promptly releasing the first connection state after one video data acquisition cycle ends, the master node can easily re-establish the first connection state with the expected node next time, ensuring that the acquired video data better meets the requirements. Therefore, sending a release frame in a timely manner to release the first connection state improves the adaptability of the first connection state.

[0172] Optionally, the release frame may include the frame type, such as a management frame or a release frame. The release frame may include the reason for releasing the first connection state, such as the first connection timeout, the master node's expected node change, or the master node's insufficient power. The release frame may also include the frame type and the reason for releasing the first connection state.

[0173] Figure 5b is a flowchart illustrating a communication method according to an embodiment of this application. This method, based on the method in Figure 5a, includes steps S302 and S303. If the master node compares the measurement data with a preset measurement range and determines that sensor node 1 is not the expected node (i.e., sensor node 1 is an unexpected node), then step S308 is executed. The master node's determination of whether sensor node 1 is the expected node can be found in the example in S303, and will not be elaborated further.

[0174] S308. The master node sends a second request to sensor node 1 to establish a second connection state.

[0175] It should be understood that the master node can be regarded as the second node in the examples of Figures 3 and 4, and the sensor node 1 can be regarded as the first node in the examples of Figures 3 and 4. The master node sends a request to the sensor node 1, which includes a second request to establish a second connection state without video transmission.

[0176] For example, the second request may include a message type, or the second request may include a reason for establishing the second connection state, or the second request may include both a message type and a reason for establishing the second connection state.

[0177] In one possible implementation, an initial secure connection is established between the master node and sensor node 1 via WiFi. The second request can be a data frame in WiFi, such as a newly defined management frame in WiFi, used to establish a second connection state (i.e., a half-connection state). One example is that the management frame is a half-connection establishment request message, which may include a message type and a reason for establishing the second connection state. The message type distinguishes whether the second request is for establishing the second connection state; for example, the message type may include (or indicate that the message is) a management frame, a half-connection establishment request message, etc. The reason for establishing the second connection state may include that sensor node 1 is an unexpected node, or it may include reasons why sensor node 1 is an unexpected node, such as a deviation between the location of sensor node 1 and a preset measurement range.

[0178] In one possible implementation, an initial secure connection is established between the master node and sensor node 1 via a Service Buffer (SLB). In this scenario, the master node can be considered a G node, and sensor node 1 can be considered a T node. The second request can be a separately generated message or a message reused from the SLB. One example is that the second request is a half-connection establishment request message, which includes a message type and a reason for establishing the second connection state. The message type is defined as a Glink-SystemInfo-Message, and the content of the payload distinguishes that this Glink-SystemInfo-Message can also be used to establish a second connection state (i.e., a half-connection state). The reason for establishing the second connection state can be referenced from the previous example (e.g., the reason for establishing a second connection state in a WiFi data frame), and will not be elaborated further.

[0179] Furthermore, when the master node and sensor node 1 establish an initial secure connection via other wireless technologies, a second request can be generated independently or existing messages or data frames from the wireless technology can be reused to request the establishment of a second connection state. For example, if the wireless technology includes SLE, a data frame from SLE can be reused. This data frame can include the reason for establishing the second connection state. Optionally, in this scenario, the reason for establishing the second connection state can be carried in the payload. This data frame may not carry a message type, but the reason for establishing the second connection state can be used to distinguish that the message can also be used to establish a second connection state (i.e., a half-connection state). Similarly, in low-power scenarios where the wireless technology includes BLE, the second request can be implemented through existing message mechanisms, i.e., by reusing existing messages, which will not be elaborated further.

[0180] It should be understood that, regardless of whether the second request includes a message type or one or more reasons for establishing a second connection state, the second request can be distinguished as a request to establish a second connection state based on messages or data frames adapted to the wireless technology.

[0181] S309, Sensor node 1 receives the second request.

[0182] After receiving the second request, sensor node 1 may respond or not. If it does not respond to the second request, sensor node 1 can be identified as an abnormal node; if it responds to the second request, a second connection state is established, i.e., S310 is executed.

[0183] For example, the response may include a message type, or the response may include confirmation information for establishing the second connection state, or the response may include both a message type and confirmation information for establishing the second connection state.

[0184] In one possible implementation, the initial secure connection established between the master node and sensor node 1 via WiFi can be responded to as a data frame in WiFi. For example, the response could be a newly defined management frame in WiFi, used to confirm the second connection state (i.e., a half-connection state). One example is that the management frame is a half-connection establishment confirmation message. This message can include a message type and confirmation information for establishing the second connection state. The message type distinguishes whether the response is for confirming the establishment of the second connection state; for example, the message type could include (or indicate that the message is) a management frame, a half-connection establishment request message, etc. The confirmation information for establishing the second connection state could include whether the sensor node 1 agrees to establish a connection but does not transmit video data, or agrees to establish the second connection state, etc.

[0185] In one possible implementation, an initial secure connection is established between the master node and sensor node 1 via a Service Buffer (SLB). In this scenario, the response can be a separately generated message or a message from the SLB can be reused. One example is a half-connection establishment confirmation message, which includes a message type and confirmation information for establishing a second connection state. The message type is defined as a Glink-SystemInfo-Message, and the content of the payload distinguishes that this Glink-SystemInfo-Message can also be used to confirm the second connection state (i.e., the half-connection state). The confirmation information for establishing the second connection state may include the sensor node agreeing to establish a connection but not transmitting video data, or agreeing to establish a second connection state, etc.

[0186] Furthermore, when the master node and sensor node 1 establish an initial secure connection via other wireless technologies, a separate response can be generated, or existing messages or data frames from the wireless technology can be reused to confirm the second connection state. For example, if the wireless technology includes SLE, a data frame from SLE can be reused. This data frame can include confirmation information for establishing the second connection state. Optionally, in this scenario, the confirmation information for establishing the second connection state can be carried in the payload. This data frame does not need to carry a message type; it can be distinguished by the confirmation information for establishing the second connection state that the message can also be used to confirm the second connection state (i.e., the half-connection state). Similarly, in low-power scenarios where the wireless technology includes BLE, this response can be implemented using existing message mechanisms, which will not be elaborated further.

[0187] It should be understood that regardless of whether the response includes one or more of the following message types, or confirmation messages for establishing a second connection state, it is possible to distinguish that the response is a confirmation for establishing a second connection state based on messages or data frames adapted to the wireless technology.

[0188] The following explains the scenario where the master node does not receive a response and identifies sensor node 1 as an anomalous node. It should be understood that sensor node 1 should normally respond after receiving the second request. An anomalous node may not respond to the master node's second request. Therefore, if the master node does not receive a response, it can identify (or mark) the unresponsive node as an anomalous node. For example, if the master node does not receive a response from sensor node 1, it can identify sensor node 1 as an anomalous node. Anomalous nodes can include nodes whose purpose is to consume the master node's resources, such as nodes performing a DoS attack (DOS attack node). A DOS attack involves injecting interference information to exhaust the communication channel capacity, rendering it inoperable.

[0189] One example is that in some scenarios, a node may frequently send connection requests to the master node. If these connection requests are maliciously exploited or used by malicious attackers, a DoS attack may occur. A DoS attack will cause the attacked master node to exhaust its resources and be unable to properly handle the connection requests from the intended node, such as being unable to establish an initial connection with the intended node, which will seriously affect normal operation.

[0190] After identifying unresponsive sensor nodes as anomalous nodes, various requests sent by these anomalous nodes can be ignored. This effectively avoids wasting the master node's resources due to repeated attempts by anomalous nodes to connect, thus enhancing security, such as improving defense against DoS attacks. Optionally, after identifying an anomalous node, such as a DoS attack node, the master node can perform at least one of the following operations: terminate the connection with the anomalous node, or report it to other attack identification and countermeasure systems for processing.

[0191] One example is that sensor node 1 is unable to send a response to the master node due to resource constraints or energy depletion. In this case, the master node is also unable to establish a second connection with sensor node 1. Therefore, identifying unresponsive sensor nodes as abnormal nodes can save the connection resources of the master node and reduce overhead.

[0192] S310, the master node receives the response and establishes a second connection with sensor node 1.

[0193] After sensor node 1 establishes a second connection state, it can maintain this state and wait for the next instruction from the master node. Referring to the example in S301, the locomotive 1 needs to establish a first connection state with sensor nodes deployed in 8 locations across 8 carriages. Therefore, if the locomotive 1 establishes a second connection state with sensor node 1 deployed in a certain carriage, sensor node 1, in some examples, needs to wait for the master node to complete establishing the first connection state with the other 8 expected nodes.

[0194] Optionally, S311 can also be executed after S310.

[0195] S311, The master node sends a release frame to sensor node 1 to release the second connection state.

[0196] A release frame (or release message, release request, etc.) includes the frame type, or the release frame includes the reason for releasing the second connection state, or the release frame includes both the frame type and the reason for releasing the second connection state. The frame type includes information such as whether the release frame is a message or a data frame for release. The reason for releasing the second connection state may include that the master node has completed the establishment of all first connection states (also referred to as master node pairing completion, such as in the example of S301, where the locomotive 1 has established first connection states with sensor nodes deployed in 8 locations in 8 carriages), or that the master node has insufficient power, etc.

[0197] In one possible implementation, the initial secure connection established between the master node and sensor node 1 via WiFi is released via a release frame. This release frame can be a data frame in WiFi, such as a newly defined release frame in WiFi, used to release the second connection state (i.e., the half-connection state). One example is that the release frame can be a newly defined management frame in WiFi, which is a release message for the half-connection state. This message can include the frame type and the reason for releasing the second connection state.

[0198] In one possible implementation, an initial secure connection is established between the master node and sensor node 1 via a Service Level Block (SLB). In this scenario, the release frame can be a separately generated message or a message from the SLB can be reused. One example is that the release frame reuses a release message (XRCRelease message) for an Extended Resource Control (XRC) connection, which indicates the release of the XRC connection. The master node can send the XRCRelease message, releasing all logical channels and clearing all buffered data. The XRCRelease message can include the frame type and the reason for releasing the second connection state. The frame type can be any XRCRelease message, and the reason for releasing the second connection state can refer to the example above. Sensor node 1, upon receiving the XRCRelease message, can also release all logical channels and clear all buffered data.

[0199] Furthermore, when the master node and sensor node 1 establish an initial secure connection via other wireless technologies, a release frame can be generated independently or existing messages or data frames from the wireless technology can be reused to release the second connection state. For example, in the case of SLE wireless technology, a data frame from SLE can be reused. This data frame can include the reason for releasing the second connection state. Optionally, in this scenario, the reason for releasing the second connection state can be carried in the payload. The data frame does not need to carry the frame type; the reason for releasing the second connection state can distinguish that the message can also be used to release the second connection state (i.e., the half-connected state). Similarly, in low-power scenarios where the wireless technology includes BLE, this release frame can be implemented using existing message mechanisms, which will not be elaborated further.

[0200] It should be understood that, regardless of whether the release frame includes the frame type or one or more reasons for releasing the second connection state, it is possible to distinguish that the release frame is for releasing the second connection state based on the data frames or messages adapted to the wireless technology.

[0201] The communication methods shown in Figures 5a and 5b can be applied to different systems such as 360° surround view systems. Through measurement data, they determine whether each sensor node is a potential node of the master node, establishing a first connection with the potential node and a second connection with the unexpected node. In other words, both Figures 5a and 5b can determine whether a sensor node is a potential node based on measurement data. Figure 5a shows a scenario where the master node determines that a sensor node is a potential node, and Figure 5b shows a scenario where the master node determines that a sensor node is an unexpected node.

[0202] This automatically determined communication method effectively avoids the limitations of operators connecting via passwords, improving connection efficiency. Furthermore, unlike methods such as PSK, which establish a connection simply by having a key or a response, this method requires determining whether a sensor node is the intended node using a preset measurement range. Video transmission is only performed with intended nodes that have established a first connection state, improving both connection accuracy and security. Additionally, the master node establishes a second connection state with unintended nodes, connecting but not transmitting video data, effectively mitigating risks associated with abnormal node connections or connection attempts, such as potential DoS attacks. Simultaneously, establishing a second connection state between the master node and unintended nodes reduces interference (or hijacking) of intended nodes by unintended nodes, resulting in higher efficiency in establishing the first connection state with the master node and improved reliability and stability. In other words, the communication method provided in this application improves efficiency, reliability, and stability, and also enhances system security, such as improving defense against DoS attacks.

[0203] Figure 7a is a fifth schematic flowchart of a communication method provided in an embodiment of this application. Based on Figure 5a, this method further includes step S312. As shown in Figure 7a, after step S306, the method further includes step S312.

[0204] S312. The master node records information related to the establishment of the first connection state.

[0205] For example, the relevant information for the first connection state includes at least one of the following: the sensor node ID that established the first connection state, measurement data, or the reason for establishing the first connection state. The measurement data may be the actual measured data between sensor node 1 and M, where the distance between sensor node 1 and M is 1.9 meters. Referring to the example in Figure 6 of S303, 1.9 meters falls between 1.5 meters (i.e., 2 meters - 0.5 meters) and 2.5 meters (i.e., 2 meters + 0.5 meters), and sensor node 1 is a desired node, etc. The reason for establishing the first connection state includes one or more of the following: the measurement data falls within a preset measurement range, or sensor node 1 is a desired node, or sensor node 1 needs to transmit video data, etc.

[0206] In one possible implementation, the master node can record (or maintain, manage, or save) information related to the first connection state. For example, the master node can record information related to the first connection state through a list of first connection states (or a connection state list). It should be understood that the naming of the list of first connection states (or connection state list) is merely an example and is not intended to be limiting.

[0207] Figure 7b is a schematic flowchart of a communication method provided in an embodiment of this application. Based on Figure 5b, this method further includes step S313. As shown in Figure 7b, after step S311, the method further includes step S313.

[0208] S313. The master node records information related to the establishment of the second connection state.

[0209] For example, the relevant information for the second connection state includes at least one of the following: the sensor node ID that established the second connection state, measurement data, or deviation value, or the reason for establishing the second connection state. The measurement data can refer to the example in Figure 6 of S303, such as sensor node 1 not belonging to any of the four sets of data within the preset measurement range in the example of Figure 6. Reasons for establishing the second connection state include: the measurement data not belonging to the preset measurement range, such as an unsuitable distance or angle, or sensor node 1 being an unexpected node.

[0210] In one possible implementation, the master node can record (or maintain, manage, or save) information related to the second connection state. For example, the master node can record this information through a list of second connection states (or a list of semi-connection states). It should be understood that the name of the first connection state list (or semi-connection state list) is merely an example and not intended to be limiting. The list of semi-connection states includes nodes that have established a second connection state with the master node, such as the ID of sensor node 1, the distance and angle between sensor node 1 and the master node, the reason for the inability to pair (e.g., inappropriate distance or angle), and deviation values ​​(e.g., the distance and angle between sensor node 1 and the master node, the deviation value from each group in the preset measurement range, or the deviation value from the group closest to it in the preset measurement range, etc.).

[0211] Optionally, the half-connection state list is cleared after the master node establishes the first connection state with all expected nodes; or, the half-connection state list can be cleared each time the master node powers down. One example is that sensor node 1 is recorded in the half-connection state list. If the master node receives another connection request or response from sensor node 1, it can identify the reappearing sensor node 1 as an abnormal node, such as a malicious attack node or a node impersonating an ID to launch an attack.

[0212] Optionally, the list of half-connected states may not be cleared. After the master node establishes the first connection state with all expected nodes, it is saved as a historical record. If sensor node 1 is recorded in the list of half-connected states, in the next scenario where the master node connects to expected nodes after this connection is completed, if the measurement data of sensor node 1 falls within the preset measurement range, that is, it is judged as an expected node and the first connection state needs to be established, in this case that contradicts the historical list of half-connected states, sensor node 1 can be further verified to avoid errors in the judgment of whether it is an expected node, or to facilitate the identification of situations where abnormal node attacks cause misjudgments of expected nodes.

[0213] The communication method provided in this application can manage connected sensor nodes by recording information related to the establishment of a first connection state and information related to the establishment of a second connection state. In scenarios with multiple sensor nodes, this reduces the possibility of erroneous connections caused by the complexity of connections between multiple sensor nodes. Simultaneously, it can help identify abnormal nodes and improve connection security.

[0214] Figure 8 is a flowchart of a communication method provided in an embodiment of this application. Based on the above example, this method can also set a time window. Figure 8 illustrates step S105 as being executed before S101 shown in Figure 3, but this is not limited. S105 can also be executed before S201 provided in the example of Figure 4, or after S301 provided in the above example, or before S302 provided in the above example, etc. S105: The second node sets a time window, and the first connection state or the second connection state is established within the time window.

[0215] In the examples above, such as those shown in Figures 5a, 5b, 7a, and 7b, the second node can be regarded as the master node.

[0216] Unlike the embodiments described above, the communication method in Figure 8 provides a time window, the length of which can be preset or obtained in real time. For example, the time window could be 30 seconds. The master node should establish a first connection state or a second connection state within the time window. Once the time window expires, the master node will no longer establish connections with other sensor nodes (including the first and second connection states), effectively exiting the connection mechanism (or exiting the pairing mechanism).

[0217] In one possible implementation, within the time window, if the master node fails to establish a first connection with all expected nodes (or, in other words, fails to pair with all expected sensor nodes), the time window expires, and the master node no longer attempts to establish connections (including first and second connections) with the unconnected sensor nodes. For example, in a 360° surround view system, when the time window expires, sensor nodes that have completed the first connection can begin using the surround view function. That is, when the time window expires, the master node exits the connection mechanism (or exits the pairing mechanism) and begins processing video data sent by sensor nodes that have established a first connection, or performs other operations with sensor nodes that have established a first connection. The implementation can be illustrated by the following example: The master node sets a time window, for example, 30 seconds. Within this time window, the master node attempts to establish a first connection with all expected nodes. When the time window expires, such as 30 seconds, the connection mechanism will exit regardless of whether the master node has established the first connection with all expected nodes.

[0218] In one possible implementation, within a time window, the master node attempts to establish connections with sensor nodes that are not currently connected, until the master node establishes a first connection with all expected nodes, or until the master node attempts to connect up to a preset maximum number of times. It should be understood that within the time window, the master node maintains a second connection with all sensor nodes that have established a second connection to prevent repeated connections from affecting the connections of other sensor nodes. When the time window expires, the second connection can be released.

[0219] In one possible implementation, if the master node has not established a first connection with all expected nodes when the time window expires, another time window can be set, such as 30 seconds or 20 seconds. Within this new time window, the master node will attempt to establish a connection with the sensor nodes that have not yet established a connection, until the master node establishes a first connection with all expected nodes, or until the master node reaches the preset maximum number of attempts, or until the new time window expires, at which point the master node will exit the connection mechanism (or exit the pairing mechanism).

[0220] This application's embodiments set a time window to prevent the master node from indefinitely attempting to connect, thus affecting the implementation of other functions. For example, in scenarios where some expected nodes are without power, the master node cannot connect to all expected nodes. Setting a time window can reduce the time the master node spends attempting to connect, improving efficiency.

[0221] Based on the examples above, the communication method provided in this application can be applied to scenarios where the master node and sensor node can be equipped with (or support) multiple wireless technologies, such as SLB, SLE, WiFi, or BLE. It should be understood that the technology used can be selected according to the characteristics of different wireless technologies. For example, SLB supports high-precision ranging and angle measurement, making it suitable for scenarios requiring high-precision positioning. SLE is suitable for low-power scenarios and supports short-range communication. WiFi supports high-bandwidth transmission and is suitable for video data transmission. BLE is suitable for low-power scenarios and supports short-range communication, etc. These technologies can be used individually or in combination to adapt to different application scenarios and needs. For example, it can be applied to various scenarios such as trucks, buses, cars, and drone swarms.

[0222] Figure 9 is a schematic diagram of the structure of a second node provided in an embodiment of this application. As shown in Figure 9, the second node 30 includes a processing module 301 and a transceiver module 302.

[0223] The processing module 301 is used to acquire measurement data, which includes at least one of the distance or angle between the first node and the second node.

[0224] The transceiver module 302 is configured to send a first request to the first node to establish a first connection state when the measurement data falls within a preset measurement range. The first connection state includes establishing a connection between the first node and the second node and transmitting video data. Alternatively, when the measurement data does not fall within the preset measurement range, the transceiver module 302 sends a second request to the first node to establish a second connection state. The second connection state includes establishing a connection between the first node and the second node but does not transmit video data.

[0225] In one possible implementation, as shown in Figure 10, the second node 30 further includes a storage module 303 for recording information of the first node, including at least one of the following: the ID of the first node, the measurement data, the deviation value between the measurement data and the preset measurement range, or the reason for establishing the second connection state.

[0226] In one possible implementation, the transceiver module 302 is also configured to send a release frame to the first node to release the second connection state.

[0227] In one possible implementation, the release frame includes the frame type and / or the reason for releasing the second connection state.

[0228] In one possible implementation, the second request includes a message type and / or the reason for establishing the second connection state.

[0229] In one possible implementation, the second request is a G-link system message, including the message type and the reason for establishing the second connection state; or, the second request is a data frame, including the reason for establishing the second connection state.

[0230] The processing module 301 is also used to detect whether the transceiver module 302 has received a response from the first node; if the response is detected, the second connection state is established; if the response is not detected, the first node is identified as an abnormal node.

[0231] In one possible implementation, the response includes a message type and / or confirmation information for establishing the second connection state.

[0232] In one possible implementation, the response is a G-link system message, including a message type and confirmation information for establishing the second connection state; or, the response is a data frame, including confirmation information for establishing the second connection state.

[0233] In one possible implementation, the processing module 304 is further configured to set a time window within which the first connection state or the second connection state is established.

[0234] It should be understood that the third aspect of this application is the same as or corresponds to the technical solution of the first aspect of this application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation are similar, so they will not be repeated here.

[0235] It should be understood that the modules shown in Figures 9 and 10 are merely examples, and each module can perform its operations or variations thereof with reference to the method section of the embodiments of this application. Other operations can also be performed in the examples provided in the embodiments of this application, and are not limited to the examples of the embodiments of this application. For example, in some examples, the transceiver module can be a sending module and a receiving module, etc.

[0236] One example is that the second node may include a wireless communication module, a processor, a memory, and a power module. The wireless communication module supports various wireless communication technologies (such as Wi-Fi, BLE, SLB, etc.), the processor is responsible for processing ranging and angle measurement data, the memory stores configuration information and a list of half-connections, and the power module provides a stable power supply.

[0237] In one possible implementation, the communication module (including a transceiver module), processing module, and storage module in this embodiment can be simultaneously deployed in the StarScan module, Bluetooth module, or WiFi module; alternatively, the communication module in this embodiment can be deployed in the StarScan module, Bluetooth module, or WiFi module, and the processing module in this embodiment can be deployed in other modules besides the StarScan module, Bluetooth module, or WiFi module; or alternatively, the processing module in this embodiment can be deployed in the StarScan module, Bluetooth module, or WiFi module, and the communication module in this embodiment can be deployed in other modules besides the StarScan module, Bluetooth module, or WiFi module. This embodiment does not specifically limit this. Furthermore, the storage module can be deployed either in the StarScan module, Bluetooth module, or WiFi module, or it can be deployed outside of the StarScan module, Bluetooth module, or WiFi module. This embodiment does not specifically limit this.

[0238] Figure 11 is a schematic diagram of the structure of a first node provided in an embodiment of this application. As shown in Figure 11, the first node 40 includes a processing module 401 and a transceiver module 402.

[0239] The processing module 401 is configured to establish a first connection state when the transceiver module 402 receives a first request from the second node, the first connection state including establishing a connection between the first node and the second node and performing video data transmission; or, when receiving a second request from the second node, establish a second connection state, the second connection state including establishing a connection between the first node and the second node but not performing video data transmission.

[0240] In one possible implementation, the transceiver module 402 is also configured to receive a release frame from the second node.

[0241] The processing module 401 is also used to release the second connection state.

[0242] In one possible implementation, the release frame includes the frame type and / or the reason for releasing the second connection state.

[0243] In one possible implementation, the second request includes a message type and / or the reason for establishing the second connection state.

[0244] In one possible implementation, the second request is a G-link system message, including the message type and the reason for establishing the second connection state; or, the second request is a data frame, including the reason for establishing the second connection state.

[0245] In one possible implementation, the transceiver module 402 is also used to send a response to the second node to establish the second connection state.

[0246] In one possible implementation, the response is a G-link system message, including a message type and confirmation information for establishing the second connection state; or, the response is a data frame, including confirmation information for establishing the second connection state.

[0247] It should be understood that the modules shown in Figure 11 are merely examples, and each module can perform its operations with reference to the method section of the embodiments of this application, or perform variations thereof. Other operations can also be performed in the examples provided in the embodiments of this application, and are not limited to the examples of the embodiments of this application. For example, in some examples, the transceiver module can be a sending module and a receiving module, etc.

[0248] One example is that the first node may include a camera, a wireless communication module, a processor, and a power module. The camera is responsible for acquiring image data, the wireless communication module supports various wireless communication technologies, the processor is responsible for processing ranging and angle measurement commands, and the power module provides a stable power supply.

[0249] In one possible implementation, the communication module (including a transceiver module), processing module, and storage module in this embodiment can be simultaneously deployed in the StarScan module, Bluetooth module, or WiFi module; alternatively, the communication module in this embodiment can be deployed in the StarScan module, Bluetooth module, or WiFi module, and the processing module in this embodiment can be deployed in other modules besides the StarScan module, Bluetooth module, or WiFi module; or alternatively, the processing module in this embodiment can be deployed in the StarScan module, Bluetooth module, or WiFi module, and the communication module in this embodiment can be deployed in other modules besides the StarScan module, Bluetooth module, or WiFi module. This embodiment does not specifically limit this. Furthermore, the storage module can be deployed either in the StarScan module, Bluetooth module, or WiFi module, or it can be deployed outside of the StarScan module, Bluetooth module, or WiFi module. This embodiment does not specifically limit this.

[0250] Additionally, as shown in Figure 12, which is a structural schematic diagram of a device 50 according to an embodiment of this application, the device 50 shown in Figure 12 includes a transceiver 501 and a processor 502. This device 50 corresponds to the second node or master node in the example of this method, and is used to execute methods S101 to S104 in the above embodiments, or execute S201 to S203, or execute S301 to S306, or execute S302 to S306, or execute S301 to S307, or execute S302 to S306, or execute S302 and S303, S308 to S310, or execute S301 to S303, S308 to S310, or execute S... S302 and S303, S308 to S311, or S301 to S303, S308 to S311, or S302 to S306, S312, etc., S312 is executed after S306, or S313 is executed after S311 in the above method, or S101 to S105 is executed, or S105, S201 to S203 is executed, or S105 is executed after S301 provided in the above example, or S105 is executed before S302 provided in the above example, etc.

[0251] Alternatively, the device 50 may be equivalent to the first node or sensor node 1 in the example of this method, used to execute methods S201 to S203 in the above embodiments, or execute S301 to S306, or execute S302 to S306, or execute S301 to S307, or execute S302 to S306, or execute S302 and S303, S308 to S310, or execute S301 to S303, S308 to S310, or Execute S302 and S303, S308 to S311, or execute S301 to S303, S308 to S311, or execute S302 to S306, S312, etc., execute S312 after S306, or execute S313 after S311 in the above method, or execute S105, S201 to S203, or execute S105 after S301 provided in the above example, or execute S105 before S302 provided in the above example, etc.

[0252] It should be noted that the division of parts in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The functions in this embodiment are integrated into a single processor, or the transceiver and processor may exist separately. Furthermore, device 50 may include built-in memory, or it may not include memory, or it may include external memory, etc., and is not limited to the division exemplified in this embodiment. The integrated device described above can be implemented in hardware, such as a chip, or in the form of a software functional unit, or in a combination of hardware and software.

[0253] Furthermore, this application embodiment also provides a device 60, as shown in FIG13, which is a structural schematic diagram of a device 60 provided in this application embodiment. As shown in FIG13, device 60 may include a processor 601, a memory 602 coupled to the processor 601, and a transceiver 603. The transceiver 603 may include MR, LR, communication interface, optical module, etc., for receiving messages or data information, etc. The processor 601 may include a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP, for executing the relevant steps of wake-up signal processing in the device exemplified in the above embodiments. The processor may also be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. The processor 601 may refer to a single processor or may include multiple processors. Memory 602 may include volatile memory, such as random-access memory (RAM); it may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); Memory 602 may also include combinations of the above types of memory. Memory 602 may refer to a single memory or may include multiple memories for storing program instructions. In one embodiment, memory 602 stores computer-readable instructions, which include multiple software modules, such as a sending module, a processing module, and a receiving module. After executing each software module, processor 601 can perform corresponding operations according to the instructions of each software module. In this embodiment, the operation performed by a software module actually refers to the operation performed by processor 601 according to the instructions of the software module.Optionally, the processor 601 may also store program code or instructions for executing the schemes of the embodiments of this application. In this case, the processor 601 does not need to read program code or instructions from the memory 602.

[0254] The device 60 can be used to execute the methods in the above embodiments. Specifically, the device 60 is equivalent to the second node or master node in the example of the method, and can execute the methods in the above embodiments or execute S101 to S104, or execute S201 to S203, or execute S301 to S306, or execute S302 to S306, or execute S301 to S307, or execute S302 to S306, or execute S302 and S303, S308 to S310, or execute S301 to S303, S308 to S310. S308 to S310, or S302 and S303, S308 to S311, or S301 to S303, S308 to S311, or S302 to S306, S312, etc., with S312 executed after S306, or S313 executed after S311 in the above method, or S101 to S105, or S105, S201 to S203, or S105 executed after S301 provided in the above example, or as provided in the above example. Before S302, S105 is executed, or the device 60 is equivalent to the first node or sensor node 1 in the example of this method, used to execute methods S201 to S203 in the above embodiments, or execute S301 to S306, or execute S302 to S306, or execute S301 to S307, or execute S302 to S306, or execute S302 and S303, S308 to S310, or execute S301 to S303, S308 to S310. S302 to S310, or S302 and S303, S308 to S311, or S301 to S303, S308 to S311, or S302 to S306, S312, etc., S312 after S306, or S313 after S311 in the above method, or S105, S201 to S203, or S105 after S301 provided in the above example, or S105 before S302 provided in the above example, etc.

[0255] Furthermore, this application also provides a communication node. The communication node includes a storage medium and a processor connected to the storage medium. The storage medium stores instructions, which, when executed by the processor, enable the processor to implement some or all of the operations in any of the methods described in any of the foregoing embodiments.

[0256] Furthermore, this application also provides a communication node. The communication node includes a processor connected to a storage medium. The storage medium may be located within or outside the communication node. The storage medium stores instructions, which, when executed by the processor, enable the processor to implement some or all of the operations in any of the methods described in any of the foregoing embodiments.

[0257] This application also provides a computer-readable storage medium storing instructions that, when executed on a processor, implement some or all of the operations in any of the methods in any of the foregoing embodiments.

[0258] This application also provides a computer program product, including a computer program that, when run on a processor, implements some or all of the operations in any method of any of the foregoing embodiments.

[0259] This application also provides a chip, including an interface circuit and a processor. The interface circuit and the processor are connected, and the processor is used to cause the chip to perform some or all of the operations in any of the methods in any of the foregoing embodiments.

[0260] This application also provides a chip system, including: a processor coupled to a memory, the memory being used to store programs or instructions, and when the program or instructions are executed by the processor, the chip system enables the chip system to perform some or all of the operations in any one of the methods in any of the foregoing embodiments.

[0261] Optionally, the chip system may contain one or more processors. These processors can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented in software, the processor can be a general-purpose processor, implemented by reading software code stored in memory.

[0262] Optionally, the chip system may contain one or more memories. The memory may be integrated with the processor or disposed separately from it; this application embodiment does not limit this. For example, the memory may be a non-transient processor, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or disposed separately on different chips. This application embodiment does not specifically limit the type of memory or the arrangement of the memory and processor.

[0263] For example, the chip system can be an FPGA, an ASIC, a system-on-chip (SoC), a CPU, an NP, a digital signal processor (DSP), a micro controller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0264] This application also provides a system comprising one or more of the aforementioned communication nodes, such as a first node, a second node, a sensor node (including sensor node 1), a master node, a computer-readable storage medium, a computer program product, a chip, or a chip system. It can be applied to the scenarios shown in examples such as Figure 1, but is not limited thereto. For example, the system can refer to Figure 14, etc. Figure 14 is a schematic diagram of a 360° surround view system architecture provided in this application embodiment, which can realize the communication of the 360° surround view system based on the above communication method.

[0265] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0266] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0267] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical business division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0268] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0269] Furthermore, the various business units in the embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software business unit.

[0270] If the integrated unit is implemented as a software business unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, Random Access Memory, magnetic disks, or optical disks.

[0271] Those skilled in the art will recognize that, in one or more of the examples above, the services described in this application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these services can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of computer programs from one place to another. Storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0272] The above specific embodiments further illustrate the purpose, technical solution and beneficial effects of this application. It should be understood that the above are only specific embodiments of this application.

[0273] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A communication method, characterized in that, include: Acquire measurement data, wherein the measurement data includes at least one of the distance or angle between the first node and the second node; If the measurement data falls within a preset measurement range, a first request is sent to the first node to establish a first connection state. This first connection state includes establishing a connection between the first node and the second node and transmitting video data; or... If the measurement data does not fall within the preset measurement range, a second request is sent to the first node to establish a second connection state. The second connection state includes establishing a connection between the first node and the second node, but without transmitting video data.

2. The method according to claim 1, characterized in that, If the measurement data does not fall within the preset measurement range, the method further includes: Record information about the first node, including at least one of the following: the first node's identity ID, the measurement data, the deviation between the measurement data and the preset measurement range, or the reason for establishing the second connection state.

3. The method according to claim 1 or 2, characterized in that, If the measurement data does not fall within the preset measurement range, the method further includes: Send a release frame to the first node to release the second connection state.

4. The method according to claim 3, characterized in that, The release frame includes the frame type and / or the reason for releasing the second connection state.

5. The method according to any one of claims 1 to 4, characterized in that, The second request includes a message type and / or the reason for establishing the second connection state.

6. The method according to claim 5, characterized in that, The second request is a G-link system message, including the message type and the reason for establishing the second connection state; or, The second request is a data frame that includes the reason for establishing the second connection state.

7. The method according to any one of claims 1 to 6, characterized in that, After sending the second request to the first node, the method further includes: Check whether a response has been received from the first node; If the response is detected, the second connection state is established; If the response is not detected, the first node is identified as an abnormal node.

8. The method according to claim 7, characterized in that, The response includes a message type and / or confirmation information for establishing the second connection state.

9. The method according to claim 8, characterized in that, The response is a G-link system message, including the message type and confirmation information for establishing the second connection state; or, The response is a data frame that includes confirmation information for establishing the second connection state.

10. The method according to any one of claims 1 to 9, characterized in that, The method also includes: Set a time window, within which either the first connection state or the second connection state is established.

11. A communication method, characterized in that, include: Upon receiving a first request from the second node, a first connection state is established, which includes establishing a connection between the first node and the second node and transmitting video data; or, Upon receiving a second request from a second node, a second connection state is established, which includes establishing a connection between the first node and the second node without transmitting video data.

12. The method according to claim 11, characterized in that, After the second connection state is established Receive a release frame from the second node; Release the second connection state.

13. The method according to claim 12, characterized in that, The release frame includes the frame type and / or the reason for releasing the second connection state.

14. The method according to any one of claims 11 to 13, characterized in that, The second request includes a message type and / or the reason for establishing the second connection state.

15. The method according to claim 14, characterized in that, The second request is a G-link system message, including the message type and the reason for establishing the second connection state; or, The second request is a data frame that includes the reason for establishing the second connection state.

16. The method according to any one of claims 11 to 15, characterized in that, The method also includes: Send a response to the second node to establish the second connection state.

17. The method according to claim 16, characterized in that, The response is a G-link system message, including the message type and confirmation information for establishing the second connection state; or, The response is a data frame that includes confirmation information for establishing the second connection state.

18. A second node, characterized in that, include: The processing module is used to acquire measurement data, which includes at least one of the distance or angle between the first node and the second node; The transceiver module is configured to send a first request to the first node to establish a first connection state when the measurement data falls within a preset measurement range. The first connection state includes establishing a connection between the first node and the second node and transmitting video data. Alternatively, when the measurement data does not fall within the preset measurement range, the module sends a second request to the first node to establish a second connection state. The second connection state includes establishing a connection between the first node and the second node but does not transmit video data.

19. The second node according to claim 18, characterized in that, Also includes: The storage module is used to record information about the first node, including at least one of the following: the first node's identity ID, the measurement data, the deviation between the measurement data and the preset measurement range, or the reason for establishing the second connection state.

20. The second node according to claim 18 or 19, characterized in that, The transceiver module is also used to send a release frame to the first node to release the second connection state.

21. The second node according to claim 20, characterized in that, The release frame includes the frame type and / or the reason for releasing the second connection state.

22. The second node according to any one of claims 18 to 21, characterized in that, The second request includes a message type and / or the reason for establishing the second connection state.

23. The second node according to claim 22, characterized in that, The second request is a G-link system message, including the message type and the reason for establishing the second connection state; or, The second request is a data frame that includes the reason for establishing the second connection state.

24. The second node according to any one of claims 18 to 23, characterized in that, The processing module is further configured to detect whether the transceiver module receives a response from the first node; if the response is detected, the second connection state is established; if the response is not detected, the first node is identified as an abnormal node.

25. The second node according to claim 24, characterized in that, The response includes a message type and / or confirmation information for establishing the second connection state.

26. The second node according to claim 25, characterized in that, The response is a G-link system message, including the message type and confirmation information for establishing the second connection state; or, The response is a data frame that includes confirmation information for establishing the second connection state.

27. The second node according to any one of claims 18 to 26, characterized in that, The processing module is also used to set a time window, within which the first connection state or the second connection state is established.

28. A first node, characterized in that, include: The processing module is configured to establish a first connection state when the transceiver module receives a first request from the second node, wherein the first connection state includes establishing a connection between the first node and the second node and performing video data transmission; or, when receiving a second request from the second node, establish a second connection state, wherein the second connection state includes establishing a connection between the first node and the second node but not performing video data transmission.

29. The first node according to claim 28, characterized in that, The transceiver module is also used to receive release frames from the second node; The processing module is also used to release the second connection state.

30. The first node according to claim 29, characterized in that, The release frame includes the frame type and / or the reason for releasing the second connection state.

31. The first node according to any one of claims 28 to 30, characterized in that, The second request includes a message type and / or the reason for establishing the second connection state.

32. The first node according to claim 31, characterized in that, The second request is a G-link system message, including the message type and the reason for establishing the second connection state; or, The second request is a data frame that includes the reason for establishing the second connection state.

33. The first node according to any one of claims 28 to 32, characterized in that, The transceiver module is also used to send a response to the second node to establish the second connection state.

34. The first node according to claim 33, characterized in that, The response is a G-link system message, including the message type and confirmation information for establishing the second connection state; or, The response is a data frame that includes confirmation information for establishing the second connection state.

35. A communication node, characterized in that, The node includes a module for performing the method according to any one of claims 1 to 10, or includes a module for performing the method according to any one of claims 11 to 17.

36. A communication node, characterized in that, The communication node includes at least one processor, which is configured to perform the method according to any one of claims 1 to 10, or to perform the method according to any one of claims 11 to 17.

37. A communication node, characterized in that, include: An input / output interface and a logic circuit, wherein the input / output interface is used to acquire at least one of input information or output information; the logic circuit is used to perform the method of any one of claims 1 to 10, or the logic circuit is used to perform the method of any one of claims 11 to 17.

38. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions that, when executed, cause the method according to any one of claims 1 to 10 to be implemented, or cause the method according to any one of claims 11 to 17 to be implemented.

39. A computer program product, characterized in that, The computer program product includes instructions that, when executed, cause the method according to any one of claims 1 to 10 to be implemented, or cause the method according to any one of claims 11 to 17 to be implemented.

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