Data processing method and apparatus

Abstract

The present application provides a data processing method, a data processing apparatus, a storage medium, and a chip system. The method comprises: performing data processing on N pieces of first data to obtain at least one piece of second data, wherein each piece of second data comprises M first data units, each first data unit correspondingly represents at least one of the N pieces of first data, the correspondence between the M first data units and the N pieces of first data is determined on the basis of first sub-data and second sub-data of each piece of first data, and data in each first data unit is determined on the basis of third sub-data of the corresponding at least one piece of first data; and further sending compressed information, which comprises data of the M first data units in each piece of second data. On this basis, first sub-data and second sub-data in N pieces of first data are indicated by means of the positions of M first data units, such that the amount of transmitted data is reduced, thereby realizing efficient and stable data compression and transmission.

Description

A data processing method and apparatus

[0001] This application claims priority to Chinese Patent Application No. 202510288725.3, filed on March 10, 2025, entitled “A Data Processing Method and Apparatus”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communications, and more particularly to a data processing method and apparatus. Background Technology

[0003] With the rapid development of fields such as the Internet of Things, autonomous driving, and smart cities, perception technology, as a key means of acquiring environmental information, is playing an increasingly important role. Perception technology collects environmental data through sensors (such as LiDAR, cameras, and millimeter-wave radar) and converts it into digital signals, providing a foundation for subsequent analysis, decision-making, and control. This perception data typically contains rich spatial information; for example, in the field of autonomous driving, the point cloud data generated by perception can accurately depict the shape and distance of surrounding obstacles, providing crucial information for vehicle driving decisions.

[0004] Currently, octrees and k-dimensional (KD) trees are commonly used algorithms for compressing and transmitting sensory data. Octtrees organize and compress point cloud data in space by recursively dividing the three-dimensional space into eight subspaces; KD trees, on the other hand, divide the data space into two parts based on the coordinates of data points in K-dimensional space to achieve effective data organization and compression.

[0005] However, octrees tend to generate a large number of empty nodes when processing unevenly distributed sensor data. During compression and decompression, the frequent traversal and operations on nodes result in high complexity and significant latency, impacting the real-time performance of data transmission. KD-trees are ineffective for processing high-dimensional sensor data; their spatial partitioning efficiency drops sharply with increasing dimensionality. Furthermore, the high construction and maintenance costs of KD-trees when data distribution is complex also affect the efficiency and stability of data compression and transmission. Therefore, an effective and stable compression and transmission scheme is urgently needed to achieve efficient and stable compression and transmission of sensor data. Summary of the Invention

[0006] This application provides a data processing method and apparatus to achieve effective and stable compressed transmission.

[0007] Firstly, a data processing method is provided. This method can be applied to a first device, which may be, for example, a terminal device or a network device. Alternatively, the first device may be replaced by a component (such as a chip, chip system, processor, etc.) in the terminal device or network device, or it may be a logic module or software capable of implementing all or part of the functions of the first device, etc. This application does not limit the scope of the application. The first device is the sending end in the data compression and transmission process, and the second device mentioned below is the receiving end in the data compression and transmission process.

[0008] In this method, a first device processes N first data to obtain at least one second data. Each second data includes M first data units, and each first data unit corresponds to at least one first data among the N first data. The correspondence between the M first data units and the N first data is determined based on the first and second sub-data of each first data. The data in the first data units of the second data is determined based on the third sub-data of the corresponding at least one first data. Then, the first device sends compressed information, which includes the data of the M first data units in each second data.

[0009] Here, the N first data can be sub-data of the data to be transmitted; the second data is a type of structured data, that is, data with a specific format or form. In order to reduce the amount of data and thus reduce transmission overhead, the first device can map each of the N first data to the second data, such as mapping the first data to a data unit of the second data, and then expressing at least one corresponding first data through the data unit in the second data.

[0010] Therefore, by using the position of the data unit in the second data to represent the first and second sub-data of the corresponding first data, the first and second sub-data of the first data can be replaced by the position of the data unit, thereby reducing the amount of data transmitted and achieving effective and stable data compression transmission.

[0011] In one possible implementation of the first aspect described above, the compressed information further includes data from m second data units in the second data, wherein the data in each second data unit is preset data.

[0012] The second data unit can be understood as a data unit that is not mapped to any first data, or in other words, the second data unit is not used to represent any first data. That is, the compressed information sent by the first device to the second device includes not only the first data units mapped to the first data but also the second data units that are not mapped to the first data. In some embodiments, the compressed information transmits M first data units and m second data units, enabling the second device to determine the position of the M first data units in the second data, so that the second device can recover the first sub-data and the second sub-data of the first data.

[0013] In one possible implementation of the first aspect described above, compressed information is carried in media access control control element (MAC CE) or radio resource control (RRC) signaling. Carrying compressed information through MAC CE or RRC signaling can reduce the latency of compressed transmission, and is more suitable for dynamic scenarios where the sensed object changes rapidly, for example, in sensing scenarios.

[0014] In one possible implementation of the first aspect described above, the compression information further includes first indication information, which indicates the position of each first data unit in the second data.

[0015] The first device sends a first indication message to the second device to indicate the positions of M first data units in the second data. This allows the second device to clearly determine the positions of the M first data units in the second data without transmitting all data units of the second data (e.g., without transmitting the data of m second data units), thus facilitating the second device's recovery of the first and second sub-data of the first data. When the distribution of the first data is relatively dispersed, such as when the distribution of sensing data points is relatively dispersed, the compression effect can be further improved and the transmission overhead reduced.

[0016] In one possible implementation of the first aspect described above, the first indication information includes indication information corresponding to each data unit in the second data, which is used to indicate whether the corresponding data unit is a first data unit or a second data unit.

[0017] In other words, the first indication information can indicate the position of the first data unit by indicating whether each data unit in the second data is the first data unit. In this case, the first indication information occupies less transmission resources and the processing complexity during data recovery is lower.

[0018] In one possible implementation of the first aspect described above, the indication information corresponding to each data unit in the second data is a preset bit value, or the number of first data units corresponding to that data unit.

[0019] That is, the first indication information can indicate whether the data unit in the second data is the first data unit or the second data unit by a preset bit value. For example, the first indication information may include a bitmap, thereby occupying less transmission resources to indicate the position of the first data unit; or the first indication information can indicate whether the data unit is the first data unit or the second data unit by the number of first data corresponding to each data unit. For example, when the indication information is zero, it means that the data unit is the second data unit, and when the indication information is non-zero, it means that the data unit is the first data unit. Furthermore, when the indication information is non-zero, the value of the indication information can also indicate the number of first data corresponding to the first data unit, thereby reducing the transmission resources occupied by the first indication information.

[0020] In one possible implementation of the first aspect above, the first indication information includes: first information and second information indicating each first data unit, the first information indicating the row of the first data unit in the second data, the second information indicating the column of the first data unit in the second data, the first information being associated with a first sub-data of the first data, and the second information being associated with a second sub-data of the first data.

[0021] In other words, the first indication information can indicate the row and column of each first data unit, thereby indicating the position of the first data unit and reducing the data processing complexity at the receiving end.

[0022] In one possible implementation of the first aspect described above, the data in each first data unit includes third sub-data corresponding to at least one first data, or the data in each first data unit is encoded based on the third sub-data corresponding to at least one first data.

[0023] In other words, the compressed information sent by the first device to the second device may include at least one third sub-data of the first data corresponding to each first data unit. In this case, the processing complexity of the compression process performed by the first device is low. If the transmission overhead is further reduced, the third sub-data of at least one first data corresponding to each first data unit may be encoded to obtain the data of each first data unit.

[0024] In one possible implementation of the first aspect above, the data in each first data unit is obtained based on the third sub-data encoding of at least one corresponding first data, and the compression information further includes second indication information, which is used to indicate the amount of data in the M first data units.

[0025] The data volume of the M first data units can refer to, for example, the number of bits or bytes in the encoded sequence.

[0026] By indicating the amount of data in the M first data units, the second device can determine whether the reception of compressed information is complete, or in other words, determine the end position of the compressed information.

[0027] In one possible implementation of the first aspect above, the data units in the second data are determined based on the quantization parameters corresponding to the first field and the second field. The first field includes N first sub-data of the first data, and the second field includes N second sub-data of the first data.

[0028] In other words, the second data is divided into data units based on the first field and the second field, which makes it easier to map N first data to corresponding data units. The N first data are expressed by M first data units in the structured second data, thus achieving data compression.

[0029] In one possible implementation of the first aspect described above, the correspondence between the M first data units and the N first data units is determined based on the quantization value of the first sub-data and the quantization value of the second sub-data of each first data unit.

[0030] In other words, the first data can be mapped to the first data unit corresponding to the second data based on the quantized value of the first sub-data and the quantized value of the second sub-data, thereby simplifying the mapping logic and reducing the processing complexity of data mapping.

[0031] In one possible implementation of the first aspect described above, the data in each first data unit includes a quantized value of a third sub-data corresponding to at least one first data.

[0032] By obtaining the quantized value of the third sub-data, compression of the third sub-data can be achieved, that is, compression of the data in the M first data units, thereby further reducing transmission overhead.

[0033] In one possible implementation of the first aspect described above, a third instruction message is sent, indicating that compressed information is to be sent. This allows the second device to clearly identify that the information received from the first device is compressed information, or in other words, to clearly identify the type of information received from the second device, enabling the second device to more accurately recover N first data.

[0034] In one possible implementation of the first aspect described above, the third indication information is carried in the MAC CE, media access control (MAC) header, or RRC signaling. Carrying the third indication information in the MAC header or RRC signaling can reduce the latency of compressed transmission, and is more suitable for dynamic scenarios where the sensing object changes rapidly, for example, in sensing scenarios.

[0035] In one possible implementation of the first aspect described above, the third indication information is carried in the Logical Channel Identifier (LCID) field or the Extended Logical Channel Identifier (eLCID) field in the MAC subheader.

[0036] In one possible implementation of the first aspect described above, the method further includes: a first device receiving or sending configuration information, the configuration information being used to configure at least one of the following:

[0037] The data type of the first data;

[0038] The first sub-data and the second sub-data in the first data;

[0039] Types of compressed information;

[0040] Compression methods for compressed information;

[0041] The quantization parameters of the first data.

[0042] The first data can be of various data types, such as planar coordinate data, spherical coordinate data, or cylindrical coordinate data. Configuration information is used to configure the first and second sub-data within the first data; that is, the configuration information can specify which fields in the first data determine the corresponding first data unit in the second data. The type of compression information can be categorized based on how it indicates the position of each first data unit. For example, in the first type of compression information, the data of each data unit is arranged in the order of its position, implicitly indicating the position of M first data units in the second data. In the second type, the compression information includes a bitmap and the data of M first data units, with the bitmap indicating the position of the M first data units in the second data. In the third type, the compression information includes a fill count map and the data of M first data units, with the fill count map indicating the position of the M first data units in the second data, and the fill count for each data unit indicating the number of first data units corresponding to that data unit. Compression methods include, for example, LZMA and AC methods. Quantization parameters may include, for example, quantization boundaries and / or quantization step sizes.

[0043] The first and second devices synchronize the configuration information in the five examples above so that the receiving end can accurately recover the N first data.

[0044] Optionally, configuration information is carried in MAC CE or RRC signaling.

[0045] In one possible implementation of the first aspect described above, the data types of the N first data are determined based on perceived services or data characteristics.

[0046] Based on this, we consider determining the matching data type based on the perceived service or data characteristics, and when the data type of N first data is different from the determined data type, we convert the data type of N first data to improve the compressed transmission quality.

[0047] Secondly, a data processing method is provided, which can be applied to a second device, such as a terminal device or a network device. Alternatively, the second device can be replaced by a component (such as a chip, chip system, processor, etc.) in the terminal device or network device, or it can be a logic module or software that can realize all or part of the functions of the first device, etc. This application does not limit it in this regard.

[0048] In this method, a second device receives compressed information, which includes data from M first data units of each second data in at least one second data. Each first data unit corresponds to at least one first data in N first data. The correspondence between the M first data units and the N first data is determined based on the first and second sub-data of each first data. The data in the first data unit is determined based on the third sub-data of the corresponding at least one first data. The N first data are then recovered based on the compressed information.

[0049] In one possible implementation of the second aspect described above, the compressed information further includes data from m second data units in the second data, wherein the data in each second data unit is preset data.

[0050] In one possible implementation of the second aspect described above, the compression information further includes first indication information, which is used to indicate the position of each first data unit in the second data.

[0051] In one possible implementation of the second aspect above, the first indication information includes indication information corresponding to each data unit in the second data, and the indication information is used to indicate that the corresponding data unit is a first data unit or a second data unit.

[0052] In one possible implementation of the second aspect described above, the indication information corresponding to each data unit in the second data is a preset bit value, or the number of first data units corresponding to the data units.

[0053] In one possible implementation of the second aspect described above, the first indication information includes: first information and second information indicating each first data unit, the first information indicating the row of the first data unit in the second data, the second information indicating the column of the first data unit in the second data, the first information being associated with a first sub-data of the first data, and the second information being associated with a second sub-data of the first data.

[0054] In one possible implementation of the second aspect above, the data in each first data unit includes third sub-data corresponding to at least one first data, or the data in each first data unit is encoded based on the third sub-data corresponding to at least one first data.

[0055] In one possible implementation of the second aspect above, the data in each first data unit is obtained by encoding the third sub-data of at least one corresponding first data, and the compression information further includes second indication information, which is used to indicate the amount of data in the M first data units.

[0056] In one possible implementation of the second aspect described above, the data units in the second data are determined based on the quantization parameters corresponding to the first field and the second field. The first field includes N first sub-data of the first data, and the second field includes N second sub-data of the first data.

[0057] In one possible implementation of the second aspect described above, the correspondence between the M first data units and the N first data units is determined based on the quantization value of the first sub-data and the quantization value of the second sub-data of each first data unit.

[0058] In one possible implementation of the second aspect described above, the data in each first data unit includes a quantized value of a third sub-data corresponding to at least one first data.

[0059] In one possible implementation of the second aspect described above, compressed information is carried in Media Access Control Unit (MAC CE) or Radio Resource Control (RRC) signaling.

[0060] In one possible implementation of the second aspect described above, the second device further includes receiving third instruction information, which instructs the transmission of compressed information.

[0061] In one possible implementation of the second aspect described above, the third indication information is carried in MAC CE or MAC subheader or RRC signaling.

[0062] In one possible implementation of the second aspect described above, the third indication information is carried in the Logical Channel Identifier (LCID) field or the Extended Logical Channel Identifier (eLCID) field in the MAC subheader.

[0063] In one possible implementation of the second aspect above, the method further includes: the second device sending or receiving configuration information, the configuration information being used to configure at least one of the following:

[0064] The data type of the first data;

[0065] The first and second sub-data in the first data;

[0066] Types of compressed information;

[0067] Compression methods for compressed information;

[0068] The quantization parameters of the first data.

[0069] In one possible implementation of the second aspect described above, the configuration information is carried in MAC CE or RRC signaling.

[0070] In one possible implementation of the second aspect above, the data types of the N first data are determined based on perceived services or data characteristics.

[0071] Thirdly, this application provides a communication device, including modules or units for implementing the methods of the first aspect, the second aspect, or any possible implementation. Specifically, the modules, units, or means can be implemented in software, in hardware, or in a combination of software and hardware.

[0072] Fourthly, this application provides a communication device including one or more processors for executing a computer program (also referred to as code or instructions) in a memory, such that the communication device implements the communication method in the first aspect, the second aspect, or any possible implementation.

[0073] Optionally, the device further includes a memory for storing computer programs and data. The memory is coupled to the processor, which, when executing the computer program stored in the memory, can implement the methods described in the first aspect, the second aspect, or any of the possible embodiments above.

[0074] Optionally, the device further includes a communication interface for communicating with other devices. For example, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0075] For example, the apparatus in the third or fourth aspect is the first device, or a component in the first device, such as a chip, chip system, processor, etc.

[0076] Fifthly, this application provides a chip system including at least one processor for supporting the implementation of the functions involved in the first aspect, the second aspect, or any possible implementation described above.

[0077] In one possible design, the chip system also includes a memory for storing computer programs and data, which may be located inside or outside the processor.

[0078] The chip system can consist of chips or include chips and other discrete components.

[0079] In one possible design, the chip system also includes a power supply circuit for supplying power to the chip system.

[0080] In a sixth aspect, this application provides a computer-readable storage medium including a computer program that, when run on a computer, causes the computer to implement the methods of the first aspect, the second aspect, or any possible implementation.

[0081] In a seventh aspect, this application provides a computer program product comprising: a computer program that, when run, causes a computer to perform the methods of the first aspect, the second aspect, or any possible implementation.

[0082] Eighthly, embodiments of this application provide a system including the aforementioned first device and second device.

[0083] The second to eighth aspects of this application correspond to the technical solutions of the first aspect of this application. The beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here. Attached Figure Description

[0084] Figure 1 is a schematic diagram of the architecture of a communication system applicable to the communication method provided in this application;

[0085] Figure 2 is a schematic diagram of a type of sensing data provided in this application;

[0086] Figure 3 is a schematic diagram of a coordinate form of sensing data provided in this application;

[0087] Figure 4 is a schematic flowchart of a data processing method provided in an embodiment of this application;

[0088] Figure 5 is a schematic diagram of structured data provided in an embodiment of this application;

[0089] Figure 6 is a schematic diagram of multi-structured data provided in an embodiment of this application;

[0090] Figure 7 is a schematic diagram of a structured data formation sequence provided in an embodiment of this application;

[0091] Figure 8 is a schematic diagram of another structured data formation sequence provided in an embodiment of this application;

[0092] Figure 9 is a schematic diagram of compressed information provided in an embodiment of this application;

[0093] Figure 10 is a schematic diagram of compressed information provided in an embodiment of this application;

[0094] Figure 11 is a schematic diagram of compressed information provided in an embodiment of this application;

[0095] Figure 12 is a schematic diagram of compressed information provided in an embodiment of this application;

[0096] Figure 13 is a schematic diagram of a protocol data unit provided in an embodiment of this application;

[0097] Figure 14 is a schematic diagram of the fields of a sub-protocol data unit provided in an embodiment of this application;

[0098] Figure 15 is a schematic flowchart of another data processing method provided in an embodiment of this application;

[0099] Figure 16 is a schematic diagram of the fields of a sub-protocol data unit provided in an embodiment of this application;

[0100] Figure 17 is a schematic block diagram of a possible apparatus provided in an embodiment of this application;

[0101] Figure 18 is another schematic block diagram of the device provided in the embodiments of this application. Detailed Implementation

[0102] The technical solution provided in this application will now be described with reference to the accompanying drawings.

[0103] To facilitate understanding of the embodiments of this application, the following points are explained first:

[0104] First, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first instruction information and the second instruction information are only used to distinguish the specific content of the instruction, and do not limit their order or the number of signaling. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0105] Second, in the embodiments of this application, "sending" and "receiving" indicate the direction of signal transmission. Communication between different devices can refer to direct communication between different devices (i.e., without the need for relaying or forwarding by other devices), or communication between different devices through other devices (i.e., requiring relaying or forwarding by other devices), or communication between a functional unit within a device and another functional unit. That is to say, "sending information to the second device" in this application can be understood as the destination of the information being the second device, and can include sending information directly or indirectly to the second device. "Receiving information from... (the first device)" can be understood as the source of the information being the first device, and "receiving information from the first device" can be understood as the source of the information being the first device, and can include receiving information directly or indirectly from the first device. Information may undergo necessary processing between the source and destination of information transmission, such as format changes, digital-to-analog conversion, etc., but the destination can understand the valid information from the source. Similar expressions in this application can be understood in a similar way, and will not be repeated here.

[0106] Third, in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a; b; c; a and b; a and c; b and c; or a and b and c. Here, a, b, and c can be single or multiple.

[0107] Fourth, in the embodiments of this application, "when," "if," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a time, nor do they require the device to make a judgment action when it is implemented, nor do they mean that there are other limitations.

[0108] Fifth, the correspondences shown in the tables of this application are merely examples and should not be construed as limiting the scope of this application. The content in each table is only illustrative and can be configured with other content; this application does not limit this. When configuring these correspondences, it is not necessarily required to configure all the correspondences shown in each table. For example, the correspondences shown in some rows may not be configured. For another example, some columns may be replaced with other forms. Furthermore, appropriate modifications and adjustments can be made to the tables shown herein, such as splitting, merging, etc.

[0109] In addition, tables are only one possible form of correspondence. In specific implementations, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or hash tables.

[0110] Sixth, in this application, the indication includes explicit indication (also known as direct indication) and implicit indication (also known as indirect indication). Explicit indication information A means including information A; implicit indication information A means indicating information A through the correspondence between information A and information B, and direct indication information B. The correspondence between information A and information B can be predefined, pre-stored, pre-burned, or pre-configured; or it can refer to indicating information A through information B and preset rules.

[0111] The technical solutions provided in this application can be applied to various communication systems, such as: Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, sidelink (SL) communication systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, 5th Generation (5G) mobile communication systems, or new radio access technology (NR). Among these, 5G mobile communication systems can include non-standalone (NSA) and / or standalone (SA) networking. The technical solutions provided in this application can also be applied to future communication systems, such as 6th Generation (6G) mobile communication systems. This application does not limit these applications.

[0112] Figure 1 is a schematic diagram of the architecture of a communication system applicable to the communication method provided in this application. Figure 1 shows a schematic diagram of a possible, non-limiting system architecture. As shown in Figure 1, the communication system 10 includes a radio access network (RAN) 100 and a core network (CN) 200. Optionally, the communication system 10 also includes an Internet 300. RAN 100 includes at least one RAN node (110a and 110b in Figure 1, collectively referred to as 110) and at least one terminal (120a-120j in Figure 1, collectively referred to as 120). RAN 100 may also include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in Figure 1). Terminal 120 is wirelessly connected to RAN node 110. RAN node 110 is connected to core network 200 wirelessly or via wired connection. The core network equipment in core network 200 and RAN node 110 in RAN 100 can be different physical devices, or they can be the same physical device that integrates core network logical functions and radio access network logical functions.

[0113] RAN 100 can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as 4G, 5G mobile communication systems, or future-oriented evolution systems (such as 6G mobile communication systems). RAN 100 can also be an open access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (Wi-Fi) system. RAN 100 can also be a communication system that integrates two or more of the above systems.

[0114] RAN node 110, sometimes also referred to as access network equipment, RAN entity, or access node, is part of the communication system and is used to help terminals achieve wireless access. Multiple RAN nodes 110 in communication system 10 can be of the same type or different types. In some scenarios, the roles of RAN node 110 and terminal 120 are relative. For example, network element 120i in Figure 1 can be a helicopter or drone, which can be configured as a mobile base station. For terminals 120j accessing RAN 100 through network element 120i, network element 120i is a base station; but for base station 110a, network element 120i is a terminal. RAN node 110 and terminal 120 are sometimes both referred to as communication devices. For example, network elements 110a and 110b in Figure 1 can be understood as communication devices with base station functions, and network elements 120a-120j can be understood as communication devices with terminal functions.

[0115] In one possible scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), a next-generation base station in a 6G mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. A RAN node can be a macro base station (as shown in Figure 1, 110a), a micro base station or indoor station (as shown in Figure 1, 110b), a relay node or donor node, or a radio controller in a CRAN scenario. Optionally, a RAN node can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, the access network equipment in vehicle-to-everything (V2X) technology can be a roadside unit (RSU).

[0116] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, with each RAN node performing a portion of the base station's functions. For example, RAN nodes can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be separate entities or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0117] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0118] A terminal can also be called a terminal device, user equipment (UE), mobile station, mobile terminal, etc. Terminals can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminals can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, etc.

[0119] In the embodiments of this application, the terminal and the wireless access network device can be hardware devices, or software functions running on dedicated hardware. Software functions running on general-purpose hardware, for example, are virtualization functions instantiated on a platform (e.g., a cloud platform), or are entities that include dedicated or general-purpose hardware devices and software functions. This application does not limit the specific form of the terminal and the wireless access network device.

[0120] To better understand the methods provided in the embodiments of this application, the perception-related attributes involved in this application will be briefly described below.

[0121] Perception data refers to data collected through sensors or other sensing devices, or perception data collected wirelessly based on integrated communication and sensing technology. This perception data typically reflects the physical state of the perceived object or environmental information. Perception data can usually be represented by a scatter plot to show the distribution and correlation of the data points. See Figure 2, which shows perception data obtained from perceiving the road in an autonomous driving scenario.

[0122] A scatter plot of the sensed data can include multiple points, which may be called sensed points, sensed data points, etc. This application does not limit the terminology; for ease of description, it will be referred to as sensed data points in the following text. A sensed data point is the basic unit constituting the sensed data. Each sensed data point represents information at a specific time and / or a specific location. Taking K L-dimensional vectors as an example, where L represents the number of sensed data points and K represents the dimension of the sensed data points (e.g., each sensed data point can be represented as {x, y, z, p, d, ...}), or K represents the number of fields, then each of the K vectors includes elements of L sensed data points under one field. For example, the first vector includes {x1, x2, x3, ..., x...}. L The second vector includes {y1, y2, y3, ..., y}. L}……

[0123] Different fields can represent different information about a sensing data point. For example, {x,y,z} represents the three-dimensional coordinates of the sensing data point, and {p,d…} represents attributes such as power and time delay detected by the sensing signal at that coordinate. Within a sensing data point, the information represented by a field for that sensing data point can be called the sub-data of that sensing data point.

[0124] This application does not limit the coordinate form of the sensing data points. For example, the coordinates of the sensing data points can be the aforementioned planar coordinate data (or Cartesian coordinate data) {x,y,z}, see Figure 3(a); or, for another example, the coordinates of the sensing data points can be cylindrical coordinate data {δ,R,z}, see Figure 3(b), where the azimuth (δ) is the angle between the projection of the sensing data point on the xy plane and the x-axis, the radial distance (R) is the distance from the sensing data point to the z-axis, and the height (z) is the height of the sensing data point along the z-axis; or, for yet another example, the coordinates of the sensing data points can be spherical coordinate data. See Figure 3(c), where the polar angle It is the angle between the sensing data point and the z-axis, the azimuth angle. It is the angle between the projection of the sensing data point on the xy plane and the x-axis, and the radial distance (r) is the distance from the sensing data point to the origin of the coordinate system.

[0125] Because the amount of sensing data is large, it needs to be compressed during transmission to save transmission overhead. To address this, this application provides a data processing method. The method processes the sensing data to be transmitted, using M first data units to represent N sensing data points. For example, the position of each first data unit corresponds to at least one first sub-data and one second sub-data of a sensing data point, and the data of each first data unit corresponds to at least one third sub-data of a sensing data point. By using M first data units, at least three sub-data of the N sensing data points are represented. The data from the M first data units (i.e., the third sub-data of the N sensing data points) is then transmitted. The receiving end can recover the N sensing data points based on the received data from the M first data units and their positions, thereby reducing the data volume and achieving effective and stable compressed data transmission.

[0126] It should be noted that the embodiments in this application are only illustrated by example of compressing and transmitting sensed data, and should not be construed as limiting this application in any way. This application can be applied to compressing and transmitting data of any type.

[0127] It should also be understood that this application is not limited to compressing and transmitting data in three dimensions or more. For example, when compressing and transmitting one-dimensional data, the position of each of the M first data units can correspond to the data of at least one sensing data point; as another example, when compressing and transmitting two-dimensional data, the position of each of the M first data units can correspond to the first sub-data and second sub-data of at least one sensing data point, or the position of each first data unit can correspond to the first sub-data of at least one sensing data point, and the data of each first data unit can be determined based on the second sub-data.

[0128] The methods provided in the embodiments of this application will now be described in detail with reference to several accompanying drawings.

[0129] Figure 4 is a schematic flowchart of a data processing method provided in an embodiment of this application. Figure 4 uses the interaction between a first device and a second device as an example to describe the method provided in this application, but this should not be construed as limiting the application in any way. The first device can also be replaced by components configured in the first device, such as chips, chip systems, processors, etc., or by logic modules or software that can be used to implement some or all of the functions of the first device; the second device can also be replaced by components configured in the second device, such as chips, chip systems, processors, etc., or by logic modules or software that can be used to implement some or all of the functions of the second device.

[0130] Furthermore, the first device and the second device are distinguished and named according to the sending and receiving of data, which does not mean that the first device cannot be used for receiving, nor does it limit the second device to be used for sending.

[0131] It should also be understood that this application does not limit the transmission direction of compressed data transmission. In uplink transmission, the first device is a terminal device and the second device is a network device (such as a RAN node); in downlink transmission, the first device is a network device (such as a RAN node) and the second device is a terminal device; in sidelink transmission, both the first and second devices can be terminal devices.

[0132] The data processing method 200 shown in Figure 4 may include steps S210 and S220. The steps in method 200 are described in detail below.

[0133] S210: The first device processes N first data to obtain at least one second data, where N is a positive integer, and each second data includes M first data units, each first data unit corresponding to at least one first data among the N first data.

[0134] S220: The first device sends compressed information to the second device, the compressed information including data from at least M first data units in at least one second data set. Correspondingly, the second device receives the compressed information from the first device.

[0135] S230: The second device recovers N first data based on the compressed information.

[0136] Here, the N first data points can be sub-data of the data to be transmitted. For example, when the data to be transmitted is sensing data, the first data point can be a single sensing data point, and the N first data points can be all or part of the sensing data points. This application does not limit the method used to divide the data to be transmitted into N first data points. For example, the sub-data can be divided according to spatial location relationships, data feature similarity, etc. Generally, the data to be transmitted can include multiple first data points, but this application does not limit this. For example, the data to be transmitted may be a single first data point, or the sensing data may include a single sensing data point.

[0137] The second data is structured data, that is, data with a specific format or form. For example, the second data may include multiple data units as shown in Figure 5. The division of these multiple data units is associated with two fields (such as the first field and the second field) of the first data. For example, the multiple data units in the second data can be determined based on the quantization parameters corresponding to the first field and the second field. The quantization parameters may include quantization boundaries (or quantization ranges) and / or quantization steps. For instance, the quantization parameters of the first field can determine multiple quantization intervals of the first field, and the quantization parameters of the second field can determine multiple quantization intervals of the second field. In the two-dimensional space formed by the first field and the second field, the multiple quantization intervals of the first field and the second field divide the two-dimensional space into multiple data units. The first field and the second field can be any two fields from the multiple fields of the first data; this application does not limit this.

[0138] Taking the first data point as an example, assuming that the data point is in spherical coordinates. The first field could be, for example, Field, second field, for example, could be The quantization parameters of the first field can include, for example, the quantization boundary (min) corresponding to the first field. φ max φ ) and quantization step size S φ Based on the quantization boundary and quantization step size, the first field can be quantized into W. φ There are quantization intervals, each of which can correspond to a row index, as shown in Figure 5 from 0 to W. φ -1 line, the quantization parameters of the second field can include, for example, the quantization boundary corresponding to the second field. Quantization step size Based on the quantization boundary and quantization step size, the second field can be quantized as follows: There are quantization intervals, and each quantization interval can correspond to a column index, as shown in Figure 5. Based on this, quantization parameters of the first field and the second field can be used to... and Space forms a two-dimensional plane (2D plane), and W is included in this 2D plane. φ Travel The data unit of a column.

[0139] When the first data is three-dimensional or higher, the amount of data from N first data points is quite large. To reduce the data volume and thus transmission overhead, the first device can map each of the N first data points to second data, or to a 2D plane quantized based on the first and second fields of the first data. For example, the first data can be mapped to a data unit of the second data, and the corresponding first data can be expressed through the data unit in the second data. Therefore, consider expressing the sub-data of the corresponding first data in the first and second fields through the position of the data unit in the second data. By indicating the position of the data unit, the transmission of the sub-data of the first data in the first and second fields is replaced by transmitting the sub-data of the first data in the first and second fields, thus reducing the amount of data transmitted.

[0140] Using the first field as Field, second field is Taking a field as an example, the sub-data of the first data in the first field can be... The value, the sub-data in the second field can be The value of the first data. To distinguish the sub-data of the first data in different fields, the sub-data of the first data in the first field will be called the first sub-data, the sub-data in the second field will be called the second sub-data, the sub-data in the third field will be called the third sub-data, and so on.

[0141] In one possible implementation, each data unit in the second data is mapped to at least one first data unit. In another possible implementation, some data units in the second data are mapped to first data units, while the remaining data units are not mapped to any first data unit. This application does not limit this implementation. For ease of description, the data unit in the second data that is mapped to at least one first data unit is referred to as the first data unit, and the data unit that is not mapped to any first data unit is referred to as the second data unit. The first data unit may be, for example, a non-zero value data unit as shown in Figure 5, and the second data unit may be, for example, a zero value data unit as shown in Figure 5.

[0142] It should be noted that the mapping relationship between the first data and the first data unit can also be called a correspondence relationship. The first data unit is mapped to at least one first data, or it can be expressed as the first data unit corresponds to at least one first data. The second data unit is not mapped to any data unit, or it can be expressed as the second data unit does not correspond to any first data, etc. In the following text, for ease of expression, when "correspondence" and "mapping" are used interchangeably, they express the same meaning.

[0143] It should also be understood that the embodiments of this application are described using the example of the second data including multiple data units, but this application does not limit the number of data units in the second data. For example, the second data may include one data unit, which may correspond to one or more first data.

[0144] Regarding the above S210, the first device processes N first data to obtain at least one second data. In other words, the first device maps the N first data to the data units of the second data, such as mapping them to M first data units.

[0145] For example, the first device can perform data processing for each of the N first data. When the first device performs data processing on each first data, it may include the following two steps: Step 1, based on the first sub-data and the second sub-data of the first data, determine the data unit in the second data that corresponds to the first data, or in other words, map the first data to the corresponding first data unit; Step 2, based on the third sub-data of the first data, determine the data of the first data unit corresponding to the first data.

[0146] The following is an exemplary description of step one above:

[0147] The first device determines the data unit corresponding to the first data based on the quantization value of the first sub-data and the quantization value of the second sub-data. For example, the first device determines the first data unit corresponding to the first data based on the quantization range of the quantization value of the first sub-data and the quantization range of the quantization value of the second sub-data.

[0148] Still using the first data point as the perception data point The first field is Field, second field is Taking fields as an example, the first device can... Quantize the first sub-data in the field to obtain the corresponding row index, and then... The second sub-data in the field is quantized to obtain the corresponding column index. Two possible examples are given below:

[0149] Example 1: The first device determines the row index row[i] corresponding to the i-th first data among N first data based on the following formula (1), and determines the column index col[i] corresponding to the i-th first data based on the following formula (2):

[0150] Here, Data[i,0] represents the first sub-data of the i-th first data, and Data[i,1] represents the second sub-data of the i-th first data. Assuming row[i] = 0 and col[i] = 2, the first data is mapped to the data unit in the 0th row and 2nd column of the second data.

[0151] The above formula (1) can be preset, such as by agreement or pre-stored in the first device and / or the second device. If formula (1) is stored in one of the first device and the second device, the first device and the second device can synchronize the formula (1); or the above formula (1) can also be pre-configured, such as the network device configuring the formula (1) to the first device and the second device. The terms "preset" and "pre-configured" in the following text can be found in the above description, and will not be repeated for the sake of brevity.

[0152] Similarly, the above formula (2) can be preset or pre-configured.

[0153] Example 2: The first device determines the row index corresponding to the first data based on the correspondence shown in Table 1 below, and determines the column index corresponding to the first data based on the correspondence shown in Table 2 below.

[0154] Table 1

[0155] Table 2

[0156] In Tables 1 and 2 above, value and The values ​​are examples and not limiting statements, and can be adjusted according to actual application or business scenarios. Optionally, the correspondence shown in Table 1 above can be preset or pre-configured; optional, the correspondence shown in Table 2 above can be preset or pre-configured.

[0157] Based on Tables 1 and 2 above, assuming the first sub-data of the first data is π / 3 and the second sub-data is π, the first data is mapped to the data unit in the 1st row and 3rd column of the second data.

[0158] Based on the above example, the first data unit can represent at least one first data, and the position of the first data unit in the second data can represent the first sub-data and the second sub-data of the corresponding first data. Further, regarding step two above, the first device can determine the data of the first data unit based on the third sub-data of each of the at least one first data corresponding to the first data unit. Still using the first data as the sensing data point... The first field is Field, second field is Taking fields as an example, the third field can be the 'r' field.

[0159] As a first example of the data in the first data unit, the data in the first data unit may include the third sub-data of each of the corresponding at least one first data, that is, the first device uses the third sub-data of each of the at least one first data as the data of the first data unit. For example, referring to Figure 5, assuming that the i-th first data in N first data is mapped to the first data unit in row 0 and column 2 of the second data, and the third sub-data R[i] of the i-th first data is 3, then the data of the first data unit is 3.

[0160] As a second example of the data in the first data unit, the data in the first data unit may include the quantized value of the third sub-data of each of the at least one first data. For example, the first device quantizes the third sub-data of each of the at least one first data to obtain the quantized value of each third sub-data, and then uses the quantized value of each third sub-data as the data of the first data unit. For example, referring to Figure 5, assuming that the i-th first data in N first data is mapped to the first data unit in the 0th row and 2nd column of the second data, and the quantized value of the third sub-data of the i-th first data is 3, then the data of the first data unit is 3.

[0161] The quantization of the third sub-data of the first data is similar to the quantization of the first or second sub-data in the previous examples, and can be found in the description of Example 1 or Example 2 above.

[0162] Similar to Example 1 above, the first device uses the following formula (3), based on the quantization parameters of the third field, such as the quantization boundary (min). γ max γ ) and quantization step size S γ Determine the quantized value R[i] of the third sub-data of the i-th first data among N first data:

[0163] Here, Data[i,2] represents the third sub-data of the i-th first data.

[0164] Based on Example 1 in Step 1 and Example 2 in Step 2 above, the process by which the first device processes N pieces of first data to obtain second data can be implemented based on the logic shown in the following pseudocode:

[0165] Similar to Example 2 above, the first device determines the quantization value of the third sub-data, which is the data of the first data unit, based on the correspondence shown in Table 3 below.

[0166] Table 3

[0167] In Table 3 above, the values ​​of 'r' are illustrative rather than restrictive, and can be adjusted according to actual application or business scenarios. Optionally, the correspondence shown in Table 3 can be preset or pre-configured. Here, 'm' can be a preset or pre-configured value.

[0168] Based on Table 3 above, assume that the third sub-data of the first data is m, and the quantization value of the third sub-data of the first data is 3.

[0169] When the second data includes m second data units, the data of each second data unit is preset data. It is understood that the data of the second data unit should be different from the data of any first data unit. For example, the second data unit can be 0. To ensure that the data of the first data unit is not 0, the above formula (3) can be adjusted to the following formula (4):

[0170] In this embodiment, the first and second sub-data of the first data are expressed by the position of the first data unit in the second data, and the third sub-data is expressed by the data of the first data unit. That is, one piece of second data can express three fields in N pieces of first data.

[0171] When the first data has more fields, more fields in N first data can be expressed by more second data. Referring to Figure 6, taking two second data (second data Q1 and Q2) to express N first data as an example, the data unit division method of second data Q1 and second data Q2 in Figure 6 is the same, and can be referred to the explanation in the previous example. Since the first device maps the first data to the corresponding data units in the second data based on the first sub-data and the second sub-data, the correspondence between second data Q1 and N first data is the same as the correspondence between second data Q2 and N first data. That is, the position of the first data unit in second data Q1 and second data Q2 in Figure 6 is the same. The difference between second data Q1 and second data Q2 is that the data of M first data units are different. For example, the data of M first data units in second data Q1 is determined based on the third sub-data, and the data of M first data units in second data Q2 is determined based on the fourth sub-data.

[0172] For example, the first data is the sensing data points. Where p is the power of the sensing signal measured at the sensing data point, and the first sub-data is... The data of the field, the second sub-data is The data in the field can be further divided into three sub-data items: the third sub-data item can be data from the r field, and the fourth sub-data item can be data from the p field. That is, the data of the first data unit in the second data Q1 in Figure 6 is determined based on the data of the r field in the corresponding first data, and the data of the first data unit in the second data Q2 is determined based on the data of the p field in the corresponding first data.

[0173] Furthermore, if the first data includes more fields, such as the first data being sensor data points... Where d is the time delay of the sensing signal measured at the sensing data point, the first device processes N first data to obtain second data Q1, second data Q2 and second data Q3, where the data of the first data unit in the second data Q3 is determined based on the data of the d field in the corresponding first data.

[0174] However, it should be understood that this application does not limit each field in the first data to be mapped to a first data unit in the second data through data processing. For example, the first data consists of sensor data points. The first device can process N first data to obtain two second data, such as the second data Q1 and the second data Q2 mentioned above. The data of other fields in the N first data can be transmitted directly or compressed and transmitted based on other compression methods. This application does not limit this.

[0175] In the above S220, the first device can send the data in the M first data units of each second data as compressed information to the second device, so that the position of each first data unit in the second data indicates the first sub-data and the second sub-data of the first data, and the data of the first data unit indicates the third sub-data of the first data. When there are more second data, the data of the first data units in different second data can respectively indicate different sub-data in the first data. For example, the data of the first data unit in one second data indicates the third sub-data of the first data, and the data of the first data unit in another second data indicates the fourth sub-data of the first data.

[0176] It is understandable that the positions of the M first data units in the second data can be used to recover the first and second sub-data of the N first data. To facilitate the second device in recovering the N first data, the first device can synchronize the positions of the M first data units in the second data with the second device.

[0177] For example, the data of the M first data units in each second data in the compressed information can be sent in the order of their positions. This allows the second device to determine the position of each first data unit, thereby facilitating the second device to recover the first and second sub-data of the first data. However, this application is not limited to this; for example, the compressed information may also include information indicating the position of each first data unit, so that the second device can recover the first and second sub-data of the first data.

[0178] When the second data also includes m second data units, the first device can send M first data units and m second data units of each second data to the second device. For example, the data of the M first data units and the data of the m first data units in each second data in the compressed information can be sent in the order of the data unit positions. However, this application is not limited to this; for example, the compressed information may also include information indicating the position of each first data unit.

[0179] The following are possible implementation methods for synchronizing the positions of M first data units in the second data:

[0180] Method 1: The first device can send data from at least one first data unit in the second data according to the positional order of the data units in the second data. Sending according to positional order can be, for example, assembling the data of M first data units into a sequence according to their positional order and sending that sequence. In this case, the M first data units can be all the data units in the second data. Based on this, referring to Figure 7, M equals... and The accumulation of.

[0181] In the process of assembling M first data units into a sequence based on their positional order, the first device may, for example, expand the second data units by row, such as by row from 0 to... The data units of the second data are expanded sequentially in row order, as shown in sequence 1a in Figure 7, and then the data of the first data units (M units) are sent in the expanded order. Alternatively, the second data units can be expanded column-wise, such as by column 0 to column 1. The data units of the second data are expanded in the order shown in Figure 8, as shown in sequence 1b, and then the data of the first data units are sent in the expanded order.

[0182] When the second data includes m second data units, the first device can arrange the data of the M first data units and the data of the m second data units into a sequence based on positional order, as shown in Figure 8, where M+m equals and The product of the two data units. For example, the first device can expand the data units in the second data unit by row to obtain the sequence 2a shown in Figure 8, or by column to obtain the sequence 2b shown in Figure 8, and then send the data of M first data units and the data of m second data units in the expanded order.

[0183] In the first method described above, the compressed information may include, for example, sequence 1a or 1b as shown in Figure 7, or sequence 2a or 2b as shown in Figure 8. In other words, the first device can send sequence 1a, sequence 1b, sequence 2a, or sequence 2b to the second device to achieve the transmission of compressed information.

[0184] In the above method one, the first device sends M first data units in positional order, thereby implicitly indicating the position of the M first data units, so that the second device can recover the first and second sub-data of N first data units based on the position of the M first data units.

[0185] The above-described order of sending the second data in row-expanded or column-expanded order is merely an example and not a limiting description. For example, it may also include sending the data units in diagonal order.

[0186] In addition to the implicit indication in Method 1 described above, the position of each first data unit in the second data can also be indicated by the first indication information. The compressed information may include the data of the aforementioned M first data units and the first indication information. It can be understood that when the first indication information indicates the position of the first data unit in the second data, the remaining data units in the second data are the second data units, that is, the first indication information can also be understood as indicating the position of the second data units.

[0187] The following examples illustrate how the positions of M first data units in the second data are synchronized through the first instruction information using methods two to four.

[0188] In Method 2, the first indication information includes indication information corresponding to each data unit in the second data, and each indication information is used to indicate that the corresponding data unit is the first data unit or the second data unit.

[0189] In one possible example of Method 2, the indication information corresponding to each data unit is a preset bit value. Referring to Figure 9(a), a bit value of 0 indicates that the corresponding data unit (i.e., the second data unit) does not have any corresponding first data, and a bit value of 1 indicates that the corresponding data unit (i.e., the first data unit) corresponds to at least one first data. Optionally, the first indication information can be transmitted in the form of a sequence, such as the first indication information expanded by rows as {0,0,1,1,1,1,1,1,1,1,1,1,0,0,1……}, or the first indication information can also be arranged into a sequence according to the order of column expansion, etc. It should be noted that this application does not limit the bit values ​​of the indication information; for example, a bit value of 0 can also represent the first data unit, and a bit value of 1 can represent the second data unit, etc. In the example shown in Figure 9(a), the first indication information can also be called a bitmap, or a 2D bitmap, etc.

[0190] Based on the instruction of the first instruction information, the data of M first data units sent by the first device to the second device can be the sequence a shown in Figure 9(a). For example, based on the order of the row expansion of the data units in the second data, the r1 element in the sequence a can be the data of the first data unit with row 0 and column 2, the r2 element can be the data of the first data unit with row 0 and column 3, and so on, that is, each first data unit corresponds to one first data.

[0191] Based on the instruction of the first instruction information, the data of M first data units sent by the first device to the second device can be the sequence b shown in Figure 9(b). For example, based on the row expansion order of the data units in the second data, r11 and r12 in the sequence b are the data of the first data unit in row 0 and column 2, r21 is the data of the first data unit in row 0 and column 3, r31 to r33 are the data of the first data unit in row 0 and column 4, and so on. That is, there is at least one first data unit corresponding to multiple first data units.

[0192] In the second method described above, the compressed information includes first indication information and data from M first data units. For example, the compressed information may include sequence 3a as shown in Figure 9(a), where sequence 3a includes the aforementioned sequence a and a bitmap sequence. In other words, the first device can send sequence 3a to the second device to transmit the compressed information.

[0193] Optionally, if the first device sends sequence b as shown in Figure 9(b) to the second device, the first device can also indicate the quantity of first data corresponding to each first data unit, as shown in sequence 3b in Figure 9(b). Sequence 3b includes the aforementioned sequence b, first indication information, and indication quantity information. The first indication information and indication quantity information can be, for example, {0,0,1,2,1,1,1,3,1,2,1…}, where the bolded numbers indicate the quantity of first data corresponding to the first data unit. This facilitates the second device in determining the correspondence between the first data units and the first data.

[0194] This example only illustrates the row expansion of the second data, but this application does not limit this. Different expansion methods can be found in the previous examples, and will not be repeated here for the sake of brevity.

[0195] Based on a possible example of the above-mentioned method two, the process by which the first device processes N pieces of first data to obtain second data and determines the first indication information can be implemented based on the logic shown in the following pseudocode:

[0196] Index = argsort(Position) / / Sorts the list of Positions and returns the sorted index.

[0197] Distance = Distance[Index] / / Reorder the Distance list according to the sorted index Index, and arrange the third sub-data of the first data in the order of its position in the 2D_map, establishing the correspondence between the first indication information and the data in the corresponding first data unit.

[0198] In another possible example of Method 2, the indication information corresponding to each data unit is the number of first data items corresponding to that data unit. Referring to Figure 10, the indication information for a data unit in row 0 and column 0 is 0, indicating that this data unit does not have any corresponding first data items, i.e., this data unit is a second data unit; the indication information for a data unit in row 0 and column 2 is 2, indicating that this data unit corresponds to 2 first data items, and so on. Optionally, the first indication information can be transmitted in the form of a sequence, such as the first indication information expanded by rows as {0,0,2,1,3,1,1,1,1,2…}, or the first indication information can also be arranged into a sequence according to the order of column expansion. Based on the first indication information shown in Figure 10, the first indication information can be called a fill count map. It should be understood that the fill count map is only to distinguish it from the bitmap in the first possible example of Method 2, and is not a limiting name.

[0199] Based on the instruction of the first instruction information, the data of the M first data units in the compressed information can be, for example, the sequence c shown in Figure 10. For example, based on the row expansion order of the data units in the second data, the r11 to r12 elements in the sequence c can be the data of the first data unit with 0 rows and 2 columns, the r21 element can be the data of the first data unit with 0 rows and 3 columns, the r31 to r33 elements can be the data of the first data unit with 0 rows and 4 columns, and so on.

[0200] In the second method described above, the compressed information includes first indication information and data from M first data units. For example, the compressed information may include sequence 4 as shown in Figure 10, where sequence 4 includes the aforementioned sequence c and the sequence of the first indication information. In other words, the first device can send sequence 4 to the second device to achieve the transmission of compressed information.

[0201] This example only illustrates the row expansion of the second data, but this application does not limit this. Different expansion methods can be found in the previous examples, and will not be repeated here for the sake of brevity.

[0202] Based on the capabilities of Method Two described above, the process by which the first device processes N pieces of first data to obtain second data and determines the first indication information can be implemented based on the logic shown in the following pseudocode:

[0203] Index = argsort(Position) / / Sorts the list of Positions and returns the sorted index.

[0204] Distance = Distance[Index] / / Reorder the Distance list according to the sorted index Index, and arrange the third sub-data of the first data in the order of its position in the 2D_map, establishing the correspondence between the first indication information and the data in the corresponding first data unit.

[0205] In Method 3, the first indication information includes indication information corresponding to each first data unit in the second data. This indication information includes first information and second information. The first information indicates the row of the first data unit in the second data, and the second information indicates the column of the first data unit in the second data. For example, referring to Figure 11(a), the first indication information may include {0,2,0,3,0,4,1,0,1,1,1,2,1,2,1,2,1,5……}, where, according to the order of the elements in the sequence: (0,2) indicates that row 0 and column 2 is the first data unit, (0,3) indicates that row 0 and column 3 is the first data unit, (0,4) indicates that row 0 and column 4 is the first data unit, (1,0) indicates that row 1 and column 0 is the first data unit, and so on.

[0206] In the above-described method three, the compressed information may include first indication information and data from M first data units. For example, the compressed information may include sequence 5a as shown in Figure 11(a), where sequence 5a includes sequence a and the sequence of the first indication information. In other words, the first device can send sequence 5a to the second device to achieve the transmission of compressed information.

[0207] Based on the indication of the first indication information in Method 3, if the compressed information includes sequence b as shown in Figure 11(b), the first device can also indicate to the second device the quantity of first data corresponding to each first data unit. As shown in Figure 11(b), sequence 5b includes the aforementioned sequence b, the first indication information, and the information indicating the quantity. The first indication information and the information indicating the quantity can be, for example, {0,2,2,0,3,1,0,2…}, where the bolded numbers indicate the quantity of first data corresponding to each first data unit. This facilitates the second device in determining the correspondence between the first data units and the first data.

[0208] In methods two and three above, the first device can indicate the position of M first data units in the second data by sending first indication information to the second device, without needing to transmit the data of m second data units. This further improves the compression effect and reduces transmission overhead when the distribution of the first data is relatively dispersed, such as when the distribution of sensing data points is relatively dispersed.

[0209] In methods two and three above, the data of the M first data units are not limited to being arranged in positional order, and the indication information of each data unit in the first indication information is in relation to the data of that data unit.

[0210] Based on the description in the foregoing example, the data of the M first data units in the compressed information can be the third sub-data of at least one first data corresponding to each first data unit, or the quantized value of the third sub-data. To further reduce transmission overhead, for at least one of the M first data units, the first device can encode the third sub-data (or the quantized value of the third sub-data) of the first data corresponding to the M first data units to achieve further data compression. In some embodiments, the compressed information also includes the data of m second data units. Then, for all or part of the data units in the M first data units and m second data units, the first device can encode the third sub-data (or the quantized value of the third sub-data) of the first data corresponding to the first data unit and the preset data of the second data unit. For example, the first device can compress the sequence 1a or 1b shown in FIG. 7, the sequence 2a or 2b shown in FIG. 8, the sequence a or b shown in FIG. 9, the sequence c shown in FIG. 10, or the sequence a or b shown in FIG. 11 to obtain the encoded bit sequence, such as bytes B1 to byte Bn in sequence 6 or sequence 7 in FIG. 12.

[0211] This application does not limit the compression method used when compressing the data of the data units (such as the first data unit and / or the second data unit) in the second data. For example, the first device can encode the data of the data units of the second data based on the Lempel-Ziv-Markov chain-algorithm (LZMA) or arithmetic coding (AC) to achieve compression.

[0212] Referring to Figure 12, the compressed information may also include second indication information, which indicates the number of data in the M first data units, such as the number of bits or bytes in the encoded sequence, so that the second device can determine whether the reception of the compressed information is complete, or in other words, determine the end position of the compressed information. For example, the second indication information may be the number of bytes n in the sequence.

[0213] In some embodiments, the compression information may further include first indication information, such as sequence 7 shown in FIG12. For example, if a first device compresses the data of the M first data units shown in FIG9, FIG10, or FIG11 to obtain an encoded bit sequence, the compression information should include, in addition to the encoded bit sequence, first indication information to indicate the position of each of the M first data units in the second data. The first indication information can be referred to in the description of the relevant examples in FIG9, FIG10, and FIG11 above, and will not be repeated for the sake of brevity.

[0214] For ease of description, the sequence obtained by compressing the data of the data unit of the second data is called the compressed sequence (sequence 6 or sequence 7 in Figure 12), and the sequence composed of the data of the data unit of the second data is called the uncompressed sequence (sequence 1a to sequence 5 in Figures 7 to 11).

[0215] To ensure the second device clearly recognizes the received information as compressed information, the first device can also send a third indication message to the second device. This third indication message indicates that the aforementioned compressed information should be sent, or in other words, it indicates that the type of information to be sent is compressed information. This allows the second device to correctly decode the received information, thereby enabling more accurate data recovery and other processing. It should be understood that the third indication message and the compressed information can be encapsulated as the same message before being sent, or they can be independent of each other, i.e., encapsulated as different messages before being sent.

[0216] This application does not limit the signaling carrying compressed information. As an example, compressed information can be carried by a MAC protocol data unit (PDU). A MAC PDU can consist of multiple MAC subPDUs. For example, as shown in Figure 13, a MAC subPDU includes MAC CEs (such as MAC CE 1 and MAC CE 2), a MAC subPDU includes MAC SDUs, and a MAC subPDU includes padding. Each MAC subPDU may also include a MAC subheader. The MAC subheader can include two formats:

[0217] Format 1: Does not include the length indicator field (L) for the data portion. This MAC subheader is mainly used for MAC subPDUs with a fixed data portion length. The data portion can be either a MAC CE or a MAC SDU. This MAC subheader can be called the R / LCID MAC subheader, where R represents reserved bits, which can be 0. The length of the reserved bits is not limited; their existence ensures that the fixed length of the MAC subheader is an integer multiple of one byte. LCID stands for Logical Channel Identifier.

[0218] Format 2: Contains a length indicator field (L) for the data portion. This MAC subheader is primarily used for MAC subPDUs with variable data portion lengths. The data portion can be either a MAC CE or a MAC SDU. This MAC subheader can be referred to as the R / F / LCID / L MAC subheader. R represents reserved bits, which can take the value 0; F indicates the length of the L field; LCID stands for Logical Channel Identifier; and L is the length indicator field.

[0219] Optionally, the compressed information can be carried in any field of the MAC PDU, such as in any MAC subPDU including the MAC CE, as shown in Figure 13. The compressed information can be carried in the MAC CE, and this application does not limit this.

[0220] Optionally, the third indication information can be carried in any field of the MAC PDU, such as in any MAC subPDU including the MAC CE. As shown in Figure 13, the third indication information can be carried in the MAC CE or the MAC subheader, and this application does not limit this. Optionally, when the third indication information is carried in the MAC subheader, it can be carried in the LCID field or the extended logical channel identifier (eLCID) field of the MAC subheader.

[0221] Optionally, when the third indication information is carried in the LCID field of the MAC subheader, the compressed information can be sent by indicating the index of a reserved field (such as any one of 35-46). Assuming compressed information is sent by indicating index 35, the correspondence between the LCID field index (such as the codepoint index) and the LCID values ​​can be seen in Table 4 below:

[0222] Table 4

[0223] Optionally, the third indication information can be carried in a reserved field of the eLCID field in the MAC subheader.

[0224] Taking the LCID field in the MAC subheader carrying third indication information and the MAC CE carrying compression information as an example. Referring to Figure 14, the third indication information carried by the LCID field in the MAC subheader is index 35, and the compression information carried by the MAC CE can include any one of the following sequences in the examples above: sequence 1 in Figure 7, sequence 2 in Figure 8, sequence 3 in Figure 9, sequence 4 in Figure 10, sequence 5 in Figure 11, sequence 6 in Figure 12, or sequence 7.

[0225] As another example, compressed information can be carried by RRC signaling. Combining the different examples of compressed information above, the format of compressed information carried in RRC is defined by the Abstract Syntax Notation (ASN) .1 protocol. For example:

[0226] Regarding the compressed information in Method 1 above, when the compressed information includes uncompressed sequences, a ScatterCompressedData element is defined:

[0227] The data type of the ScatterCompressedData element is a sequence (SEQUENCE). This is a constraint on the sequence length. OF IndexData indicates that each element in the sequence is index data. IndexData is an ordered sequence of elements composed of distance indices, and its values ​​are limited to the range of 0 to 7. The distance index can be a quantized value of the radial distance r. In this example, only... The 'r' field is for illustrative purposes only, not a definitive description.

[0228] Regarding the compressed information in Method 1 above, when the compressed information includes a compressed sequence, the ScatterCompressedData element is defined:

[0229] The ScatterCompressedData element contains two elements:

[0230] Bytes (byteNum): The data type is integer (INTEGER), and the value range is 0 to 255. It is used to record the number of bytes in the encoded bit sequence.

[0231] encData: The data type is EncData, which is defined later. EncData is of data type SEQUENCE and is used to store the encoded bit sequence. SIZE(byteNum) indicates that the length of this sequence is indicated by byteNum in ScatterCompressedData. OF ByteData indicates that the type of each element in this sequence is byte data (ByteData).

[0232] Regarding the compressed information in Method 2 above, when the compressed information includes a sequence of bitmaps and an uncompressed sequence, the ScatterCompressedData element is defined:

[0233] The ScatterCompressedData element contains two elements:

[0234] Bitmap data (bitMapData): The data type is BitMapData, which will be defined later. The data type of BitMapData is SEQUENCE. This is a constraint on the sequence length; OF IndicationData indicates that each element in the sequence is of type IndicationData, such as the indication information corresponding to the data unit in the second data above. The data type of IndicationData is SEQUENCE, and the elements in the sequence are indication values ​​of type INTEGER. INTEGER(0..1) indicates that the indication value is 0 or 1, such as indicating whether the corresponding data unit is the first data unit.

[0235] The distance data type is DistanceData, defined later. DistanceData is of data type SEQUENCE, SIZE (NumOfOne) is a constraint on the sequence length, and NumOfOne represents the number of 1s in the bitmap; OF IndexData indicates that each element in the sequence is of type IndexData. IndexData is an ordered sequence of elements composed of distance indices, and its values ​​are limited to the range of 0 to 7. The distance index can be a quantized value of the radial distance r. This example only uses... The 'r' field is for illustrative purposes only, not a definitive description.

[0236] Regarding the compressed information in Method 2 above, when the compressed information includes a sequence of bitmaps and a compressed sequence, the ScatterCompressedData element is defined:

[0237] The ScatterCompressedData element contains three elements: bitMapData, byteNum, and encData. The definitions of each element have been explained in the previous example and will not be repeated here for the sake of brevity.

[0238] Regarding the compressed information in Method 2 above, when the compressed information includes a sequence of filled graphs and an uncompressed sequence, the ScatterCompressedData element is defined:

[0239] The ScatterCompressedData element contains two elements:

[0240] The number of items to fill (fillNumData): The data type is FillNumData, which will be defined later. The data type of FillNumData is SEQUENCE. This is a constraint on the sequence length; OF IndicationData indicates that each element in the sequence is of type IndicationData, such as the indication information corresponding to the data unit in the second data above. The data type of IndicationData is SEQUENCE, and the elements in the sequence are indication values ​​of type INTEGER. INTEGER(0..7) indicates that the range of the indication value is 0 to 7.

[0241] The `distanceData` data type is `DistanceData`, defined later. The `DistanceData` data type is `SEQUENCE`, `SIZE(SumOffill)` is a constraint on the sequence length, and `SumOffill` represents the total number of fills in the fill map; `OF IndexData` indicates that each element in the sequence is of type `IndexData`. `IndexData` is an ordered sequence of elements composed of distance indices, and its value is limited to the range of 0 to 7. The distance index can be a quantized value of the radial distance `r`. This example only uses... The 'r' field is for illustrative purposes only, not a definitive description.

[0242] Regarding the compressed information in Method 2 above, when the compressed information includes both the sequence of filled graphs and the compressed sequence, the ScatterCompressedData element is defined:

[0243] The ScatterCompressedData element contains three elements: fillNumData, byteNum, and encData. The definitions of each element have been explained in the previous examples and will not be repeated here for the sake of brevity.

[0244] Optionally, the third indication information is carried in RRC signaling. When the third indication information is carried in RRC signaling, the third indication information carried in RRC is defined through the ASN.1 protocol, such as:

[0245] DataInfo::=SEQUENCE{

[0246] scatter-compressed-Data ScatterCompressedData OPTIONAL

[0247] }

[0248] The DataInfo element is of data type SEQUENCE. The DataInfo element includes an optional (OPTIONAL) scatter-compressed-Data element, which is of data type ScatterCompressedData as defined. The definition of the ScatterCompressedData element can be found in the description in the previous example.

[0249] It should be noted that the above explanation only uses the example of third instruction information and compressed information being carried on the same signaling, but this application does not limit this. For example, third instruction information can be carried on RRC signaling, and compressed information can be carried on MAC CE.

[0250] In S230, the second device can perform data recovery, or data reconstruction, or data rebuilding, based on the received compressed information to obtain N recovered first data points. It should be understood that the process by which the second device decompresses the compressed information to recover N first data points is the reverse process of the first device processing the N first data points to obtain at least second data to achieve compression. Generally, there will be differences between the recovered N first data points and the original N first data points. However, it should be understood that the closer the recovered N first data points are to the original N first data points, the lower the information loss caused by compressed transmission and the higher the quality of compressed transmission.

[0251] For example, the second device can recover the first and second sub-data of each first data based on the positions of the M first data units, and recover the third sub-data of each first data based on the data of each first data unit in the second data. When the compressed information includes data of M first data units in multiple second data, taking two second data (second data Q1 and Q2) as an example, the second device can recover the first and second sub-data of each first data based on the position of each first data unit in the second data, recover the third sub-data of each first data based on the data of each first data unit in second data Q1, and recover the fourth sub-data of each first data based on the data of each first data unit in second data Q2.

[0252] The second device can obtain the positions of the M first data units in the same way as the methods one to three in the previous examples, which will not be repeated for the sake of brevity.

[0253] Therefore, in this embodiment, the first device processes N first data to obtain at least one second data. The second data includes M first data units, each first data unit corresponding to at least one of the N first data. The correspondence between the M first data units and the N first data is determined based on the first and second sub-data of each first data. The data in each first data unit is determined based on the third sub-data of the corresponding at least one first data. Further, the first device sends compression information to the second device, which includes the data of the M first data units in each second data, enabling the second device to recover the N first data based on the received compression information. By using the positions of the M first data units to indicate the first and second sub-data in the N first data, the amount of data transmitted is reduced compared to transmitting the first and second sub-data directly, thereby achieving effective and stable compressed data transmission.

[0254] Figure 15 is a schematic flowchart of another data processing method provided in an embodiment of this application. Figure 15 still uses the interaction between a first device and a second device as an example to describe the method provided in this application. In the data processing method shown in Figure 15, the first device and the second device can synchronize configuration information, thereby enabling subsequent data compression and transmission between the first device and the second device based on the synchronized configuration information.

[0255] Referring to S310a in Figure 15, the first device sends configuration information to the second device, and the second device receives the configuration information from the first device; or, referring to S310b in Figure 15, the second device sends configuration information to the first device, and the first device receives the configuration information from the second device.

[0256] The following is an example of the configuration information:

[0257] In the first example, the configuration information can be used to configure the data type of the first data. For example, the first data could be planar coordinate data, spherical coordinate data, or cylindrical coordinate data. Referring to Table 5 below, when the bit in the configuration information used to configure the data type of the first data is index 0, it indicates that the first data is planar coordinate data; when the index is 1, it indicates that the first data is spherical coordinate data; and when the index is 2, it indicates that the first data is cylindrical coordinate data.

[0258] Table 5

[0259] In the second example, the configuration information can be used to configure the first and second sub-data in the first data. That is, the configuration information can configure which fields in the first data determine the corresponding first data unit in the second data. See Table 6 below: where D0 to D2 represent sub-data under different fields in the first data. For example, D0 can be x in planar coordinate data, D1 can be y in planar coordinate data, and D2 can be z in planar coordinate data.

[0260] Table 6

[0261] Optionally, in the second example above, the information regarding the first and second sub-data in the first data can be a second-order index indicator implemented based on the first-order index implemented in the first example. See Table 7 below: When the corresponding bit indicator index in the configuration information is 00, it indicates that the first data is planar coordinate data, and the first and second sub-data are (x, y); when the indicator index is 01, it indicates that the first data is planar coordinate data, and the first and second sub-data are (x, z)...

[0262] Table 7

[0263] In the third example, configuration information can be used to configure the type of compressed information. For instance, the type of compressed information can be categorized based on how the compressed information indicates the position of each first data unit. For example, in a first type of compressed information, the data of each data unit in the compressed information is arranged in the order of its position, thus implicitly indicating the position of the M first data units in the second data; as another example, in a second type of compressed information, the compressed information includes a bitmap and the data of the M first data units, with the bitmap indicating the position of the M first data units in the second data; as yet another example, in a third type of compressed information, the compressed information includes a padding map and the data of the M first data units, with the padding map indicating the position of the M first data units in the second data, and the padding count for each data unit indicating the number of first data units corresponding to that data unit.

[0264] See Table 8 below: When the bit indicator index for configuring the type of compressed information is 0, it indicates that the type of compressed information is the first type mentioned above; when the bit indicator index for configuring the type of compressed information is 1, it indicates that the type of compressed information is the second type mentioned above; when the bit indicator index for configuring the type of compressed information is 2, it indicates that the type of compressed information is the third type mentioned above...

[0265] Table 8

[0266] In the fourth example, the configuration information can be used to configure the compression method of the compressed information, that is, the compression method of the M first data units in the compressed information, or the compression method of the M first data units and m second data units in the compressed information. For example, LZMA method, AC method, etc.

[0267] See Table 9 below: When the bit indicator index for configuring the compression method is 0, it means that the data of the M first data units is not encoded; when the bit indicator index for configuring the compression method is 1, it means that the data of the M first data units is encoded using LZMA; when the bit indicator index for configuring the compression method is 2, it means that the data of the M first data units is encoded using AC...

[0268] Table 9

[0269] In the fifth example, the configuration information can be used to configure the quantization parameters of the first data. For example, the configuration information can configure at least one of the following: the quantization parameters corresponding to the first field, the second field, and the third field of the first data. Quantization parameters may include, for example, quantization boundaries and / or quantization step sizes.

[0270] The first and second devices synchronize the configuration information from the five examples described above to facilitate accurate data recovery of N first data points by the receiving end. At least two of the five examples can be combined; in other words, the configuration information can include configuration items from at least two of the examples described above.

[0271] In some embodiments, some or all of the configuration information in the above examples may be preset, such as by agreement of the protocol. For example, the configuration items in the first and fourth examples are configured by the configuration information, and the configuration items in the fifth example are configured by agreement of the protocol.

[0272] In some embodiments, some or all of the above configuration information may be configured on the network side. For example, if both the first device and the second device are terminals, the base station may send the configuration information to the first device and the second device.

[0273] This application does not limit the signaling that carries configuration information. As an example, the above configuration information can be carried in a MAC CE. Referring to Figure 16, the MAC CE may include configuration information and compression information. The configuration information may include: the data type of the first data (and the first sub-data and the second sub-data in the first data); the type of compression information; the compression method of the compression information; and the quantization parameters of the first data. The quantization parameters of the first data may include, for example, the quantization boundary (min1, max1) and quantization step size q1 corresponding to the first field, the quantization boundary (min2, max2) and quantization step size q2 corresponding to the second field, and the quantization boundary (min3, max3) and quantization step size q3 corresponding to the third field.

[0274] It should be noted that the order of configuration items in the configuration information is not limited in the embodiments of this application.

[0275] As another example, the above configuration information can be carried in RRC signaling. For example, the ScatterCompressedData element defined by the ASN.1 protocol, such as:

[0276] The ScatterCompressedData element can include the following elements:

[0277] SensingForm 1: Integer type, with a value range of 0 to 7, and is a required element. It represents the sensing data form, such as the data type of the first data.

[0278] sensingForm2: An integer type, ranging from 0 to 3, and is an optional element. It supplements the form of the sensing data, such as indicating the first and second sub-data in the first data.

[0279] Quantization parameter (quantizationParam): The type is QuantizationParam, which will be defined later, and it is an optional element used to represent the quantization parameter of the first data.

[0280] Compression Form (ZDmapForm): An integer type, ranging from 0 to 7, and is an optional element used to represent the type of compressed information.

[0281] Compression Mode: An integer type, ranging from 0 to 7, and is an optional element used to represent the compression method of the compressed information.

[0282] CompressedData: This is a custom element (CompressedData) and is a required element used to store the compressed information in any of the examples above.

[0283] The definition of the QuantizationParam element includes: DataMin1, DataMax1, DataMin2, DataMax2, DataMin3, DataMax3, DataBit1, DataBit2, and DataBit3. DataMin1 and DataMax1 represent the quantization boundary corresponding to the first field, and DataBit1 represents the quantization step size corresponding to the first field. DataMin2 and DataMax2 represent the quantization boundary corresponding to the second field, and DataBit2 represents the quantization step size corresponding to the second field. DataMin3 and DataMax3 represent the quantization boundary corresponding to the third field, and DataBit3 represents the quantization step size corresponding to the third field.

[0284] S320 to S340 in Figure 15 can be referred to in the description in the previous example, and will not be repeated for the sake of brevity.

[0285] Understandably, the data type of the N first data points can affect the quality of compressed transmission. Taking a perception scenario as an example, if the perceived object is a spherical object, then spherical coordinate data will better represent the perception result; if the perceived object is a planar object, such as a building surface, then planar coordinate data will better represent the perception result; when the perception service is road perception in the field of intelligent driving, cylindrical coordinate data will better represent the perception result. In addition, the different data characteristics of the N first data points to be transmitted should also be matched with the data type to improve the quality of compressed transmission. For example, data characteristics can include at least one of the following: data distribution, value range, or data density of the N first data points.

[0286] Based on this, embodiments of this application consider determining the matching data type based on sensing services, sensing objects, or data characteristics, and converting the data type of the N first data when the data type of the N first data is different from the determined data type, thereby improving the compressed transmission quality.

[0287] For example, the first device can convert planar coordinate data {x,y,z} into cylindrical coordinate data {δ,R,z} based on the following formulas (5) and (6):

[0288] Alternatively, the first device can convert the planar coordinate data {x,y,z} into spherical coordinate data based on the following formulas (7) to (9).

[0289] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0290] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0291] The methods provided in the embodiments of this application have been described in detail above with reference to several accompanying drawings. The apparatus provided in the embodiments of this application will now be described with reference to the accompanying drawings.

[0292] Figure 17 is a schematic block diagram of a possible apparatus provided in an embodiment of this application. As shown in Figure 17, one apparatus provided in this application, apparatus 400, includes a transceiver module 410 and a processing module 420.

[0293] One possible design is that the device 400 is used to implement the function of the first device in the above method embodiment.

[0294] For example, the processing module 420 is used to process N first data to obtain at least one second data. Each second data includes M first data units, and each first data unit corresponds to at least one first data among the N first data. The correspondence between the M first data units and the N first data is determined based on the first sub-data and the second sub-data of each first data. The data in the first data units of the second data is determined based on the third sub-data of the corresponding at least one first data. The transceiver module 410 is used to send compressed information, which includes the data of the M first data units in each second data.

[0295] Optionally, the compressed information may also include data from m second data units in the second data, where the data in each second data unit is preset data.

[0296] Optionally, compressed information may be carried in Media Access Control Unit (MAC CE) or Radio Resource Control (RRC) signaling.

[0297] Optionally, the compression information may also include first indication information, which indicates the position of each first data unit in the second data.

[0298] Optionally, the first indication information includes indication information corresponding to each data unit in the second data, and the indication information is used to indicate whether the corresponding data unit is the first data unit or the second data unit.

[0299] Optionally, the indication information corresponding to each data unit in the second data is a preset bit value, or the number of first data units corresponding to the data units.

[0300] Optionally, the first indication information includes: first information and second information indicating each first data unit, the first information indicating the row of the first data unit in the second data, the second information indicating the column of the first data unit in the second data, the first information being associated with the first sub-data of the first data, and the second information being associated with the second sub-data of the first data.

[0301] Optionally, the data in each first data unit includes at least one third sub-data corresponding to the first data, or the data in each first data unit is encoded based on the third sub-data corresponding to at least one first data.

[0302] Optionally, the data in each first data unit is obtained by encoding the third sub-data of at least one corresponding first data. The compression information also includes second indication information, which is used to indicate the amount of data in the M first data units.

[0303] Optionally, the data units in the second data are determined based on the quantization parameters corresponding to the first field and the second field. The first field includes N first sub-data of the first data, and the second field includes N second sub-data of the first data.

[0304] Optionally, the correspondence between the M first data units and the N first data units is determined based on the quantization value of the first sub-data and the quantization value of the second sub-data of each first data unit.

[0305] Optionally, the data in each first data unit includes the quantized value of at least one third sub-data corresponding to the first data.

[0306] Optionally, the transceiver module 410 is also used to send third indication information, which instructs the transmission of compressed information.

[0307] Optionally, the third indication information is carried in the MAC CE or MAC subheader or RRC signaling.

[0308] Optionally, the third indication information is carried in the Logical Channel Identifier (LCID) field or the Extended Logical Channel Identifier (eLCID) field in the MAC subheader.

[0309] Optionally, the transceiver module 410 is also used to receive or send configuration information, which is used to configure at least one of the following:

[0310] The data type of the first data;

[0311] The first and second sub-data in the first data;

[0312] Types of compressed information;

[0313] Compression methods for compressed information;

[0314] The quantization parameters of the first data.

[0315] Optionally, configuration information is carried in MAC CE or RRC signaling.

[0316] Optionally, the data types of the N first data points are determined based on the perceived business or data characteristics.

[0317] One possible design is that the device 400 is used to implement the function of the second device in the above method embodiments.

[0318] For example, the transceiver module 410 is used to receive compressed information, which includes data of M first data units of each second data in at least one second data. Each first data unit corresponds to at least one first data in N first data. The correspondence between the M first data units and the N first data is determined based on the first and second sub-data of each first data. The data in the first data unit is determined based on the third sub-data of the corresponding at least one first data. The processing module 420 is used to recover the N first data based on the compressed information.

[0319] Optionally, the compressed information may also include data from m second data units in the second data, where the data in each second data unit is preset data.

[0320] Optionally, the compression information may also include first indication information, which indicates the position of each first data unit in the second data.

[0321] Optionally, the first indication information includes indication information corresponding to each data unit in the second data, and the indication information is used to indicate whether the corresponding data unit is the first data unit or the second data unit.

[0322] Optionally, the indication information corresponding to each data unit in the second data is a preset bit value, or the number of first data units corresponding to the data units.

[0323] Optionally, the first indication information includes: first information and second information indicating each first data unit, the first information indicating the row of the first data unit in the second data, the second information indicating the column of the first data unit in the second data, the first information being associated with the first sub-data of the first data, and the second information being associated with the second sub-data of the first data.

[0324] Optionally, the data in each first data unit includes at least one third sub-data corresponding to the first data, or the data in each first data unit is encoded based on the third sub-data corresponding to at least one first data.

[0325] Optionally, the data in each first data unit is obtained by encoding the third sub-data of at least one corresponding first data. The compression information also includes second indication information, which is used to indicate the amount of data in the M first data units.

[0326] Optionally, the data units in the second data are determined based on the quantization parameters corresponding to the first field and the second field. The first field includes N first sub-data of the first data, and the second field includes N second sub-data of the first data.

[0327] Optionally, the correspondence between the M first data units and the N first data units is determined based on the quantization value of the first sub-data and the quantization value of the second sub-data of each first data unit.

[0328] Optionally, the data in each first data unit includes the quantized value of at least one third sub-data corresponding to the first data.

[0329] Optionally, compressed information may be carried in Media Access Control Unit (MAC CE) or Radio Resource Control (RRC) signaling.

[0330] Optionally, the transceiver module 410 is also used to: receive third indication information, which instructs the transmission of compressed information.

[0331] Optionally, the third indication information is carried in the MAC CE or MAC subheader or RRC signaling.

[0332] Optionally, the third indication information is carried in the Logical Channel Identifier (LCID) field or the Extended Logical Channel Identifier (eLCID) field in the MAC subheader.

[0333] Optionally, the transceiver module 410 is also used to: send or receive configuration information, the configuration information being used to configure at least one of the following:

[0334] The data type of the first data;

[0335] The first and second sub-data in the first data;

[0336] Types of compressed information;

[0337] Compression methods for compressed information;

[0338] The quantization parameters of the first data.

[0339] Optionally, configuration information is carried in MAC CE or RRC signaling.

[0340] Optionally, the data types of the N first data points are determined based on the perceived business or data characteristics.

[0341] Optionally, in the above possible designs, the communication device may also include a storage module, which can store data / code, and the processing module 420 and / or the transceiver module 410 can interact with the storage module.

[0342] Optionally, the processing module 420 may be a processor or controller, such as a CPU, general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The transceiver module 410 is a transceiver, interface circuit, bus, pin, or other possible communication interface for receiving signals from other devices. For example, when the device is implemented as a chip, the transceiver module 410 is an interface circuit for the chip to receive signals from other chips or devices, or an interface circuit for the chip to send signals to other chips or devices.

[0343] It is understood that the division of units in the above-described device is merely a logical functional division. Each function can correspond to a functional unit, or two or more functions can be integrated into one functional unit. In actual implementation, all or some units can be integrated into a single physical entity, or they can be distributed across different physical entities. Furthermore, the aforementioned functional units can be implemented in hardware, software, or a combination of both. Whether a function is executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0344] Figure 18 is another schematic block diagram of the device provided in an embodiment of this application. As shown in Figure 18, the device 500 includes one or more processors 510. The processor 510 may be a general-purpose processor or a special-purpose processor, etc. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, and the central processing unit may be used to control the device (e.g., a vehicle or a chip), execute software programs, and process data from the software programs.

[0345] Alternatively, in one design, processor 510 may include a computer program (also referred to as code or instructions) that can be run on processor 510, causing device 500 to perform the methods performed by the first or second device in the above method embodiments. In yet another possible design, device 500 includes circuitry (not shown in FIG18) for implementing the functions of the first or second device in the above method embodiments.

[0346] For example, processor 510 may be used to execute a computer program in memory to implement the steps performed by the first device or the second device in the method embodiment.

[0347] Optionally, the device 500 may include one or more memories 520 storing computer programs (sometimes referred to as code or instructions) that can be run on the processor 510, causing the device 500 to perform the methods performed by the first or second device in the above embodiments.

[0348] Optionally, the processor 510 and / or memory 520 may also store data. The processor and memory may be configured separately or integrated together.

[0349] Optionally, the device 500 may also include a communication interface 530. The processor 510, sometimes referred to as a processing unit, controls the device (e.g., the first device or the second device). The communication interface 530, sometimes referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver, is used to implement the transceiver function of the device; for example, the communication interface 530 can be used to receive first configuration information.

[0350] Optionally, the device 500 also includes a communication interface 530. The processor 510 and the communication interface 530 are coupled to each other. It is understood that the communication interface 530 can be a transceiver or an input / output interface.

[0351] When the device 500 is used to implement the above method embodiments, the processor 510 can be used to execute the functions of the processing unit 420, and the communication interface 530 can be used to execute the functions of the transceiver unit 410. Whether the communication interface 530 is used for sending or receiving depends on whether the device 500 is used to perform a sending or receiving action in the scheme it is executing.

[0352] When the aforementioned device 500 is a chip applied to a terminal, the chip implements the functions of the terminal in the above method embodiments. The terminal's chip receives signals from other modules (such as radio frequency modules or antennas) in the terminal, and these signals may be sent to the terminal by network devices; or, the terminal's chip sends signals to other modules (such as radio frequency modules or antennas) in the terminal, and these signals may be sent to network devices by the terminal.

[0353] When the aforementioned device 500 is a chip applied to a network device, the chip implements the functions of the network device in the above method embodiments. The chip of the network device receives signals from other modules in the network device, which may be signals sent by a terminal to the network device; or, the chip of the network device sends signals to other modules in the network device, which may be signals sent by the network device to a terminal.

[0354] It is understood that when the device 500 is a first device or a second device, the communication interface 530 can be a transceiver, specifically including a transmitter and a receiver, with the transmitter used to send signals and the receiver used to receive signals. When the device 500 is a chip applied to the first device or the second device, the communication interface 530 can be an input / output circuit, wherein the input circuit can be used for receiving and the output interface can be used for sending.

[0355] Optionally, the device 500 also includes a power supply circuit for supplying power to the device 500.

[0356] The above-described method embodiments can be applied to a processor, or implemented by a processor. A processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiments can be completed through integrated logic circuits in the processor's hardware or through software instructions.

[0357] The aforementioned processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0358] The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in mature storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0359] The memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0360] This application also provides a chip system including at least one processor for supporting the implementation of the functions of the first or second device involved in any of the above method embodiments, such as receiving, sending, or processing information involved in the above methods.

[0361] In one possible design, the chip system also includes a memory for storing computer program instructions and data, which may be located inside or outside the processor.

[0362] The chip system can consist of chips or include chips and other discrete components.

[0363] This application also provides a computer program product, which includes a computer program (also referred to as code or instructions), wherein when the computer program is run, the method executed by the first device in the above method embodiments is executed, or the method executed by the second device is executed.

[0364] This application also provides a computer-readable storage medium storing a computer program (also referred to as code or instructions). When the computer program is run, the method executed by the first device or the method executed by the second device in the above method embodiments is executed.

[0365] This application also provides a communication system, which includes the aforementioned first device and second device.

[0366] The methods provided in the above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, they can be implemented, in whole or in part, in the form of a computer program product. This computer program product may include one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic disk), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0367] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0368] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0369] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0370] The unit described as a separate component may or may not be physically separate. The component shown as a unit may or may not be a physical unit; that is, it 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.

[0371] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0372] If this function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, or part of it, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0373] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

Claims

1. A data processing method, characterized in that, include: Data processing is performed on N first data to obtain at least one second data. Each second data includes M first data units. Each first data unit corresponds to at least one first data among the N first data. The correspondence between the M first data units and the N first data is determined based on the first sub-data and the second sub-data of each first data. The data in the first data units of the second data is determined based on the third sub-data of the corresponding at least one first data. Send compressed information, the compressed information including the data of the M first data units in each of the second data.

2. The method according to claim 1, characterized in that, The compressed information also includes data from m second data units in the second data, and the data in each second data unit is preset data.

3. The method according to claim 1 or 2, characterized in that, The compressed information is carried in the Media Access Control Unit (MAC CE) or Radio Resource Control (RRC) signaling.

4. The method according to any one of claims 1 to 3, characterized in that, The compression information also includes first indication information, which is used to indicate the position of each of the first data units in the second data.

5. The method according to claim 4, characterized in that, The first indication information includes indication information corresponding to each data unit in the second data, and the indication information is used to indicate that the corresponding data unit is the first data unit or the second data unit.

6. The method according to claim 5, characterized in that, The indication information corresponding to each data unit in the second data is a preset bit value, or the number of first data corresponding to the data unit.

7. The method according to claim 4, characterized in that, The first indication information includes: first information and second information indicating each first data unit, the first information indicating the row of the first data unit in the second data, the second information indicating the column of the first data unit in the second data, the first information being associated with a first sub-data of the first data, and the second information being associated with a second sub-data of the first data.

8. The method according to claim 4, characterized in that, The data in each of the first data units includes at least one third sub-data corresponding to the first data, or the data in each of the first data units is encoded based on the third sub-data corresponding to at least one first data.

9. The method according to claim 8, characterized in that, The data in each of the first data units is obtained by encoding the third sub-data of at least one corresponding first data. The compression information also includes second indication information, which is used to indicate the amount of data in the M first data units.

10. The method according to any one of claims 1 to 9, characterized in that, The data units in the second data are determined based on the quantization parameters corresponding to the first field and the second field. The first field includes the first sub-data of the N first data, and the second field includes the second sub-data of the N first data.

11. The method according to any one of claims 1 to 10, characterized in that, The correspondence between the M first data units and the N first data units is determined based on the quantization value of the first sub-data and the quantization value of the second sub-data of each first data unit.

12. The method according to any one of claims 1 to 11, characterized in that, The data in each of the first data units includes the quantized value of at least one third sub-data of the corresponding first data.

13. The method according to any one of claims 1 to 12, characterized in that, Also includes: Send a third instruction message, which instructs the transmission of the compressed information.

14. The method according to claim 13, characterized in that, The third indication information is carried in MAC CE or MAC subheader or RRC signaling.

15. The method according to claim 14, characterized in that, The third indication information is carried in the Logical Channel Identifier (LCID) field or the Extended Logical Channel Identifier (eLCID) field in the MAC subheader.

16. The method according to any one of claims 1 to 15, characterized in that, Also includes: Receive or send configuration information, wherein the configuration information is used to configure at least one of the following: The data type of the first data; The first sub-data and the second sub-data in the first data; The type of compressed information; The compression method of the compressed information; The quantization parameters of the first data.

17. The method according to claim 16, characterized in that, The configuration information is carried in MAC CE or RRC signaling.

18. The method according to any one of claims 1 to 17, characterized in that, The data types of the N first data are determined based on the perception service or data characteristics.

19. A data processing method, characterized in that, include: Receive compressed information, the compressed information including data of M first data units of each second data in at least one second data, each first data unit corresponding to express at least one first data in N first data, the correspondence between the M first data units and the N first data is determined based on the first sub-data and the second sub-data of each first data, and the data in the first data unit is determined based on the third sub-data of the corresponding at least one first data; The N first data points are recovered based on the compressed information.

20. The method according to claim 19, characterized in that, The compressed information also includes data from m second data units in the second data, and the data in each second data unit is preset data.

21. The method according to claim 19 or 20, characterized in that, The compression information also includes first indication information, which is used to indicate the position of each of the first data units in the second data.

22. The method according to claim 21, characterized in that, The first indication information includes indication information corresponding to each data unit in the second data, and the indication information is used to indicate that the corresponding data unit is the first data unit or the second data unit.

23. The method according to claim 22, characterized in that, The indication information corresponding to each data unit in the second data is a preset bit value, or the number of first data corresponding to the data unit.

24. The method according to claim 21, characterized in that, The first indication information includes: first information and second information indicating each first data unit, the first information indicating the row of the first data unit in the second data, the second information indicating the column of the first data unit in the second data, the first information being associated with a first sub-data of the first data, and the second information being associated with a second sub-data of the first data.

25. The method according to claim 21, characterized in that, The data in each of the first data units includes at least one third sub-data corresponding to the first data, or the data in each of the first data units is encoded based on the third sub-data corresponding to at least one first data.

26. The method according to claim 25, characterized in that, The data in each of the first data units is obtained by encoding the third sub-data of at least one corresponding first data. The compression information also includes second indication information, which is used to indicate the amount of data in the M first data units.

27. The method according to any one of claims 19 to 26, characterized in that, The data units in the second data are determined based on the quantization parameters corresponding to the first field and the second field. The first field includes the first sub-data of the N first data, and the second field includes the second sub-data of the N first data.

28. The method according to any one of claims 19 to 27, characterized in that, The correspondence between the M first data units and the N first data units is determined based on the quantization value of the first sub-data and the quantization value of the second sub-data of each first data unit.

29. The method according to any one of claims 19 to 28, characterized in that, The data in each of the first data units includes the quantized value of at least one third sub-data of the corresponding first data.

30. The method according to any one of claims 19 to 29, characterized in that, The compressed information is carried in the Media Access Control Unit (MAC CE) or Radio Resource Control (RRC) signaling.

31. The method according to any one of claims 19 to 30, characterized in that, Also includes: Receive a third instruction message, which instructs the transmission of the compressed information.

32. The method according to claim 31, characterized in that, The third indication information is carried in MAC CE or MAC subheader or RRC signaling.

33. The method according to claim 32, characterized in that, The third indication information is carried in the Logical Channel Identifier (LCID) field or the Extended Logical Channel Identifier (eLCID) field in the MAC subheader.

34. The method according to any one of claims 19 to 33, characterized in that, Also includes: Sending or receiving configuration information, wherein the configuration information is used to configure at least one of the following: The data type of the first data; The first sub-data and the second sub-data in the first data; The type of compressed information; The compression method of the compressed information; The quantization parameters of the first data.

35. The method according to claim 34, characterized in that, The configuration information is carried in MAC CE or RRC signaling.

36. The method according to any one of claims 19 to 35, characterized in that, The data types of the N first data are determined based on the perception service or data characteristics.

37. A communication device, characterized in that, It includes modules for performing the method as described in any one of claims 1 to 18, or modules for performing the method as described in any one of claims 19 to 36.

38. A communication device, characterized in that, It includes one or more processors, said one or more processors being configured to execute computer programs or instructions that cause the communication device to perform the method as claimed in any one of claims 1 to 18, or to perform the method as claimed in any one of claims 19 to 36.

39. The communication device according to claim 38, characterized in that, It also includes a memory for storing the computer program or instructions.

40. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it causes the method as described in any one of claims 1 to 18 to be executed, or causes the method as described in any one of claims 19 to 36 to be executed.

41. A computer program product, characterized in that, Includes a computer program that, when run, causes the method of any one of claims 1 to 18 to be performed, or causes the method of any one of claims 19 to 36 to be performed.

42. A communication system, characterized in that, It includes a first communication device and a second communication device, wherein the first communication device is used to perform the method as described in any one of claims 1 to 18, and the second communication device is used to perform the method as described in any one of claims 19 to 36.

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