WO2024050803A1 - 感知方法、装置和系统 - Google Patents

感知方法、装置和系统 Download PDF

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Publication number
WO2024050803A1
WO2024050803A1 PCT/CN2022/117991 CN2022117991W WO2024050803A1 WO 2024050803 A1 WO2024050803 A1 WO 2024050803A1 CN 2022117991 W CN2022117991 W CN 2022117991W WO 2024050803 A1 WO2024050803 A1 WO 2024050803A1
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Prior art keywords
sensing
confidence
sensing data
data
target
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PCT/CN2022/117991
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English (en)
French (fr)
Inventor
周知
何佳
张希
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华为技术有限公司
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Priority to PCT/CN2022/117991 priority Critical patent/WO2024050803A1/zh
Publication of WO2024050803A1 publication Critical patent/WO2024050803A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • This application relates to the field of communications. In particular, it relates to a sensing method, device and system.
  • Communication sensing integration refers to a new information processing technology that simultaneously realizes the collaboration of sensing and communication functions based on software and hardware resource sharing or information sharing, which can effectively improve system spectrum efficiency, hardware efficiency, and information processing efficiency.
  • having communication and sensing functions will be the capability trend of advanced wireless base stations and terminals. Enabling intelligent technology in advanced wireless to obtain sensing information from the environment has become an important means.
  • This application provides a sensing method, device and system that can reduce data redundancy in the sensing process and reduce resource consumption.
  • embodiments of the present application provide a sensing method, which can be executed by a sensing node, or can also be executed by a chip or circuit used for the sensing node, which is not limited by this application.
  • a sensing method which can be executed by a sensing node, or can also be executed by a chip or circuit used for the sensing node, which is not limited by this application.
  • the following description takes execution by the sensing node as an example.
  • the method may include: obtaining sensing data of the first target, and determining whether to send the first sensing data according to a confidence level of the first sensing data, where the first sensing data belongs to the sensing data of the first target, and the confidence level is based on the first sensing data.
  • the first parameter includes at least one of the following: the beam width of the first beam, the time delay for sensing the first target, the signal bandwidth for sensing the first target, or the arrival of the first beam at the first
  • the beam arrival angle of the target, the first beam is the beam used to sense the first target.
  • the sensing node determines whether to report the first sensing data to the sensing center based on the confidence level, which reduces the redundant amount of reported data, compresses the amount of reported data, and saves communication resources.
  • determining whether to send the first sensing data based on the confidence of the first sensing data includes: determining whether to send the first sensing data based on the confidence of the first sensing data and the confidence of the first data.
  • the first sensing data is sent, and the first data belongs to the local data of the first target.
  • the sensing node compares the confidence level of the sensing data with the local data, and determines whether to report the sensing data based on the comparison result. In other words, sensing nodes report sensing data that is better than local data, further reducing data redundancy.
  • the first sensing data when the confidence of the first sensing data is greater than or equal to the confidence of the first data, the first sensing data is sent, or,
  • the first sensing data is sent, or,
  • the first sensing data is sent.
  • first information is received, the first information being used to indicate the first threshold or the second threshold.
  • determining whether to send the first sensing data based on the confidence of the first sensing data includes: determining whether to send the first sensing data based on the confidence of the first sensing data and a first confidence threshold. 1. Sensory data.
  • second information is received, the second information being used to indicate the first confidence threshold.
  • conditions are provided for the sensing node to determine whether to report the first sensing data. That is to say, the sensing node reports sensing data that satisfies these conditions to the sensing center. In other words, when the confidence of the sensed data is better than the confidence of the local data, or when the confidence of the sensed data meets the confidence threshold, the sensing node can report the sensed data, which improves the accuracy of the reported data and further ground, improving the perception accuracy.
  • first threshold, the second threshold or the first confidence threshold may be indicated, predefined, or configured, which is not limited in this embodiment of the present application. It should also be understood that when the first threshold, the second threshold or the first confidence threshold is indicated, it may be indicated in the same indication information, or it may be indicated in multiple indication information. This is not the case in this embodiment of the present application. Not limited.
  • third information is received, the third information being used to indicate location information of a first area, where the first area includes the first target.
  • the third information may indicate an area to be updated, and the area may be predefined.
  • the first area includes at least one partition, the at least one partition corresponds to at least one confidence threshold, the at least one confidence threshold includes a first confidence threshold, or, the At least one partition has a one-to-one correspondence with at least one threshold, and the at least one threshold includes a first threshold or a second threshold.
  • different partitions may correspond to different confidence thresholds, or different partitions may correspond to different first thresholds, or different partitions may correspond to different second thresholds.
  • the requirements for sensing accuracy may be different.
  • the sensing nodes can determine the reported sensing data based on the confidence thresholds or thresholds corresponding to different partitions, which can match the sensing needs of different partitions and improve the flexibility of sensing nodes in determining sensing data. .
  • the confidence threshold, first threshold or second threshold corresponding to different partitions may also be the same.
  • a perceptual map is obtained, the perceptual map including the first data.
  • the perception map may be a gridded perception map or a point cloud perception map.
  • K second targets are determined, the K second targets correspond to K second sensing data, and the K is an integer greater than or equal to 1. According to the K second sensing data The confidence level and the confidence level of the first sensing data determine whether to report the first sensing data.
  • the sensing node can determine whether to report the first sensing data based on the confidence of the first sensing data and the confidence of sensing data of other targets. In other words, the sensing node can compare the first sensing data with surrounding sensing data and report the sensing data that meets the conditions. This approach provides flexibility for data compression.
  • the second parameter is a distance threshold, and there are K second targets within the distance threshold range, or the second parameter is a value of K, and the K second targets
  • the target is the K targets closest to the first target in the perceptual map, and the perceptual map is used to indicate the first target and the K second targets.
  • the sensing node can determine a certain amount of sensing data in nearby target points as the comparison object, or it can determine a certain amount of sensing data in the nearest distance as the comparison object.
  • fourth information is received, the fourth information being used to indicate the perceptual map.
  • the confidence level and the first parameter satisfy the following relationship:
  • D is the confidence
  • c is the speed of light
  • t is the time delay for sensing the first target
  • ⁇ is the beam arrival angle of the first beam when it reaches the first target
  • ⁇ is the beam width of the first beam
  • B is the Perceive the signal bandwidth of the first target.
  • embodiments of the present application provide a sensing method, which can be executed by a sensing center, or can also be executed by a chip or circuit used in the sensing center, which is not limited by this application.
  • a sensing method which can be executed by a sensing center, or can also be executed by a chip or circuit used in the sensing center, which is not limited by this application.
  • the following description takes execution by the perception center as an example.
  • the method may include: receiving first sensing data, the first sensing data being determined based on a confidence level of the first sensing data, the first sensing data belonging to sensing data of the first target, the confidence level being determined based on a first parameter , the first parameter includes at least one of the following: the beam width of the first beam, the time delay for sensing the first target, the signal bandwidth for sensing the first target, or the beam for the first beam to reach the first target.
  • Angle of arrival the first beam is a beam used to sense the first target, and the first data of the first target is updated as the first sensing data, and the first data belongs to the local data of the first target.
  • the confidence of the first sensing data is greater than or equal to the confidence of the first data, or the ratio of the confidence of the first sensing data to the confidence of the first data is greater than or equal to the first threshold, or the difference between the confidence of the first sensing data and the confidence of the first data is greater than or equal to the second threshold, or the confidence of the first sensing data is greater than or equal to the first Confidence threshold.
  • the method before receiving the first sensing data, the method further includes: sending first information, the first information being used to indicate the first threshold or the second threshold, or, sending Second information, the second information is used to indicate the first confidence threshold.
  • the method further includes: sending third information, the third information being used to indicate location information of the first area, where the first area includes the first target.
  • the first area includes at least one partition, the at least one partition corresponds to at least one confidence threshold, the at least one confidence threshold includes a first confidence threshold, or, the At least one partition has a one-to-one correspondence with at least one threshold, and the at least one threshold includes a first threshold or a second threshold.
  • a second parameter is sent, the second parameter is a distance threshold, there are K second targets within the distance threshold range, and the K second targets correspond to K second sensing data , the K is an integer greater than or equal to 1; or the second parameter is the value of K, and the K second targets are the K targets closest to the first target in the perceptual map, and the perceptual map is
  • the first sensing data is determined based on the confidence of the first sensing data, including: the first sensing data is determined based on the confidence of the K second sensing data and the confidence level of the first sensing data.
  • fourth information is sent that is also used to indicate the perceptual map.
  • the confidence level and the first parameter satisfy the following relationship:
  • D is the confidence
  • c is the speed of light
  • t is the time delay to perceive the first target
  • ⁇ is the beam width of the first beam
  • B is the signal bandwidth for sensing the first target.
  • the second aspect is the implementation of the perception center side corresponding to the first aspect.
  • the relevant explanations, supplements, possible implementations and descriptions of beneficial effects of the first aspect are also applicable to the second aspect, and will not be repeated here. .
  • a third aspect provides a communication device, which can be used in the sensing node of the first aspect.
  • the communication device can be a sensing node, or can be a device (for example, a chip, or a chip system, or a circuit) in the sensing node. ), or a device that can be used in conjunction with the sensing node.
  • the communication device may include modules or units that perform one-to-one correspondence with the methods/operations/steps/actions described in the first aspect.
  • the modules or units may be hardware circuits, software, or It can be implemented by hardware circuit combined with software.
  • the device includes a processing module configured to obtain sensing data of the first target, and the processing module is further configured to determine whether to send the first sensing data based on the confidence of the first sensing data, the The first sensing data belongs to the sensing data of the first target, and the confidence level is determined based on a first parameter.
  • the first parameter includes at least one of the following: beam width of the first beam, time to sense the first target.
  • the first beam is a beam used to sense the first target.
  • the processing module is configured to determine whether to send the first sensing data based on the confidence of the first sensing data and the confidence of the first data, which belongs to the first sensing data. A target's local data.
  • the device further includes a transceiver module configured to send the first sensing data when the confidence of the first sensing data is greater than or equal to the confidence of the first data. ,or,
  • the first sensing data is sent, or,
  • the first sensing data is sent.
  • the transceiver module is further configured to receive second information, where the second information is used to indicate the first threshold or the second threshold.
  • the processing module is configured to determine whether to send the first sensing data according to a confidence level of the first sensing data and a first confidence threshold.
  • the device further includes a transceiver module configured to receive second information, where the second information is used to indicate the first confidence threshold.
  • the device also includes a transceiver module, the transceiver module being used to receive third information, the third information being used to indicate the location information of the first area, where the first area includes the first target.
  • the first area includes at least one partition, the at least one partition corresponds to at least one confidence threshold, the at least one confidence threshold includes the first confidence threshold, or, the At least one partition has a one-to-one correspondence with at least one threshold, and the at least one threshold includes a first threshold or a second threshold.
  • the processing module is also used to determine K second targets, where the K second targets correspond to K second sensing data, where K is an integer greater than or equal to 1, and the processing module The module is also configured to determine whether to report the first sensing data based on the confidence of the K second sensing data and the confidence of the first sensing data.
  • the device also includes a transceiver module, the transceiver module is used to receive the second parameter,
  • the second parameter is a distance threshold, and there are K second targets within the distance threshold range,
  • the second parameter is the value of K.
  • the K second targets are the K targets closest to the first target in the perceptual map.
  • the perceptual map is used to indicate the first target and the K second targets. Target.
  • the transceiver module is further configured to receive fourth information, where the fourth information is used to indicate the perceptual map.
  • the confidence level and the first parameter satisfy the following relationship:
  • D is the confidence
  • c is the speed of light
  • t is the time delay for sensing the first target
  • ⁇ is the beam arrival angle of the first beam when it reaches the first target
  • ⁇ is the beam width of the first beam
  • B is the signal bandwidth for sensing the first target.
  • a fourth aspect provides a communication device that can be used in the perception center of the second aspect.
  • the communication device can be a perception center or a device in the perception center (for example, a chip, or a chip system, or a circuit). ), or a device that can be used in conjunction with the perception center.
  • the communication device may include modules or units that perform one-to-one correspondence with the methods/operations/steps/actions described in the second aspect.
  • the modules or units may be hardware circuits, software, or It can be implemented by hardware circuit combined with software.
  • the communication device includes a transceiver module and a processing module.
  • the transceiver module is configured to receive first perception data.
  • the first perception data is determined based on the confidence level of the first perception data.
  • the first perception data Sensing data belonging to the first target, the confidence level is determined based on a first parameter, the first parameter includes at least one of the following: beam width of the first beam, time delay for sensing the first target, sensing the third target The signal bandwidth of a target or the beam arrival angle of the first beam when it reaches the first target.
  • the first beam is a beam used to sense the first target.
  • the processing module is used to update the first data of the first target. This is the first sensing data, and the first data belongs to the local data of the first target.
  • the confidence of the first sensing data is greater than or equal to the confidence of the first data, or the ratio of the confidence of the first sensing data to the confidence of the first data is greater than or equal to the first threshold, or the difference between the confidence of the first sensing data and the confidence of the first data is greater than or equal to the second threshold, or the confidence of the first sensing data is greater than or equal to the first Confidence threshold.
  • the transceiver module is also used to send first information, the first information is used to indicate the first threshold or the second threshold, or the transceiver module is also used to send a second information, the second information is used to indicate the first confidence threshold.
  • the transceiver module is further configured to send third information, where the third information is used to indicate location information of the first area, where the first area includes the first target.
  • the first area includes at least one partition, the at least one partition corresponds to at least one confidence threshold, the at least one confidence threshold includes the first confidence threshold, or, the At least one partition has a one-to-one correspondence with at least one threshold, and the at least one threshold includes a first threshold or a second threshold.
  • the transceiver module is also used to send the second parameter
  • the second parameter is a distance threshold.
  • the K second targets correspond to K second sensing data.
  • the K is an integer greater than or equal to 1.
  • the first sensing data is determined based on the confidence of the K second sensing data and the confidence of the first sensing data;
  • the second parameter is the value of K.
  • the K second targets are the K targets closest to the first target in the perceptual map.
  • the perceptual map is used to indicate the first target and the K second targets.
  • Target, the first sensing data is determined based on the confidence of the first sensing data, including:
  • the first sensing data is determined based on the confidence of the K second sensing data and the confidence of the first sensing data.
  • the confidence level and the first parameter satisfy the following relationship:
  • D is the confidence
  • c is the speed of light
  • t is the time delay of sensing the first target
  • ⁇ is the beam arrival angle of the first beam when it reaches the first target
  • ⁇ is the beam width of the first beam
  • B is the perception The signal bandwidth of the first target.
  • third and fourth aspects are device-side implementations corresponding to the first and second aspects respectively, and the relevant explanations, supplements, possible implementations and descriptions of beneficial effects of the first and second aspects. The same applies to the third and fourth aspects, and will not be repeated here.
  • embodiments of the present application provide a communication device, including an interface circuit and a processor.
  • the interface circuit is used to implement the functions of the transceiver module in the third aspect.
  • the processor is used to implement the functions of the processing module in the third aspect. .
  • embodiments of the present application provide a communication device, including an interface circuit and a processor.
  • the interface circuit is used to implement the functions of the transceiver module in the fourth aspect.
  • the processor is used to implement the functions of the processing module in the fourth aspect. .
  • embodiments of the present application provide a computer-readable medium that stores a program for execution by a terminal device or a device in the terminal device.
  • the program includes a program for executing the first aspect or the second aspect. , or, any possible method in the first aspect or the second aspect, or, instructions for all possible methods in the first aspect or the second aspect.
  • embodiments of the present application provide a computer-readable medium that stores a program for execution by a network device or a device in the network device.
  • the program includes a program for executing the first aspect or the second aspect. , or, any possible method in the first aspect or the second aspect, or, instructions for all possible methods in the first aspect or the second aspect.
  • a ninth aspect provides a computer program product storing computer readable instructions.
  • the computer is caused to execute the first aspect, or any possible method of the first aspect, Or, the method in all possible ways in the first aspect.
  • a computer program product that stores computer readable instructions.
  • the computer readable instructions When the computer readable instructions are run on a computer, the computer is caused to execute the above second aspect, or any possible method in the second aspect. , or, the method in all possible ways in the second aspect.
  • a communication system includes a method and various possible methods for implementing the above first aspect, or any possible way in the first aspect, or all possible ways in the first aspect. Possibly designed functional devices and the second aspect, or any possible way in the second aspect, or all possible ways and methods in the second aspect and various possible designed functional devices.
  • a processor is provided, coupled to a memory, for executing the above-mentioned first aspect, or any possible method in the first aspect, or all possible methods in the first aspect. .
  • the memory is used to store computer instructions, and the processor executes the computer instructions to execute the above first aspect, or any possible way in the first aspect, or all possible ways in the first aspect. way method.
  • the memory and processor are integrated together.
  • a thirteenth aspect provides a processor, coupled to a memory, for executing the method of the second aspect, or any possible method in the second aspect, or all possible methods in the second aspect.
  • the memory is used to store computer instructions
  • the processor executes the computer instructions to execute the above second aspect, or any possible way in the second aspect, or all possible ways in the second aspect. way method.
  • the memory and processor are integrated together.
  • a fourteenth aspect provides a chip system.
  • the chip system includes a processor and may also include a memory for executing computer programs or instructions stored in the memory, so that the chip system implements any of the foregoing first or second aspects. Methods in one aspect, and in any possible implementation of either aspect.
  • the chip system can be composed of chips or include chips and other discrete devices.
  • a fifteenth aspect provides a computer program product that stores computer-readable instructions.
  • the computer is caused to execute the above-mentioned first aspect, or any possible method of the first aspect. way, or, the method of all possible ways in the first aspect.
  • a sixteenth aspect provides a computer program product that stores computer-readable instructions.
  • the computer is caused to execute the above-mentioned second aspect, or any possible method in the second aspect. way, or, the method of all possible ways in the second aspect.
  • Figure 1 shows a schematic architectural diagram of a communication system suitable for embodiments of the present application.
  • Figure 2 shows one way of compressing data.
  • Figure 3 shows a cumulative distribution function curve of bandwidth and perceived distance error.
  • Figure 4 shows a cumulative distribution function curve of beam arrival angle and perceived distance error.
  • Figure 5 shows a schematic diagram of a sensing method proposed by an embodiment of the present application.
  • Figure 6 shows a perceptual map proposed by the embodiment of this application.
  • Figure 7 shows another perceptual map proposed by the embodiment of the present application.
  • Figure 8 shows a confidence calculation method proposed by the embodiment of this application.
  • Figure 9 shows a method for judging the confidence level of sensory data proposed by the embodiment of the present application.
  • Figure 10 shows another method for judging the confidence level of sensory data proposed by the embodiment of the present application.
  • Figure 11 shows another method for judging the confidence level of sensory data proposed by the embodiment of the present application.
  • Figure 12 shows another method for judging the confidence level of sensory data proposed by the embodiment of the present application.
  • Figure 13 shows another method for judging the confidence level of sensory data proposed by the embodiment of the present application.
  • Figure 14 shows a schematic diagram of a sensing process proposed by the embodiment of the present application.
  • Figure 15 shows a schematic block diagram of a communication device proposed in an embodiment of the present application.
  • Figure 16 shows a schematic block diagram of yet another communication device provided by an embodiment of the present application.
  • FIG. 1 is an architectural schematic diagram of a communication system 1000 applied according to the embodiment of the present application.
  • the communication system includes a wireless access network 100 and a core network 200.
  • the communication system 1000 may also include the Internet 300.
  • the radio access network 100 may include at least one radio access network device (110a and 110b in Figure 1), and may also include at least one terminal (120a-120j in Figure 1).
  • the terminal is connected to the wireless access network equipment through wireless means, and the wireless access network equipment is connected to the core network through wireless or wired means.
  • the core network equipment and the radio access network equipment can be independent and different physical devices, or the functions of the core network equipment and the logical functions of the radio access network equipment can be integrated on the same physical device, or they can be one physical device.
  • Figure 1 is only a schematic diagram.
  • the communication system may also include other network equipment, such as wireless relay equipment and wireless backhaul equipment, which are not shown in Figure 1 .
  • Wireless access network equipment can be called network equipment, which can be a base station, an evolved base station (evolved NodeB, eNodeB), a transmission reception point (TRP), a fifth generation (5th generation, 5G) mobile
  • Nodes network equipment in non-terrestrial network (NTN) communication systems, can be deployed on high-altitude platforms or satellites, etc.; they can also be modules or units that complete some functions of base stations, for example, they can be centralized units (central unit, CU), or distributed unit (DU).
  • the CU here completes the functions of the base station's radio resource control protocol and packet data convergence protocol (PDCP), and can also complete the functions of the service data adaptation protocol (SDAP); DU completes the functions of the base station
  • the functions of the wireless link control layer and medium access control (MAC) layer can also complete some or all of the physical layer functions.
  • the wireless access network equipment may be a macro base station (110a in Figure 1), a micro base station or an indoor station (110b in Figure 1), or a relay node or donor node.
  • the embodiments of this application do not limit the specific technology and specific equipment form used by the wireless access network equipment.
  • the following description takes a base station as an example of a radio access network device.
  • the terminal can also be called terminal equipment, user equipment (UE), mobile station, mobile terminal, etc.
  • Terminals can be widely used in various scenarios, such as customer-premises equipment (CPE), smart point of sale (POS) machines, device-to-device (D2D), vehicle exterior Vehicle to everything (V2X) communication, machine-type communication (MTC), Internet of things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, Smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc.
  • Terminals can be mobile phones, tablets, computers with wireless transceiver functions, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, etc. The embodiments of this application do not limit the specific technology and specific equipment form used by the terminal.
  • Base stations and terminals can be fixed-location or mobile. Base stations and terminals can be deployed on land, indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed on aircraft, balloons and satellites. The embodiments of this application do not limit the application scenarios of base stations and terminals.
  • the helicopter or drone 120i in Figure 1 may be configured as a mobile base station.
  • the terminal 120i is Base station; but for base station 110a, 120i is a terminal, that is, communication between 110a and 120i is through a wireless air interface protocol.
  • communication between 110a and 120i can also be carried out through an interface protocol between base stations.
  • relative to 110a, 120i is also a base station. Therefore, both base stations and terminals can be collectively called communication devices.
  • 110a and 110b in Figure 1 can be called communication devices with base station functions
  • 120a-120j in Figure 1 can be called communication devices with terminal functions.
  • Communication between network equipment and terminals, between network equipment and network equipment, and between terminals can be carried out through licensed spectrum, communication can be carried out through unlicensed spectrum, or communication can be carried out through licensed spectrum and unlicensed spectrum at the same time; yes It is possible to communicate using a spectrum below 6 gigahertz (GHz), a spectrum above 6 GHz, or both a spectrum below 6 GHz and a spectrum above 6 GHz.
  • GHz gigahertz
  • the embodiments of the present application do not limit the spectrum resources used for wireless communication.
  • the functions of the network device may also be executed by modules (such as chips) in the network device, or may be executed by a control subsystem that includes the functions of the network device.
  • the control subsystem here that includes network equipment functions can be the control center in the above application scenarios such as smart grid, industrial control, smart transportation, smart city, etc.
  • the functions of the terminal can also be performed by modules in the terminal (such as chips or modems), or by a device containing the terminal functions.
  • Wireless communication between communication devices may include: wireless communication between network devices and terminals, wireless communication between network devices and network devices, and wireless communication between terminal devices.
  • wireless communication can also be referred to as “communication”
  • communication can also be described as "data transmission”, “information transmission” or “transmission”.
  • Communication perception integration refers to a new information processing technology that simultaneously realizes the collaboration of perception and communication functions based on software and hardware resource sharing or information sharing.
  • devices participating in sensing may include sensing centers and sensing nodes.
  • the sensing center may be the above-mentioned network device or terminal, and the sensing node may be the above-mentioned network device or terminal.
  • the network device may be an access network device, or It may be a core network device, which is not limited in the embodiments of this application.
  • the sensing center can be independent.
  • the sensing center can be a cloud with certain computing power and data storage capabilities.
  • it can be an access and mobility management function (AMF) network.
  • AMF access and mobility management function
  • Element, or user plane function (UPF) network element is connected to the base station through wired or wireless NG-C or NG-U, but this application is not limited to 5G communication systems.
  • the sensing center and the sensing node do not need to communicate directly, and the data can be forwarded through the base station, for example, uploaded to the sensing center through the base station.
  • the sensing center is a base station, which has certain computing power and data storage capabilities.
  • communication between base stations is generally connected through the Xn interface, and the base station and sensing nodes (such as UE) are connected through wired or Wireless network to connect.
  • the UE serves as the sensing center and other UEs serve as sensing nodes, and the solution of this application is also applicable.
  • Communication perception integration refers to a new information processing technology that simultaneously realizes the collaboration of perception and communication functions based on software and hardware resource sharing or information sharing, which can effectively improve system spectrum efficiency, hardware efficiency and information processing efficiency.
  • the integration of communication and perception can also refer to the unified design of communication and perception functions through joint design of air interfaces and protocols, multiplexing of time-frequency and space resources, and sharing of hardware equipment, so that the wireless network can perform high-quality communication interactions while , realize high-precision and refined sensing functions, and improve the overall network performance and business capabilities.
  • the perception capability focuses on wireless signal perception, that is, by analyzing the direct, reflected, and scattered signals of radio waves, the perception of the target object or environmental information (such as attributes and status, etc.) is obtained to complete positioning, ranging, Speed measurement, imaging, detection, recognition, environment reconstruction and other functions enable perceptual exploration of the physical world. Having both communication functions and sensing functions will be the capability trend of advanced wireless base stations and terminals. Enabling intelligent technologies in advanced wireless communication systems to obtain sensing information from the environment will become a necessary means. Advanced wireless base stations have the ability to detect target status in the coverage area. For example, low-altitude flying objects and traffic flows can detect, locate, and identify some key targets. In addition, advanced wireless base stations and terminals have the ability to perceive the surrounding environment around the clock and all-weather. Environmental perception can feed back communications. Compared with cameras and lidar, they are not easily affected by light and climate.
  • Point cloud is a data set of points under a certain coordinate system, which contains rich information, such as three-dimensional coordinates X, Y, Z, color, intensity value, time and other factors. Point clouds are generally obtained through three-dimensional imaging sensors, such as binocular cameras, three-dimensional scanners, and depth image (red green blue-depth map, RGB-D) cameras.
  • the mainstream point cloud acquisition method is radar (LiDAR) laser detection and measurement, which is mainly used in fields such as autonomous driving and surveying and mapping.
  • point cloud acquisition methods have gradually expanded to the electromagnetic wave (radar) field. For example, in single-station sensing, using raw echoes to extract point clouds for environmental sensing is one of the main technical paths for single-station sensing.
  • Octree It is one of the basic technologies for describing and compressing sensing data. The basic idea is to recursively divide and represent space. As shown in Figure 2, the spatial range is evenly divided into eight sub-regions. Correspondingly, one node of the tree is expanded into eight sub-nodes. Each sub-node corresponds to a sub-region, if and only if there is data in the sub-region. point, the corresponding child node is 1.
  • the octree shown in Figure 2 can be expressed as: 1 00010000 00010000 10000001.
  • the sensing accuracy of electromagnetic-based wireless base stations and terminals will be affected by factors such as bandwidth, antenna array size, beam width, angle of arrival (AoA), roughness and material of the sensed object, as shown in Figure 3, which is the bandwidth and From the cumulative distribution function (CDF) curve of the perceived distance error, it can be seen that the perceived distance error is different when the bandwidth is different. As shown in Figure 4, it is the CDF curve of the beam arrival angle and the perceived distance error. It can be seen that when the AoA is different, the perceived distance error is also different.
  • embodiments of the present application propose a communication method that can reduce data redundancy, reduce resource consumption, and improve perception accuracy.
  • the method may include the following steps:
  • Step 501 The sensing node obtains sensing data of the first target.
  • the first target may be a target to be sensed.
  • the target to be sensed may be dynamic, such as a vehicle in progress.
  • the sensing target may also be static, such as a vehicle parked on the roadside, or a road. , homes, buildings and other objects that need to be sensed, the embodiments of this application do not limit this.
  • the sensing data of the first target is the data obtained by the sensing node sensing the first target.
  • the sensing data may be geometric information of the first target or position information.
  • the sensing data may be the distance between the first target and the sensing node.
  • the sensing data may be the distance between the vehicle and the sensing node obtained by sensing by the sensing node.
  • the first target may be directed by the perceptual center.
  • the sensing center sends information #A to the sensing node, the information #A is used to indicate the first target, and the sensing node determines the first target based on the information #A.
  • Message #A indicates the first target in the following ways:
  • Information #A may be the actual geographical location information of the first target.
  • Information #A can also be other location information of the first target that can replace its geographical location information.
  • information #A can be the three-dimensional coordinates of the first target in a certain coordinate system.
  • the coordinate system may be predefined, or may be indicated by the sensing center to the sensing node.
  • the sensing center indicates to the sensing node the coordinates of the first target in the coordinate system, and the sensing node determines the first target based on the coordinates.
  • the coordinate systems of the sensing center and sensing nodes may also be inconsistent.
  • the sensing center and sensing nodes need to predefine the calculation method of coordinates. For example, predefine coordinate 1 of target A in coordinate system 1 and coordinate system 2.
  • the conversion method of the corresponding coordinates in (such as coordinate 2).
  • Information #A (such as third information) may be used to indicate location information of the first area, where the first area includes the first target.
  • the first area may include multiple targets to be sensed, and the first target belongs to the multiple targets to be sensed.
  • the information #A indicates the location information of the first area, which may be the geographical location information of the first area or the coordinate information of the first area.
  • the method of indicating the coordinate information of the first area may refer to The manner in which information #A indicates the coordinate information of the first target in method 1 will not be described again.
  • information #A (such as fourth information) may also be used to indicate a perceptual map.
  • map may be a collection of data, and these data may be obtained through perception by the perception center.
  • the communication system includes multiple sensing nodes, the multiple sensing nodes obtain the information through sensing and report it to the sensing center.
  • the sensing node may obtain and report the data to the sensing center in the previous sensing process. That is to say, the data may include historical data of the first target.
  • the sensing center sends a sensing map to the sensing node.
  • the data included in the sensing map can be used as local data of the first target.
  • the first data belongs to the local data of the first target.
  • the first data can be used by the sensing node to determine Whether to report the first sensing data.
  • the perceptual map may be a gridded perceptual map.
  • the perception map includes multiple data, and the data is distributed in a grid. In other words, the data in the grid perception map is evenly distributed.
  • the perception map may also be a point cloud perception map. As shown in Figure 7, the perception map includes multiple data and a center point. An example of the center point is point S in Figure 7. It should be understood that the center point can be the corresponding position of the target corresponding to a certain data in the perception map, or it can be a predefined geometric point. For example, the geometric point is a certain point in the perception map, and the geometric point does not represent Any perceived target. The embodiments of the present application do not limit this.
  • Step 502 The sensing node determines whether to send the first sensing data according to the confidence level of the first sensing data.
  • confidence is used to characterize the error between certain data and actual data.
  • the confidence level of the first sensing data is used to characterize the error between the first sensing data and the first actual data, and the first actual data belongs to the actual data of the first target.
  • the confidence level may be determined based on a first parameter, which may include at least one of the following: beam width, measurement delay, bandwidth, or beam angle of arrival.
  • the beam width may be the width of the beam (that is, the first beam) used by the sensing node to obtain the first target.
  • the sensing delay may be the delay for the sensing node to sense the first target. For example, when the sensing node senses the distance to the first target, the sensing delay may be the time when the first beam is sent from the sensing node to the sensing node receives feedback. The duration between beams.
  • the bandwidth may be a signal bandwidth for sensing the first target. It should be understood that the first target may be an active target or a passive target, which is not limited in the embodiment of the present application.
  • the bandwidth may be the bandwidth used by the sensing node to communicate with the first target, or the bandwidth of the sensing node, or the bandwidth used by the sensing node to send information to the first target.
  • the information You can refer to the information transmitted by the sensing node to the target in the current communication sensing integration.
  • the beam arrival angle may be the beam arrival angle at which the first beam reaches the first target.
  • each parameter and the confidence level can be simply described as: the greater the perception delay, the smaller the confidence level.
  • D is the confidence
  • c is the speed of light
  • t is the perceived delay
  • ⁇ is the beam arrival angle
  • ⁇ is the beam width
  • B is the bandwidth.
  • the first parameter may also include a measurement distance, which may be determined based on the measurement time delay and the speed of light.
  • the measurement distance and the measurement delay can characterize each other.
  • the method of determining the confidence level may be predefined by the sensing node and the sensing center, or may be preconfigured, or may be instructed by the sensing center to the sensing node, which is not limited in the embodiments of this application.
  • the sensing node can determine whether to send the first sensing data based on the confidence of the first sensing data and the confidence of the first data, which belongs to the local data of the first target.
  • the first sensing data is the data obtained by the sensing node performing sensing for the first target
  • the first data is the local data of the sensing node for the first target.
  • the sensing node can determine whether to send the sensed data based on the two. For example, the sensing node can determine whether to send the first sensing data according to the following methods:
  • Method A The sensing node determines whether the confidence of the first sensing data is greater than or equal to the confidence of the first data.
  • the confidence level of the first sensing data is 5, and the confidence level of the first data is 4.
  • the sensing node determines that the confidence level of the first sensing data is greater than the confidence level of the first data, and then determines that the first sensing data can be sent, For example, the first sensing data is sent to the sensing center.
  • the sensing node does not report sensing data whose confidence level is lower than the local data, which can avoid data redundancy, reduce the amount of data reporting, and avoid wasting resources.
  • sensing nodes reporting sensing data with confidence greater than or equal to local data can improve the accuracy of sensing data.
  • Method B The sensing node determines whether the ratio of the confidence level of the first sensing data to the confidence level of the first data is greater than or equal to the first threshold.
  • the first threshold is 1, the confidence of the first sensing data is 8, the confidence of the first data is 4, the ratio of the confidence of the first sensing data to the confidence of the first data is 2, and the sensing node determines If the ratio of the confidence level of the first sensing data to the confidence level of the first data is greater than the first threshold, it is determined that the first sensing data can be sent, for example, the first sensing data can be sent to the sensing center.
  • the first threshold may be predefined, configured, or indicated.
  • the first threshold may be indicated through information #B (such as first information), which is not limited in this embodiment of the present application.
  • the sensing node does not report sensing data whose confidence ratio is less than the first threshold, which can avoid data redundancy, reduce the amount of data reporting, and avoid wasting resources.
  • the sensing node reports sensing data with a confidence ratio greater than or equal to the first threshold, which can improve the accuracy of the sensing data.
  • Method C The sensing node determines whether the difference between the confidence level of the first sensing data and the confidence level of the first data is greater than or equal to the second threshold.
  • the second threshold is 2, the confidence of the first sensing data is 7, the confidence of the first data is 3, the difference between the confidence of the first sensing data and the confidence of the first data is 4, and the sensing node If it is determined that the difference between the confidence level of the first sensing data and the confidence level of the first data is greater than the second threshold, it is determined that the first sensing data can be sent, for example, the first sensing data can be sent to the sensing center.
  • the second threshold may be predefined, configured, or indicated.
  • the second threshold may be indicated through information #B (such as the first information), which is not limited in this embodiment of the present application.
  • the sensing node does not report sensing data whose confidence difference is less than the second threshold, which can avoid data redundancy, reduce the amount of data reporting, and avoid wasting resources.
  • the sensing node reports sensing data whose confidence difference is greater than or equal to the second threshold, which can improve the accuracy of the sensing data.
  • Method D The sensing node determines whether the confidence of the first sensing data is greater than or equal to the first confidence threshold.
  • the confidence of the first sensing data is 6 and the first confidence threshold is 5. If the sensing node determines that the confidence of the first sensing data is greater than the first confidence threshold, it determines that the first sensing data can be sent, for example, Send the first sensing data to the sensing center.
  • the first confidence threshold may be predefined, configured, or indicated.
  • the first confidence threshold may be indicated by information #B (such as second information), which is not the case in this embodiment. limited.
  • sensing nodes do not report sensing data whose confidence level is less than the confidence threshold, which can avoid data redundancy, reduce the amount of data reporting, and avoid wasting resources.
  • sensing nodes reporting sensing data with confidence greater than or equal to the confidence threshold can improve the accuracy of sensing data.
  • logarithmic operation can also be used to determine the numerical relationship between the confidence level of the first sensing data and the confidence level of the first data.
  • the following is a detailed description of the sensing node's judgment method of data based on the different indication contents of information #A.
  • the sensing node can judge the sensing data according to the method shown in Figure 9.
  • information #A indicates a gridded perceptual map.
  • the perceptual map includes 16 pieces of data with confidence levels.
  • the data in the perceptual map in the figure are the confidence levels corresponding to the 16 pieces of data.
  • the sensing node After the sensing node performs sensing at a specific position using a specific perspective, it obtains the sensing data of the local area, and obtains the corresponding 16 sensing data and the confidence level corresponding to the 16 sensing data. After position coordinate alignment, the confidence of the sensing data is compared with the confidence of the data in the sensing map.
  • the confidence level of the data in the first row and second column of the gridded perception map is 0.6
  • the confidence level of the perception data at the corresponding location is the first row and second column of the gridded perception data in the figure.
  • the value is 0.7, which is greater than the confidence of the corresponding position in the sensing map, and the sensing node is sure to report the sensing data corresponding to the position.
  • the 16 data shown in the figure have two data remaining after comparison, achieving data compression.
  • the sensing node can judge the sensing data according to the method shown in Figure 10. Specifically, after the sensing node performs sensing at a specific location using a specific perspective, it obtains the sensing data of the local area, and obtains the corresponding 16 sensing data and the confidence levels corresponding to the 16 sensing data. After position coordinate alignment, the confidence of the sensing data is compared with the confidence threshold.
  • the confidence threshold is issued by the sensing center and takes a value of 0.6. For example, the sensing node compares the confidence corresponding to the 16 sensing data with the confidence threshold respectively.
  • the sensing data corresponding to the 7 positions shown in the figure are greater than or equal to the confidence threshold.
  • the sensing node determines that it can report the sensing data corresponding to the seven locations and can also achieve data compression.
  • the sensing node can determine K second targets, the K second targets correspond to K second sensing data, and K is an integer greater than or equal to 1.
  • the sensing node determines whether to report the first sensing data based on the confidence of the K second sensing data and the confidence of the first sensing data.
  • the sensing node may determine the K second targets according to the second parameter.
  • the second parameter is the distance threshold, and there are K second targets within the distance threshold range; or, the second parameter is the value of K, and the K second targets are the ones closest to the first target in the perceptual map. K goals.
  • the second parameter may be indicated, for example, by information #A (such as fourth information).
  • the second parameter may also be predefined, which is not limited in the embodiments of this application.
  • the second parameter is the distance threshold R.
  • the confidence level of the sensing data corresponding to the target within a range R from the sensing data corresponding to the first target (first sensing data S) is compared.
  • the target corresponding to these sensing data may be a point on a sphere within a distance of R from S. If the confidence of the data with the smallest confidence among the sensing data is less than the confidence of the first sensing data, the sensing node determines that the first sensing data can be reported.
  • the minimum confidence level is 0.2
  • the confidence level of the first sensing data is 0.5. If it is greater than 0.2, then the perception The node determines that it can report the first sensing data. If the minimum confidence of these three points is still greater than the confidence of the first sensing data S, the sensing data will not be reported, thereby achieving data compression.
  • the value of the distance threshold R may be determined by the sensing center. Alternatively, the distance threshold may also be predefined, which is not limited in the embodiments of this application.
  • the second parameter is the value of K.
  • the sensing node determines the three targets closest to the first target. For example, for the remaining three targets in the figure except the first sensing data, the confidence levels of the sensing data corresponding to the three targets are 0.2, 0.9, and 1 respectively. These three confidence levels can be obtained by querying the sensing node. If the one with the smallest confidence is smaller than the confidence of the first sensing data, the sensing node determines that the first sensing data can be reported. For example, if the confidence level of the first sensing data is 0.5, which is greater than the minimum confidence level of 0.2, then the sensing node determines that it can report the first sensing data.
  • the sensing data will not be reported, thereby achieving data compression.
  • the value of K can be determined by the perception center.
  • the value of K may also be predefined, which is not limited in the embodiments of this application.
  • step 501 When the information #A in step 501 indicates the first area:
  • This first area may be called an area to be updated.
  • the first area includes four targets.
  • the sensing node After the sensing node performs sensing at a specific location using a specific perspective, it obtains the sensing data and confidence of the first area.
  • the confidence levels of the sensing data corresponding to the four targets are 0.1, 0.7, 0.8, and 0.9 respectively, and the confidence level of the sensing data corresponding to the first target (first sensing data) is 0.9.
  • the sensing node can compare these confidence levels with the confidence threshold.
  • the confidence threshold can be issued by the sensing center.
  • the sensing center indicates to the sensing node that the confidence threshold value is 0.75, which Among the confidence levels of the four targets' sensing data, two confidence levels are greater than the confidence threshold. Then the sensing node determines that it can report the sensing data of two targets among the four targets, that is, the sensing data corresponding to the confidence level of 0.9 and the confidence level of 0.8 respectively.
  • the first area may include at least one partition, the at least one partition corresponds to at least one confidence threshold, the at least one confidence threshold includes the first confidence threshold, or the at least one partition corresponds to at least one threshold
  • the at least one threshold includes a first threshold or a second threshold.
  • the first region may be divided into blocks, and the confidence thresholds corresponding to different partitions may be different, or the first threshold or the second threshold corresponding to different partitions may be different.
  • the implementation process may refer to the above relevant descriptions and will not be described again.
  • different partitions of the first area may correspond to different confidence thresholds or thresholds. That is to say, different partitions of the first area may have different sensing requirements.
  • the sensing nodes select sensing directions through different confidence thresholds or thresholds.
  • the sensing data reported by the center can match the sensing needs of different partitions, further improving the accuracy of sensing data.
  • the method may also include the following steps:
  • Step 503 The sensing node sends the first sensing data to the sensing center, and correspondingly, the sensing center receives the first sensing data.
  • the sensing node determines that multiple sensing data can be reported, for example, in step 502, the sensing node determines that more than one data is greater than the confidence threshold, the sensing node can report all of these data. In other words, the sensing node reports at least one sensing data to the sensing center, where the at least one sensing data includes the first sensing data.
  • the sensing node can delete the sensing data.
  • the sensing center can update the sensing map.
  • the sensing map can be a data map of a part of the sensing targets in the target environment. By updating the sensing map, the target environment can be reconstructed.
  • the sensing center can send incremental sensing update data and corrected environment reconstruction result data to each sensing node to update the local map of each sensing node.
  • Step 1401 The sensing center sends sensing signaling to the sensing node, and correspondingly, the sensing node receives the sensing signaling.
  • the sensing signaling may be signaling used by the sensing node to initiate a sensing process.
  • the sensing signaling may be signaling in which the sensing center configures sensing parameters for the sensing nodes.
  • the sensing parameters may be used to indicate communication resources. The embodiments of the present application do not limit this.
  • Step 1402 The sensing node reports the identification information of the node and the related information of the sensing capability to the sensing center.
  • the sensing center receives the identification information of the sensing node and the related information of the sensing capability.
  • the identification information of the sensing node is used to identify the sensing node, and the identification information of the sensing node may be the identity information of the sensing node.
  • Information related to the sensing capability is used to indicate the sensing capability of the sensing node.
  • the sensing capability may be the sensing range of the sensing node, or the number of sensing targets of the sensing node, etc. This is not limited in the embodiment of the present application. .
  • Step 1403 The sensing center issues sensing tasks and sensing maps to sensing nodes. Correspondingly, sensing nodes receive sensing tasks and sensing maps.
  • the sensing center can also issue a confidence threshold to the sensing node, and accordingly, the sensing node receives the confidence threshold.
  • the sensing task may be a parameter to be sensed by the sensing node.
  • the sensing task may be sensing the distance between the first target and the sensing node, or the sensing task may be sensing the size of the first target, etc., embodiments of the present application There is no limit to this.
  • the perceptual map may refer to the description in step 501.
  • the perceptual map may be a point cloud perceptual map, the perceptual map may be a gridded perceptual map, and the perceptual map may also be regional location information, such as the location information of the first area. , for this first area, reference can be made to the description of step 501, which will not be described again here.
  • Step 1404 The sensing node obtains sensing data according to the sensing task.
  • Step 1405 The sensing node compresses the data.
  • the way in which the sensing node compresses data can refer to the way in which the sensing node determines whether to send the first sensing data in step 502, which will not be described again here.
  • Step 1406 The sensing node reports sensing data, and correspondingly, the sensing center receives the sensing data.
  • Step 1407 The perception center updates the perception map according to the received perception data.
  • the process can also include:
  • Step 1408 The sensing center sends the incremental update of the sensing map to other sensing nodes. Correspondingly, the other sensing nodes receive the incremental update of the sensing map.
  • the incremental update of the perception map issued by the perception center in step 1408 can be an incremental update of the point cloud perception map, or an incremental update of the grid perception map, It can also be an incremental update of the first area.
  • the sensing node judges the sensing data based on the confidence level, and reports the sensing data corresponding to the confidence level that meets the conditions, realizing data compression, greatly reducing redundant data, and avoiding resource waste.
  • using confidence as a reference factor and reporting sensing data that meets confidence conditions to the sensing center can improve the accuracy of sensing and environment reconstruction.
  • sensing data in this application can be used for target measurement and control.
  • the application is not limited to this.
  • sensing data can also be used for environment reconstruction, and the reconstructed environment can assist communication channel modeling and then feed back communication.
  • environment reconstruction can assist communication channel modeling and then feed back communication.
  • the network device or terminal device may include a hardware structure and/or a software module to implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is performed as a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.
  • each functional module in various embodiments of the present application can be integrated into a processor, or can exist physically alone, or two or more modules can be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or software function modules.
  • the communication device provided by the embodiment of the present application will be described in detail below with reference to FIGS. 15 and 16 . It should be understood that the description of the device embodiments corresponds to the description of the method embodiments. Therefore, for content that is not described in detail, please refer to the above method embodiments. For the sake of brevity, they will not be described again here.
  • the embodiment of the present application provides a communication device 1500 for realizing the function of the sensing node in the above method.
  • the device may be a software module or a system on a chip.
  • the chip system may be composed of chips, or may include chips and other discrete devices.
  • the device 1500 may include: a processing unit 1510 and a communication unit 1520.
  • the communication unit may also be called a transceiver unit or a transceiver module, and may include a sending unit and/or a receiving unit, respectively used to perform the steps of sending and receiving by the sensing node in the above method embodiment.
  • a communication unit may also be called a transceiver, a transceiver, a transceiver device, etc.
  • the processing unit can also be called a processor, a processing board, a processing module, a processing device, etc.
  • the device used to implement the receiving function in the communication unit 1520 can be regarded as a receiving unit
  • the device used to implement the sending function in the communication unit 1520 can be regarded as a sending unit, that is, the communication unit 1520 includes a receiving unit and a sending unit.
  • the communication unit may sometimes be called a transceiver, transceiver, or interface circuit.
  • the receiving unit may also be called a receiver, receiver, or receiving circuit.
  • the sending unit may sometimes be called a transmitter, transmitter or transmitting circuit.
  • the communication unit is used to receive first sensing data.
  • the first sensing data is determined based on the confidence level of the first sensing data.
  • the first sensing data belongs to the sensing data of the first target.
  • the confidence level is determined based on the first parameter.
  • the first sensing data is determined based on the first parameter.
  • the parameters include at least one of the following: a beam width of the first beam, a time delay for sensing the first target, a signal bandwidth for sensing the first target, or a beam arrival angle of the first beam reaching the first target, the third One beam is a beam used to sense the first target.
  • the processing unit is configured to update the first data of the first target into first sensing data, where the first data belongs to local data of the first target.
  • the communication unit may be used to send sensing signaling.
  • the communication unit can also be used to configure sensing tasks, thresholds, confidence thresholds, sensing maps, etc.
  • the communication unit can be used to receive sensing data.
  • the processing unit (also called a processing module) can be used to update the perception map, etc.
  • the processing unit is used to obtain sensing data of the first target.
  • the processing unit may also be configured to determine whether to send the first sensing data according to the confidence level of the first sensing data.
  • the first sensing data belongs to the sensing data of the first target.
  • the confidence level is determined based on the first parameter.
  • the first parameter includes the following: At least one of: the beam width of the first beam, the time delay for sensing the first target, the signal bandwidth for sensing the first target, or the beam arrival angle of the first beam when it reaches the first target, and the first beam is used for to sense the first target's beam.
  • the communication unit may be used to receive sensing signaling, sensing maps, thresholds, confidence thresholds, etc., and to send sensing data.
  • the processing unit may be used to determine whether to send the first sensing data.
  • the processing unit 1510 and the communication unit 1520 can also perform other functions.
  • the processing unit 1510 and the communication unit 1520 can also perform other functions.
  • Figure 16 shows a communication device 1600 provided by an embodiment of the present application.
  • the device shown in Figure 16 can be a hardware circuit implementation of the device shown in Figure 15 .
  • the communication device can be adapted to the flow chart shown above to perform the functions of the terminal device or network device in the above method embodiment.
  • FIG. 16 shows only the main components of the communication device.
  • the communication device 1600 may be a sensing node and can implement the functions of the sensing node in the method provided by the embodiments of this application.
  • the communication device 1600 may also be a device that can support the sensing node to implement the corresponding functions in the method provided by the embodiments of this application.
  • the communication device 1600 may be a chip system. In the embodiments of this application, the chip system may be composed of chips, or may include chips and other discrete devices. For specific functions, please refer to the description in the above method embodiment.
  • the communication device 1600 includes one or more processors 1610, which are used to implement or support the communication device 1600 to implement the functions of the first terminal device or the second terminal device in the method provided by the embodiment of this application.
  • the processor 1610 can also be called a processing unit or processing module, and can implement certain control functions.
  • the processor 1610 may be a general-purpose processor or a special-purpose processor, or the like. Examples include: central processing unit, baseband processor, application processor, modem processor, graphics processor, image signal processor, digital signal processor, video codec processor, controller, and/or neural network Processor etc.
  • the central processing unit may be used to control the communication device 1600, execute software programs and/or process data.
  • processors may be independent devices, or may be integrated in one or more processors, for example, integrated on one or more application specific integrated circuits.
  • the processor in the embodiment of the present application can be a central processing unit (CPU), or other general-purpose processor, digital signal processor (DSP), or application-specific integrated circuit (application specific integrated circuit, ASIC), field programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof.
  • a general-purpose processor can be a microprocessor or any conventional processor.
  • the communication device 1600 includes one or more memories 1620 to store instructions 1640, which can be executed on the processor 1610, so that the communication device 1600 executes the method described in the above method embodiment.
  • Memory 1620 and processor 1610 are coupled.
  • the coupling in the embodiment of this application is an indirect coupling or communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information interaction between devices, units or modules.
  • Processor 1610 may cooperate with memory 1620. At least one of the at least one memory may be included in the processor. It should be noted that the memory 1620 is not necessary, so it is illustrated with a dotted line in Figure 16 .
  • the memory 1620 may also store data.
  • the processor and memory can be provided separately or integrated together.
  • the memory 1620 may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or it may be a volatile memory (volatile memory).
  • volatile memory volatile memory
  • RAM random-access memory
  • the processor may also be flash memory, read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM) ), electrically erasable programmable read-only memory (electrically EEPROM, EEPROM), register, hard disk, mobile hard disk, CD-ROM or any other form of storage media well known in the art.
  • An exemplary storage medium is coupled to the processor such that the processor can read information from the storage medium and write information to the storage medium.
  • the storage medium can also be an integral part of the processor.
  • the processor and storage media may be located in an ASIC. Additionally, the ASIC can be located in network equipment or terminal equipment.
  • the processor and the storage medium can also exist as discrete components in network equipment or terminal equipment.
  • Memory is, but is not limited to, any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
  • the memory in the embodiment of the present application can also be a circuit or any other device capable of realizing a storage function, used to store program instructions and/or data.
  • the communication device 1600 may include instructions 1630 (sometimes also referred to as codes or programs), and the instructions 1630 may be executed on the processor, causing the communication device 1600 to perform the methods described in the above embodiments. .
  • Data may be stored in processor 1610.
  • the communication device 1600 may also include a transceiver 1650 and an antenna 1660.
  • the transceiver 1650 may be called a transceiver unit, transceiver module, transceiver, transceiver circuit, transceiver, input/output interface, etc., and is used to realize the transceiver function of the communication device 1600 through the antenna 1660.
  • the processor 1610 and transceiver 1650 described in this application can be implemented in integrated circuits (ICs), analog ICs, radio frequency identification (RFID), mixed signal ICs, ASICs, printed circuit boards (printed circuit boards) board, PCB), or electronic equipment, etc.
  • the communication device that implements the communication described in this article can be an independent device (for example, an independent integrated circuit, a mobile phone, etc.), or it can be a part of a larger device (for example, a module that can be embedded in other devices).
  • ICs integrated circuits
  • RFID radio frequency identification
  • ASICs integrated circuits
  • PCB printed circuit boards
  • the communication device 1600 may also include one or more of the following components: a wireless communication module, an audio module, an external memory interface, an internal memory, a universal serial bus (USB) interface, a power management module, and an antenna. Speakers, microphones, input and output modules, sensor modules, motors, cameras, or displays, etc. It can be understood that in some embodiments, the communication device 1600 may include more or fewer components, or some components may be integrated, or some components may be separated. These components may be implemented in hardware, software, or a combination of software and hardware.
  • embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, etc.) having computer-usable program code embodied therein.
  • a computer-usable storage media including, but not limited to, disk storage, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions
  • the device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

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Abstract

一种感知方法、装置和系统，该感知方法中，感知节点获取第一目标的感知数据，根据第一感知数据的置信度确定是否发送第一感知数据，第一感知数据属于第一目标的感知数据，置信度是根据第一参数确定的，第一参数包括以下中的至少一项：第一波束的波束宽度、测量第一目标的测量时延、测量第一目标的通信带宽或者第一波束到达第一目标的波束到达角，第一波束为用于感知第一目标的波束。感知节点根据置信度确定向感知中心上报的感知数据，减少了冗余数据，节省了通信资源。同时，感知节点将置信度作为是否上报感知数据的参考因素，向感知中心上报满足置信度条件的感知数据，提升了感知精度。

Description

感知方法、装置和系统 技术领域
本申请涉及通信领域。尤其涉及一种感知方法、装置和系统。
背景技术
通信感知一体化是指基于软硬件资源共享或信息共享同时实现感知与通信功能协同的新型信息处理技术，可以有效提升系统频谱效率、硬件效率和信息处理效率。同时，具有通信和感知功能将是先进无线基站与终端的能力趋势。使能先进无线中的智能技术，从环境中获取感知信息成为重要手段。
目前，在感知领域，不同设备的感知区域存在一定的空间重叠，且感知环境的多数场景可能不随时间变化，各设备在各时刻感知到的数据之间存在大量冗余，并且存在大量的重复上报，浪费了通信资源。
因此，如何降低感知过程中的数据冗余，减少资源消耗是亟待解决的问题。
发明内容
本申请提供一种感知方法、装置和系统，能够降低感知过程中的数据冗余，减少资源消耗。
第一方面，本申请实施例提供一种感知方法，该方法可以由感知节点执行，或者，也可以由用于感知节点的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由感知节点执行为例进行说明。
该方法可以包括：获取第一目标的感知数据，根据第一感知数据的置信度确定是否发送该第一感知数据，该第一感知数据属于该第一目标的感知数据，该置信度是根据第一参数确定的，该第一参数包括以下中的至少一项：第一波束的波束宽度、感知该第一目标的时延、感知该第一目标的信号带宽或者该第一波束到达该第一目标的波束到达角，该第一波束为用于感知该第一目标的波束。
该方法中，感知节点根据置信度确定是否向感知中心上报第一感知数据，减少了上报数据的冗余量，压缩了上报数据量，节省了通信资源。
在第一方面的某些实现方式中，该根据第一感知数据的置信度确定是否发送该第一感知数据包括：根据该第一感知数据的置信度，与第一数据的置信度，确定是否发送该第一感知数据，该第一数据属于该第一目标的本地数据。
该方式中，感知节点将感知数据与本地数据的置信度进行对比，根据比较结果确定是否上报感知数据。换句话说，感知节点上报优于本地数据的感知数据，进一步减少了数据冗余。
在第一方面的某些实现方式中，当该第一感知数据的置信度大于或等于该第一数据的置信度时，发送该第一感知数据，或者，
当该第一感知数据的置信度与该第一数据的置信度的比值大于或等于第一阈值时，发 送该第一感知数据，或者，
当该第一感知数据的置信度与该第一数据的置信度的差值大于或等于第二阈值时，发送该第一感知数据。
在第一方面的某些实现方式中，接收第一信息，该第一信息用于指示该第一阈值或者该第二阈值。
在第一方面的某些实现方式中，该根据第一感知数据的置信度确定是否发送该第一感知数据包括：根据该第一感知数据的置信度和第一置信度门限确定是否发送该第一感知数据。
在第一方面的某些实现方式中，接收第二信息，该第二信息用于指示该第一置信度门限。
上述方式中，提供了感知节点确定是否上报第一感知数据的条件，也就是说，感知节点向感知中心上报满足这些条件的感知数据。再换句话说，当感知数据的置信度优于本地数据的置信度时，或者，感知数据的置信度满足置信度门限时，感知节点可以上报这些感知数据，提升了上报的数据的精度，进一步地，提升了感知精度。
应理解，第一阈值、第二阈值或者第一置信度门限可以是指示的，也可以是预定义的，或者配置的，本申请实施例对此不作限定。还应理解，当第一阈值、第二阈值或者第一置信度门限为指示的时，可以是在同一个指示信息中指示，也可以是在多个指示信息中指示，本申请实施例对此不作限定。
在第一方面的某些实现方式中，接收第三信息，该第三信息用于指示第一区域的位置信息，该第一区域包括该第一目标。
换句话说，第三信息可以指示一块待更新的区域，该区域可以是预定义的。
在第一方面的某些实现方式中，该第一区域包括至少一个分区，该至少一个分区与至少一个置信度门限一一对应，该至少一个置信度门限包括第一置信度门限，或者，该至少一个分区与至少一个阈值一一对应，该至少一个阈值包括第一阈值或者第二阈值。
换句话说，不同的分区可以对应不同的置信度门限，或者，不同的分区可以对应不同的第一阈值，又或者，不同的分区可以对应不同的第二阈值。对于不同的分区，对感知精度的要求可能不同，感知节点可以根据不同分区对应的置信度门限或者阈值确定上报的感知数据，能够匹配不同分区的感知需求，提高了感知节点确定感知数据的灵活性。
可选地，不同的分区对应的置信度门限、第一阈值或者第二阈值也可以相同。
在第一方面的某些实现方式中，获取感知地图，该感知地图包括该第一数据。
可选地，该感知地图可以是网格化感知地图，也可以是点云感知地图。
在第一方面的某些实现方式中，确定K个第二目标，该K个第二目标对应K个第二感知数据，该K为大于或等于1的整数，根据该K个第二感知数据的置信度和该第一感知数据的置信度确定，是否上报该第一感知数据。
该方式中，感知节点可以根据第一感知数据的置信度与其他目标的感知数据的置信度，确定是否上报第一感知数据。换句话说，感知节点可以将第一感知数据与周围的感知数据进行比较，上报符合条件的感知数据。该方式为数据压缩提供了灵活性。
在第一方面的某些实现方式中，该第二参数为距离阈值，在该距离阈值范围内存在K个第二目标，或者，该第二参数为该K的取值，该K个第二目标为在感知地图中与该第 一目标距离最近的K个目标，该感知地图用于指示该第一目标和该K个第二目标。
也就是说，感知节点可以在附近的目标点中确定一定数量的感知数据作为比较对象，也可以是确定距离最近的一定数量的感知数据作为比较对象。
在第一方面的某些实现方式中，接收第四信息，该第四信息用于指示该感知地图。
在第一方面的某些实现方式中，该置信度与该第一参数满足下述关系：
Figure PCTCN2022117991-appb-000001
其中，D为置信度，c为光速，t为感知该第一目标的时延，φ为该第一波束到达该第一目标的波束到达角，θ为第一波束的波束宽度，B为与感知该第一目标的信号带宽。
第二方面，本申请实施例提供一种感知方法，该方法可以由感知中心执行，或者，也可以由用于感知中心的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由感知中心执行为例进行说明。
该方法可以包括：接收第一感知数据，该第一感知数据是根据第一感知数据的置信度确定的，该第一感知数据属于第一目标的感知数据，该置信度是根据第一参数确定的，该第一参数包括以下中的至少一项：第一波束的波束宽度、感知该第一目标的时延、感知该第一目标的信号带宽或者该第一波束到达该第一目标的波束到达角，该第一波束为用于感知该第一目标的波束，将该第一目标的第一数据更新为该第一感知数据，该第一数据属于该第一目标的本地数据。
在第二方面的某些实现方式中，该第一感知数据的置信度大于或等于该第一数据的置信度，或者，该第一感知数据的置信度与该第一数据的置信度的比值大于或等于第一阈值，或者，该第一感知数据的置信度与该第一数据的置信度的差值大于或等于第二阈值，或者，该第一感知数据的置信度大于或等于第一置信度门限。
在第二方面的某些实现方式中，在该接收第一感知数据之前，该方法还包括：发送第一信息，该第一信息用于指示该第一阈值或者该第二阈值，或者，发送第二信息，该第二信息用于指示该第一置信度门限。
在第二方面的某些实现方式中，该方法还包括：发送第三信息，该第三信息用于指示第一区域的位置信息，该第一区域包括该第一目标。
在第二方面的某些实现方式中，该第一区域包括至少一个分区，该至少一个分区与至少一个置信度门限一一对应，该至少一个置信度门限包括第一置信度门限，或者，该至少一个分区与至少一个阈值一一对应，该至少一个阈值包括第一阈值或者第二阈值。
在第二方面的某些实现方式中，发送第二参数，该第二参数为距离阈值，在该距离阈值范围内存在K个第二目标，该K个第二目标对应K个第二感知数据，该K为大于或等于1的整数；或者，该第二参数为K的取值，该K个第二目标为在感知地图中与该第一目标距离最近的K个目标，该感知地图用于指示该第一目标和该K个第二目标，该第一感知数据是根据第一感知数据的置信度确定的，包括：该第一感知数据是根据该K个第二感知数据的置信度和该第一感知数据的置信度确定的。
在第二方面的某些实现方式中，发送第四信息，该第四信息还用于指示感知地图。
在第二方面的某些实现方式中，该置信度与该第一参数满足下述关系：
Figure PCTCN2022117991-appb-000002
其中，D为置信度，c为光速，t为感知该第一目标的时延，
Figure PCTCN2022117991-appb-000003
为该第一波束到达该第一目标的波束到达角，θ为第一波束的波束宽度，B为感知该第一目标的信号带宽。
应理解，第二方面是与第一方面对应的感知中心侧的实现方式，第一方面的相关解释、补充、可能的实现方式和有益效果的描述对第二方面同样适用，此处不再赘述。
第三方面，提供一种通信装置，该通信装置可以用于第一方面的感知节点，该通信装置可以是感知节点，也可以是感知节点中的装置(例如，芯片，或者芯片系统，或者电路)，或者是能够和感知节点匹配使用的装置。
一种可能的实现中，该通信装置可以包括执行第一方面中所描述的方法/操作/步骤/动作所一一对应的模块或单元，该模块或单元可以是硬件电路，也可是软件，也可以是硬件电路结合软件实现。
一种可能的实现中，该装置包括处理模块，该处理模块用于获取第一目标的感知数据，该处理模块还用于根据第一感知数据的置信度确定是否发送该第一感知数据，该第一感知数据属于该第一目标的感知数据，该置信度是根据第一参数确定的，该第一参数包括以下中的至少一项：第一波束的波束宽度、感知该第一目标的时延、感知该第一目标的信号带宽或者该第一波束到达该第一目标的波束到达角，该第一波束为用于感知该第一目标的波束。
在第三方面的某些实现方式中，该处理模块用于根据该第一感知数据的置信度，与第一数据的置信度，确定是否发送该第一感知数据，该第一数据属于该第一目标的本地数据。
在第三方面的某些实现方式中，该装置还包括收发模块，该收发模块用于当该第一感知数据的置信度大于或等于该第一数据的置信度时，发送该第一感知数据，或者，
当该第一感知数据的置信度与该第一数据的置信度的比值大于或等于第一阈值时，发送该第一感知数据，或者，
当该第一感知数据的置信度与该第一数据的置信度的差值大于或等于第二阈值时，发送该第一感知数据。
在第三方面的某些实现方式中，该收发模块还用于接收第二信息，该第二信息用于指示该第一阈值或者该第二阈值。
在第三方面的某些实现方式中，该处理模块用于根据该第一感知数据的置信度和第一置信度门限确定是否发送该第一感知数据。
在第三方面的某些实现方式中，该装置还包括收发模块，该收发模块用于接收第二信息，该第二信息用于指示该第一置信度门限。
在第三方面的某些实现方式中，
该装置还包括收发模块，该收发模块用于接收第三信息，该第三信息用于指示第一区域的位置信息，该第一区域包括该第一目标。
在第三方面的某些实现方式中，该第一区域包括至少一个分区，该至少一个分区与至少一个置信度门限一一对应，该至少一个置信度门限包括第一置信度门限，或者，该至少一个分区与至少一个阈值一一对应，该至少一个阈值包括第一阈值或者第二阈值。
在第三方面的某些实现方式中，该处理模块还用于确定K个第二目标，该K个第二 目标对应K个第二感知数据，该K为大于或等于1的整数，该处理模块还用于根据该K个第二感知数据的置信度和该第一感知数据的置信度确定，是否上报该第一感知数据。
在第三方面的某些实现方式中，
该装置还包括收发模块，该收发模块用于接收第二参数，
该第二参数为距离阈值，在该距离阈值范围内存在K个第二目标，
或者，
该第二参数为该K的取值，该K个第二目标为在感知地图中与该第一目标距离最近的K个目标，该感知地图用于指示该第一目标和该K个第二目标。
在第三方面的某些实现方式中，该收发模块还用于接收第四信息，该第四信息用于指示该感知地图。
在第三方面的某些实现方式中，该置信度与该第一参数满足下述关系：
Figure PCTCN2022117991-appb-000004
其中，其中，D为置信度，c为光速，t为感知该第一目标的时延，φ为该第一波束到达该第一目标的波束到达角，θ为第一波束的波束宽度，B为感知该第一目标的信号带宽。
第四方面，提供一种通信装置，该通信装置可以用于第二方面的感知中心，该通信装置可以是感知中心，也可以是感知中心中的装置(例如，芯片，或者芯片系统，或者电路)，或者是能够和感知中心匹配使用的装置。
一种可能的实现中，该通信装置可以包括执行第二方面中所描述的方法/操作/步骤/动作所一一对应的模块或单元，该模块或单元可以是硬件电路，也可是软件，也可以是硬件电路结合软件实现。
一种可能的实现中，该通信装置包括收发模块和处理模块，该收发模块用于接收第一感知数据，该第一感知数据是根据第一感知数据的置信度确定的，该第一感知数据属于第一目标的感知数据，该置信度是根据第一参数确定的，该第一参数包括以下中的至少一项：第一波束的波束宽度、感知该第一目标的时延、感知该第一目标的信号带宽或者该第一波束到达该第一目标的波束到达角，该第一波束为用于感知该第一目标的波束，该处理模块用于将该第一目标的第一数据更新为该第一感知数据，该第一数据属于该第一目标的本地数据。
在第四方面的某些实现方式中，该第一感知数据的置信度大于或等于该第一数据的置信度，或者，该第一感知数据的置信度与该第一数据的置信度的比值大于或等于第一阈值，或者，该第一感知数据的置信度与该第一数据的置信度的差值大于或等于第二阈值，或者，该第一感知数据的置信度大于或等于第一置信度门限。
在第四方面的某些实现方式中，该收发模块还用于发送第一信息，该第一信息用于指示该第一阈值或者该第二阈值，或者，该收发模块还用于发送第二信息，该第二信息用于指示该第一置信度门限。
在第四方面的某些实现方式中，该收发模块还用于发送第三信息，该第三信息用于指示第一区域的位置信息，该第一区域包括该第一目标。
在第四方面的某些实现方式中，该第一区域包括至少一个分区，该至少一个分区与至少一个置信度门限一一对应，该至少一个置信度门限包括第一置信度门限，或者，该至少 一个分区与至少一个阈值一一对应，该至少一个阈值包括第一阈值或者第二阈值。
在第四方面的某些实现方式中，该收发模块还用于发送第二参数，
该第二参数为距离阈值，在该距离阈值范围内存在K个第二目标，该K个第二目标对应K个第二感知数据，该K为大于或等于1的整数，该第一感知数据是根据该K个第二感知数据的置信度和该第一感知数据的置信度确定的；
或者，
该第二参数为K的取值，该K个第二目标为在该感知地图中与该第一目标距离最近的K个目标，该感知地图用于指示该第一目标和该K个第二目标，该第一感知数据是根据第一感知数据的置信度确定的，包括：
该第一感知数据是根据该K个第二感知数据的置信度和该第一感知数据的置信度确定的。
在第四方面的某些实现方式中，该置信度与该第一参数满足下述关系：
Figure PCTCN2022117991-appb-000005
其中，D为置信度，c为光速，t为感知该第一目标的时延，φ为该第一波束到达该第一目标的波束到达角，θ为第一波束的波束宽度，B为感知该第一目标的信号带宽。
应理解，第三方面、第四方面分别是与第一方面、第二方面对应的装置侧的实现方式，第一方面、第二方面的相关解释、补充、可能的实现方式和有益效果的描述对第三方面、第四方面同样适用，此处不再赘述。
第五方面，本申请实施例提供了一种通信装置，包括接口电路和处理器，该接口电路用于实现第三方面中收发模块的功能，该处理器用于实现第三方面中处理模块的功能。
第六方面，本申请实施例提供了一种通信装置，包括接口电路和处理器，该接口电路用于实现第四方面中收发模块的功能，该处理器用于实现第四方面中处理模块的功能。
第七方面，本申请实施例提供了一种计算机可读介质，该计算机可读介质存储用于终端设备或终端设备中的装置执行的程序，该程序包括用于执行第一方面或第二方面，或，第一方面或第二方面中任一可能的方式，或，第一方面或第二方面中所有可能的方式的方法的指令。
第八方面，本申请实施例提供了一种计算机可读介质，该计算机可读介质存储用于网络设备或网络设备中的装置执行的程序，该程序包括用于执行第一方面或第二方面，或，第一方面或第二方面中任一可能的方式，或，第一方面或第二方面中所有可能的方式的方法的指令。
第九方面，提供了一种存储有计算机可读指令的计算机程序产品，当该计算机可读指令在计算机上运行时，使得计算机执行第一方面，或，第一方面中任一可能的方式，或，第一方面中所有可能的方式的方法。
第十方面，提供了一种存储有计算机可读指令的计算机程序产品，当该计算机可读指令在计算机上运行时，使得计算机执行上述第二方面，或，第二方面中任一可能的方式，或，第二方面中所有可能的方式的方法。
第十一方面，提供了一种通信系统，该通信系统包括具有实现上述第一方面，或，第一方面中任一可能的方式，或，第一方面中所有可能的方式的方法及各种可能设计的功能 的装置和第二方面，或，第二方面中任一可能的方式，或，第二方面中所有可能的方式的方法及各种可能设计的功能的装置。
第十二方面，提供了一种处理器，用于与存储器耦合，用于执行上述第一方面，或，第一方面中任一可能的方式，或，第一方面中所有可能的方式的方法。
一种可能的实现中，该存储器用于存储计算机指令，处理器通过运行计算机指令，以执行上述第一方面，或，第一方面中任一可能的方式，或，第一方面中所有可能的方式的方法。
一种可能的实现中，该存储器和处理器集成在一起。
第十三方面，提供了一种处理器，用于与存储器耦合，用于执行第二方面，或，第二方面中任一可能的方式，或，第二方面中所有可能的方式的方法。
一种可能的实现中，该存储器用于存储计算机指令，处理器通过运行计算机指令，以执行上述第二方面，或，第二方面中任一可能的方式，或，第二方面中所有可能的方式的方法。
一种可能的实现中，该存储器和处理器集成在一起。
第十四方面，提供一种芯片系统，该芯片系统包括处理器，还可以包括存储器，用于执行该存储器中存储的计算机程序或指令，使得芯片系统实现前述第一方面或第二方面中任一方面、以及任一方面的任意可能的实现方式中的方法。该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
第十五方面，提供了一种存储有计算机可读令的计算机程序产品，当该计算机可读指令在计算机上运行时，使得计算机执行上述第一方面，或，第一方面中任一可能的方式，或，第一方面中所有可能的方式的方法。
第十六方面，提供了一种存储有计算机可读令的计算机程序产品，当该计算机可读指令在计算机上运行时，使得计算机执行上述第二方面，或，第二方面中任一可能的方式，或，第二方面中所有可能的方式的方法。
附图说明
图1示出了适用于本申请实施例的一种通信系统的架构示意图。
图2示出了一种压缩数据的方式。
图3示出了一种带宽与感知距离误差的累计分布函数曲线。
图4示出了一种波束到达角与感知距离误差累计分布函数曲线。
图5示出了本申请实施例提出的一种感知方法的示意图。
图6示出了本申请实施例提出的一种感知地图。
图7示出了本申请实施例提出的又一种感知地图。
图8示出了本申请实施例提出的一种置信度的计算方式。
图9示出了本申请实施例提出的一种感知数据置信度的判断方式。
图10示出了本申请实施例提出的又一种感知数据置信度的判断方式。
图11示出了本申请实施例提出的又一种感知数据置信度的判断方式。
图12示出了本申请实施例提出的又一种感知数据置信度的判断方式。
图13示出了本申请实施例提出的又一种感知数据置信度的判断方式。
图14示出了本申请实施例提出的一种感知流程示意图。
图15示出了本申请实施例提出的一种通信装置的示意性框图。
图16示出了本申请实施例提供的又一种通信装置的示意性框图。
具体实施方式
下面将结合附图，对本申请实施例中的技术方案进行描述。
图1是本申请的实施例应用的一种通信系统1000的架构示意图。如图1所示，该通信系统包括无线接入网100和核心网200，可选的，通信系统1000还可以包括互联网300。其中，无线接入网100可以包括至少一个无线接入网设备(如图1中的110a和110b)，还可以包括至少一个终端(如图1中的120a-120j)。终端通过无线的方式与无线接入网设备相连，无线接入网设备通过无线或有线方式与核心网连接。核心网设备与无线接入网设备可以是独立的不同的物理设备，也可以是将核心网设备的功能与无线接入网设备的逻辑功能集成在同一个物理设备上，还可以是一个物理设备上集成了部分核心网设备的功能和部分的无线接入网设备的功能。终端和终端之间以及无线接入网设备和无线接入网设备之间可以通过有线或无线的方式相互连接。图1只是示意图，该通信系统中还可以包括其它网络设备，如还可以包括无线中继设备和无线回传设备，在图1中未画出。
无线接入网设备可以称为网络设备，可以是基站(base station)、演进型基站(evolved NodeB，eNodeB)、传输接收点(transmission reception point，TRP)、第五代(5th generation，5G)移动通信系统中的下一代基站(next generation NodeB，gNB)、第六代(6th generation，6G)移动通信系统中的下一代基站、5G之后演进的移动通信系统中的基站或WiFi系统中的接入节点、非陆地通信网络(non-terrestrial network，NTN)通信系统中的网络设备，即可以部署于高空平台或者卫星等；也可以是完成基站部分功能的模块或单元，例如，可以是集中式单元(central unit，CU)，也可以是分布式单元(distributed unit，DU)。这里的CU完成基站的无线资源控制协议和分组数据汇聚层协议(packet data convergence protocol，PDCP)的功能，还可以完成业务数据适配协议(service data adaptation protocol，SDAP)的功能；DU完成基站的无线链路控制层和介质访问控制(medium access control，MAC)层的功能，还可以完成部分物理层或全部物理层的功能，有关上述各个协议层的具体描述，可以参考第三代合作伙伴计划(3rd generation partnership project，3GPP)的相关技术规范。无线接入网设备可以是宏基站(如图1中的110a)，也可以是微基站或室内站(如图1中的110b)，还可以是中继节点或施主节点等。本申请的实施例对无线接入网设备所采用的具体技术和具体设备形态不做限定。为了便于描述，下文以基站作为无线接入网设备的例子进行描述。
终端也可以称为终端设备、用户设备(user equipment，UE)、移动台、移动终端等。终端可以广泛应用于各种场景，例如，客户终端设备(customer-premises equipment，CPE)、智能销售点(point of sale，POS)机、设备到设备(device-to-device，D2D)、车辆外联(vehicle to everything，V2X)通信、机器类通信(machine-type communication，MTC)、物联网(internet of things，IoT)、虚拟现实、增强现实、工业控制、自动驾驶、远程医疗、智能电网、智能家具、智能办公、智能穿戴、智能交通、智慧城市等。终端可以是手机、平板电脑、带无线收发功能的电脑、可穿戴设备、车辆、无人机、直升机、飞机、轮船、 机器人、机械臂、智能家居设备等。本申请的实施例对终端所采用的具体技术和具体设备形态不做限定。
基站和终端可以是固定位置的，也可以是可移动的。基站和终端可以部署在陆地上，包括室内或室外、手持或车载；也可以部署在水面上；还可以部署在飞机、气球和人造卫星上。本申请的实施例对基站和终端的应用场景不做限定。
基站和终端的角色可以是相对的，例如，图1中的直升机或无人机120i可以被配置成移动基站，对于那些通过120i接入到无线接入网100的终端120j来说，终端120i是基站；但对于基站110a来说，120i是终端，即110a与120i之间是通过无线空口协议进行通信的。当然，110a与120i之间也可以是通过基站与基站之间的接口协议进行通信的，此时，相对于110a来说，120i也是基站。因此，基站和终端都可以统一称为通信装置，图1中的110a和110b可以称为具有基站功能的通信装置，图1中的120a-120j可以称为具有终端功能的通信装置。
网络设备和终端之间、网络设备和网络设备之间、终端和终端之间可以通过授权频谱进行通信，也可以通过免授权频谱进行通信，也可以同时通过授权频谱和免授权频谱进行通信；可以通过6千兆赫(gigahertz，GHz)以下的频谱进行通信，也可以通过6GHz以上的频谱进行通信，还可以同时使用6GHz以下的频谱和6GHz以上的频谱进行通信。本申请的实施例对无线通信所使用的频谱资源不做限定。
在本申请的实施例中，网络设备的功能也可以由网络设备中的模块(如芯片)来执行，也可以由包含有网络设备功能的控制子系统来执行。这里的包含有网络设备功能的控制子系统可以是智能电网、工业控制、智能交通、智慧城市等上述应用场景中的控制中心。终端的功能也可以由终端中的模块(如芯片或调制解调器)来执行，也可以由包含有终端功能的装置来执行。
本申请实施例提供的技术方案可以应用于通信设备间的无线通信。通信设备间的无线通信可以包括：网络设备和终端间的无线通信、网络设备和网络设备间的无线通信以及终端设备和终端设备间的无线通信。其中，在本申请实施例中，术语“无线通信”还可以简称为“通信”，术语“通信”还可以描述为“数据传输”、“信息传输”或“传输”。
通信感知一体化是指基于软硬件资源共享或信息共享同时实现感知与通信功能协同的新型信息处理技术。在执行感知过程中，参与感知的设备可以包括感知中心和感知节点，感知中心可以是上述网络设备或者终端，感知节点可以是上述网络设备或者终端，其中，网络设备可以是接入网设备，也可以是核心网设备，本申请实施例对此不作限定。
示例地，感知中心可以是独立的，比如感知中心为具有一定计算能力和数据存储能力的云，在5G系统网络架构中可以为接入与移动性管理功能(access and mobility management function，AMF)网元，或者为用户面功能(user plane function，UPF)网元，通过有线或者无线的NG-C或者NG-U与基站进行连接，但本申请不限于5G通信系统。这种情况下，感知中心与感知节点(比如UE)可以不直接进行通信，数据可以通过基站转发，比如通过基站上传至感知中心。
又或者，感知中心为某基站，该基站具有一定的计算能力和数据存储能力，在5G系统网络架构中，基站与基站通信一般通过Xn接口进行连接，基站与感知节点(比如UE)通过有线或者无线网络进行连接。
还应理解，随着技术的发展，也可能是UE作为感知中心，其他UE作为感知节点，本申请的方案同样适用。
为了便于理解本申请实施例的方案，对相关概念做一解释。
1.通信感知一体化：通信感知一体化是指基于软硬件资源共享或信息共享同时实现感知与通信功能协同的新型信息处理技术，可以有效提升系统频谱效率、硬件效率和信息处理效率。或者说，通信感知一体化也可以是指通过空口及协议联合设计、时频空资源复用、硬件设备共享等手段，实现通信与感知功能统一设计，使无线网络在进行高质量通信交互的同时，实现高精度、精细化的感知功能，实现网络整体性能和业务能力的提升。
在通信感知一体化中，感知能力聚焦无线信号感知，即通过分析无线电波的直射、反射、散射信号，获得对目标对象或环境信息(如属性和状态等)的感知，完成定位、测距、测速、成像、检测、识别、环境重构等功能，实现对物理世界的感知探索。同时具有通信功能和感知功能将是先进的无线基站与终端的能力趋势。使能先进的无线通信系统中的智能技术，从环境中获取感知信息将成为必要手段。先进无线基站具备对覆盖区域的目标状态的检测能力，例如针对低空飞行物、交通车流，可以检测、定位、识别部分重点目标。另外，先进无线基站和终端具备全天时、全天候对周围环境的感知能力，环境感知又能反哺通信，并且相对于摄像头和激光雷达，不容易受到光照、气候的影响。
2.点云：点云是某个坐标系下的点的数据集，包含了丰富的信息，比如可以包括三维坐标X、Y、Z、颜色、强度值、时间等因素。点云一般通过三维成像传感器获取，如双目相机、三维扫描仪和深度图像(red green blue-depth map，RGB-D)相机等。目前，主流的点云获取方法为雷达(LiDAR)激光探测与测量，主要应用于自动驾驶、测绘等领域。近些年，点云的获取方式逐渐扩展到电磁波(雷达)领域。例如，在单站感知中，利用原始回波提取点云进行环境感知，是当前单站感知的主要技术路径之一。
3.八叉树：是描述和压缩感知数据的基础技术之一，基本思想是递归的对空间进行划分和表示。如图2所示，将空间范围均匀的划分成八个子区域，相应地，将树的一个节点展开成八个子结点，每个子结点对应一个子区域，当且仅当子区域中存在数据点时，对应的子结点为1。图2所示的八叉树可以表示为：1 00010000 00010000 10000001。
其中，基于电磁的无线基站与终端的感知精度会受到带宽、天线阵列规模、波束宽度、到达角度(AoA)、被感知物体粗糙度和材质等因素的影响，如图3所示，为带宽与感知距离误差的累计分布函数(cumulative distribution function，CDF)曲线，可以看出，在带宽不同时，感知距离的误差不同。如图4所示，为波束到达角与感知距离误差的CDF曲线，可以看出，当AoA不同时，感知距离误差也不同。上述这些因素会导致不同感知节点感知到的点云、体素、环境重构结果精度不尽相同。并且感知结果与周边环境相关性很大。甚至对于同一个TRP，不同位置不同时刻的感知精度也不相同。
另外，在多设备联合感知场景中，不同设备的感知区域存在一定的空间重叠，且环境的大多数场景并不随时间变化，各设备在个时刻感知到的数据之间存在大量冗余，存在数据的重复上报，浪费了通信资源。利用八叉树压缩数据的效果有限，压缩之后数据量依然巨大，需要进一步利用数据冗余降低上报数据量，以减少对空口资源的消耗。
针对上述问题，本申请实施例提出一种通信方法，能够降低数据冗余，减少资源消耗吗，并且，能够提升感知精度。如图5所示，该方法可以包括下述步骤：
步骤501：感知节点获取第一目标的感知数据。
其中，该第一目标可以是待感知目标，该待感知目标可以是动态的，比如处于行进过程中的车辆，该感知目标也可以是静态的，比如停放在路边的车辆，也可以是道路、家居、楼宇等其他需要感知的目标，本申请实施例对此不作限定。
第一目标的感知数据即为感知节点感知第一目标得到的数据。该感知数据可以是第一目标的几何信息，也可以是位置信息，比如，该感知数据可以是第一目标与感知节点之间的距离。示例地，当感知目标为车辆时，该感知数据可以是感知节点通过感知得到的该车辆与感知节点之间的距离。
一种可能的实现，该第一目标可以是感知中心指示的。示例地，感知中心向感知节点发送信息#A，该信息#A用于指示该第一目标，感知节点根据该信息#A确定第一目标。信息#A指示第一目标的方式有以下几种：
方式1：信息#A可以是该第一目标的实际地理位置信息。信息#A也可以是该第一目标的可以替代其地理位置信息的其他位置信息，比如信息#A可以是在某坐标系下该第一目标的三维坐标。可以理解的是，该坐标系可以是预定义的，也可以是感知中心向感知节点指示的。换句话说，感知中心与感知节点的坐标系一致时，感知中心向感知节点指示第一目标在该坐标系下的坐标，感知节点根据该坐标确定第一目标。当然，感知中心与感知节点的坐标系也可以不一致，这种情况下，感知中心与感知节点需要预定义坐标的计算方式，比如预定义目标A在坐标系1中的坐标1，向坐标系2中对应的坐标(比如坐标2)的转换方式。
方式2：信息#A(比如第三信息)可以用于指示第一区域的位置信息，该第一区域包括第一目标。示例地，该第一区域可以包括多个待感知目标，第一目标属于该多个待感知目标。其中，信息#A指示第一区域的位置信息，可以是指示第一区域的地理位置信息，也可以是指示第一区域的坐标信息，具体地，指示该第一区域的坐标信息的方式可以参考方式1中信息#A指示第一目标的坐标信息的方式，不再赘述。
可选地，信息#A(比如第四信息)还可以用于指示感知地图。应理解，所谓“地图”可以是数据的集合，这些数据可以是感知中心通过感知获取的。或者，可以是在通信系统中包括多个感知节点时，多个感知节点通过感知获取并上报给感知中心的。或者，也可以是该感知节点在之前的感知过程中获取并上报给感知中心的，也就是说这些数据可以包括第一目标的历史数据。换句话说，感知中心向感知节点发送感知地图，该感知地图中包括的数据可以作为第一目标的本地数据，第一数据属于第一目标的本地数据，该第一数据可以用于感知节点确定是否上报第一感知数据。
该感知地图可以是网格化感知地图。如图6所示，该感知地图包括多个数据，数据呈网格化分布，换句话说，网格化感知地图中的数据均匀分布。
该感知地图也可以是点云感知地图。如图7所示，该感知地图包括多个数据和中心点，该中心点的一个示例，比如图7中的点S。应理解，该中心点可以是某个数据对应的目标在感知地图中对应的位置，也可以是预定义的几何点，比如，该几何点为感知地图中的某个点，该几何点不代表任何感知目标。本申请实施例对此不作限定。
步骤502：感知节点根据第一感知数据的置信度确定是否发送第一感知数据。
其中，置信度用于表征某数据与实际数据之间的误差。比如，第一感知数据的置信度 用于表征第一感知数据与第一实际数据的误差，第一实际数据属于第一目标的实际数据。
置信度可以根据第一参数确定，该第一参数可以包括以下中的至少一项：波束宽度、测量时延、带宽或者波束到达角。其中，波束宽度可以是感知节点用于获取第一目标的波束(也即第一波束)的宽度。感知时延可以是感知节点感知第一目标的时延，比如，当感知节点感知与第一目标之间的距离时，该感知时延可以是第一波束从感知节点发出到感知节点接收到反馈波束之间的时长。该带宽可以是感知该第一目标的信号带宽。应理解，第一目标可以是有源目标，也可以是无源目标，本申请实施例对此不作限定。当第一目标为有源目标时，带宽可以是感知节点与第一目标通信的带宽，或者是感知节点的带宽，也可以是感知节点向第一目标发送信息所用的带宽，示例地，该信息可以参考目前通信感知一体化中感知节点向目标传输的信息。波束到达角可以是第一波束到达第一目标的波束到达角。
其中，各参数与置信度之间的关系可以简单描述为：感知时延越大，置信度越小。一定范围内(比如0°-90°)的波束到达角越大，置信度越小。波束宽度越大，置信度越大。带宽越大，置信度越大。
置信度的一种可能的计算方式如下：
Figure PCTCN2022117991-appb-000006
其中，D为置信度，c为光速，t为感知时延，φ为波束到达角，θ为波束宽度，B为带宽。
可选地，第一参数还可以包括测量距离，该测量距离可以根据测量时延和光速确定。如图8所示，d为测量距离，d＝t/2*C。或者说，测量距离与测量时延可以相互表征。
应理解，上述计算方式仅为置信度计算方式的一种示例，本申请实施例不限于此。比如，上述参数还可以满足下述关系：
Figure PCTCN2022117991-appb-000007
或者，
Figure PCTCN2022117991-appb-000008
应理解，对于D的计算方式还可能有其他的等效或替代方式，这里不作穷举。或者，还可能引入其他变量或定值，作为计算过程中的参考因素，但都应在本申请保护范围之内。
还应理解，置信度的确定方式可以是感知节点与感知中心预定义的，也可以是预配置的，或者，也可以是感知中心向感知节点指示的，本申请实施例对此不作限定。
一种可能的方式，感知节点可以根据第一感知数据的置信度，与第一数据的置信度，确定是否发送该第一感知数据，第一数据属于第一目标的本地数据。换句话说，第一感知数据为感知节点针对第一目标执行感知得到的数据，第一数据为感知节点针对第一目标的本地数据，感知节点可以根据这两者确定是否发送感知得到的数据。比如，感知节点可以根据以下几种方式确定是否发送第一感知数据：
方式A：感知节点判断第一感知数据的置信度是否大于或等于第一数据的置信度。
示例地，第一感知数据的置信度为5，第一数据的置信度为4，感知节点判断第一感知数据的置信度大于第一数据的置信度，则确定，可以发送第一感知数据，比如，向感知中心发送第一感知数据。
该方式中，感知节点对置信度小于本地数据的感知数据不上报，能够避免数据冗余，减少数据上报量，避免浪费资源。另一方面，感知节点上报置信度大于或等于本地数据的感知数据，能够提升感知数据的精度。
方式B：感知节点判断第一感知数据的置信度与第一数据的置信度的比值是否大于或等于第一阈值。
示例地，第一阈值为1，第一感知数据的置信度为8，第一数据的置信度为4，第一感知数据的置信度与第一数据的置信度的比值为2，感知节点判断第一感知数据的置信度与第一数据的置信度的比值大于第一阈值，则确定，可以发送第一感知数据，比如，向感知中心发送第一感知数据。
其中，第一阈值可以是预定义的，可以是配置的，可以是指示的，比如，第一阈值可以通过信息#B(比如第一信息)指示，本申请实施例对此不作限定。
该方式中，感知节点对置信度比值小于第一阈值的感知数据不上报，能够避免数据冗余，减少数据上报量，避免浪费资源。另一方面，感知节点上报置信度比值大于或等于第一阈值的感知数据，能够提升感知数据的精度。
方式C：感知节点判断第一感知数据的置信度与第一数据的置信度的差值是否大于或等于第二阈值。
示例地，第二阈值为2，第一感知数据的置信度为7，第一数据的置信度为3，第一感知数据的置信度与第一数据的置信度的差值为4，感知节点判断第一感知数据的置信度与第一数据的置信度的差值大于第二阈值，则确定，可以发送第一感知数据，比如，向感知中心发送第一感知数据。
其中，第二阈值可以是预定义的，可以是配置的，可以是指示的，比如，第二阈值可以通过信息#B(比如第一信息)指示，本申请实施例对此不作限定。
该方式中，感知节点对置信度差值小于第二阈值的感知数据不上报，能够避免数据冗余，减少数据上报量，避免浪费资源。另一方面，感知节点上报置信度差值大于或等于第二阈值的感知数据，能够提升感知数据的精度。
方式D：感知节点判断第一感知数据的置信度是否大于或等于第一置信度门限。
示例地，第一感知数据的置信度为6，第一置信度门限为5，感知节点判断第一感知数据的置信度大于第一置信度门限，则确定，可以发送第一感知数据，比如，向感知中心发送第一感知数据。
其中，第一置信度门限可以是预定义的，可以是配置的，可以是指示的，比如，第一置信度门限可以通过信息#B(比如第二信息)指示，本申请实施例对此不作限定。
该方式中，感知节点对置信度小于置信度门限的感知数据不上报，能够避免数据冗余，减少数据上报量，避免浪费资源。另一方面，感知节点上报置信度大于或等于置信度门限的感知数据，能够提升感知数据的精度。
应理解，上述方式A、B、C、D仅作为可能的几种示例，本申请实施例不限于此。比如，对数运算也可以用于判断第一感知数据的置信度与第一数据的置信度的数值关系。
下面结合信息#A的不同指示内容，对感知节点对数据的判断方式详细说明。
当步骤501中的信息#A指示网格化的感知地图时：
一种可能的实现，感知节点可以根据如图9所示的方法对感知数据进行判断。具体地， 信息#A指示网格化感知地图，该感知地图中包括16个带有置信度的数据，图中感知地图中的数据为该16个数据对应的置信度。感知节点在特定位置使用特定视角进行感知后，获得了该局部区域的感知数据，得到对应的16个感知数据，以及该16个感知数据对应的置信度。经过位置坐标对齐后，将感知数据的置信度与感知地图中的数据的置信度对比。示例地，该网格化感知地图的第一行第二列的数据的置信度为0.6，对应位置的感知数据的置信度，也就是图中网格化感知数据中的第一行第二列，取值为0.7，大于感知地图中对应位置的置信度，感知节点确定可以上报该位置对应的感知数据。图中所示16个数据在对比后余下两个数据，实现了数据压缩。
另一种可能的实现，感知节点可以根据如图10所示的方法对感知数据进行判断。具体地，感知节点在特定位置使用特定视角进行感知后，获得了该局部区域的感知数据，得到对应的16个感知数据，以及该16个感知数据对应的置信度。经过位置坐标对齐后，将感知数据的置信度与置信度门限对比。该置信度门限为感知中心下发的，取值0.6。示例地，感知节点将该16个感知数据对应的置信度分别与置信度门限比较，大于或等于该置信度门限的有图中所示的7个位置对应的感知数据。感知节点确定可以上报该7个位置对应的感知数据，也能够实现数据压缩。
应理解，这里仅以置信度门限或者置信度的大小关系作为判断方式的示例，上述差值、比值的判断方式也适用。
当步骤501中的信息#A指示点云感知地图时：
感知节点可以确定K个第二目标，该K个第二目标对应K个第二感知数据，K为大于或等于1的整数。感知节点根据该K个第二感知数据的置信度和第一感知数据的置信度确定，是否上报所述第一感知数据。进一步地，感知节点可以根据第二参数确定该K个第二目标。示例地，第二参数为距离阈值，在距离阈值范围内存在K个第二目标；或者，第二参数为K的取值，K个第二目标为在感知地图中与第一目标距离最近的K个目标。可选地，第二参数可以是指示的，比如，通过信息#A(比如第四信息)指示。该第二参数也可以是预定义的，本申请实施例对此不作限定。
一种可能的实现，如图11所示，第二参数为距离阈值R。以第一目标为中心点，在距离第一目标对应的感知数据(第一感知数据S)R范围内的目标对应的感知数据，进行置信度对比。示例地，这些感知数据对应的目标可以是与S距离为R范围内的球体上的点。如果这些感知数据中置信度最小的数据的置信度小于第一感知数据的置信度，则感知节点确定可以上报该第一感知数据。比如，图中R范围内有三个目标，对应的感知数据的置信度分别为0.9,0.2,1，其中,最小的置信度为0.2，第一感知数据的置信度为0.5，大于0.2，则感知节点确定可以上报该第一感知数据。如果这三个点的最小置信度仍大于第一感知数据S的置信度，则不进行该感知数据的上报，实现了数据压缩。一种可能的方式，该距离阈值R的值可以是感知中心确定的。又或者，该距离阈值也可以是预定义的，本申请实施例对此不作限定。
另一种可能的实现，如图12所示，第二参数为K的取值。示例地，K取值为3，则感知节点确定距离第一目标最近的3个目标。比如，图中除第一感知数据以外的其余3个目标，该3个目标对应的感知数据的置信度分别为0.2,0.9,1。这三个置信度可以是感知节点查询得到的。如果其中置信度最小的那个小于第一感知数据的置信度，则感知节点确定 可以上报该第一感知数据。比如，第一感知数据的置信度为0.5，大于最小置信度0.2，则感知节点确定可以上报该第一感知数据。如果这三个点的最小置信度仍大于第一感知数据S的置信度，则不进行该感知数据的上报，实现了数据压缩。一种可能的方式，该K的值可以是感知中心确定的。又或者，K的取值也可以是预定义的，本申请实施例对此不作限定。
应理解，这里仅以置信度大小关系作为判断方式的一个示例，上述差值、比值、置信度门限的判断方式也适用。
当步骤501中的信息#A指示第一区域时：
该第一区域可以称为待更新区域。如图13所示，第一区域中包括四个目标，感知节点在特定位置使用特定视角进行感知后，获得了该第一区域的感知数据以及置信度。比如，该四个目标对应的感知数据的置信度分别为0.1、0.7、0.8和0.9，其中第一目标对应地感知数据(第一感知数据)的置信度为0.9。经过位置坐标对齐后，感知节点可以将这些置信度与置信度门限进行对比，示例地，置信度门限可以是感知中心下发的，比如，感知中心向感知节点指示置信度门限取值0.75，该四个目标的感知数据的置信度中，有两个置信度大于置信度门限。则感知节点确定可以上报该四个目标中的两个目标的感知数据，即置信度0.9和置信度0.8分别对应的感知数据。
应理解，这里仅以置信度门限作为判断方式的一个示例，上述差值、比值、大小关系的判断方式也适用。
可选地，该第一区域可以包括至少一个分区，至少一个分区与至少一个置信度门限一一对应，至少一个置信度门限包括第一置信度门限，或者，所述至少一个分区与至少一个阈值一一对应，所述至少一个阈值包括第一阈值或者第二阈值。换句话说，该第一区域可以分块，不同的分区对应的置信度门限可以不同，或者，不同的分区对应的第一阈值或者第二阈值可以不同。具体地，实现过程可以参考上述相关说明，不再赘述。
应理解，第一区域的不同分区可以对应不同的置信度门限或者阈值，也就是说，第一区域的不同分区可以有不同的感知需求，感知节点通过不同的置信度门限或者阈值，选取向感知中心上报的感知数据，能够匹配不同分区的感知需求，进一步提高了感知数据的精度。
可选地，当感知节点确定可以上报第一感知数据后，该方法还可以包括下述步骤：
步骤503：感知节点向感知中心发送第一感知数据，对应地，感知中心接收该第一感知数据。
应理解，当感知节点确定可以上报多个感知数据时，比如，步骤502中感知节点确定大于置信度门限的不止一个数据，感知节点可以将这些数据均上报。换句话说，感知节点向感知中心上报至少一个感知数据，该至少一个感知数据包括该第一感知数据。
可选地，对于未上报的感知数据，感知节点可以删除这些感知数据。
可选地，感知中心在接收到上报感知数据后，可以更新感知地图，感知地图可以是目标环境中一部分感知目标的数据地图，通过对感知地图的更新，可以实现目标环境的重构。进一步地，当感知系统中存在多感知节点时，感知中心可以把增量的感知更新数据和修正后的环境重构结果数据发送给各感知节点，以更新各感知节点的本地地图。
为了能清楚了解本申请实施例的实现方式，下面给出一种详细的流程示例。
步骤1401：感知中心向感知节点下发感知信令，对应地，感知节点接收该感知信令。
其中，该感知信令可以是用于感知节点启动感知流程的信令。又或者，该感知信令可以是感知中心为感知节点配置感知参数的信令，示例地，该感知参数可以用于指示通信资源。本申请实施例对此不作限定。
步骤1402：感知节点向感知中心上报节点的标识信息，以及感知能力的相关信息，对应地，感知中心接收感知节点的标识信息和感知能力的相关信息。
其中，感知节点的标识信息用于标识感知节点，感知节点的标识信息可以是感知节点的身份信息。感知能力的相关信息，用于指示感知节点的感知能力，示例地，该感知能力可以是感知节点的感知范围，也可以是感知节点的感知目标的数量等等，本申请实施例对此不作限定。
步骤1403：感知中心向感知节点下发感知任务和感知地图，对应地，感知节点接收感知任务和感知地图。
可选地，感知中心还可以向感知节点下发置信度门限，对应地，感知节点接收该置信度门限。
其中，感知任务可以是感知节点待感知的参量，比如，感知任务可以是感知第一目标与感知节点的距离，又或者，感知任务可以是感知第一目标的尺寸，等等，本申请实施例对此不作限定。感知地图可以参考步骤501中的描述，可选地，感知地图可以是点云化感知地图，感知地图可以是网格化感知地图，感知地图也可以是区域位置信息，比如第一区域的位置信息，该第一区域可以参考步骤501的说明，这里不再赘述。
步骤1404：感知节点根据感知任务获取感知数据。
步骤1405：感知节点压缩数据。
具体地，感知节点压缩数据的方式可以参考步骤502中，感知节点确定是否发送第一感知数据的方式，这里不再赘述。
步骤1406：感知节点上报感知数据，对应地，感知中心接收感知数据。
步骤1407：感知中心根据接收的感知数据更新感知地图。
可选地，该流程还可以包括：
步骤1408：感知中心向其他感知节点下发感知地图的增量更新，对应地，其他感知节点接收该感知地图的增量更新。
对应于步骤1403中的感知地图的不同类型，步骤1408中感知中心下发的感知地图的增量更新可以是点云化感知地图的增量更新，可以是网格化感知地图的增量更新，也可以是第一区域的增量更新。
该方法中，感知节点根据置信度对感知数据进行判断，上报满足条件的置信度对应的感知数据，实现了数据压缩，大大减少了冗余数据，避免了资源浪费。同时，将置信度作为参考因素，向感知中心上报满足置信度条件的感知数据，能够提升感知和环境重构的精度。
本文中描述的各个实施例可以为独立的方案，也可以根据内在逻辑进行组合，这些方案都落入本申请的保护范围中。应理解，上述实施例的步骤只是为了清楚描述实施例的技术方案，不对步骤执行的先后顺序做限定。
本申请中的感知数据可以用于目标测控。但本申请不限于此，示例地，感知数据也可 以用于环境重构，重构后的环境可以辅助通信信道建模，继而反哺通信。上述仅作为本申请的应用场景的示例，本申请对此不作限定。
上述本申请提供的实施例中，分别从各个设备之间交互的角度对本申请实施例提供的方法进行了介绍。为了实现上述本申请实施例提供的方法中的各功能，网络设备或终端设备可以包括硬件结构和/或软件模块，以硬件结构、软件模块、或硬件结构加软件模块的形式来实现上述各功能。上述各功能中的某个功能以硬件结构、软件模块、还是硬件结构加软件模块的方式来执行，取决于技术方案的特定应用和设计约束条件。
本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。另外，在本申请各个实施例中的各功能模块可以集成在一个处理器中，也可以是单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。
以下，结合图15至图16详细说明本申请实施例提供的通信装置。应理解，装置实施例的描述与方法实施例的描述相互对应，因此，未详细描述的内容可以参见上文方法实施例，为了简洁，这里不再赘述。
与上述构思相同，如图15所示，本申请实施例提供一种通信装置1500用于实现上述方法中感知节点的功能。例如，该装置可以为软件模块或者芯片系统。本申请实施例中，芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。该装置1500可以包括：处理单元1510和通信单元1520。
本申请实施例中，通信单元也可以称为收发单元、收发模块，可以包括发送单元和/或接收单元，分别用于执行上文方法实施例中感知节点发送和接收的步骤。
通信单元也可以称为收发器、收发机、收发装置等。处理单元也可以称为处理器，处理单板，处理模块、处理装置等。可选的，可以将通信单元1520中用于实现接收功能的器件视为接收单元，将通信单元1520中用于实现发送功能的器件视为发送单元，即通信单元1520包括接收单元和发送单元。通信单元有时也可以称为收发机、收发器、或接口电路等。接收单元有时也可以称为接收机、接收器、或接收电路等。发送单元有时也可以称为发射机、发射器或者发射电路等。
通信装置1500执行上面实施例中图5至图14中任一所示的流程中感知中心的功能时：
通信单元用于接收第一感知数据，第一感知数据是根据第一感知数据的置信度确定的，第一感知数据属于第一目标的感知数据，置信度是根据第一参数确定的，第一参数包括以下中的至少一项：第一波束的波束宽度、感知该第一目标的时延、感知该第一目标的信号带宽或者该第一波束到达该第一目标的波束到达角，该第一波束为用于感知该第一目标的波束。
处理单元用于将第一目标的第一数据更新为第一感知数据，第一数据属于第一目标的本地数据。
示例地，通信单元可以用于发送感知信令。
通信单元还可以用于配置感知任务、阈值、置信度门限、感知地图等等。
通信单元可以用于接收感知数据。
处理单元(也称处理模块)可以用于更新感知地图等。
通信装置1500执行上面实施例中5至图14中任一所示的流程中感知节点的功能时：
处理单元用于获取第一目标的感知数据。
处理单元还可以用于根据第一感知数据的置信度确定是否发送第一感知数据，第一感知数据属于第一目标的感知数据，置信度是根据第一参数确定的，第一参数包括以下中的至少一项：第一波束的波束宽度、感知该第一目标的时延、感知该第一目标的信号带宽或者该第一波束到达该第一目标的波束到达角，该第一波束为用于感知该第一目标的波束。
示例地，通信单元可以用于感知信令、感知地图、阈值、置信度门限等的接收，以及感知数据的发送。
处理单元可以用于确定是否发送第一感知数据。
以上只是示例，处理单元1510和通信单元1520还可以执行其他功能，更详细的描述可以参考图5至图16所示的方法实施例或其他方法实施例中的相关描述，这里不加赘述。
如图16所示为本申请实施例提供的通信装置1600，图16所示的装置可以为图15所示的装置的一种硬件电路的实现方式。该通信装置可适用于前面所示出的流程图中，执行上述方法实施例中终端设备或者网络设备的功能。为了便于说明，图16仅示出了该通信装置的主要部件。
通信装置1600可以是感知节点，能够实现本申请实施例提供的方法中感知节点的功能。通信装置1600也可以是能够支持感知节点实现本申请实施例提供的方法中对应的功能的装置。其中，该通信装置1600可以为芯片系统。本申请实施例中，芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。具体的功能可以参见上述方法实施例中的说明。
通信装置1600包括一个或多个处理器1610，用于实现或用于支持通信装置1600实现本申请实施例提供的方法中第一终端装置或第二终端装置的功能。具体参见方法示例中的详细描述，此处不做赘述。处理器1610也可以称为处理单元或处理模块，可以实现一定的控制功能。处理器1610可以是通用处理器或者专用处理器等。例如，包括：中央处理器，基带处理器，应用处理器，调制解调处理器，图形处理器，图像信号处理器，数字信号处理器，视频编解码处理器，控制器，和/或神经网络处理器等。所述中央处理器可以用于对通信装置1600进行控制，执行软件程序和/或处理数据。不同的处理器可以是独立的器件，也可以是集成在一个或多个处理器中，例如，集成在一个或多个专用集成电路上。可以理解的是，本申请的实施例中的处理器可以是中央处理单元(central processing unit，CPU)，还可以是其它通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field programmable gate array，FPGA)或者其它可编程逻辑器件、晶体管逻辑器件，硬件部件或者其任意组合。通用处理器可以是微处理器，也可以是任何常规的处理器。
可选地，通信装置1600中包括一个或多个存储器1620，用以存储指令1640，所述指令可在所述处理器1610上被运行，使得通信装置1600执行上述方法实施例中描述的方法。存储器1620和处理器1610耦合。本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、单元或模块之间的信息交互。处理器1610可能和存储器1620协同操作。所述至少一个存储器中的至少一个可以包括于处理器中。需要说明的是，存储器1620不是必须的，所以在图16中以虚线进行 示意。
可选地，所述存储器1620中还可以存储有数据。所述处理器和存储器可以单独设置，也可以集成在一起。在本申请实施例中，存储器1620可以是非易失性存储器，比如硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)等，还可以是易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)。本申请的实施例中处理器还可以是闪存、只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)、寄存器、硬盘、移动硬盘、CD-ROM或者本领域熟知的任何其它形式的存储介质中。一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。另外，该ASIC可以位于网络设备或终端设备中。当然，处理器和存储介质也可以作为分立组件存在于网络设备或终端设备中。
存储器是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。本申请实施例中的存储器还可以是电路或者其它任意能够实现存储功能的装置，用于存储程序指令和/或数据。
可选地，通信装置1600可以包括指令1630(有时也可以称为代码或程序)，所述指令1630可以在所述处理器上被运行，使得所述通信装置1600执行上述实施例中描述的方法。处理器1610中可以存储数据。
可选地，通信装置1600还可以包括收发器1650以及天线1660。所述收发器1650可以称为收发单元，收发模块、收发机、收发电路、收发器，输入输出接口等，用于通过天线1660实现通信装置1600的收发功能。
本申请中描述的处理器1610和收发器1650可实现在集成电路(integrated circuit，IC)、模拟IC、射频集成电路(radio frequency identification，RFID)、混合信号IC、ASIC、印刷电路板(printed circuit board，PCB)、或电子设备等上。实现本文描述的通信装置，可以是独立设备(例如，独立的集成电路，手机等)，或者可以是较大设备中的一部分(例如,可嵌入在其他设备内的模块)，具体可以参照前述关于终端设备，以及网络设备的说明，在此不再赘述。
可选地，通信装置1600还可以包括以下一个或多个部件：无线通信模块，音频模块，外部存储器接口，内部存储器，通用串行总线(universal serial bus，USB)接口，电源管理模块，天线，扬声器，麦克风，输入输出模块，传感器模块，马达，摄像头，或显示屏等等。可以理解，在一些实施例中，通信装置1600可以包括更多或更少部件，或者某些部件集成，或者某些部件拆分。这些部件可以是硬件，软件，或者软件和硬件的组合实现。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请的方法、设备(系统)、和计算机程序产品的流程图和/或 方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (48)

  1. 一种感知方法，其特征在于，包括：
    获取第一目标的感知数据；
    根据第一感知数据的置信度确定是否发送第一感知数据，所述第一感知数据属于所述第一目标的感知数据，所述置信度是根据第一参数确定的，所述第一参数包括以下中的至少一项：第一波束的波束宽度、感知所述第一目标的时延、感知所述第一目标的信号带宽或者所述第一波束到达所述第一目标的波束到达角，所述第一波束为用于感知所述第一目标的波束。
  2. 根据权利要求1所述的方法，其特征在于，所述根据第一感知数据的置信度确定是否发送所述第一感知数据包括：
    根据所述第一感知数据的置信度与第一数据的置信度，确定是否发送所述第一感知数据，所述第一数据属于所述第一目标的本地数据。
  3. 根据权利要求2所述的方法，其特征在于，所述方法包括：
    当所述第一感知数据的置信度大于或等于所述第一数据的置信度时，发送所述第一感知数据，或者，
    当所述第一感知数据的置信度与所述第一数据的置信度的比值大于或等于第一阈值时，发送所述第一感知数据，或者，
    当所述第一感知数据的置信度与所述第一数据的置信度的差值大于或等于第二阈值时，发送所述第一感知数据。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    接收第一信息，所述第一信息用于指示所述第一阈值或者所述第二阈值。
  5. 根据权利要求1所述的方法，其特征在于，所述根据第一感知数据的置信度确定是否发送所述第一感知数据包括：
    根据所述第一感知数据的置信度和第一置信度门限确定是否发送所述第一感知数据。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    接收第二信息，所述第二信息用于指示所述第一置信度门限。
  7. 根据权利要求1至6中任一项所述的方法，其特征在于，所述方法还包括:
    接收第三信息，所述第三信息用于指示第一区域的位置信息，所述第一区域包括所述第一目标。
  8. 根据权利要求7所述的方法，其特征在于，所述第一区域包括至少一个分区，所述至少一个分区与至少一个置信度门限一一对应，所述至少一个置信度门限包括第一置信度门限，或者，所述至少一个分区与至少一个阈值一一对应，所述至少一个阈值包括第一阈值或者第二阈值。
  9. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    确定K个第二目标，所述K个第二目标对应K个第二感知数据，所述K为大于或等于1的整数；
    根据第一感知数据的置信度确定是否发送第一感知数据包括：
    根据所述K个第二感知数据的置信度和所述第一感知数据的置信度，确定是否上报所述第一感知数据。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    接收第二参数，
    所述第二参数为距离阈值，在所述距离阈值范围内存在K个第二目标，
    或者，
    所述第二参数为所述K的取值，所述K个第二目标为在感知地图中与所述第一目标距离最近的K个目标，所述感知地图用于指示所述第一目标和所述K个第二目标。
  11. 根据权利要求10所述的方法，其特征在于，所述方法还包括:
    接收第四信息，所述第四信息用于指示所述感知地图。
  12. 根据权利要求1至11中任一项所述的方法，其特征在于，所述置信度与所述第一参数满足下述关系：
    Figure PCTCN2022117991-appb-100001
    其中，D为置信度，c为光速，t为所述感知所述第一目标的时延，
    Figure PCTCN2022117991-appb-100002
    为所述第一波束到达所述第一目标的波束到达角，θ为第一波束的波束宽度，B为感知所述第一目标的信号带宽。
  13. 一种感知方法，其特征在于，包括：
    接收第一感知数据，所述第一感知数据是根据第一感知数据的置信度确定的，所述第一感知数据属于第一目标的感知数据，所述置信度是根据第一参数确定的，所述第一参数包括以下中的至少一项：第一波束的波束宽度、感知所述第一目标的时延、感知所述第一目标的信号带宽或者所述第一波束到达所述第一目标的波束到达角，所述第一波束为用于感知所述第一目标的波束；
    将所述第一目标的第一数据更新为所述第一感知数据，所述第一数据属于所述第一目标的本地数据。
  14. 根据权利要求13所述的方法，其特征在于，所述第一感知数据的置信度大于或等于所述第一数据的置信度，或者，所述第一感知数据的置信度与所述第一数据的置信度的比值大于或等于第一阈值，或者，所述第一感知数据的置信度与所述第一数据的置信度的差值大于或等于第二阈值，或者，所述第一感知数据的置信度大于或等于第一置信度门限。
  15. 根据权利要求14所述的方法，其特征在于，在所述接收第一感知数据之前，所述方法还包括：
    发送第一信息，所述第一信息用于指示所述第一阈值或者所述第二阈值，
    或者，
    发送第二信息，所述第二信息用于指示所述第一置信度门限。
  16. 根据权利要求13至15中任一项所述的方法，其特征在于，所述方法还包括：
    发送第三信息，所述第三信息用于指示第一区域的位置信息，所述第一区域包括所述第一目标。
  17. 根据权利要求16所述的方法，其特征在于，所述第一区域包括至少一个分区，所述至少一个分区与至少一个置信度门限一一对应，所述至少一个置信度门限包括第一置信 度门限，或者，所述至少一个分区与至少一个阈值一一对应，所述至少一个阈值包括第一阈值或者第二阈值。
  18. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    发送第二参数，所述第二参数为距离阈值，在所述距离阈值范围内存在K个第二目标，所述K个第二目标对应K个第二感知数据，所述K为大于或等于1的整数；
    或者，
    所述第二参数为K的取值，所述K个第二目标为在感知地图中与所述第一目标距离最近的K个目标，所述感知地图用于指示所述第一目标和所述K个第二目标，
    所述第一感知数据是根据第一感知数据的置信度确定的，包括：
    所述第一感知数据是根据所述K个第二感知数据的置信度和所述第一感知数据的置信度确定的。
  19. 根据权利要求18所述的方法，其特征在于，所述方法还包括：
    发送第四信息，所述第四信息还用于指示感知地图。
  20. 根据权利要求13至19中任一项所述的方法，其特征在于，所述置信度与所述第一参数满足下述关系：
    Figure PCTCN2022117991-appb-100003
    其中，D为置信度，c为光速，t为所述感知所述第一目标的时延，
    Figure PCTCN2022117991-appb-100004
    为所述第一波束到达所述第一目标的波束到达角，θ为第一波束的波束宽度，B为感知所述第一目标的信号带宽。
  21. 一种通信装置，其特征在于，包括处理模块，所述处理模块用于获取第一目标的感知数据，所述处理模块还用于根据第一感知数据的置信度确定是否发送所述第一感知数据，所述第一感知数据属于所述第一目标的感知数据，所述置信度是根据第一参数确定的，所述第一参数包括以下中的至少一项：第一波束的波束宽度、感知所述第一目标的时延、感知所述第一目标的信号带宽或者所述第一波束到达所述第一目标的波束到达角，所述第一波束为用于感知所述第一目标的波束。
  22. 根据权利要求21所述的装置，其特征在于，所述处理模块用于根据所述第一感知数据的置信度与第一数据的置信度，确定是否发送所述第一感知数据，所述第一数据属于所述第一目标的本地数据。
  23. 根据权利要求22所述的装置，其特征在于，所述装置还包括收发模块，所述收发模块用于当所述第一感知数据的置信度大于或等于所述第一数据的置信度时，发送所述第一感知数据，或者，
    当所述第一感知数据的置信度与所述第一数据的置信度的比值大于或等于第一阈值时，发送所述第一感知数据，或者，
    当所述第一感知数据的置信度与所述第一数据的置信度的差值大于或等于第二阈值时，发送所述第一感知数据。
  24. 根据权利要求23所述的装置，其特征在于，所述收发模块还用于接收第二信息，所述第二信息用于指示所述第一阈值或者所述第二阈值。
  25. 根据权利要求21所述的装置，其特征在于，所述处理模块用于根据所述第一感知数据的置信度和第一置信度门限确定是否发送所述第一感知数据。
  26. 根据权利要求25所述的装置，其特征在于，所述装置还包括收发模块，所述收发模块用于接收第二信息，所述第二信息用于指示所述第一置信度门限。
  27. 根据权利要求21至26中任一项所述的装置，其特征在于，所述装置还包括收发模块，所述收发模块用于接收第三信息，所述第三信息用于指示第一区域的位置信息，所述第一区域包括所述第一目标。
  28. 根据权利要求27所述的装置，其特征在于，所述第一区域包括至少一个分区，所述至少一个分区与至少一个置信度门限一一对应，所述至少一个置信度门限包括第一置信度门限，或者，所述至少一个分区与至少一个阈值一一对应，所述至少一个阈值包括第一阈值或者第二阈值。
  29. 根据权利要求21所述的装置，其特征在于，所述处理模块还用于确定K个第二目标，所述K个第二目标对应K个第二感知数据，所述K为大于或等于1的整数，所述处理模块还用于根据所述K个第二感知数据的置信度和所述第一感知数据的置信度，确定是否上报所述第一感知数据。
  30. 根据权利要求29所述的装置，其特征在于，所述装置还包括收发模块，所述收发模块用于接收第二参数，
    所述第二参数为距离阈值，在所述距离阈值范围内存在K个第二目标，
    或者，
    所述第二参数为所述K的取值，所述K个第二目标为在感知地图中与所述第一目标距离最近的K个目标，所述感知地图用于指示所述第一目标和所述K个第二目标。
  31. 根据权利要求29所述的装置，其特征在于，所述收发模块还用于接收第四信息，所述第四信息用于指示所述感知地图。
  32. 根据权利要求21至31中任一项所述的装置，其特征在于，所述置信度与所述第一参数满足下述关系：
    Figure PCTCN2022117991-appb-100005
    其中，其中，D为置信度，c为光速，t为所述感知所述第一目标的时延，
    Figure PCTCN2022117991-appb-100006
    为所述第一波束到达所述第一目标的波束到达角，θ为第一波束的波束宽度，B为感知所述第一目标的信号带宽。
  33. 一种通信装置，其特征在于，包括收发模块和处理模块，所述收发模块用于接收第一感知数据，所述第一感知数据是根据第一感知数据的置信度确定的，所述第一感知数据属于第一目标的感知数据，所述置信度是根据第一参数确定的，所述第一参数包括以下中的至少一项：第一波束的波束宽度、感知所述第一目标的时延、感知所述第一目标的信号带宽或者所述第一波束到达所述第一目标的波束到达角，所述第一波束为用于感知所述第一目标的波束，所述处理模块用于将所述第一目标的第一数据更新为所述第一感知数据，所述第一数据属于所述第一目标的本地数据。
  34. 根据权利要求33所述的装置，其特征在于，所述第一感知数据的置信度大于或等于所述第一数据的置信度，或者，所述第一感知数据的置信度与所述第一数据的置信度的比值大于或等于第一阈值，或者，所述第一感知数据的置信度与所述第一数据的置信度的差值大于或等于第二阈值，或者，所述第一感知数据的置信度大于或等于第一置信度门限。
  35. 根据权利要求34所述的装置，其特征在于，所述收发模块还用于发送第一信息，所述第一信息用于指示所述第一阈值或者所述第二阈值，或者，所述收发模块还用于发送第二信息，所述第二信息用于指示所述第一置信度门限。
  36. 根据权利要求33至35中任一项所述的装置，其特征在于，所述收发模块还用于发送第三信息，所述第三信息用于指示第一区域的位置信息，所述第一区域包括所述第一目标。
  37. 根据权利要求36所述的装置，其特征在于，所述第一区域包括至少一个分区，所述至少一个分区与至少一个置信度门限一一对应，所述至少一个置信度门限包括第一置信度门限，或者，所述至少一个分区与至少一个阈值一一对应，所述至少一个阈值包括第一阈值或者第二阈值。
  38. 根据权利要求33所述的装置，其特征在于，所述收发模块还用于发送第二参数，
    所述第二参数为距离阈值，在所述距离阈值范围内存在K个第二目标，所述K个第二目标对应K个第二感知数据，所述K为大于或等于1的整数；
    或者，
    所述第二参数为K的取值，所述K个第二目标为在所述感知地图中与所述第一目标距离最近的K个目标，所述感知地图用于指示所述第一目标和所述K个第二目标，
    所述第一感知数据是根据第一感知数据的置信度确定的，包括：
    所述第一感知数据是根据所述K个第二感知数据的置信度和所述第一感知数据的置信度确定的。
  39. 根据权利要求38所述的装置，其特征在于，所述收发模块还用于发送第四信息，所述第四信息还用于指示感知地图。
  40. 根据权利要求33至39中任一项所述的装置，其特征在于，所述置信度与所述第一参数满足下述关系：
    Figure PCTCN2022117991-appb-100007
    其中，D为置信度，c为光速，t为所述感知所述第一目标的测量时延，
    Figure PCTCN2022117991-appb-100008
    为所述第一波束到达所述第一目标的波束到达角，θ为第一波束的波束宽度，B为感知所述第一目标的信号带宽。
  41. 一种通信系统，其特征在于，包括如权利要求21至权利要求32中任一项所述的通信装置，和/或，如权利要求33至权利要求40中任一项所述的通信装置。
  42. 一种通信装置，其特征在于，包括：
    处理器，用于通过执行存储器中存储的计算机指令或者逻辑电路，使得所述装置执行：如权利要求1至21中任一项所述的方法。
  43. 根据权利要求42所述的装置，其特征在于，所述装置还包括所述存储器。
  44. 根据权利要求42或43所述的装置，其特征在于，所述装置还包括通信接口，所述通信接口与所述处理器耦合，
    所述通信接口，用于输入和/或输出信息。
  45. 根据权利要求42至44中任一项所述的装置，其特征在于，所述装置为芯片。
  46. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算 机指令，当所述计算机指令在计算机上运行时，如权利要求1至21中任一项所述的方法被执行。
  47. 一种计算机程序，其特征在于，当所述计算机程序在计算机上运行时，如权利要求1至21中任一项所述的方法被执行。
  48. 一种计算机程序产品，其特征在于，包含计算机指令，当所述计算机指令在计算机上运行时，如权利要求1至21中任一项所述的方法被执行。
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CN113497670A (zh) * 2020-03-20 2021-10-12 华为技术有限公司 地图数据采集方法、装置及系统
WO2022001713A1 (zh) * 2020-07-01 2022-01-06 华为技术有限公司 感知测量信息交互装置
WO2022012360A1 (zh) * 2020-07-15 2022-01-20 华为技术有限公司 通信方法及其装置
CN114428236A (zh) * 2022-04-06 2022-05-03 南京楚航科技有限公司 一种车载毫米波雷达角度置信度估计方法

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CN113497670A (zh) * 2020-03-20 2021-10-12 华为技术有限公司 地图数据采集方法、装置及系统
WO2022001713A1 (zh) * 2020-07-01 2022-01-06 华为技术有限公司 感知测量信息交互装置
WO2022012360A1 (zh) * 2020-07-15 2022-01-20 华为技术有限公司 通信方法及其装置
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