Granted Patent B2

US 12,644,712 · App. 18/404,625 · Granted Jun 2, 2026

Inventors: Julia Kabalar (Munich, DE); Dorel Mircea Coman (Munich, DE); Nirnai Ach (Munich, DE); Mireille Lucette Laure Gregoire (Stuttgart, DE); Camille Maurice (Munich, DE); Kiran Bangalore Ravi (Paris, FR); Senthil Kumar Yogamani (Headford, IE)

Assignee: QUALCOMM Incorporated

G01C21/28G06V10/95G06V20/58

Abstract

Claims (93)

1 . An apparatus for wireless communication at a network entity, comprising: at least one network interface; at least one memory; and at least one processor coupled to the at least one network interface and the at least one memory, the at least one processor, is configured to:

receive, from a first set of user equipments (UEs), a first set of perception data collected by the first set of UEs; configure, for a second set of UEs based on the first set of perception data, a set of planned routes and time plans for collecting a second set of perception data;

transmit, to the second set of UEs via the at least one network interface, the configured set of planned routes and time plans; and receive, from the second set of UEs via the at least one network interface, the second set of perception data based on at least one of the configured set of planned routes and time plans, wherein the second set of perception data is collected using a navigation route that differs from an optimal or quickest route to a destination.

2 . The apparatus of claim 1 , wherein to configure the set of planned routes and time plans for collecting the second set of perception data, the at least one processor is configured to:

evaluate a difference between the first set of perception data and a set of existing perception data in a perception dataset; and

determine the set of planned routes and time plans for collecting the second set of perception data based on the evaluated difference.

3 . The apparatus of claim 1 , wherein to configure the set of planned routes and time plans for collecting the second set of perception data, the at least one processor is configured to:

obtain information related to at least one of: data specified for a perception dataset, existing trajectory data, or a cost constraint; and

determine the set of planned routes and time plans for collecting the second set of perception data based on the information.

4 . The apparatus of claim 1 , wherein to configure the set of planned routes and time plans for collecting the second set of perception data, the at least one processor is configured to:

obtain an indication of an attribute distribution; and

determine the set of planned routes and time plans for collecting the second set of perception data based on the indication, map data, and traffic information.

5 . The apparatus of claim 1 , wherein the at least one processor is further configured to:

configure, for the second set of UEs based on the first set of perception data, a list of perception data to be filtered, wherein the reception of the second set of perception data is further based on the list of the perception data to be filtered.

6 . The apparatus of claim 1 , wherein to receive, from the second set of UEs, the second set of perception data based on the configured set of planned routes and time plans, the at least one processor is configured to:

receive, from each UE in the second set of UEs, an indication of a portion of the configured set of planned routes and time plans travelled by each UE.

7 . The apparatus of claim 1 , wherein the at least one processor is further configured to:

configure, for a third set of UEs based on the second set of perception data, a second set of planned routes and time plans for collecting a third set of perception data; and

receive, from the third set of UEs, the third set of perception data based on at least one of the configured second set of planned routes and time plans.

8 . The apparatus of claim 1 , wherein the first set of UEs at least partially overlaps with the second set of UEs.

9 . The apparatus of claim 1 , wherein the first set of perception data or the second set of perception data includes at least one of:

a set of images captured by at least one camera, or

a set of point clouds captured or generated by at least one radar.

10 . The apparatus of claim 1 , wherein the at least one processor is further configured to:

output, to a perception dataset, the first set of perception data and the second set of perception data, and

receive a set of annotated data based on the output of the first set of perception data and the second set of perception data.

11 . A method of wireless communication at a network entity, comprising:

receiving, from a first set of user equipments (UEs), a first set of perception data collected by the first set of UEs;

configuring, for a second set of UEs based on the first set of perception data, a set of planned routes and time plans for collecting a second set of perception data;

transmitting, to the second set of UEs via at least one network interface, the configured set of planned routes and time plans; and

receiving, from the second set of UEs via the at least one network interface, the second set of perception data based on the configured set of planned routes and time plans, wherein the second set of perception data is collected using a navigation route that differs from an optimal or quickest route to a destination.

12 . The method of claim 11 , wherein configuring the set of planned routes and time plans for collecting the second set of perception data comprises:

evaluating a difference between the first set of perception data and a set of existing perception data in a perception dataset; and

determining the set of planned routes and time plans for collecting the second set of perception data based on the evaluated difference.

13 . The method of claim 11 , wherein configuring the set of planned routes and time plans for collecting the second set of perception data comprises:

obtaining information related to at least one of: data specified for a perception dataset, existing trajectory data, or a cost constraint; and

determining the set of planned routes and time plans for collecting the second set of perception data based on the information.

14 . The method of claim 11 , wherein configuring the set of planned routes and time plans for collecting the second set of perception data comprises:

obtaining an indication of an attribute distribution; and

determining the set of planned routes and time plans for collecting the second set of perception data based on the indication, map data, and traffic information.

15 . The method of claim 11 , further comprising:

configuring, for the second set of UEs based on the first set of perception data, a list of perception data to be filtered, wherein the reception of the second set of perception data is further based on the list of the perception data to be filtered.

16 . An apparatus for wireless communication at a user equipment (UE), comprising:

at least one transceiver;

at least one memory; and

at least one processor coupled to the at least one transceiver and the at least one memory, the at least one processor is configured to:

transmit, to a network entity via the at least one transceiver, a first set of perception data collected by the UE;

receive, from the network entity based on the first set of perception data and via the at least one transceiver, a configuration for a set of planned routes and time plans for collecting a second set of perception data;

plan, based on the configuration, a navigation route to a destination that overlaps with at least a portion of the set of planned routes and time plans; and

collect the second set of perception data while travelling through at least the portion of the set of planned routes and time plans based on the navigation route.

17 . The apparatus of claim 16 , wherein the at least one processor is further configured to:

transmit, to the network entity via the at least one transceiver, the second set of perception data.

18 . The apparatus of claim 16 , wherein to collect the second set of perception data based on the configuration, the at least one processor is configured to:

obtain a set of embeddings from the second set of perception data;

compare the set of embeddings with a set of embeddings centroids; and

identify perception data for upload based on the comparison.

19 . The apparatus of claim 16 , wherein the at least one processor is further configured to:

receive, from the network entity, a list of perception data to be filtered;

filter the second set of perception data based on the list; and

transmit the filtered second set of perception data.

20 . The apparatus of claim 16 , wherein the at least one processor is further configured to:

transmit, to the network entity, an indication of a portion of the configured set of planned routes and time plans travelled by the UE.

21 . The apparatus of claim 16 , wherein the first set of perception data or the second set of perception data includes at least one of:

a set of images captured by at least one camera, or

a set of point clouds captured or generated by at least one radar.

22 . The apparatus of claim 16 , wherein the at least one processor is further configured to:

evaluate whether each perception data in the second set of perception data is informative based on an active learning loop; and

transmit, to the network entity, the perception data in the second set of perception data that is evaluated to be informative.

23 . The apparatus of claim 16 , wherein the at least one processor is further configured to:

collect the first set of perception data based on a set of centroids representing distribution of features of the first set of perception data.

24 . A method of wireless communication at a user equipment (UE), comprising:

transmitting, to a network entity via at least one transceiver, a first set of perception data collected by the UE;

receiving, from the network entity based on the first set of perception data and via the at least one transceiver, a configuration for a set of planned routes and time plans for collecting a second set of perception data;

plan, based on the configuration, a navigation route to a destination that overlaps with at least a portion of the set of planned routes and time plans; and

collecting the second set of perception data while travelling through at least the portion of the set of planned routes and time plans based on the navigation route.

25 . The method of claim 24 , further comprising:

transmitting, to the network entity via the at least one transceiver, the second set of perception data.

26 . The method of claim 24 , wherein collecting the second set of perception data based on the configuration comprises:

obtaining a set of embeddings from the second set of perception data;

comparing the set of embeddings with a set of embeddings centroids; and

identifying perception data for upload based on the comparison.

27 . The method of claim 24 , further comprising:

receiving, from the network entity, a list of perception data to be filtered;

filtering the second set of perception data based on the list; and

transmitting the filtered second set of perception data.

28 . The method of claim 24 , further comprising:

transmitting, to the network entity, an indication of a portion of the configured set of planned routes and time plans travelled by the UE.

29 . The method of claim 24 , wherein the first set of perception data or the second set of perception data includes at least one of:

a set of images captured by at least one camera, or

a set of point clouds captured or generated by at least one radar.

30 . The method of claim 24 , further comprising:

evaluating whether each perception data in the second set of perception data is informative based on an active learning loop; and

transmitting, to the network entity, the perception data in the second set of perception data that is evaluated to be informative.

Assignments (1)

Continuity (1)

References Cited (14)