Communication device and sensing method

Abstract

The communication device includes: a transmitting unit that transmits request information requesting sensing of a target; a receiving unit that receives result information indicating a sensing result from a first communication device that has sensed the target based on the request information; and a control unit that determines a state of the target based on the sensing result indicated by the result information and the sensing result of the target sensed by the communication device.

Description

Technical Field

[0001] The present disclosure relates to a communication device and a sensing method. Background Art

[0002] Non-Patent Documents 1 and 2 disclose technologies for sensing objects using pulse signals. Non-Patent Document 3 discloses technologies for sensing objects using frequency modulated continuous wave (FMCW) and phase modulated continuous wave (PMCW) methods. Furthermore, Non-Patent Document 4 discloses technologies for sensing objects using OFDM (Orthogonal Frequency Division Multiplexing) signals.

[0003] Prior art literature

[0004] Non-patent literature

[0005] Non-patent document 1: S.Schuster, S.Scheiblhofer, R.Feger, and A.Stelzer, "Signalmodel and statistical analysis for the sequential sampling pulse radartechnique," in Proc.IEEE Radar Conf, 2008, pp.1-6, 2008

[0006] Non-patent document 2: D.Cao, T.Li, P.Kang, H.Liu, S.Zhou, H.Su, "Single-Pulse Multi-Beams Operation of Phased Array Radar", 2016CIE International Conference on Radar (RADAR), pp.1-4, 2016

[0007] Non-patent document 3: A. Bourdoux, K. Parashar, and M. Bauduin, "Phenomenology of mutual interference of FMCW and PMCW automotive radars," in 2017 IEEE RadarConference (Radar Conf.), pp.1709-1714, 2017

[0008] Non-Patent Document 4: J. Fink, FK Jondral, “Comparison of OFDM radar and chirpsequence radar,” in 2015 16th International Radar Symposium (IRS), pp. 315-320, 2015 Summary of the Invention

[0009] Discussions on the fifth generation mobile communication system are ongoing regarding position estimation, and the IEEE (Institute of Electrical and Electronics Engineers) is also conducting discussions on object sensing in a wireless LAN (Local Area Network).

[0010] However, detailed specifications for implementing methods for position estimation and for performing sensing of objects have not yet been formulated.

[0011] Non-limiting embodiments of the present disclosure contribute to providing a communication device and a sensing method for performing object sensing.

[0012] A communication device according to one embodiment of the present disclosure includes: a sending unit that sends request information requesting sensing of a target; a receiving unit that receives result information indicating a sensing result from a first communication device that has sensed the target based on the request information; and a control unit that determines a state of the target based on the sensing result indicated by the result information and the sensing result of the target sensed by the communication device.

[0013] A sensing method according to an embodiment of the present disclosure is a sensing method in a communication device, comprising the following steps: sending request information requesting sensing of a target; receiving result information indicating a sensing result from a first communication device that has sensed the target based on the request information; and determining a state of the target based on the sensing result indicated by the result information and the sensing result of the target sensed by the communication device.

[0014] It should be noted that these general or specific aspects may be implemented by a system, device, method, integrated circuit, computer program or recording medium, or by any combination of systems, devices, methods, integrated circuits, computer programs and recording media.

[0015] According to one embodiment of the present disclosure, a communication device is capable of performing object sensing.

[0016] Further advantages and effects of an embodiment of the present disclosure will be clarified through the description and drawings. These advantages and / or effects are provided by several embodiments and the features described in the description and drawings, but not all of them need to be provided in order to obtain one or more of the same features. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a diagram showing an example of the configuration of a device that performs sensing.

[0018] Figure 2 This is a diagram showing an example of the configuration of a device that performs sensing.

[0019] Figure 3 This is a diagram showing an example of the configuration of a device that performs communication and sensing.

[0020] Figure 4 This is a diagram showing an example of a communication system.

[0021] Figure 5 This is a diagram showing an example of the structure of a data transmission frame.

[0022] Figure 6A This is a diagram showing a configuration example of a sensing frame.

[0023] Figure 6B This is a diagram showing a configuration example of a sensing frame.

[0024] Figure 7 This is a diagram showing an example of a frame state on the time axis of a certain frequency band.

[0025] Figure 8 This is a diagram showing another example of the frame state on the time axis of a certain frequency band.

[0026] Figure 9 This is a diagram showing an example of time-frequency of a signal transmitted by a base station.

[0027] Figure 10 This is a diagram showing an example of time-frequency of a signal transmitted by a terminal.

[0028] Figure 11 This is a diagram showing an example of a system configuration for explaining an example of triangulation.

[0029] Figure 12 This is a diagram showing an example of a system configuration.

[0030] Figure 13 This is a diagram for explaining an example of information related to sensing capability.

[0031] Figure 14 Yes Figure 12 A diagram of an example process for sensing in an example system.

[0032] Figure 15A This is a diagram for explaining an example of obtaining distance information.

[0033] Figure 15B This is a diagram for explaining an example of obtaining distance information.

[0034] Figure 15C This is a diagram for explaining an example of obtaining distance information.

[0035] Figure 15D This is a diagram for explaining an example of obtaining distance information.

[0036] Figure 15E This is a diagram for explaining an example of obtaining distance information.

[0037] Figure 15F This is a diagram for explaining an example of obtaining distance information.

[0038] Figure 16 This is a diagram showing another example of a process for sensing.

[0039] Figure 17 This is a diagram for explaining an example of base station selection.

[0040] Figure 18 This is a diagram showing an example of a system configuration.

[0041] Figure 19 Yes Figure 18 A diagram of an example process for sensing in an example system.

[0042] Figure 20 Yes Figure 18 A diagram of another example process for sensing in an example system.

[0043] Figure 21A This is a diagram showing a configuration example of an apparatus and a base station.

[0044] Figure 21B This is a diagram showing a configuration example of an apparatus and a base station.

[0045] Figure 22 This is a diagram showing an example of the state of the device and the base station when performing a sensing operation.

[0046] Figure 23A This is a diagram showing an example of a system configuration.

[0047] Figure 23B This is a diagram showing an example of a process for sensing.

[0048] Figure 24 Yes Figure 12 and Figure 23A A diagram showing an example of the structure of an apparatus (base station) in .

[0049] Figure 25 This is a diagram showing a configuration example related to a transmitting antenna.

[0050] Figure 26 This is a diagram showing an example of a frame of a sensing signal.

[0051] Figure 27 This is a diagram showing an example of the structure of a sensing signal.

[0052] Figure 28 This is a diagram showing an example of the structure of a sensing signal.

[0053] Figure 29 This is a diagram showing an example of a system configuration.

[0054] Figure 30 This is a diagram for explaining an example of information related to sensing capability.

[0055] Figure 31 Yes Figure 29 A diagram of an example process for sensing in an example system.

[0056] Figure 32A This is a diagram for explaining an example of obtaining distance information.

[0057] Figure 32B This is a diagram for explaining an example of obtaining distance information.

[0058] Figure 32C This is a diagram for explaining an example of obtaining distance information.

[0059] Figure 32D This is a diagram for explaining an example of obtaining distance information.

[0060] Figure 32E This is a diagram for explaining an example of obtaining distance information.

[0061] Figure 32F This is a diagram for explaining an example of obtaining distance information.

[0062] Figure 32G This is a diagram for explaining an example of obtaining distance information.

[0063] Figure 32H This is a diagram for explaining an example of obtaining distance information.

[0064] Figure 33 This is a diagram showing another example of a process for sensing.

[0065] Figure 34 This is a diagram showing another example of a process for sensing.

[0066] Figure 35This is a diagram showing another example of a process for sensing.

[0067] Figure 36 This is a diagram showing an example of a system configuration.

[0068] Figure 37 Yes Figure 36 A diagram of an example process for sensing in an example system.

[0069] Figure 38 This is a diagram showing another example of a process for sensing.

[0070] Figure 39 This is a diagram showing another example of a process for sensing.

[0071] Figure 40 This is a diagram showing another example of a process for sensing.

[0072] Figure 41 This is a diagram showing an example of a transmission frame.

[0073] Figure 42 This is a diagram showing an example of a transmission frame.

[0074] Figure 43 This is a diagram showing an example of a transmission frame.

[0075] Figure 44 This is a diagram showing an example of a transmission frame.

[0076] Figure 45 This is a diagram showing an example of a transmission frame.

[0077] Figure 46 This is a diagram showing an example of a transmission frame.

[0078] Figure 47 This is a diagram showing an example of a transmission frame.

[0079] Figure 48 This is a diagram showing an example of a transmission frame.

[0080] Figure 49 This is a diagram showing an example of a transmission frame.

[0081] Figure 50 This is a diagram showing an example of a transmission frame.

[0082] Figure 51 This is a diagram showing an example of a system configuration.

[0083] Figure 52 This is a diagram showing an example of a system configuration.

[0084] Figure 53 This is a diagram showing an example of a system configuration.

[0085] Figure 54This is a diagram showing an example of a system configuration.

[0086] Figure 55A This is a diagram showing an example of operations when the device and the base station perform sensing.

[0087] Figure 55B This is a diagram showing an example of operations when the device and the base station perform sensing.

[0088] Figure 56A This is a diagram showing an example of operations when the device and the base station perform sensing.

[0089] Figure 56B This is a diagram showing an example of operations when the device and the base station perform sensing.

[0090] Figure 57 This is a diagram showing an example of a system configuration.

[0091] Figure 58 This is a diagram showing an example of a system configuration.

[0092] Figure 59 This is a diagram showing an example of a system configuration.

[0093] Figure 60A This is a diagram showing an example of operations when the device and the base station perform sensing.

[0094] Figure 60B This is a diagram showing an example of operations when the device and the base station perform sensing.

[0095] Figure 61A This is a diagram showing an example of operations when the device and the base station perform sensing.

[0096] Figure 61B This is a diagram showing an example of operations when the device and the base station perform sensing. DETAILED DESCRIPTION

[0097] The following describes embodiments of the present invention in detail with reference to the accompanying drawings as appropriate. However, overly detailed descriptions may be omitted. For example, detailed descriptions of well-known matters or repetitive descriptions of substantially identical structures may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art.

[0098] It should be noted that the drawings and the following description are provided for the purpose of enabling those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0099] Hereinafter, sensing may also include estimating an object's position, detecting an object, understanding an object's shape, estimating an object's motion, and estimating an object's gesture. The sensed object may also be referred to as an "object." Furthermore, living organisms such as humans and animals may also be considered objects. Of course, the sensed object does not have to be a living organism.

[0100] The main purpose of object position estimation is to estimate the object's position. Object position estimation can also include both object detection and object motion estimation. Object position estimation can also be achieved using triangulation using radio waves, light, ultrasound, and the like. Doppler frequency can also be used to detect object motion. Furthermore, object posture estimation can also be achieved. It should be noted that the above descriptions are examples and are not limited to these examples.

[0101] The primary purpose of object detection is to detect an object. Object detection can also include identifying the object. Object detection can also be achieved through the reflection or reflected wave detection of radio waves, light, ultrasound, or the like. Object detection may or may not include estimating the object's position. The above descriptions are examples and are not intended to be limiting.

[0102] The primary purpose of understanding an object's shape is to detect its shape. Understanding an object's shape can also include, for example, identifying the object. Furthermore, understanding an object's shape can also include, for example, changes or movements in the object's shape. Understanding an object's shape can also be achieved using pulse spread spectrum signals or signals with a specific bandwidth. Understanding an object's shape can include or exclude estimating the object's position. Furthermore, estimating the object's posture can also be performed. It should be noted that the above descriptions are examples and are not intended to be limiting.

[0103] Estimation of object position, object detection, object shape, object motion, and object posture can also be referred to as "estimation of object state." In other words, object state can include at least one of object position, object detection (presence or absence), object shape, object motion, and object posture. Furthermore, object posture can also be included in object motion.

[0104] In this disclosure, a terminal may also have a communication function. A terminal may also have an object sensing function. A terminal may also have both a communication function and an object sensing function. An AP or base station may or may not have an object sensing function. An AP or base station at least has the function of communicating with a terminal. A terminal may also be referred to as a "device" or a "communication device."

[0105] (First embodiment)

[0106] First, the structures of the sensing device and the communication and sensing device associated with the present disclosure are described. Furthermore, in a device having a sensing function (capability), such as a sensing device and a communication and sensing device, the sensing method may be any of the methods described in this specification.

[0107] Figure 1 This diagram shows an example of the configuration of a device X100 that transmits a sensing signal and receives the sensing signal reflected off surrounding objects to perform sensing. The device X100 transmits a sensing signal and receives the sensing signal reflected off surrounding objects to perform object detection.

[0108] The transmitting device X101 generates transmission signals X102_1 through X102_M. These signals are used for sensing. The transmitting device X101 transmits each of the generated transmission signals X102_1 through X102_M via antennas X103_1 through X103_M. Here, the number of antennas used for transmission is M, where M is an integer greater than or equal to 1, or an integer greater than or equal to 2.

[0109] For example, the transmitting device X101 may multiply the same sensing signal by a coefficient determined for each antenna to generate transmission signals X102_1 to X102_M, and transmit them from antennas X103_1 to X103_M, thereby controlling the directionality of the sensing signal. Alternatively, the transmitting device X101 may multiply each of a plurality of sensing signals by a coefficient determined for each sensing signal and antenna to combine the resulting signals, thereby generating transmission signals X102_1 to X102_M, and transmitting them from antennas X103_1 to X103_M. This enables directivity control based on the sensing signal.

[0110] The coefficients determined for each antenna, or for each sensing signal and antenna, are represented by complex or real numbers. The amplitude and / or phase of the sensing signal transmitted from each antenna are altered depending on the value of the coefficient. However, the coefficient may also be 1. In this case, the sensing signal generated by the transmitting device X101 is transmitted directly from the antenna with the coefficient value of 1.

[0111] Furthermore, the transmitting device X101 may transmit a transmission signal without performing directionality control. For example, the transmitting device X101 may directly output each of the plurality of sensing signals as a transmission signal of the corresponding antenna and transmit the signals through the antennas X103_1 to X103_M.

[0112] In the above description, a case has been described where the number of sensing signals and antennas is plural. However, the number of sensing signals generated by the transmitting device X101 and the number of antennas transmitting the sensing signals may be one.

[0113] The sensing signals transmitted by antennas X103_1 through X103_M are reflected by object #1 (X110_1) or object #2 (X110_2). The reflected sensing signals are received by antennas X104_1 through X104_N included in device X100. Here, the number of antennas receiving the sensing signals is N, where N is an integer greater than or equal to 1 or 2. The number of transmitting antennas, M, may be the same as or different from the number of receiving antennas, N.

[0114] Received signals X105_1 to X105_N received by antennas X104_1 to X104_N are input to a receiving device X106. The receiving device X106 performs filtering processing on the received signals X105_1 to X105_N, for example, to extract the frequency band in which the sensing signal was transmitted or to extract only the channel components within the frequency band, frequency conversion processing from a radio frequency band to an intermediate frequency (IF) band and / or a baseband signal frequency band, and weighted combination processing on N received signals, thereby outputting an estimated signal X107.

[0115] The coefficients used in the weighted combination processing for the N received signals can also be set for each of the received signals X105_1 to X105_N. The device X100 can control the directionality of reception by changing the values ​​of the coefficients. The coefficients can be estimated in advance, or the received signals X105_1 to X105_N can be used to estimate coefficients that increase the amplitude or signal-to-noise ratio (SNR) of the sensed signal component after weighted combination compared to when other coefficients are used, or exceed a predetermined threshold.

[0116] Alternatively, the receiving device X106 may use a plurality of combinations of N coefficients corresponding to the received signals X105_1 to X105_N to simultaneously obtain signals whose directivity corresponds to the respective combinations of coefficients. Furthermore, the receiving device X106 may not perform weighted combining processing.

[0117] The estimation unit X108 performs sensing, that is, estimation processing related to the surrounding environment using the estimation signal X107. Details of the estimation processing performed by the estimation unit X108 will be described later.

[0118] The control signal X109 is a control signal input to the transmitting device X101, the receiving device X106 and the estimation unit X108, which instructs the transmitting device X101, the receiving device X106 and the estimation unit X108 to perform sensing, instruct the sensing range, and control the sensing timing.

[0119] The above is the description of an example of the structure of the device X100.

[0120] In addition, Figure 1 In the embodiment, the following case is used as an example for explanation, in which the signal generated by device X100 is sent by M antennas and the signal received by N antennas is processed in the receiving device X106, but the structure of the device implementing the sensing method described in the present disclosure is not limited to this.

[0121] For example, the multiple transmitting antenna units that transmit signals may each be composed of multiple antenna units each containing multiple antennas. The multiple antenna units may also have the same directivity and directivity control function, and the ranges of directivity control available between the antenna units may differ. In this case, a single transmitting device X101 may select an antenna unit from the multiple antenna units to transmit a sensing signal, or may simultaneously transmit the same sensing signal from the multiple antenna units.

[0122] Furthermore, the transmitting device X101 may switch between transmitting one sensing signal from one antenna unit and transmitting sensing signals simultaneously from multiple antenna units. Furthermore, the device X100 may include multiple transmitting devices X101 or may include a transmitting device X101 for each antenna unit.

[0123] Similarly, the multiple receiving antenna sections that receive signals may also be composed of multiple antenna units including multiple antennas. Here, the directivity control capabilities such as the directivity control range and directivity control accuracy of the multiple antenna units may be the same, and the directivity control capabilities between the antenna units may also be different. In addition, it may be arranged that although the directivity control capabilities such as the directivity control range and directivity control accuracy of the multiple antenna units are the same, the spatial domains in which directivity control can be performed are different. In this case, a receiving device X106 may also select an antenna unit from the multiple antenna units to obtain a received signal, and may also simultaneously perform signal processing on the signals received from the multiple antenna units.

[0124] Furthermore, the receiving device X106 can switch between processing only the signal received from one antenna unit or processing the signal received from multiple antenna units simultaneously. Furthermore, the device X100 can include multiple receiving devices X106 or include a receiving device X106 for each antenna unit.

[0125] Alternatively, the device X100 may include multiple antennas capable of both transmitting and receiving signals, rather than multiple antennas for transmission and reception. In this case, the device X100 can select and switch between transmitting and receiving antennas, and can also switch between transmitting and receiving antennas based on time.

[0126] Furthermore, the device X100 may also include a transceiver antenna unit that can be used universally for both transmitting and receiving signals. Here, the transceiver antenna unit includes multiple antenna elements, and each antenna element can be switched between being used for transmission and reception. The device X100 may also include a selector unit that selects and switches between the antenna element used to transmit the signal generated by the transmitting device X101 and the antenna element used to receive the signal processed by the receiving device X106.

[0127] When multiple antenna units are used to simultaneously transmit sensing signals, the directivities of the signals transmitted from each antenna unit may be the same or different. When the device X100 transmits sensing signals from multiple antenna units with the same directivity, it may be possible to extend the distance over which the sensing signals reach, or to extend the distance to the reflection position where the reflected sensing signals can be received.

[0128] Furthermore, the number of antennas constituting the antenna unit described above does not need to be the same between the antenna units, and the number of antennas between the antenna units may be different.

[0129] Next, the estimation process performed by the estimation unit X108 will be described with an example.

[0130] The estimating unit X108 estimates the distance between the device X100 and the object that reflected the sensing signal. When estimating the distance between the device X100 and the object that reflected the sensing signal, for example, the distance can be derived by detecting the time delay between the time the sensing signal was received and the time it was transmitted, and multiplying the propagation speed of the electromagnetic wave by the time delay.

[0131] The estimation unit X108 can also use a direction of arrival estimation method (DOA) such as the MUSIC (Multiple Signal Classification) method to estimate the direction of arrival of the received signal, that is, the direction of the object that reflected the sensed signal. In addition to estimating the distance between the device X100 and the object, the estimation unit X108 can also estimate the position of the object that reflected the transmitted signal by estimating the direction.

[0132] The estimation unit X108 can estimate the position of an object by performing triangulation using, for example, the MUSIC method to estimate the direction of arrival, the position of the transmitting antenna, the position of the receiving antenna, and information on the direction of transmission direction control. The estimation unit X108 can also detect the object using the received signal and detect the object's motion, material, and other factors. Furthermore, the estimation unit X108 can also detect the object using estimation methods other than triangulation and estimate the object's position, motion, and other factors. Sensing methods include those described in this specification.

[0133] The position of the object can be represented by a polar coordinate system or a three-dimensional orthogonal coordinate system. The origin of the coordinate system can be, for example, any position within the device X100, and the coordinate axes of the coordinate system can be in any direction.

[0134] Furthermore, when a device including the device X100 also includes multiple wireless sensors or other distance sensors having the same or different structures as the device X100, the origin and coordinate axes of the coordinate system for data obtained by each sensor may be common among the sensors or unique to each sensor. The estimation unit X108 may directly output position information represented by the above-mentioned unique coordinate system or convert it into a common coordinate system within the device for output. The converted coordinate system may be a device-specific coordinate system or a coordinate system common to other devices, such as the same coordinate system as the three-dimensional map data utilized by the device.

[0135] Alternatively, the estimation unit X108 may estimate the distance to an object that reflected the signal in each of multiple directions and obtain the estimated three-dimensional coordinates of the multiple reflection positions as a point cloud. Furthermore, the data format of the multiple distance measurement results obtained by the estimation unit X108 may not be a point cloud format with three-dimensional coordinate values, but may be a range image or other format. When a range image format is used, the position (coordinates) of the range image within a two-dimensional plane corresponds to the direction of arrival of the received signal as viewed from the device X100, and the distance to the object in the direction corresponding to the pixel position of each image is stored as a pixel sample value.

[0136] Furthermore, the estimation unit X108 can also use the aforementioned point cloud data or range image data to perform discrimination processing such as estimating the object's shape. For example, the estimation unit X108 can identify "one or more points located at close distances within a specified range," or multiple points or image regions, as the same object and estimate the object's shape based on the positional relationship of these one or more points or the shape of the image region. As a discrimination process using the object shape estimation results, the estimation unit X108 can also perform recognition of the sensed object. In this case, the estimation unit X108 can, for example, identify whether the object within the sensing range is a human or an animal, or identify the type of object.

[0137] Furthermore, the identification processing performed by the estimation unit X108 may include processing other than object recognition. For example, as an identification process, the estimation unit X108 may detect the number of people or vehicles within the sensing range, or estimate the position or posture of a detected person's face. As a separate identification process from the above, the estimation unit X108 may also perform processing such as face recognition, i.e., determining whether the shape of a detected person's face matches a pre-registered person, or determining the identity of the person.

[0138] Alternatively, the estimation unit X108 may measure the distance between the device X100 and the object multiple times at different times to obtain temporal changes in the distance between the device X100 and the object or the position of the detected point. In this case, the estimation unit X108 may estimate the speed or acceleration of the moving object as part of the identification process using the temporal changes in the distance between the device X100 and the object or the position of the point. For example, the estimation unit X108 may estimate the speed or direction of movement of a vehicle traveling within the sensing range.

[0139] Furthermore, the identification processing performed by the estimation unit X108 using temporal changes in distance or point position may be processing other than estimating the velocity or acceleration of an object. For example, the estimation unit X108 may detect whether a person has performed a specific action based on changes in the detected person's posture, thereby using the device X100 as a device for inputting gestures to electronic devices such as smartphones, tablets, and personal computers.

[0140] When estimating the speed of the moving object, the frequency of the transmitted sensing signal may be compared with the frequency of the received reflected signal to estimate the frequency change caused by the Doppler effect on the reflected signal, thereby deriving the speed of the moving object.

[0141] Next, examples of sensing signals used in the transmitting device X101 and the receiving device X106 will be described.

[0142] The device X100 may also transmit, as a sensing signal, a pulse signal such as that disclosed in Non-Patent Document 1 or Non-Patent Document 2. The device X100 transmits the pulse signal in a frequency band used for sensing and measures the distance to the object that reflected the sensing signal based on the time delay between the reception time of the reflected signal and the transmission time of the pulse signal.

[0143] As a different example of a sensing signal, the device X100 may also use an FMCW or PMCW signal as described in Non-Patent Document 3. An FMCW signal is a signal obtained by converting a chirp signal whose frequency changes over time into a radio frequency. As part of the estimation process using the FMCW signal, the estimation unit X108 uses a mixer to superimpose the signal transmitted from the transmitting device X101 with the signal received by the receiving device X106. As a result, the superimposed signal has a frequency intermediate to the frequency corresponding to the flight time of the received signal. Therefore, by detecting the frequency components contained in the superimposed signal, the distance to the object that reflected the FMCW signal can be measured.

[0144] As a different example of a sensing signal, the device X100 may also use a signal obtained by converting a modulated signal having a predetermined frequency into a signal in a frequency band used for sensing. In this case, the estimation unit X108 can estimate the distance to the object that reflected the sensing signal based on the phase difference between the modulated component of the signal transmitted from the transmitting device X101 and the modulated component of the signal received by the receiving device X106.

[0145] Furthermore, the estimation unit X108 can also compare the frequency of the transmitted modulation signal with the frequency of the received modulation signal to detect the frequency fluctuations caused by the Doppler effect until the sensing signal is reflected and received, thereby estimating the speed and direction of the moving object. Furthermore, the modulation signal may contain multiple frequency components. For example, a multi-carrier transmission method such as an OFDM signal described in Non-Patent Document 4, which contains multiple frequency components as the modulation signal, may be used.

[0146] Examples of the sensing signal are not limited to the above-mentioned signals, and may be a signal modulated according to a modulation method, an unmodulated carrier wave, or other signals.

[0147] As described above, the device X100 may use multiple antennas to simultaneously transmit multiple sensing signals, or may use multiple antenna units each including multiple antennas to simultaneously transmit multiple sensing signals.

[0148] Here, the estimation process performed by the estimation unit X108 is described as an example of measuring the distance based on the difference between the transmission time of the sensing signal and the reception time of the reflected signal. However, the estimation process performed by the estimation unit X108 is not limited to the above process.

[0149] For example, the estimation unit X108 may estimate the state of the transmission path based on the received reflected signal and perform discrimination processing based on temporal changes in the estimated transmission path state or comparison with an average value or characteristic value of previously estimated transmission path states. This allows the estimation unit X108 to determine the presence of an object within the sensing range or detect whether an object has moved. Furthermore, the estimation unit X108 may detect the presence of rainfall, for example, based on the attenuation of the received signal.

[0150] Here, an example is described in which the reflected wave of a transmitted sensing signal is used for sensing. However, the device that performs sensing using the sensing signal is not limited to the device that transmitted the sensing signal.

[0151] For example, the receiving device X106 of the device X100 may receive a sensing signal transmitted from another device, and the estimation unit X108 may determine whether the other device is within the reach of the sensing signal or estimate the direction of the other device based on the received signal. Furthermore, the distance to the other device may be estimated based on the signal strength of the received sensing signal.

[0152] In addition, the receiving device X106 of the device X100 may also transmit a sensing signal in a manner that can be used by other devices for sensing. The sensing signal transmitted in this case may also be a sensing signal transmitted by the device X100 for sensing using reflected waves, or a sensing signal may be transmitted periodically for sensing in other devices. In addition, when the device X100 receives a sensing signal transmitted from another device, it may also use the transmitting device X101 to transmit a sensing signal in the direction of the received signal. In addition, the sensing signal transmitted to other devices may be transmitted without performing directionality control. In addition, the sensing signal may be generated using the method described in this specification.

[0153] In addition, Figure 1 In the figure, an example is shown in which the sensing device X100 receives signals reflected by objects #1 and #2, but signals reflected by objects #1 and #2 and further reflected by other objects or substances can also be used to detect objects and estimate the distance and position between the objects.

[0154] Next, explain Figure 1 Examples of different sensing methods using radio waves.

[0155] Figure 2: is a diagram showing an example of the structure of a device X200 that performs sensing using radio waves. Figure 2 The structure shown in the figure has Figure 1 Structural elements having the same functions as those shown in the figures are assigned the same reference numerals, and detailed descriptions of these structures are omitted.

[0156] The difference between the device X200 and the device X100 is that the device X200 uses a modulated signal for sensing and / or a modulated signal for communication for sensing. Here, for example, the difference is that the device X200 transmits a signal, and the terminal as the communication partner captures the change in the signal transmitted by the device X200, thereby estimating the object (for example, Figure 2 1), the position, size, and Figure 2 The distance between the device X200 and the terminal can also be determined by the device X200 transmitting a modulated signal for communication. The following describes the case where sensing is performed using a modulated signal for communication.

[0157] Transmitting device X201 receives control signal X109 and transmit data X210 as input, and performs error correction coding, modulation, precoding, multiplexing, and other processing to generate transmit signals X202_1 through X202_M for communication. Device X200 transmits each of transmit signals X202_1 through X202_M via antennas X103_1 through X103_M.

[0158] The number of antennas used to transmit signals and the Figure 1 The same as the description of , which can be more than two or one. Figure 1 After comparing the descriptions of Figure 1 The transmission signal in the description includes the sensing signal component, and Figure 2 The transmission signal includes a signal component obtained by modulating the transmission data. However, the transmitting device X201, like the transmitting device X101, can control the directivity based on the coefficients used in the weighted synthesis process for generating the transmission signal. Furthermore, like the device X100, the device X200 may include only one antenna unit having multiple antennas, or may include multiple antenna units.

[0159] When performing directivity control, Figure 1 The transmitting device X101 performs directivity control to transmit in the direction in which the sensing is desired, but Figure 2The transmitting device X201 controls the directionality of the transmission signal so as to improve the communication quality with the terminal serving as the communication partner. However, the transmitting device X201 may control the directionality of the transmitted signal in the desired sensing direction, or may control the directionality so as to obtain a more ideal sensing result in terms of sensing the signal transmitted by the terminal using the device X200 serving as the communication partner.

[0160] When the transmitting device X201 performs directional control for sensing in the terminal, the transmitting device X201 transmits a signal using coefficients specified by the terminal. The signal transmitted here may or may not include a signal component modulated using the transmission data. Signals that do not include a signal component modulated using the transmission data include, for example, preambles or reference signals modulated with values ​​known to the terminal. Furthermore, the transmitting device X201 may perform different directional control for signals that include a signal component modulated using the transmission data and for signals that do not include a signal component modulated using the transmission data.

[0161] In addition, the terminal obtains data (performs communication) by receiving the modulated signal transmitted by the device X200 and also performs sensing.

[0162] Alternatively, the terminal may send a signal, and the device X200 serving as the communication partner may capture changes in the signal sent by the terminal, thereby estimating the object (e.g., Figure 2 1), the position, size, and Figure 2 The distance between objects (e.g., Figure 2 The type and material of the object #1) are determined by the terminal. In addition, when the terminal sends a modulated signal for communication, data communication with the device X200 can also be performed.

[0163] For example, device X200 uses antennas X104_1 to X104_N to receive modulated signals transmitted by the terminal. Receiver X206 receives control signal X109 and received signals X205_1 to X205_N as input, performs demodulation and error correction decoding, and obtains received data. Receiver X206 also outputs the transmission path characteristics and other information obtained through the reception process as estimated signal X207.

[0164] The coefficients used in the weighted synthesis process for N received signals can be set for each of the received signals X105_1 to X105_N, and the directionality of reception can be controlled by changing the coefficient values. The coefficients can be estimated in advance, or the received signals X105_1 to X105_N can be used to estimate coefficients that increase the amplitude or signal-to-noise ratio (SNR) of the weighted synthesised sensing signal component compared to when other coefficients are used, or exceed a predetermined threshold. Furthermore, the receiving device X206 can use multiple combinations of the N coefficients corresponding to the received signals X105_1 to X105_N to simultaneously obtain signals whose directionality corresponds to each combination of coefficients.

[0165] The estimation unit X208 receives the control signal X109 and the estimated signal X207 as input and performs estimation processing using the estimated signal X207. For example, the estimation unit X208 estimates the surrounding environment, such as the presence of an object, based on the transmission path characteristics contained in the estimated signal X207. Furthermore, the estimation unit X208 can detect the movement or approach of an object based on temporal changes in the transmission path characteristics.

[0166] The estimation unit X208 may also use, for example, a direction-of-arrival estimation method such as the MUSIC method to estimate the direction of arrival of the received signal, i.e., the direction of the object that reflected the sensing signal. The estimation unit X208 may also use, for example, the MUSIC method, direction-of-arrival estimation, antenna positions (e.g., the positions of the transmitter and receiver), and information on the direction of transmission directivity control to perform triangulation to estimate the position of the object. The estimation unit X208 may also use the received signal to detect the object and detect the object's motion, material, and other factors.

[0167] The estimation unit X208 performs the aforementioned estimation processing on the estimation signal X207, for example, signal processing related to the desired detection, such as the presence or absence of an object or the movement of an object. In this case, the estimation processing is performed based on, for example, a determination result indicating whether a feature quantity extracted through signal processing exceeds a predetermined threshold.

[0168] The estimation unit X208 may also perform estimation processing based on signal processing other than the signal processing exemplified above. For example, the estimation processing may be performed using a model that is a model created by machine learning using a multi-layer neural network. When a model created by machine learning using a multi-layer neural network is used for the estimation processing, the estimation unit X208 may perform predetermined preprocessing on the estimation signal X207 and then input the preprocessed data into the model created by machine learning using the multi-layer neural network.

[0169] Furthermore, the estimation unit X208 may also use information such as the frequency band used for communication or the channel number within the frequency band. Furthermore, the estimation unit X208 may also use the address of the communication device that transmitted the received communication signal, or the address of the communication device that served as the destination of the signal. By using information related to the received communication signal, such as the frequency band or the address of the communication device, it is possible to compare communication signals with the same or similar conditions, such as the location of the communication device that transmitted the signal or the directionality used when transmitting the signal, thereby potentially improving estimation accuracy.

[0170] In the above description, the case where sensing is performed using a communication signal sent by a communication partner is described. Figure 2 , the structure of the device X200 for performing transmission processing, namely the transmission device X201 and antennas X103_1 to X103_M, and the structure for performing reception processing, namely the reception device X206 and antennas X104_1 to X104_N, are shown as different structures, but the structure of the device X200 is not limited to this.

[0171] For example, the transmitting device X201 and the receiving device X206 may be implemented as one structural element, or multiple antennas may be used for both transmission and reception. Figure 1 Similarly, the multiple transmitting antennas in the device X200 may also be composed of multiple antenna units, and the multiple receiving antennas may also be composed of multiple antenna units. Furthermore, the multiple transmitting antennas and the multiple receiving antennas in the device X200 may also be composed of a common transmitting and receiving antenna unit.

[0172] In addition, a sensing signal may be used instead of a communication signal. That is, the first device may also use a sensing signal sent by another device to estimate the object (for example, Figure 2 1), the position, size, and Figure 2 The distance between objects (e.g., Figure 2 The type, material, etc. of the object #1).

[0173] Can also be used with Figure 1 The sensing method using communication signals is used for the same purpose as the example of transmitting a sensing signal to another device described above. That is, device X200 may use communication signals transmitted from another device such as a terminal to determine whether the other device is within the range of the communication signal or to estimate the direction of the other device, rather than using the signal's transmission path characteristics to sense the surrounding environment.

[0174] Furthermore, upon receiving a modulated signal for communication transmitted from a communication partner, for example, a terminal, the device X200 may only perform a demodulation operation without performing a sensing operation.

[0175] Next, devices that perform communication and sensing will be described.

[0176] Figure 3 : is a diagram showing an example of the structure of a device X300 that performs communication and sensing. Figure 3 The structure shown in the figure has Figure 1 and Figure 2 Structures having the same functions as those shown in the figures are assigned the same reference numerals, and detailed descriptions of these structures are omitted.

[0177] The device X300 performs both sensing using a modulation signal for sensing and sensing using a modulation signal for communication.

[0178] That is, the transmitter X301 of the device X300 has a function of transmitting a sensing signal similar to the transmitter X101 and a function of transmitting a communication signal to another communication device similar to the transmitter X201.

[0179] Furthermore, the receiving device X306 of the device X300 has a function of receiving a sensing signal similar to the receiving device X106 and a function of receiving a communication signal transmitted by another communication device similar to the receiving device X206.

[0180] Furthermore, the estimation unit X308 performs both estimation processing using a sensing signal similar to the estimation unit X108 and estimation processing using a communication signal similar to the estimation unit X208.

[0181] Among the processes performed by the various components of the device X300, the processes of sending and receiving sensing signals are Figure 1 The same device X100 is used to process the signals sent and received for communication. Figure 2 The device is the same as X200, so the description is omitted.

[0182] exist Figure 3 , the transmitting device X301 and antennas X103_1 to X103_M, which perform transmission processing, and the receiving device X306 and antennas X104_1 to X104_N, which perform reception processing, of the device X300 are shown as having different structures. However, the structure of the device X300 is not limited to this. For example, the transmitting device X301 and the receiving device X306 may be implemented as a single component, or one or more antennas may be used for both transmission and reception.

[0183] Device X300 may also include a sensing transmitter that is different from a communication transmitter. In this case, the communication transmitter and the sensing transmitter may switch to use the same one or more antennas, or may include different one or more antennas for communication and sensing.

[0184] Furthermore, the communication and sensing signal transmitter X301 may switch between transmitting sensing signals and transmitting communication modulated signals based on the mode information included in the control signal X309, and transmit these signals from the antenna. In other words, there may be a mode for transmitting sensing signals and a mode for transmitting communication modulated signals. Furthermore, the communication and sensing transmitter X301 may transmit a signal that combines sensing signals with communication modulated signals.

[0185] Device X300 may also include a sensing receiver that is separate from a communication receiver. In this case, the communication receiver and the sensing receiver may switch between using the same one or more antennas, or may include different antennas for communication and sensing.

[0186] Alternatively, the device X300 may include a transmitter for communication, a transmitter for sensing, a receiver for communication, and a receiver for sensing. Alternatively, the device X300 may include a transmitter for communication and a transmitter for sensing. Alternatively, the device X300 may include a transmitter for communication, a transmitter for sensing, and a receiver for sensing.

[0187] In addition, Figure 3 In, with Figure 1 Description and Figure 2 Similarly, the one or more transmitting antennas may be composed of one or more antenna units, and the one or more receiving antennas may be composed of one or more antenna units. Furthermore, the one or more transmitting antennas and the one or more receiving antennas may be composed of a common transmitting and receiving antenna unit.

[0188] Figure 4 This is a diagram showing an example of a communication system of the present invention. As an example, a base station communicates with a terminal. The base station has at least a communication function. Therefore, Figure 2 Device X200 or Figure 3 The structure of the device X300.

[0189] The terminal may or may not have a communication function. Figure 4 Terminal #4 can also have an object sensing function without a communication function. Therefore, a terminal with a communication function ( Figure 3 Terminal #1, Terminal #2 and Terminal #3) have Figure 2 Device X200 or Figure 3 The structure of the device X300. The terminal without communication function ( Figure 3 Terminal #4) has Figure 1 The structure of the device X100.

[0190] Hereinafter, an embodiment will be described in which the modulation signal for communication and the signal for sensing exist in the same frequency band.

[0191] Figure 5 This is a diagram showing an example of the structure of a data transmission frame transmitted by a base station and a terminal equipped with a communication function. Figure 5 The preamble shown is, for example, a symbol used by a communication partner to perform signal detection, time synchronization, frequency synchronization, channel estimation, frequency offset estimation, and the like.

[0192] The control information symbol is a symbol used to transmit information such as data size, a data symbol transmission method (eg, number of transmission streams, error correction coding method, etc., MCS (Modulation and Coding Scheme), etc.).

[0193] A data symbol is a symbol used to transmit data and may also include other symbols (eg, reference symbols, pilot symbols, pilot carriers, etc.).

[0194] The frame structure of the data transmission frame is not limited to the above example. In addition to Figure 5 Codewords other than those shown.

[0195] Figure 6A and Figure 6B This is a diagram showing a configuration example of a sensing frame transmitted by a base station and a terminal equipped with a sensing function. Figure 6A A first example of a sensing frame is shown. Figure 6B A second example of a sensing frame is shown.

[0196] Figure 6A The sensing frame in the first example is composed of sensing reference symbols. However, the sensing frame may also include symbols other than these.

[0197] Base station and terminal use Figure 6A The sensing reference symbols in the signal are used to perform sensing processing. The base station and the terminal can also send the sensing reference symbols continuously in time. In addition, although it is recorded as "sensing reference symbols", it can also be an unmodulated signal, a carrier signal, etc. Figure 6B Same here.

[0198] Figure 6BThe second example of the sensing frame is composed of, for example, a preamble, a control information symbol, and a sensing reference symbol. However, the sensing frame may also include symbols other than these.

[0199] Base station and terminal use Figure 6B The sensing in is performed using reference symbols to implement the sensing process.

[0200] Figure 6B The preamble code of the communication object is used to implement signal detection, time synchronization, frequency synchronization, channel estimation, frequency offset estimation, etc. In addition, the base station and terminal with communication function can also detect the preamble code. For example, the structure of the preamble code can also be the same as Figure 5 The leading code is the same (or different).

[0201] This allows the base station and the terminal having a communication function to be aware of the presence of the sensing frame, thereby achieving an effect of reducing interference between the sensing frame and the communication frame.

[0202] Figure 6B The control information symbol becomes a symbol containing information related to the sensing reference symbol. The control information symbol may also contain other information.

[0203] Information related to the sensing reference symbol includes, for example, the following information.

[0204] The type of sensing reference signal can be specified, for example, from a variety of signal types.

[0205] The frequency band of the sensing reference signal can be specified, for example, from multiple frequency bands.

[0206] The time domain of the sensing reference signal. For example, it can be specified from multiple time intervals.

[0207] A base station and a terminal equipped with a sensing function can set a desired sensing accuracy by specifying information related to sensing reference symbols in a control information symbol. However, the information in the control information symbol is not limited to this information.

[0208] Base station and terminal use Figure 6B The base station and the terminal may also transmit the sensing reference symbols continuously in time.

[0209] The structure of the sensing frame is not limited to Figure 6A and Figure 6B The sensing frame may also include Figure 6A and Figure 6B Codewords other than those shown.

[0210] Figure 7This is a diagram showing an example of the frame state on the time axis of a certain frequency band. Figure 7 As shown, for example, the base station may switch and transmit a data transmission frame and a sensing frame, and the terminal may switch and transmit a data transmission frame and a sensing frame.

[0211] It is expected that the base station and the terminal send frames and perform the following control, for example, so that Figure 7 As shown, the frames do not overlap in a certain frequency, ie, the frames do not interfere with each other.

[0212] Figure 8 This is another example of a frame state on the time axis of a certain frequency band. Figure 8 As shown, for example, the base station may switch and transmit frames for data transmission, frames for sensing, and frames containing symbols for data transmission and sensing signals. The terminal may also switch and transmit frames for data transmission, frames for sensing, and frames containing symbols for data transmission and sensing signals.

[0213] The base station and the terminal send frames and perform the following control, for example, Figure 8 As shown, the frames do not overlap in a certain frequency, ie, the frames do not interfere with each other.

[0214] In addition, the above description uses the example of a case where the frequency (or frequency band) of the signal transmitted by the base station and the frequency (or frequency band) of the signal transmitted by the terminal are the same or partially the same. However, this is not limited to the above example. The frequency (or frequency band) of the signal transmitted by the base station and the frequency (or frequency band) of the signal transmitted by the terminal can also be different. In this case, as long as the signals do not interfere with each other, the timing of the base station transmitting the signal and the timing of the terminal transmitting the signal are not limited to the above example and can be the same or different.

[0215] illustrate Figure 4 Another example of when a base station sends a signal. Figure 9 The horizontal axis represents time and the vertical axis represents frequency when a base station transmits a signal. It is assumed that the base station transmits a signal using a multi-carrier transmission method such as OFDM (Orthogonal Frequency Division Multiplexing).

[0216] exist Figure 9 In the example, “Resource 901 sent to terminal #1” indicates that the base station sends Figure 4 The resources sent to terminal #1 are as follows. “Resources 902 sent to terminal #2” means that the base station sends Figure 4 The resources sent to terminal #2 are as follows. “Resources 903 sent to terminal #3” means that the base station sends Figure 4 The “sensing resource 904” indicates the resource sent by terminal #3. Figure 4 The resources sent by the base station for sensing. Figure 9In FIG, it is assumed that “resource 901 for terminal #1”, “resource 902 for terminal #2”, “resource 903 for terminal #3”, and “sensing resource 904” exist at time T1.

[0217] "Resource 911 sent to terminal #1" means that the base station sends Figure 4 The resources sent to terminal #1 are as follows. “Resources 912 sent to terminal #2” means that the base station sends Figure 4 The resources sent to terminal #2 are as follows. “Resources 913 sent to terminal #3” means that the base station sends Figure 4 The “sensing resource 914” indicates the resource sent by terminal #3. Figure 4 The resources sent by the base station for sensing. Figure 9 In FIG, it is assumed that “resource 911 for terminal #1”, “resource 912 for terminal #2”, “resource 913 for terminal #3” and “sensing resource 914” exist at time T2.

[0218] In this way, it is assumed that the frequency allocation of the resources sent to the terminal and the resources used for sensing can be changed according to time. It should be noted that the allocation method of the resources sent to the terminal and the resources used for sensing in time and frequency is not limited to Figure 9 example.

[0219] "Resource 901 sent to terminal #1" and "Resource 911 sent to terminal #1" may include Figure 4 These resources may include data from terminal #1 and may also include sensing signals. Furthermore, these resources may include control information and reference signals for time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may also include signals other than those mentioned above.

[0220] In "Resources 902 sent to terminal #2" and "Resources 912 sent to terminal #2", it is possible to include Figure 4 These resources may include data from terminal #2 and may also include sensing signals. Furthermore, these resources may include control information and reference signals for time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may also include signals other than those mentioned above.

[0221] In "Resource 903 sent to terminal #3" and "Resource 913 sent to terminal #3", it is possible to include Figure 4 These resources may include data from terminal #3 and may also include sensing signals. Furthermore, these resources may include control information and reference signals for time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may also include signals other than those mentioned above.

[0222] In "sensing resources 904" and "sensing resources 914", Figure 4 Sensing signals used by base stations for sensing. These resources may include control information and reference signals used for time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may also include signals other than the aforementioned signals.

[0223] illustrate Figure 4 An example of when terminal #1, terminal #2, terminal #3, and terminal #4 send signals. Figure 10 express Figure 4 This example shows the state of Terminal #1, Terminal #2, Terminal #3, and Terminal #4 transmitting signals, with the horizontal axis representing time and the vertical axis representing frequency. Furthermore, it is assumed that Terminal #1, Terminal #2, Terminal #3, and Terminal #4 transmit signals using a multi-carrier transmission method such as OFDM. For example, Terminal #1 transmits Terminal #1 signal transmission resource 1001 and Terminal #1 signal transmission resource 1011.

[0224] exist Figure 10 In the example, "Terminal #1 Signal Transmission Resource 1001" indicates Figure 4 The terminal #1 sends the resource to the base station. "Terminal #2 signal transmission resource 1002" indicates Figure 4 The terminal #2 sends the resource to the base station. "Terminal #3 signal transmission resource 1003" indicates Figure 4 The terminal #3 sends the resource to the base station. "Terminal #4 signal transmission resource 1004" indicates Figure 4 The resources sent by terminal #4 to the base station. Figure 10 In FIG. 1 , it is assumed that “terminal #1 signal transmission resource 1001 ,” “terminal #2 signal transmission resource 1002 ,” “terminal #3 signal transmission resource 1003 ,” and “terminal #4 signal transmission resource 1004 ” exist at time t1 .

[0225] "Terminal #1 signal transmission resource 1011" indicates Figure 4 The terminal #1 sends the resource to the base station. "Terminal #2 signal transmission resource 1012" indicates Figure 4 The terminal #2 sends the signal to the base station. "Terminal #3 signal transmission resource 1013" indicates Figure 4 The terminal #3 sends the resource to the base station. "Terminal #4 signal transmission resource 1004" indicates Figure 4 The resources sent by terminal #4 to the base station. Figure 10In FIG. 1 , it is assumed that “terminal #1 signal transmission resource 1011 ,” “terminal #2 signal transmission resource 1012 ,” “terminal #3 signal transmission resource 1013 ,” and “terminal #4 signal transmission resource 1014 ” exist at time t2 .

[0226] In this way, it is assumed that the frequency allocation of the terminal signal transmission resource can be changed according to time. Figure 10 example.

[0227] The "terminal #1 signal transmission resource 1001" and the "terminal #1 signal transmission resource 1011" may include Figure 4 These resources may include data from base stations and may also include sensing signals. Furthermore, these resources may include control information and reference signals for time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may also include signals other than the aforementioned signals.

[0228] The "terminal #2 signal transmission resource 1002" and the "terminal #2 signal transmission resource 1012" may include the signal transmission resource to Figure 4 These resources may include data from base stations and may also include sensing signals. Furthermore, these resources may include control information and reference signals for time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may also include signals other than the aforementioned signals.

[0229] The "terminal #3 signal transmission resource 1003" and the "terminal #3 signal transmission resource 1013" may include the signal transmission resource to Figure 4 These resources may include data from base stations and may also include sensing signals. Furthermore, these resources may include control information and reference signals for time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may also include signals other than the aforementioned signals.

[0230] The "terminal #4 signal transmission resource 1004" and the "terminal #4 signal transmission resource 1014" may include the signal transmission resource to Figure 4 These resources may include data from base stations and may also include sensing signals. Furthermore, these resources may include control information and reference signals for time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may also include signals other than the aforementioned signals.

[0231] Furthermore, in this specification, signals used for sensing, such as sensing frames and sensing resources, include signals that enable sensing. Examples of "signals that enable sensing" include, but are not limited to, pilot symbols, pilot signals, reference symbols, reference signals, preambles, midambles, known signals, and known symbols. Furthermore, data can be transmitted using "signals that enable sensing."

[0232] The above describes triangulation. Below, a triangulation method different from the above triangulation method will be described.

[0233] First method:

[0234] Triangulation can be achieved by performing the following processing A, processing B, processing C, and processing D.

[0235] Process A:

[0236] Figure 11 This is a diagram showing an example of a system configuration for explaining an example of triangulation. Figure 11 In the embodiment, first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by second device 1102, and first device 1101 obtains (identifies) the distance between first device 1101 and second device 1102 by obtaining the reflected signal.

[0237] Alternatively, as another method, second device 1102 transmits a signal using, for example, radio waves, and first device 1101 obtains the signal to obtain the distance between first device 1101 and second device 1102.

[0238] Note that the first device 1101 may share information regarding the distance between the first device 1101 and the second device 1102 with the second device 1102 .

[0239] Treatment B:

[0240] First device 1101 transmits a signal using, for example, radio waves. This signal is reflected by target (object) 1103, and first device 1101 obtains the distance between first device 1101 and target (object) 1103 by acquiring the reflected signal. It should be noted that first device 1101 may also share this information about the distance between first device 1101 and target (object) 1103 with second device 1102.

[0241] Process C:

[0242] Second device 1102 transmits a signal using, for example, radio waves. This signal is reflected by target (object) 1103, and second device 1102 obtains the reflected signal to determine the distance between second device 1102 and target (object) 1103. It should be noted that second device 1102 may also share this information about the distance between second device 1102 and target (object) 1103 with first device 1101.

[0243] Process D:

[0244] The first device 1101 and / or the second device 1102 obtains the information of "the distance between the first device 1101 and the second device 1102", the information of "the distance between the first device 1101 and the target (object) 1103", and the information of "the distance between the second device 6602 and the target (object) 1103" through processing A, processing B, and processing C, and uses this information to perform triangulation to obtain (calculate) the position of the target (object) 1103.

[0245] Second method:

[0246] Triangulation can be achieved by performing the following processing E, processing F, processing G, and processing H.

[0247] Process E:

[0248] exist Figure 11 In the example, it is assumed that the first device 1101 and / or the second device 1102 retains information of “the distance between the first device 1101 and the second device 1102” at a set time point.

[0249] Process F:

[0250] First device 1101 transmits a signal using, for example, radio waves. This signal is reflected by target (object) 1103, and first device 1101 obtains the distance between first device 1101 and target (object) 1103 by acquiring the reflected signal. It should be noted that first device 1101 may also share this information about the distance between first device 1101 and target (object) 1103 with second device 1102.

[0251] Processing G:

[0252] Second device 1102 transmits a signal using, for example, radio waves. This signal is reflected by target (object) 1103, and second device 1102 obtains the reflected signal to determine the distance between second device 1102 and target (object) 1103. It should be noted that second device 1102 may also share this information about the distance between second device 1102 and target (object) 1103 with first device 1101.

[0253] Processing H:

[0254] First device 1101 and / or second device 1102 obtain information regarding the distance between first device 1101 and second device 1102, the distance between first device 1101 and target (object) 1103, and the distance between second device 1102 and target (object) 1103 through processes E, F, and G. Using this information, they perform triangulation to obtain (calculate) the position of target (object) 1103. It should be noted that first device 1101 and second device 1102 may constitute a single device.

[0255] Third method:

[0256] Triangulation can be achieved by performing the following processing XA, processing XB, processing XC, and processing XD.

[0257] Handling XA:

[0258] exist Figure 11 In the embodiment, first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by second device 1102, and first device 1101 obtains the reflected signal to obtain the distance between first device 1101 and second device 1102.

[0259] As another method, second device 1102 transmits a signal using, for example, radio waves. First device 1101 can obtain the distance between first device 1101 and second device 1102 by obtaining the signal.

[0260] Note that the first device 1101 may share information regarding the distance between the first device 1101 and the second device 1102 with the second device 1102 .

[0261] Processing XB:

[0262] First device 1101 transmits a signal using, for example, radio waves. This signal is reflected by target (object) 1103, and first device 1101 obtains the reflected signal to determine the direction of arrival between first device 1101 and target (object) 1103. It should be noted that first device 1101 can also share this information about the direction of arrival between first device 1101 and target (object) 1103 with second device 1102. By obtaining the direction of arrival between second device 1102 and target (object) 1103, first device 1101 can, for example, determine the line segment formed by first device 1101 and second device 1102 as the first line segment, the line segment formed by first device 1101 and target (object) 1103 as the second line segment, and obtain an estimated value for the angle formed by the first and second line segments.

[0263] Handling XC:

[0264] Second device 1102 transmits a signal using, for example, radio waves. This signal is reflected by target (object) 1103, and second device 1102 obtains the reflected signal to determine the direction of arrival between second device 1102 and target (object) 1103. It should be noted that second device 1102 can also share this information about the direction of arrival between second device 1102 and target (object) 1103 with first device 1101. By obtaining the direction of arrival between first device 1101 and target (object) 1103, second device 1102 can, for example, determine the line segment formed by device 1101's first device and device 1102's second device as the first line segment, the line segment formed by device 1102's second device and target (object) 1103 as the third line segment, and obtain an estimate of the angle formed by the first and third line segments.

[0265] Processing XD:

[0266] The first device 1101 and / or the second device 1102 can obtain the information of "the distance between the first device 1101 and the second device 1102", the information of "the (arrival) direction between the first device 1101 and the target (object) 1103", and the information of "the (arrival) direction between the second device 1102 and the target (object) 1103" by processing XA, processing XB, and processing XC, and use this information to perform triangulation to obtain the position of the target (object) 1103.

[0267] Fourth method:

[0268] Triangulation can be achieved by performing the following processing XE, processing XF, processing XG, and processing XH.

[0269] Processing XE:

[0270] exist Figure 11 In the example, it is assumed that the first device 1101 and / or the second device 1102 retains information of “the distance between the first device 1101 and the second device 1102” at a set time point.

[0271] Processing XF:

[0272] First device 1101 transmits a signal using, for example, radio waves. This signal is reflected by target (object) 1103, and first device 1101 obtains the reflected signal to determine the direction of arrival between first device 1101 and target (object) 1103. Furthermore, first device 1101 can share information about the direction of arrival between first device 1101 and target (object) 1103 with second device 1102. By obtaining the direction of arrival between second device 1102 and target (object) 1103, first device 1101 can, for example, determine the line segment formed by first device 1101 and second device 1102 as a first line segment, the line segment formed by first device 1101 and target (object) 1103 as a second line segment, and obtain an estimated value for the angle formed by the first and second line segments.

[0273] Processing XG:

[0274] Second device 1102 transmits a signal using, for example, radio waves. This signal is reflected by target (object) 1103, and second device 1102 obtains the reflected signal to determine the direction of arrival between second device 1102 and target (object) 1103. It should be noted that second device 1102 can also share this information about the direction of arrival between second device 1102 and target (object) 1103 with first device 1101. By obtaining the direction of arrival between first device 1101 and target (object) 1103, second device 1102 can, for example, determine the line segment formed by device 1101's first device and device 1102's second device as the first line segment, the line segment formed by device 1102's second device and target (object) 1103 as the third line segment, and obtain an estimate of the angle formed by the first and third line segments.

[0275] Processing XH:

[0276] First device 1101 and / or second device 1102 can obtain information about the distance between first device 1101 and second device 1102, the direction of arrival between first device 1101 and target (object) 1103, and the direction of arrival between second device 1102 and target (object) 1103 by processing XE, XF, and XG, and use this information to perform triangulation to obtain the position of target (object) 1103. It should be noted that first device 1101 and second device 1102 may also constitute a single device.

[0277] The above describes the sensing method associated with the present invention in this embodiment. The present invention described below, for example, can implement highly accurate "sensing such as position estimation, object detection, and distance estimation" by using the sensing method described in this embodiment. The sensing method described in this embodiment is merely an example, and the sensing method is not limited to that described in this embodiment.

[0278] (Second embodiment)

[0279] In this embodiment, a “sensing system” or “sensing and communication system” using the sensing method described in the first embodiment will be described.

[0280] Figure 12 This is a diagram showing an example of a “sensing system” or a “sensing and communication system” in this embodiment.

[0281] exist Figure 12 In the example, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 communicate with the terminal.

[0282] The first device 1201 is, for example, a terminal, and communicates with the base station #1 of 1202_1 and / or the base station #2 of 1202_2 and / or the base station #3 of 1202_3.

[0283] The target (object) 1203 is an object whose position is estimated through sensing.

[0284] In this embodiment, as an example, the method of "the first device 1201 and the base station #1 of 1202_1 perform the triangulation described in the first embodiment", "the first device 1201 and the base station #2 of 1202_2 perform the triangulation described in the first embodiment", and "the first device 1201 and the base station #3 of 1202_3 perform the triangulation described in the first embodiment" is described.

[0285] Assume that first device 1201 has the sensing function described in Embodiment 1. Also, assume that first device 1201 has a communication function, for example, communicating with base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0286] Here, it is assumed that first device 1201 performs sensing to implement triangulation. In this case, first device 1201 performs triangulation by sensing one of base stations: base station #1 of 1202_1, base station #2 of 1202_2, or base station #3 of 1202_3. However, it is assumed that the sensing base station may not correspond to the base station due to factors such as the scale or installation time of the base station.

[0287] Therefore, it is assumed that the base station #1 of 1202_1, the base station #2 of 1202_2, the base station #3 of 1202_3, etc. send a message containing the following Figure 13 The information 1301 related to sensing capability is shown as control information.

[0288] It should be noted that it is assumed that the base station uses, for example, the PBCH (Physical Broadcast Channel), the PDSCH (Physical Downlink Shared Channel), and the PDCCH (Physical Downlink Control Channel) to transmit control information including information 1301 related to sensing capabilities. The channels for transmitting this control information are not limited to the above examples.

[0289] Figure 13 FIG is a diagram for explaining an example of information related to sensing capability. Figure 13 As shown, it is assumed that the information 1301 related to sensing capability includes at least one of "information 1311 related to sensing availability", "information 1312 related to whether a sensing request from a terminal can be implemented", and "information 1313 related to whether a sensing request from a terminal can be accepted".

[0290] Specific examples of “information on sensing feasibility 1311 ,” “information on feasibility of a sensing request from a terminal 1312 ,” and “information on feasibility of acceptability of a sensing request from a terminal 1313 ” are assumed to be as follows.

[0291] "Information 1311 related to sensing availability":

[0292] This information is used to inform, for example, terminals, repeaters, other base stations, etc., whether the base station can perform sensing.

[0293] Therefore, it is assumed that at least when the information "sensing is possible" is included as "information 1311 regarding sensing feasibility", the base station transmitting the information 1311 has a sensing function. Furthermore, it is assumed that the base station has a communication function. It should be noted that the specific configuration has been described in the first embodiment and therefore will not be described here.

[0294] "Information 1312 on whether a sensing request from a terminal can be implemented":

[0295] This information is used to notify the terminal of information on whether sensing can be performed, for example, when the base station receives a sensing request from the terminal (a request from the base station to perform sensing of the terminal).

[0296] It should be noted that although the information herein refers to "information 1312 regarding the feasibility of a sensing request from a terminal," "information 1312 regarding the feasibility of a sensing request from a terminal" may also refer to "information regarding the feasibility of a sensing request from a device other than a terminal, such as a repeater or another base station." Details of "sensing request" will be described later.

[0297] "Information 1313 on whether a sensing request from a terminal can be accepted":

[0298] This information is used to notify the terminal, for example, of whether to accept sensing from the terminal when the base station receives a sensing request from the terminal (a request by the base station to sense the terminal).

[0299] Therefore, even if there is a sensing request from the terminal, there are modes in which the base station "accepts" and "does not accept".

[0300] It should be noted that although "information 1313 regarding the acceptability of a sensing request from a terminal" is referred to here, "information 1313 regarding the acceptability of a sensing request from a terminal" may also refer to "information regarding the acceptability of a sensing request from a device other than a terminal, such as a repeater or another base station." Details of "sensing request" will be described later.

[0301] This allows terminals, repeaters, other base stations, etc. to know the status of the base station's sensing and sensing requests, thereby enabling appropriate "sensing-related control and communication with the base station."

[0302] Should be explained, the above will be sent Figure 13 The device for transmitting the information 1301 related to the sensing capability is described as a base station, but this is only an example, and the information 1301 related to the sensing capability may also be transmitted by a communication device such as a repeater, a terminal, or an access point.

[0303] In addition, for the Figure 13 Although the "information 1312 regarding the feasibility of a sensing request from a terminal" and "information 1313 regarding the acceptability of a sensing request from a terminal" sent by the device that displays information 1301 regarding sensing capabilities are described as "sensing requests from a terminal...", these may also be sensing requests from communication devices other than terminals, such as base stations, repeaters, and access points. Therefore, 1312 may be implemented as "information regarding the feasibility of a sensing request from a communication device," and 1313 may be implemented as "information regarding the acceptability of a sensing request from a communication device."

[0304] Then, Figure 12 The operation of the base station #2 of the first device 1201 and 1202_2 in FIG. 1 is described as an example.

[0305] It should be noted that the first device 1201 can be a terminal that can communicate with a base station, or the first device 1201 can be a base station. In the following description, the case where the first device 1201 is a terminal is described, but even if the first device 1201 is a base station, the same implementation can be applied. However, in the case where the first device 1201 is a base station and a special action occurs, additional explanation will be provided. In addition, Figure 12 The first device 1201 in the example may also be a repeater, and the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 may also be repeaters.

[0306] In this embodiment, triangulation is used. Specific examples of triangulation methods have been described in the first embodiment. The first and second methods are triangulation methods based on a technique for obtaining distance information through sensing.

[0307] On the other hand, the third method and the fourth method are triangulation-based techniques for obtaining information on the (arrival) direction (however, the distance may also be obtained in some cases) by performing sensing.

[0308] Below, for Figure 12 , divided into distance-based triangulation with the first method and the second method as examples, and direction-based triangulation with the third method and the fourth method as examples.

[0309] The case of distance-based triangulation:

[0310] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0311] The first device 1201 obtains the data transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Figure 13 The sensing capability information 1301 is obtained, and the corresponding sensing status of base station #1 in 1202_1, base station #2 in 1202_2, and base station #3 in 1202_3 is obtained. As an example, it is assumed that base station #1 in 1202_1, base station #2 in 1202_2, and base station #3 in 1202_3 can all perform sensing. Furthermore, it is assumed that, in the event of a sensing request from a terminal, base station #1 in 1202_1, base station #2 in 1202_2, and base station #3 in 1202_3 can all perform sensing in response to the sensing request.

[0312] Figure 14 Yes Figure 12 Figure 1 shows an example of a sensing process in a system example. Figure 14 In the example, it is assumed that the first device 1201 has obtained at least information on the distance between the first device 1201 and the base station #2 of 1202_2 before "estimating the position 1405 of the target (object)".

[0313] In addition, Figure 14 In the embodiment, it is assumed that before "selecting the base station 1402 for target sensing (sensing the target)", the first device 1201 has obtained the information of "the distance between the first device 1201 and the base station #1 of 1202_1", the information of "the distance between the first device 1201 and the base station #2 of 1202_2", and the information of "the distance between the first device 1201 and the base station #3 of 1202_3".

[0314] In the description Figure 14 Before, use Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F A method of obtaining information on the "distance between the first device 1201 and the base station" will be described. In this example, the base station is base station #1 of 1202_1, base station #2 of 1202_2, or base station #3 of 1202_3.

[0315] exist Figure 15A In the embodiment, first, base station 1501 transmits a signal (1501). Next, first device 1201 receives the signal and estimates the distance between first device 1201 and the base station (1502). The detailed method for distance estimation has been described in the first embodiment, so its description is omitted.

[0316] As another method, Figure 15BIn the embodiment, first device 1201 transmits a signal to the base station (1511). Next, first device 1201 receives the signal and estimates the distance between first device 1201 and the base station (1512). The detailed method for distance estimation has been described in the first embodiment, so its further description will be omitted.

[0317] As another method, Figure 15C In the example, first device 1201 transmits a signal to the base station (1521). Next, the base station receives the signal and estimates the distance between first device 1201 and the base station (1522). The base station transmits a modulated signal containing information about the distance between first device 1201 and the base station to first device 1201 (1523). First device 1201 receives the modulated signal containing information about the distance between first device 1201 and the base station and obtains information about the distance between first device 1201 and the base station (1524).

[0318] As another method, when the first device 1201 is a base station or a fixed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0319] The first device 1201 and the base station may also obtain their positions using a position estimation system such as GPS (Global Positioning System, Global Positioning Satellite). Alternatively, the base station may transmit its own position information to the first device 1201, and the first device 1201 may calculate the distance between the first device 1201 and the base station based on its own position information and the base station's position information. Alternatively, the first device 1201 may transmit its own position information to the base station, and the base station may calculate the distance between the first device 1201 and the base station based on its own position information and the first device 1201's position information.

[0320] As another method, Figure 15D In the embodiment, first, the first device 1201 transmits a signal to the base station (1531). The base station receives the signal and estimates the distance between the first device 1201 and the base station (1532). The detailed method of distance estimation has been described in the first embodiment, so the description thereof will be omitted.

[0321] As another method, Figure 15E In the embodiment, first, the base station transmits a signal to the first device 1201 (1541). The base station receives the signal and estimates the distance between the first device 1201 and the base station (1542). The detailed method of distance estimation has been described in the first embodiment, so the description thereof is omitted.

[0322] As another method, Figure 15F In the example, the base station first transmits a signal to the first device 1201 (1551). The first device 1201 receives the signal and estimates the distance between the first device 1201 and the base station (1552). The first device 1201 transmits a modulated signal containing information about the distance between the first device 1201 and the base station to the base station (1553). The base station receives the modulated signal containing information about the distance between the first device 1201 and the base station and obtains information about the distance between the first device 1201 and the base station (1554).

[0323] Above, use Figures 15A to 15F An example of a method of obtaining information on "the distance between the first device 1201 and the base station" has been described.

[0324] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0325] exist Figure 14 First, the first device 1201 implements Figure 12 The target (object) 1203 is sensed and an estimated value of the “distance between the first device 1201 and the target 1203” is obtained (1401).

[0326] The first device 1201 selects a base station (1402) for which the distance to the target 1203 is requested to be estimated based on the estimated value of the "distance between the first device 1201 and the target 1203", the information of the "distance between the first device 1201 and the base station #1 of 1202_1", the information of the "distance between the first device 1201 and the base station #2 of 1202_2", and the information of the "distance between the first device 1201 and the base station #3 of 1202_3".

[0327] It should be explained that Figure 14 In the example, suppose the first device 1201 selects Figure 12 The base station #2 of 1202_2 is selected as the base station for requesting distance estimation to the target 1203. However, if the base station for requesting distance estimation to the target 1203 has been determined (in advance), the "selection of base station 1402 for target sensing (target sensing)" may not be performed.

[0328] Alternatively, the first device 1201 may broadcast a sensing request message. The first device 1201 may also select a base station to be sensed from base stations that have responded to the request. For example, the first device 1201 may also select a base station to be sensed. Figure 17As described above, the base station that senses the target is selected so that the first device 1201, the base station, and the target form an obtuse triangle.

[0329] The first device 1201 transmits request information for "estimating the distance to the target 1203" to the base station #2 of 1202_2 (1403).

[0330] Base station #2 of 1202_2 receives the request information of "carry out distance estimation to target 1203" and responds "whether to accept the request" (1411). In addition, the case of "accepting the request" is used as an example for description.

[0331] The first device 1201 receives the response information of the request (1404).

[0332] The base station #2 of 1202_2 transmits a signal for sensing and obtains an estimated value of the “distance between the base station #2 of 1202_2 and the target 1203” ( 1412 ).

[0333] The base station #2 of 1202_2 transmits information on "the distance between the base station #2 of 1202_2 and the target 1203" to the first device 1201 (1413).

[0334] The first device 1201 obtains the information of "the distance between base station #2 of 1202_2 and target 1203", and uses "the distance between the first device 1201 and base station #2 of 1202_2", "the distance between the first device 1201 and target 1203" and "the distance between base station #2 of 1202_2 and target 1203" to perform triangulation, for example, to estimate the position of target 1203 (1405).

[0335] The first device 1201 transmits the "location of the target 1203" information to the base station #2 of 1202_2 (1406).

[0336] Note that, when there is no need to share the "location of the target 1203" information with the base station #2 of 1202_2, the first device 1201 may not transmit the "location of the target 1203" information to the base station #2 of 1202_2.

[0337] By implementing in this manner, the distance-based triangulation described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0338] Next, use Figure 16 Another example of using distance-based triangulation using the first and second methods will be described.

[0339] Figure 16 This is a diagram showing another example of a sensing process. Assume that the first device 1201 obtains the data transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Figure 13 The information 1301 related to the sensing capability is obtained, and the corresponding sensing conditions of the base station #1 of 1202_1, the base station #2 of 1202_2 and the base station #3 of 1202_3 are obtained.

[0340] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing, and it is assumed that when there is a sensing request from a terminal, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing actions in response to the sensing request.

[0341] exist Figure 16 In the example, it is assumed that base station #2 of 1202_2 has already obtained at least information regarding the distance between first device 1201 and base station #2 of 1202_2 before estimating the target (object) position 1613. Alternatively, first device 1201 may also have obtained at least information regarding the distance between first device 1201 and base station #2 of 1202_2 before estimating the target (object) position 1613.

[0342] Moreover, in Figure 16 In the example, it is assumed that before "selecting the base station 1602 for target sensing (sensing the target)", the base station #2 of 1202_2 has obtained the information of "the distance between the first device 1201 and the base station #1 of 1202_1", the information of "the distance between the first device 1201 and the base station #2 of 1202_2", and the information of "the distance between the first device 1201 and the base station #3 of 1202_3". Figure 16 In the example, the first device 1201 may obtain at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position 1613 of the target (object)".

[0343] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the base station" has been used. Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F The description has been given, so the description is omitted.

[0344] As another method, when the first device 1201 is a base station or a fixed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0345] Alternatively, the first device 1201 and the base station may obtain their locations using a location estimation system such as GPS. Alternatively, the base station may transmit its own location information to the first device 1201, and the first device 1201 may calculate the distance between the first device 1201 and the base station based on its own location information and the base station's location information. Alternatively, the first device 1201 may transmit its own location information to the base station, and the base station may calculate the distance between the first device 1201 and the base station based on its own location information and the first device 1201's location information.

[0346] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0347] exist Figure 16 First, the first device 1201 implements Figure 12 The target (object) 1203 is sensed and an estimated value of the “distance between the first device 1201 and the target 1203” is obtained (1601).

[0348] The first device 1201 selects a base station (1602) for which the distance to the target 1203 is requested to be estimated based on the estimated value of the "distance between the first device 1201 and the target 1203", the information of the "distance between the first device 1201 and the base station #1 of 1202_1", the information of the "distance between the first device 1201 and the base station #2 of 1202_2", and the information of the "distance between the first device 1201 and the base station #3 of 1202_3".

[0349] It should be explained that Figure 16 In the example, suppose the first device 1201 selects Figure 12 The base station #2 of 1202_2 is selected as the base station for requesting distance estimation to the target 1203. However, if the base station for requesting distance estimation to the target 1203 has been determined (in advance), the "selection of base station 1602 for target sensing (target sensing)" may not be performed.

[0350] The first device 1201 transmits a request message "estimate the distance to the target 1203" to the base station #2 of 1202_2 (1603). In addition, the first device 1201 transmits information "the distance between the first device 1201 and the target 1203" to the base station #2 of 1202_2 (1603).

[0351] Base station #2 of 1202_2 receives the request information of "estimating the distance to the target 1203" and responds "whether to accept the request" (1611). It should be noted that the case of "accepting the request" is used as an example for description.

[0352] The first device 1201 receives the response information of the request (1604).

[0353] The base station #2 of 1202_2 transmits a signal for sensing and obtains an estimated value of the “distance between the base station #2 of 1202_2 and the target 1203” ( 1612 ).

[0354] Base station #2 of 1202_2 obtains the information of "the distance between base station #2 of 1202_2 and target 1203", and uses "the distance between the first device 1201 and base station #2 of 1202_2", "the distance between the first device 1201 and target 1203" and "the distance between base station #2 of 1202_2 and target 1203" to perform triangulation, for example, to estimate the position of target 1203 (1613).

[0355] It should be noted that the base station #2 of 1202_2 has already obtained the information of "the distance between the first device 1201 and the base station #2 of 1202_2" at a certain stage.

[0356] The base station #2 of 1202_2 transmits information related to the estimation result of the "position of the target 1203" to the first device 1201 (1614).

[0357] It should be noted that when there is no need to share the information related to the estimation result of the “position of the target 1203 ” with the first device 1201 , the base station # 2 of 1202_2 may not send the information related to the estimation result of the “position of the target 1203 ” to the first device 1201 .

[0358] By implementing in this manner, the distance-based triangulation described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0359] The case of direction-based triangulation:

[0360] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0361] Assume that the first device 1201 obtains the data transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Figure 13 The information 1301 related to the sensing capability is obtained, and the corresponding sensing conditions of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 are obtained.

[0362] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing, and it is assumed that when there is a sensing request from a terminal, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing actions in response to the sensing request.

[0363] exist Figure 14 In the example, it is assumed that the first device 1201 has obtained at least information on the distance between the first device 1201 and the base station #2 of 1202_2 before "estimating the position 1405 of the target (object)".

[0364] Moreover, in Figure 14 In the embodiment, it is assumed that before "selecting the base station 1402 for target sensing (sensing the target)", the first device 1201 has obtained the information of "the distance between the first device 1201 and the base station #1 of 1202_1", the information of "the distance between the first device 1201 and the base station #2 of 1202_2", and the information of "the distance between the first device 1201 and the base station #3 of 1202_3".

[0365] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the base station" has been used. Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F The description has been given, so the description is omitted.

[0366] As another method, when the first device 1201 is a base station or a fixed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0367] Alternatively, the first device 1201 and the base station may obtain their locations using a location estimation system such as GPS. Alternatively, the base station may transmit its own location information to the first device 1201, and the first device 1201 may calculate the distance between the first device 1201 and the base station based on its own location information and the base station's location information. Alternatively, the first device 1201 may transmit its own location information to the base station, and the base station may calculate the distance between the first device 1201 and the base station based on its own location information and the first device 1201's location information.

[0368] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0369] exist Figure 14 First, the first device 1201 implements Figure 12 The target (object) 1203 is sensed and an estimated value (1401) of the "(arrival) direction of the first device 1201 and the target 1203" is obtained.

[0370] The first device 1201 selects a base station (1402) for which an estimation of the (arrival) direction between the first device 1201 and the target 1203 is requested based on the estimated value of the "(arrival) direction between the first device 1201 and the target 1203", the information of the "distance between the first device 1201 and the base station #1 of 1202_1", the information of the "distance between the first device 1201 and the base station #2 of 1202_2", and the information of the "distance between the first device 1201 and the base station #3 of 1202_3".

[0371] It should be explained that Figure 14 In the example, suppose the first device 1201 selects Figure 12 Base station #2 of 1202_2 is selected as the base station for which estimation of the direction (of arrival) to the target 1203 is requested. However, if the base station for which estimation of the direction (of arrival) to the target 1203 is requested has already been determined (in advance), "selection of base station 1402 for target sensing (target sensing)" may not be performed.

[0372] The first device 1201 transmits request information for "estimating the direction (of arrival) to the target 1203" to the base station #2 of 1202_2 (1403).

[0373] Base station #2 of 1202_2 receives the request information of "estimating the direction (of arrival) to target 1203" and responds "whether to accept the request" (1411). In addition, the case of "accepting the request" is used as an example for description.

[0374] The first device 1201 receives the response information of the request (1404).

[0375] The base station #2 of 1202_2 transmits a signal for sensing and obtains an estimated value of the "direction (of arrival) between the base station #2 of 1202_2 and the target 1203" (1412).

[0376] The base station #2 of 1202_2 transmits information on the "(arrival) direction of the base station #2 of 1202_2 and the target 1203" to the first device 1201 (1413).

[0377] The first device 1201 obtains the information of "the (arrival) direction of base station #2 of 1202_2 and target 1203", and uses "the distance between the first device 1201 and base station #2 of 1202_2", "the (arrival) direction of the first device 1201 and target 1203" and "the (arrival) direction of base station #2 of 1202_2 and target 1203" to perform triangulation, for example, to estimate the position of target 1203 (1405).

[0378] The first device 1201 transmits the "location of the target 1203" information to the base station #2 of 1202_2 (1406).

[0379] Note that, when there is no need to share the "location of the target 1203" information with the base station #2 of 1202_2, the first device 1201 may not transmit the "location of the target 1203" information to the base station #2 of 1202_2.

[0380] By implementing in this manner, the triangulation based on the (arrival) direction described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0381] Next, use Figure 16 Another example of using direction-based triangulation using the third and fourth methods will be described.

[0382] Assume that the first device 1201 obtains the data transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Figure 13 The information 1301 related to the sensing capability is obtained, and the corresponding sensing conditions of the base station #1 of 1202_1, the base station #2 of 1202_2 and the base station #3 of 1202_3 are obtained.

[0383] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing, and it is assumed that when there is a sensing request from a terminal, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing actions in response to the sensing request.

[0384] exist Figure 16 In the example, it is assumed that base station #2 of 1202_2 has already obtained at least information regarding the distance between first device 1201 and base station #2 of 1202_2 before estimating the target (object) position 1613. Alternatively, first device 1201 may also have obtained at least information regarding the distance between first device 1201 and base station #2 of 1202_2 before estimating the target (object) position 1613.

[0385] Moreover, in Figure 16 In the example, it is assumed that before selecting the base station 1602 to be used for target sensing, the base station #2 of 1202_2 has already obtained the information of "the distance between the first device 1201 and the base station #1 of 1202_1", the information of "the distance between the first device 1201 and the base station #2 of 1202_2", and the information of "the distance between the first device 1201 and the base station #3 of 1202_3". Figure 16 In the example, the first device 1201 may obtain at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position 1613 of the target (object)".

[0386] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the base station" has been used. Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F The explanation has been given, so the description is omitted.

[0387] As another method, when the first device 1201 is a base station or a fixed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0388] Alternatively, the first device 1201 and the base station may obtain their locations using a location estimation system such as GPS. Alternatively, the base station may transmit its own location information to the first device 1201, and the first device 1201 may calculate the distance between the first device 1201 and the base station based on its own location information and the base station's location information. Alternatively, the first device 1201 may transmit its own location information to the base station, and the base station may calculate the distance between the first device 1201 and the base station based on its own location information and the first device 1201's location information.

[0389] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0390] exist Figure 16 First, the first device 1201 implements Figure 12 The target (object) 1203 is sensed and an estimated value (1601) of the "(arrival) direction of the first device 1201 and the target 1203" is obtained.

[0391] The first device 1201 selects a base station (1602) for which an estimation of the (arrival) direction between the first device 1201 and the target 1203 is requested based on the estimated value of the "(arrival) direction between the first device 1201 and the target 1203", the information of the "distance between the first device 1201 and the base station #1 of 1202_1", the information of the "distance between the first device 1201 and the base station #2 of 1202_2", and the information of the "distance between the first device 1201 and the base station #3 of 1202_3".

[0392] It should be noted that Figure 16 In the example, suppose the first device 1201 selects Figure 12 Base station #2 of 1202_2 is selected as the base station for which estimation of the direction of arrival (from target 1203) is requested. However, if the base station for which estimation of the direction of arrival (from target 1203) is requested has already been determined (in advance), "selection of base station 1602 for target sensing (target sensing)" may not be performed.

[0393] First device 1201 transmits a request message for "estimate the (arrival) direction to target 1203" to base station #2 of 1202_2 (1603). In addition, first device 1201 transmits information regarding the "(arrival) direction between first device 1201 and target 1203" to base station #2 of 1202_2 (1603).

[0394] Base station #2 of 1202_2 receives the request information of "estimating the direction (of arrival) to target 1203" and responds "whether to accept the request" (1611). In addition, the case of "accepting the request" is used as an example for description.

[0395] The first device 1201 receives the response information of the request (1604).

[0396] The base station #2 of 1202_2 transmits a signal for sensing and obtains an estimated value of the “(arrival) direction” between the base station #2 of 1202_2 and the target 1203 ( 1612 ).

[0397] Base station #2 of 1202_2 obtains the information of "the (arrival) direction of base station #2 of 1202_2 and target 1203", and uses "the distance between the first device 1201 and base station #2 of 1202_2", "the (arrival) direction of the first device 1201 and target 1203" and "the (arrival) direction of base station #2 of 1202_2 and target 1203" to perform triangulation, for example, to estimate the position of target 1203 (1613).

[0398] It should be noted that the base station #2 of 1202_2 has already obtained the information of "the distance between the first device 1201 and the base station #2 of 1202_2" at a certain stage.

[0399] The base station #2 of 1202_2 transmits information related to the estimation result of the "position of the target 1203" to the first device 1201 (1614).

[0400] It should be noted that when there is no need to share the information related to the estimation result of the “position of the target 1203 ” with the first device 1201 , the base station # 2 of 1202_2 may not send the information related to the estimation result of the “position of the target 1203 ” to the first device 1201 .

[0401] By implementing in this manner, the triangulation based on the (arrival) direction described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0402] An example of base station selection is described below. Figure 14 The first device 1201 in the embodiment has already "performed target sensing (sensing target) (1401)" before "selecting a base station for target sensing (1402)". Similarly, Figure 16 The first device 1201 in the embodiment has already "performed target sensing (sensing target) (1601)" before "selecting a base station for target sensing (sensing target) (1602)".

[0403] Figure 17 This is a diagram for explaining an example of base station selection. Figure 17 In, with Figure 12 The same operations are assigned the same reference numerals and their descriptions are omitted.

[0404] exist Figure 17 In the example, when the device for sensing target (object) 1203 (sensing target) is set to "first device 1201" and "base station #2 of 1202_2", the triangle formed in the triangulation becomes "second triangle 1702".

[0405] On the other hand, when the devices that sense the target (object) 1203 are set to "first device 1201" and "base station #3 of 1202_3", the triangle formed by triangulation becomes "third triangle 1703".

[0406] In this case, second triangle 1702 becomes an obtuse triangle, and third triangle 1703 becomes an acute triangle. If estimation errors occur during sensing using the acute triangle, estimation errors in position estimation and other processes may increase. Considering this, second triangle 1702 may be more suitable for sensing.

[0407] Therefore, in Figure 14In the embodiment, the first device 1201 selects a base station by "implementing target sensing (sensing target) (1401)" before "selecting a target sensing (sensing target) base station (1402)", thereby being able to select a triangle state, and therefore, it is possible to reduce the estimation error caused by sensing.

[0408] Likewise, in Figure 16 In the embodiment, the first device 1201 selects a base station by "implementing target sensing (1601)" before "selecting a (sensing target) base station for target sensing (1602)", thereby being able to select a triangular state, and therefore, it is possible to reduce the estimation error caused by sensing.

[0409] By implementing in this manner, high-precision triangulation can be performed, and thus, an effect such as each device being able to grasp the position of a target can be achieved.

[0410] It should be noted that when the first device 1201 and the base station "have already grasped the position on the map (or, position information) in advance", or the first device 1201 and the base station "are able to grasp the position on the map (or, position information) using a position estimation system such as GPS", each device can grasp the position on the map (or, position information) of the target.

[0411] In addition, Figure 14 、 Figure 16 In the case where the first device 1201 "transmits the sensing request information" to the base station, it may be wireless communication or wired communication.

[0412] In addition, in order to sense a target (object), a base station, terminal, or repeater, for example, transmits a signal. However, this signal may also be referred to as a "reference signal," "reference symbol," "pilot symbol," "pilot signal," or "preamble." However, the terms are not limited to these examples.

[0413] Next, explain Figure 12 、 Figure 14 、 Figure 16 Different Embodiments: An embodiment related to a case where a target transmits radio waves will be described.

[0414] Figure 18 : is a diagram showing an example of a "sensing system" or a "sensing and communication system" in this example. Figure 18 In, with Figure 12 Parts that perform the same operations are assigned the same reference numerals, and since they have already been described, their description will be omitted.

[0415] exist Figure 18 In FIG, the second device 1802 is an object whose position is estimated through sensing.

[0416] In this embodiment, as an example, the method of "the first device 1201 and the base station #1 of 1202_1 perform the triangulation described in the first embodiment", "the first device 1201 and the base station #2 of 1202_2 perform the triangulation described in the first embodiment", and "the first device 1201 and the base station #3 of 1202_3 perform the triangulation described in the first embodiment" is described.

[0417] Assume that first device 1201 has the sensing function described in Embodiment 1. Also, assume that first device 1201 has a communication function, for example, communicating with base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0418] Assumptions Figure 18 The second device 1802 is a device capable of transmitting radio waves.

[0419] Here, it is assumed that first device 1201 performs sensing to implement triangulation. In this case, first device 1201 performs triangulation by sensing one of base stations: base station #1 (1202_1), base station #2 (1202_2), and base station #3 (1202_3). However, it is assumed that the sensing base station may not correspond to the base station due to factors such as the size or installation time of the base station.

[0420] Therefore, it is assumed that the base stations 1202_1, 1202_2, 1202_3, and 1202_3 send a message including the following: Figure 13 The information 1301 related to sensing capability is shown as control information.

[0421] It should be noted that it is assumed that the base station uses, for example, PBCH, PDSCH, and PDCCH to transmit control information including the sensing capability-related information 1301. The channel for transmitting the control information is not limited to the above example.

[0422] like Figure 13 As shown, it is assumed that the information 1301 related to sensing capability includes at least one of "information 1311 related to sensing availability", "information 1312 related to whether a sensing request from a terminal can be implemented", and "information 1313 related to whether a sensing request from a terminal can be accepted".

[0423] Specific examples of “information on sensing feasibility 1311 ,” “information on feasibility of a sensing request from a terminal 1312 ,” and “information on feasibility of acceptability of a sensing request from a terminal 1313 ” are assumed to be as follows.

[0424] "Information 1311 related to sensing availability":

[0425] This information is used to inform, for example, terminals, repeaters, other base stations, etc., whether the base station can perform sensing.

[0426] Therefore, it is assumed that at least when the information "sensing is possible" is included as "information 1311 regarding sensing feasibility", the base station transmitting the information 1311 has a sensing function. Furthermore, it is assumed that the base station has a communication function. It should be noted that the specific configuration has been described in the first embodiment and therefore will not be described here.

[0427] "Information 1312 on whether a sensing request from a terminal can be implemented":

[0428] This information is used to notify the terminal, for example, of whether sensing can be performed when the base station receives a sensing request from the terminal.

[0429] It should be noted that although the information herein refers to "information 1312 regarding the feasibility of a sensing request from a terminal," "information 1312 regarding the feasibility of a sensing request from a terminal" may also refer to "information regarding the feasibility of a sensing request from a device other than a terminal, such as a repeater or another base station." Details of "sensing request" will be described later.

[0430] "Information 1313 on whether a sensing request from a terminal can be accepted":

[0431] This information is used to notify the terminal, for example, of whether the base station will accept sensing from the terminal when the base station receives a sensing request from the terminal.

[0432] Therefore, even if there is a sensing request from the terminal, there are modes in which the base station "accepts" and "does not accept".

[0433] Furthermore, although referred to herein as "information 1313 regarding the acceptability of a sensing request from a terminal," "information 1313 regarding the acceptability of a sensing request from a terminal" may also refer to "information regarding the acceptability of a sensing request from a device other than a terminal, such as a repeater or another base station." Details regarding "sensing request" will be described later.

[0434] This allows terminals, repeaters, other base stations, etc. to know the status of the base station's sensing and sensing requests, thereby enabling appropriate "sensing-related control and communication with the base station."

[0435] Then, Figure 18 The operations of the first device 1201, the second device 1802, and the base station #2 of 1202_2 are described as an example.

[0436] It should be noted that the first device 1201 can be a terminal that can communicate with a base station, or the first device 1201 can be a base station. In the following description, the case where the first device 1201 is a terminal is described, but even if the first device 1201 is a base station, the same implementation can be applied. However, in the case where the first device 1201 is a base station and a special action occurs, additional explanation will be provided. In addition, Figure 12 The first device 1201 in the example may also be a repeater, and the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 may also be repeaters.

[0437] In this embodiment, triangulation is used. Specific examples of triangulation methods have been described in the first embodiment. The first and second methods are triangulation methods based on a technique for obtaining distance information through sensing.

[0438] On the other hand, the third method and the fourth method are triangulation-based techniques for obtaining information on the (arrival) direction (however, sometimes also the distance) by performing sensing.

[0439] Below, for Figure 12 , divided into distance-based triangulation with the first method and the second method as examples, and direction-based triangulation with the third method and the fourth method as examples.

[0440] The case of distance-based triangulation:

[0441] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0442] The first device 1201 obtains the data transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Figure 13 The sensing capability information 1301 is obtained, and the corresponding sensing status of base station #1 in 1202_1, base station #2 in 1202_2, and base station #3 in 1202_3 is obtained. As an example, it is assumed that base station #1 in 1202_1, base station #2 in 1202_2, and base station #3 in 1202_3 can all perform sensing. Furthermore, it is assumed that, in the event of a sensing request from a terminal, base station #1 in 1202_1, base station #2 in 1202_2, and base station #3 in 1202_3 can all perform sensing in response to the sensing request.

[0443] Figure 19 Yes Figure 18 Figure 1 shows an example of a sensing process in a system example. Figure 19In the example, it is assumed that the first device 1201 has already obtained at least information on the distance between the first device 1201 and the base station #2 of 1202_2 before "estimating the position 1905 of the second device".

[0444] In addition, Figure 19 In the embodiment, it is assumed that the first device 1201 has obtained the information of "the distance between the first device 1201 and the base station #1 of 1202_1", the information of "the distance between the first device 1201 and the base station #2 of 1202_2", and the information of "the distance between the first device 1201 and the base station #3 of 1202_3" before "selecting the base station 1902 for sensing the second device (sensing the second device)".

[0445] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the base station" has been used. Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F The description has been given, so the description is omitted.

[0446] As another method, when the first device 1201 is a base station or a fixed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0447] Alternatively, the first device 1201 and the base station may obtain their locations using a location estimation system such as GPS. Alternatively, the base station may transmit its own location information to the first device 1201, and the first device 1201 may calculate the distance between the first device 1201 and the base station based on its own location information and the base station's location information. Alternatively, the first device 1201 may transmit its own location information to the base station, and the base station may calculate the distance between the first device 1201 and the base station based on its own location information and the first device 1201's location information.

[0448] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0449] exist Figure 19 In the process, the second device 1802 sends a signal (for sensing) (1921).

[0450] First device 1201 receives the signal sent by second device 1802 and performs sensing processing to obtain an estimated value (1901) of the distance between first device 1201 and second device 1802. Note that the sensing processing has been described in other embodiments and will not be described here.

[0451] The first device 1201 selects a base station (1902) for which the distance estimation between the first device 1201 and the second device 1802 is requested based on the estimated value of the "distance between the first device 1201 and the second device 1802", the information of the "distance between the first device 1201 and the base station #1 of 1202_1", the information of the "distance between the first device 1201 and the base station #2 of 1202_2", and the information of the "distance between the first device 1201 and the base station #3 of 1202_3".

[0452] It should be explained that Figure 19 In the example, suppose the first device 1201 selects Figure 18 Base station #2 of 1202_2 is selected as the base station for which distance estimation to second device 1802 is requested. However, if the base station for which distance estimation to second device 1802 is requested has already been determined (in advance), "selection of base station 1402 for sensing second device 1802 (sensing second device)" may not be performed.

[0453] The first device 1201 transmits request information for "estimating the distance to the second device 1802" to the base station #2 of 1202_2 (1903).

[0454] Base station #2 of 1202_2 receives the request information of "estimating the distance to the second device 1802" and responds "whether to accept the request" (1911). In addition, the case of "accepting the request" is used as an example for description.

[0455] The first device 1201 receives the response information of the request (1904).

[0456] The second device 1802 sends a (sensing) signal (1922).

[0457] Base station #2 of 1202_2 receives the signal transmitted by second device 1802, performs sensing processing, and obtains an estimated value of "the distance between base station #2 of 1202_2 and second device 1802" (1912).

[0458] Base station #2 at 1202_2 transmits information regarding the “distance between base station #2 at 1202_2 and second device 1802” to first device 1201 ( 1913 ).

[0459] The first device 1201 obtains the information "the distance between the base station #2 of 1202_2 and the second device 1802", and uses the "distance between the first device 1201 and the base station #2 of 1202_2", the "distance between the first device 1201 and the second device 1802", and the "distance between the base station #2 of 1202_2 and the second device 1802" to perform triangulation, for example, to estimate the position of the second device 1802 (1905).

[0460] The first device 1201 transmits the information on the "location of the second device 1802" to the base station #2 of 1202_2 (1906).

[0461] Note that, when there is no need to share the "location of second device 1802" information with base station #2 of 1202_2, first device 1201 may not transmit the "location of second device 1802" information to base station #2 of 1202_2.

[0462] By implementing in this manner, the distance-based triangulation described in the first embodiment can be implemented, thereby achieving the effect of being able to identify the position of the second device 1802.

[0463] Next, use Figure 20 Another example of using distance-based triangulation using the first and second methods will be described.

[0464] Figure 20 Yes Figure 18 FIG. 1 is another example of a sensing process in a system example. Assume that the first device 1201 obtains the data transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Figure 13 The information 1301 related to the sensing capability is obtained, and the corresponding sensing conditions of the base station #1 of 1202_1, the base station #2 of 1202_2 and the base station #3 of 1202_3 are obtained.

[0465] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing, and it is assumed that when there is a sensing request from a terminal, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing actions in response to the sensing request.

[0466] exist Figure 20In the example, it is assumed that base station #2 of 1202_2 has already obtained at least information regarding the distance between first device 1201 and base station #2 of 1202_2 before estimating the location 2013 of the second device. Alternatively, first device 1201 may also have obtained at least information regarding the distance between first device 1201 and base station #2 of 1202_2 before estimating the location 2013 of the second device.

[0467] Moreover, in Figure 20 In the example, it is assumed that before "selecting the base station 2002 for sensing the second device (sensing the second device)", the base station #2 of 1202_2 has already obtained the information of "the distance between the first device 1201 and the base station #1 of 1202_1", the information of "the distance between the first device 1201 and the base station #2 of 1202_2", and the information of "the distance between the first device 1201 and the base station #3 of 1202_3". Figure 20 In the example, the first device 1201 may obtain at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position 2013 of the second device".

[0468] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the base station" has been used. Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F The description has been given, so the description is omitted.

[0469] As another method, when the first device 1201 is a base station or a fixed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0470] Alternatively, the first device 1201 and the base station may obtain their locations using a location estimation system such as GPS. Alternatively, the base station may transmit its own location information to the first device 1201, and the first device 1201 may calculate the distance between the first device 1201 and the base station based on its own location information and the base station's location information. Alternatively, the first device 1201 may transmit its own location information to the base station, and the base station may calculate the distance between the first device 1201 and the base station based on its own location information and the first device 1201's location information.

[0471] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0472] exist Figure 20In the process, the second device 1802 sends a signal (for sensing) (2021).

[0473] First device 1201 receives the signal sent by second device 1802 and performs sensing processing to obtain an estimated value (2001) of the distance between first device 1201 and second device 1802. Note that the sensing processing has been described in other embodiments and will not be described here.

[0474] The first device 1201 selects the base station (2002) for which the distance estimation between the first device 1201 and the second device 1802 is requested based on the estimated value of the "distance between the first device 1201 and the second device 1802", the information of the "distance between the first device 1201 and the base station #1 of 1202_1", the information of the "distance between the first device 1201 and the base station #2 of 1202_2", and the information of the "distance between the first device 1201 and the base station #3 of 1202_3".

[0475] It should be explained that Figure 20 In the example, suppose the first device 1201 selects Figure 12 Base station #2 of 1202_2 is selected as the base station for which distance estimation to second device 1802 is requested. However, if the base station for which distance estimation to second device 1802 is requested has already been determined (in advance), "selection of base station 2002 for sensing second device 1802 (sensing second device)" may not be performed.

[0476] First device 1201 transmits a request message "estimate the distance to second device 1802" to base station #2 of 1202_2 (2003). In addition, first device 1201 transmits information "the distance between first device 1201 and second device 1802" to base station #2 of 1202_2 (2003).

[0477] Base station #2 of 1202_2 receives the request information of "estimating the distance to the second device 1802" and responds "whether to accept the request" (2011). In addition, the case of "accepting the request" is used as an example for description.

[0478] The first device 1201 receives the response information of the request (2004).

[0479] The second device 1802 sends a (sensing) signal (2022).

[0480] Base station #2 at 1202_2 receives the signal transmitted by second device 1802, performs sensing processing, and obtains an estimated value of the "distance between base station #2 at 1202_2 and second device 1802" (2012).

[0481] Base station #2 of 1202_2 obtains the information of "the distance between base station #2 of 1202_2 and the second device 1802", and uses "the distance between the first device 1201 and base station #2 of 1202_2", "the distance between the first device 1201 and the second device 1802", and "the distance between base station #2 of 1202_2 and the second device 1802" to perform triangulation, for example, to estimate the position of the second device 1802 (2013).

[0482] It should be noted that the base station #2 of 1202_2 has already obtained the information of "the distance between the first device 1201 and the base station #2 of 1202_2" at a certain stage.

[0483] Base station #2 of 1202_2 transmits information related to the estimation result of "the position of the second device 1802" to the first device 1201 (2014).

[0484] It should be noted that when there is no need to share information related to the estimation result of "the position of the second device 1802" with the first device 1201, the base station #2 of 1202_2 may not send information related to the estimation result of "the position of the second device 1802" to the first device 1201.

[0485] By implementing in this manner, the distance-based triangulation described in the first embodiment can be implemented, thereby achieving the effect of being able to identify the position of the second device 1802.

[0486] The case of direction-based triangulation:

[0487] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0488] Assume that the first device 1201 obtains the data transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Figure 13 The information 1301 related to the sensing capability is obtained, and the corresponding sensing conditions of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 are obtained.

[0489] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing, and it is assumed that when there is a sensing request from a terminal, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing actions in response to the sensing request.

[0490] exist Figure 19In the example, it is assumed that the first device 1201 has already obtained at least information on the distance between the first device 1201 and the base station #2 of 1202_2 before "estimating the position 1905 of the second device".

[0491] Moreover, in Figure 19 In the embodiment, it is assumed that before "selecting the base station 1902 for sensing the second device (sensing the second device)", the first device 1201 has obtained the information "the distance between the first device 1201 and the base station #1 of 1202_1", the information "the distance between the first device 1201 and the base station #2 of 1202_2", and the information "the distance between the first device 1201 and the base station #3 of 1202_3".

[0492] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the base station" has been used. Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F The description has been given, so the description is omitted.

[0493] As another method, when the first device 1201 is a base station or a fixed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0494] Alternatively, the first device 1201 and the base station may obtain their locations using a location estimation system such as GPS. Alternatively, the base station may transmit its own location information to the first device 1201, and the first device 1201 may calculate the distance between the first device 1201 and the base station based on its own location information and the base station's location information. Alternatively, the first device 1201 may transmit its own location information to the base station, and the base station may calculate the distance between the first device 1201 and the base station based on its own location information and the first device 1201's location information.

[0495] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0496] exist Figure 19 In the process, the second device 1802 sends a signal (for sensing) (1921).

[0497] First device 1201 receives the signal transmitted by second device 1802 and performs sensing processing to obtain an estimated value (1901) of the "direction (of arrival) of first device 1201 and second device 1802." Note that the sensing processing has been described in other embodiments and will not be described here.

[0498] The first device 1201 selects a base station (1902) for which an estimation of the (arrival) direction between the first device 1201 and the second device 1802 is requested based on the estimated value of the "(arrival) direction between the first device 1201 and the second device 1802", the information of the "distance between the first device 1201 and the base station #1 of 1202_1", the information of the "distance between the first device 1201 and the base station #2 of 1202_2", and the information of the "distance between the first device 1201 and the base station #3 of 1202_3".

[0499] It should be explained that Figure 19 In the example, the first device 1201 selects Figure 18 Base station #2 of 1202_2 is selected as the base station for which estimation of the direction (of arrival) with second device 1802 is requested. However, if the base station for which estimation of the direction (of arrival) with second device 1802 is requested has already been determined (in advance), "selection of base station 1402 for sensing second device 1802 (sensing second device)" may not be performed.

[0500] The first device 1201 transmits request information for "estimating the direction (of arrival) with the second device 1802" to the base station #2 of 1202_2 (1903).

[0501] Base station #2 of 1202_2 receives the request information of "estimating the direction (of arrival) with the second device 1802" and responds "whether to accept the request" (1911). In addition, the case of "accepting the request" is used as an example for description.

[0502] The first device 1201 receives the response information of the request (1904).

[0503] The second device 1802 sends a (sensing) signal (1922).

[0504] Base station #2 of 1202_2 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimated value of the "(arrival) direction of base station #2 of 1202_2 and the second device 1802" (1912).

[0505] Base station #2 of 1202_2 transmits information on the "(arrival) direction of base station #2 of 1202_2 and second device 1802" to first device 1201 (1913).

[0506] The first device 1201 obtains the information of "the (arrival) direction of the base station #2 of 1202_2 and the second device 1802", and uses the "distance between the first device 1201 and the base station #2 of 1202_2", "the (arrival) direction of the first device 1201 and the second device 1802", and "the (arrival) direction of the base station #2 of 1202_2 and the second device 1802" to perform triangulation, for example, to estimate the position of the second device 1802 (1905).

[0507] The first device 1201 transmits the information on the "location of the second device 1802" to the base station #2 of 1202_2 (1906).

[0508] Note that, when there is no need to share the "location of second device 1802" information with base station #2 of 1202_2, first device 1201 may not transmit the "location of second device 1802" information to base station #2 of 1202_2.

[0509] By implementing in this manner, the triangulation based on the (arrival) direction described in the first embodiment can be realized, thereby achieving the effect of being able to determine the position of the second device 1802.

[0510] Next, use Figure 20 Another example of using direction-based triangulation using the third and fourth methods will be described.

[0511] Assume that the first device 1201 obtains the data transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Figure 13 The information 1301 related to the sensing capability is obtained, and the corresponding sensing conditions of the base station #1 of 1202_1, the base station #2 of 1202_2 and the base station #3 of 1202_3 are obtained.

[0512] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing, and it is assumed that when there is a sensing request from a terminal, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing actions in response to the sensing request.

[0513] exist Figure 20 In the example, it is assumed that base station #2 of 1202_2 has already obtained at least information regarding the distance between first device 1201 and base station #2 of 1202_2 before estimating the location 2013 of the second device. Alternatively, first device 1201 may also have obtained at least information regarding the distance between first device 1201 and base station #2 of 1202_2 before estimating the location 2013 of the second device.

[0514] Moreover, in Figure 20 In the example, it is assumed that before "selecting the base station 2002 for sensing the second device (sensing the second device)", the base station #2 of 1202_2 has already obtained the information of "the distance between the first device 1201 and the base station #1 of 1202_1", the information of "the distance between the first device 1201 and the base station #2 of 1202_2", and the information of "the distance between the first device 1201 and the base station #3 of 1202_3". Figure 20 In the example, the first device 1201 may obtain at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position 2013 of the second device".

[0515] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the base station" has been used. Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F The description has been given, so the description is omitted.

[0516] As another method, when the first device 1201 is a base station or a fixed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0517] Furthermore, the first device 1201 and the base station know their locations using a location estimation system such as GPS. Alternatively, the base station may transmit its own location information to the first device 1201, and the first device 1201 may calculate the distance between the first device 1201 and the base station based on its own location information and the base station's location information. Alternatively, the first device 1201 may transmit its own location information to the base station, and the base station may calculate the distance between the first device 1201 and the base station based on its own location information and the first device 1201's location information.

[0518] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0519] exist Figure 20 In the process, the second device 1802 sends a signal (for sensing) (2021).

[0520] First device 1201 receives the signal transmitted by second device 1802 and performs sensing processing to obtain an estimated value (2001) of the "direction (of arrival) of first device 1201 and second device 1802." Note that the sensing processing has been described in other embodiments and will not be described here.

[0521] The first device 1201 selects the base station (2002) for which the (arrival) direction between the first device 1201 and the second device 1802 is to be estimated based on the estimated value of the "(arrival) direction between the first device 1201 and the second device 1802", the information of "the distance between the first device 1201 and the base station #1 of 1202_1", the information of "the distance between the first device 1201 and the base station #2 of 1202_2", and the information of "the distance between the first device 1201 and the base station #3 of 1202_3".

[0522] It should be explained that Figure 20 In the example, the first device 1201 selects Figure 12 Base station #2 of 1202_2 is selected as the base station for which estimation of the direction of arrival (from second device 1802) is requested. However, if the base station for which estimation of the direction of arrival (from second device 1802) is requested has already been determined (in advance), "selection of base station 2002 for sensing (sensing second device) of second device 1802" may not be performed.

[0523] First device 1201 transmits a request message to base station #2 (2003) of 1202_2, requesting "estimate the direction (of arrival) with second device 1802." Furthermore, first device 1201 transmits information regarding the direction (of arrival) between first device 1201 and second device 1802 to base station #2 (2003) of 1202_2.

[0524] Base station #2 of 1202_2 receives the request information of "estimating the direction (of arrival) with the second device 1802" and responds "whether to accept the request" (2011). In addition, the case of "accepting the request" is used as an example for description.

[0525] The first device 1201 receives the response information of the request (2004).

[0526] The second device 1802 sends a (sensing) signal (2022).

[0527] Base station #2 of 1202_2 receives the signal transmitted by second device 1802, performs sensing processing, and obtains an estimated value of the "(arrival) direction of base station #2 of 1202_2 and second device 1802" (2012).

[0528] Base station #2 of 1202_2 obtains the information of "the (arrival) direction of base station #2 of 1202_2 and the second device 1802", and uses "the distance between the first device 1201 and base station #2 of 1202_2", "the (arrival) direction of the first device 1201 and the second device 1802" and "the (arrival) direction of base station #2 of 1202_2 and the second device 1802" to perform triangulation, for example, to estimate the position of the second device 1802 (2013).

[0529] It should be noted that the base station #2 of 1202_2 has already obtained the information of "the distance between the first device 1201 and the base station #2 of 1202_2" at a certain stage.

[0530] Base station #2 of 1202_2 transmits information related to the estimation result of "the position of the second device 1802" to the first device 1201 (2014).

[0531] It should be noted that when there is no need to share information related to the estimation result of "the position of the second device 1802" with the first device 1201, the base station #2 of 1202_2 may not send information related to the estimation result of "the position of the second device 1802" to the first device 1201.

[0532] By implementing in this manner, the triangulation based on the (arrival) direction described in the first embodiment can be realized, thereby achieving the effect of being able to determine the position of the second device 1802.

[0533] An example of base station selection is described below. Figure 19 In the example, the first device 1201 has already "performed sensing of the second device 1802 (sensing the second device) (1901)" before "selecting a base station to be sensed by the second device 1802 (1902)". Similarly, Figure 20 In the example, the first device 1201 has already "performed sensing of the second device 1802 (sensing the second device) (2001)" before "selecting a base station (2002) for sensing the second device 1802 (sensing the second device)".

[0534] This may reduce the estimation error caused by sensing. The reason for this has been explained, so the explanation is omitted.

[0535] By implementing in this manner, high-precision triangulation can be performed, and thus, an effect such as each device being able to grasp the position of a target can be achieved.

[0536] It should be noted that when the first device 1201 and the base station "have already grasped the position on the map (or, position information) in advance", or the first device 1201 and the base station "are able to grasp the position on the map (or, position information) using a position estimation system such as GPS", each device can grasp the position on the map (or, position information) of the target.

[0537] In addition, Figure 19 、 Figure 20 In the case where the first device 1201 transmits "the request information of the second device 1802" to the base station, it may be wireless communication or wired communication.

[0538] Furthermore, in the above description, the second device transmits a signal for sensing, but this signal may also be referred to as a "reference signal," "reference symbol," "pilot symbol," "pilot signal," or "preamble." However, the names are not limited to the above examples.

[0539] Examples of characteristic points of the above examples can be described as follows.

[0540] The first device transmits and receives radio waves to measure a first distance, etc., and the second device transmits and receives radio waves to measure a second distance, etc., and uses the first distance, etc. and the second distance, etc. to measure the position of the target. Thus, there are two transmitting devices and two receiving devices, and the first and second devices share the acquired information on the first and second distances, etc.

[0541] The second device includes a receiving device for obtaining the first distance information and the like obtained by the first device.

[0542] The first device includes a receiving device for obtaining the second distance information and the like obtained by the second device.

[0543] The first device and the second device estimate the position of the target using the first distance information and the second distance information.

[0544] It should be noted that the distance to the target may be estimated by one or more devices different from the second device.

[0545] Alternatively, the one or more devices may estimate the distance to the target, generate multiple distance information, and transmit the multiple distance information to the second device. The second device may generate first distance information based on the multiple distance information and estimate the position of the target using the first and second distance information.

[0546] The above explains Figure 12 and Figure 18 The following describes the sensing operation examples of each device in Figure 12 and Figure 18An example of the configuration of the first device 1201, the base station #1 of 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3.

[0547] Figure 21A and Figure 21B This diagram shows a configuration example of the first device 1201, the base station #1 of 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3.

[0548] The signal generating unit 2102 receives the control signal 2100 as input, generates and outputs a signal based on information in the control signal 2100. Specific examples (first and second examples) will be described.

[0549] First example:

[0550] For example, when control signal 2100 indicates "transmitting a modulated signal for communication," signal generator 2102 performs error correction coding, modulation (mapping), and processing based on the transmission method on data 2101, and transmits the modulated signal as a radio wave using at least one of antenna ports 2105_1 to 2105_N. Furthermore, N is assumed to be an integer greater than or equal to 1.

[0551] When the control signal 2100 indicates "sending a modulated signal for communication and a signal for sensing", the signal generating unit 2102 performs error correction coding, modulation (mapping), and processing based on the sending method on the data 2101, and uses at least one of the antenna ports 2105_1 to 2105_N to send the modulated signal in the form of a radio wave, and generates a signal for sensing, and sends the sensing signal from the antenna port 2106 in the form of a radio wave.

[0552] When the control signal 2100 indicates "transmit a sensing signal", the signal generation unit 2102 generates a sensing signal and transmits the sensing signal from the antenna port 2106 in the form of radio waves.

[0553] When a sensing signal is transmitted from the antenna port 2106 , for example, the sensing signal is reflected by the target 2110 , and the reflected wave reaches the antenna port 2112 .

[0554] In addition, Figure 18 In the case of , the sensing signal sent by the second device 1802 arrives at the antenna port 2112. For example, Figure 21B As shown, the sensing signal transmitted by the second device 2120 (equivalent to the second device 1802 ) arrives at the antenna port 2112 .

[0555] For example, when control signal 2100 indicates "demodulation for communication," a modulated signal is received using at least one of antenna ports 2111_1 to 211_M. Signal processing unit 2115 receives the modulated signal as input, performs processing such as demodulation, and outputs received data 2116. It is assumed that M is an integer greater than or equal to 1.

[0556] When the control signal 2100 indicates "demodulation for communication and processing for sensing", at least one of the antenna ports 2111_1 to 2111_M is used to receive the modulated signal, and the signal processing unit 2115 performs demodulation and other processing on the modulated signal as input, outputs the received data 2116, and uses the signal received using the antenna port 2112 as input to perform processing for sensing, such as outputting the distance information of the target 2117.

[0557] When the control signal 2100 indicates "perform sensing processing", the signal processing unit 2115 receives the signal received by the antenna port 2112 as input and performs sensing processing, for example, outputting target distance information 2117 .

[0558] In the above example, antenna ports 2105_1 to 2105_N are transmit antenna ports for communication, and antenna port 2106 is a transmit antenna port for sensing. Furthermore, antenna ports 2111_1 to 2111_M are receive antenna ports for communication, and antenna port 2112 is a receive antenna port for sensing.

[0559] Figure 22 This diagram shows an example of a state in which the first device 1201, the base station #1 of 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 perform a sensing operation.

[0560] like Figure 22 As shown in (A), assuming that Figure 21A The interval in which the first device 1201, the base station #1 of 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 transmit the sensing signal is a signal transmission interval 2201 existing between time v1 and time v2.

[0561] have Figure 21A The devices of the first device 1201, base station #1 of 1201_1, base station #2 of 1202_2 and base station #3 of 1202_3 of the structure receive the signal in the signal transmission interval 2201 between time v1 and time v2, and perform signal processing to sense the target.

[0562] Therefore, if Figure 22 As shown in (B), the first device 1201, base station #1 of 1201_1, base station #2 of 1202_2 and base station #3 of 1202_3 having the structure of Figure 21 perform a reception action associated with sensing within the interval of the reception-related action 2202 between time v1 and time v2.

[0563] Specifically, during sensing, there may be a time interval during which the first device 1201, base station #1 of 1201_1, base station #2 of 1202_2, and base station #3 of 1202_3 perform both signal transmission and signal reception-related operations. Therefore, a device configuration with separate antenna ports for communication and sensing may improve both communication and sensing performance.

[0564] Furthermore, an antenna port may also be a logical antenna (antenna group) composed of one or more physical antennas. In other words, an antenna port does not necessarily refer to a single physical antenna, but may refer to an array antenna composed of multiple antennas.

[0565] For example, an antenna port may be defined not as a number of physical antennas, but as a minimum unit by which a terminal can transmit a reference signal (reference signal).

[0566] In addition, antenna ports are sometimes defined as a unit or minimum unit of weights multiplied by a precoding vector or a precoding matrix. It should be noted that the above content related to antenna ports is relevant to the entire present specification.

[0567] Furthermore, at least one antenna may be shared by antenna ports. For example, a transmitting antenna may be used by multiple transmitting antenna ports. Furthermore, for example, a receiving antenna may be used by multiple receiving antenna ports. Furthermore, for example, an antenna may be used by multiple antenna ports. It should be noted that the above content related to antenna ports is relevant to this specification as a whole.

[0568] Second example:

[0569] The first mode and the second mode are defined as follows.

[0570] First mode (i.e., the mode corresponding to the first edition of the standard):

[0571] It is assumed that the first mode is a mode corresponding to the first communication method.

[0572] Second mode (i.e., the mode corresponding to the second edition of the standard):

[0573] It is assumed that the second mode is a mode corresponding to the second communication method and corresponding to sensing.

[0574] Three examples are described below.

[0575] Example 1:

[0576] exist Figure 21A 、 Figure 21B For example, when control signal 2100 indicates "transmitting a modulated signal in a first mode," signal generator 2102 performs error correction coding, modulation (mapping), and processing based on the transmission method on data 2101, and transmits the modulated signal in the first mode as a radio wave using at least one of antenna ports 2105_1 to 2105_N. For the purposes of this description, it is assumed that N is an integer greater than or equal to 1.

[0577] When control signal 2100 indicates "transmitting a 'modulated signal and / or sensing signal' in the second mode," signal generator 2102 performs error correction coding, modulation (mapping), and processing based on the transmission method on data 2101, and transmits the modulated signal in the second mode as a radio wave using antenna port 2106. Alternatively, signal generator 2102 generates a sensing signal and transmits the sensing signal as a radio wave from antenna port 2106.

[0578] When the control signal 2100 indicates “transmitting a modulation signal of the first mode and transmitting a 'modulation signal and / or a sensing signal' of the second mode”, the control signal generating unit 2102 performs the following two operations.

[0579] (1) Signal generator 2102 performs error correction coding, modulation (mapping), and processing based on the transmission method on data 2101, and transmits a modulated signal in a first mode as a radio wave using at least one of antenna ports 2105_1 to 2105_N. For the purposes of this description, it is assumed that N is an integer greater than or equal to 1.

[0580] (2) Signal generator 2102 performs error correction coding, modulation (mapping), and processing based on the transmission method on data 2101, and transmits the modulated signal of the second mode in the form of radio waves using antenna port 2106. Alternatively, signal generator 2102 generates a sensing signal and transmits the sensing signal from antenna port 2106 in the form of radio waves.

[0581] In addition, Figure 21A 、 Figure 21BFor example, when control signal 2100 indicates "demodulation in the first mode," a modulated signal is received using at least one of antenna ports 2111_1 to 2111_M. Signal processing unit 2115 receives the modulated signal as input, performs processing such as demodulation, and outputs received data 2116 in the first mode. For the purpose of explanation, it is assumed that M is an integer greater than or equal to 1.

[0582] When control signal 2100 indicates "performing processing in the second mode," signal processing unit 2115 uses the signal received via antenna port 2112 as input and performs sensing processing, such as outputting target distance information 2117. Alternatively, signal processing unit 2115 uses antenna port 2112 to receive a modulated signal, uses the modulated signal as input, performs processing such as demodulation, and outputs received data 2116 in the second mode.

[0583] When the control signal 2100 indicates "perform demodulation in the first mode and perform processing in the second mode", the following two operations are performed.

[0584] (3) The modulated signal is received using at least one of the antenna ports 2111_1 to 2111_M. The signal processing unit 2115 receives the modulated signal as input, performs processing such as demodulation, and outputs received data 2116 in the first mode.

[0585] (4) Signal processing unit 2115 receives the signal received via antenna port 2112 as input and performs sensing processing, such as outputting target distance information 2117. Alternatively, signal processing unit 2115 receives a modulated signal via antenna port 2112, performs processing such as demodulation on the modulated signal as input, and outputs received data 2116 in a second mode.

[0586] In the above example, antenna ports 2105_1 through 2105_N are transmit antenna ports in the first mode, and antenna port 2106 is a transmit antenna port in the second mode. Furthermore, antenna ports 2111_1 through 2111_M are receive antenna ports in the first mode, and antenna port 2112 is a receive antenna port in the second mode.

[0587] Example 2:

[0588] exist Figure 21A 、 Figure 21BIn the example, when control signal 2100 indicates at least "transmitting a modulated signal of a first mode," signal generator 2102 performs error correction coding, modulation (mapping), and processing based on the transmission method on data 2101, and transmits the modulated signal of the first mode in the form of radio waves using at least one of antenna ports 2105_1 to 2105_(N-1). Furthermore, it is assumed that N is an integer greater than or equal to 2.

[0589] When the control signal 2100 indicates "at least sending the second mode 'modulated signal for communication'", the signal generating unit 2102 performs error correction coding, modulation (mapping) and processing based on the sending method on the data 2101, and uses the antenna port 2105_N to send the second mode modulated signal in the form of radio waves.

[0590] When the control signal 2100 indicates "transmit at least the 'sensing signal' of the second pattern", the signal generator 2102 generates a sensing signal and transmits the sensing signal from the antenna port 2106 in the form of radio waves.

[0591] In addition, Figure 21A 、 Figure 21B For example, when control signal 2100 indicates at least "demodulation of the first mode," a modulated signal is received using at least one of antenna ports 2111_1 to 2111_(M-1). Signal processing unit 2115 receives the modulated signal as input, performs processing such as demodulation, and outputs received data 2116 of the first mode. Note that M is assumed to be an integer greater than or equal to 2.

[0592] When the control signal 2100 indicates at least "demodulation of the second mode", the antenna port 2111_M is used to receive the modulated signal, and the signal processing unit 2115 receives the modulated signal as input, performs processing such as demodulation, and outputs received data 2116 of the second mode.

[0593] When the control signal 2100 indicates at least "perform sensing processing in the second mode", the signal processing unit 2115 receives the signal received by the antenna port 2112 as input and performs sensing processing, such as outputting target distance information 2117.

[0594] In the above example, antenna port 2105_1 to antenna port 2105_(N-1) are transmit antenna ports of the first mode, antenna port 2105_N is a transmit antenna port for communication in the second mode, and antenna port 2106 is a transmit antenna port for sensing in the second mode.

[0595] Antenna port 2111_1 to antenna port 2111_(M-1) are reception antenna ports of the first mode, antenna port 2111_M is a reception antenna port for communication of the second mode, and antenna port 2112 is a reception antenna port for sensing of the second mode.

[0596] Example 3:

[0597] exist Figure 21A 、 Figure 21B For example, when control signal 2100 indicates at least "transmitting a modulated signal in a first mode," signal generator 2102 performs error correction coding, modulation (mapping), and processing based on the transmission method on data 2101, and transmits the modulated signal in the first mode as a radio wave using at least one of antenna ports 2105_1 to 2105_N. Note that N is assumed to be an integer greater than or equal to 1.

[0598] When the control signal 2100 indicates "at least sending the second mode of 'modulated signal for communication'", the signal generating unit 2102 performs error correction coding, modulation (mapping) and processing based on the sending method on the data 2101, and uses at least one of the antenna ports 2105_1 to 2105_N to send the second mode of modulated signal in the form of radio waves.

[0599] When the control signal 2100 indicates "transmit at least the 'sensing signal' of the second pattern", the signal generator 2102 generates a sensing signal and transmits the sensing signal from the antenna port 2106 in the form of radio waves.

[0600] In addition, Figure 21A 、 Figure 21B For example, when control signal 2100 indicates at least "demodulation of the first mode," signal processing unit 2115 receives a modulated signal using at least one of antenna ports 2111_1 to 2111_M, performs processing such as demodulation on the modulated signal as input, and outputs received data 2116 of the first mode. Note that M is assumed to be an integer greater than or equal to 1.

[0601] When the control signal 2100 indicates at least "demodulation of the second mode", at least one of the antenna ports 2111_1 to 2111_M is used to receive the modulated signal, and the signal processing unit 2115 performs demodulation and other processing on the modulated signal as input, and outputs the received data 2116 of the second mode.

[0602] When the control signal 2100 indicates at least "perform sensing processing in the second mode", the signal processing unit 2115 receives the signal received by the antenna port 2112 as input and performs sensing processing, such as outputting target distance information 2117.

[0603] In the above example, antenna port 2105_1 to antenna port 2105_N are transmit antenna ports in the first mode and transmit antenna ports for communication in the second mode, and antenna port 2106 is a transmit antenna port for sensing in the second mode.

[0604] Furthermore, antenna port 2111_1 to antenna port 2111_M are reception antenna ports in the first mode and reception antenna ports for communication in the second mode, and antenna port 2112 is a reception antenna port for sensing in the second mode.

[0605] As described above, by separately using the antenna port used for communication and the antenna port used for sensing, it is possible to achieve both high-quality communication and high-precision sensing.

[0606] As mentioned above, it is shown Figure 21A 、 Figure 21B This description describes the configurations of first apparatus 1201, base station #1 (1201_1), base station #2 (1202_2), and base station #3 (1202_3), and describes how to use the antenna ports. The configurations of first apparatus 1201, base station #1 (1201_1), base station #2 (1202_2), and base station #3 (1202_3), as well as how to use the antenna ports, are also applicable to embodiments other than this embodiment.

[0607] Moreover, in this embodiment, when there are two devices (referred to as "device #A" and "device #B"), when device #A or device #B sends radio waves and device #A or device #B estimates the "distance between device #A and device #B", device #A or device #B can also estimate the arrival direction and use the estimated value of the arrival direction to further estimate the position of the target with high precision.

[0608] Similarly, when device #A transmits radio waves and estimates the distance between device #A and the target, device #A can also estimate the direction of arrival and use the estimated value of the direction of arrival to further estimate the position of the target with high precision.

[0609] In addition, when device #A or device #B sends radio waves and device #A or device #B estimates the direction of arrival, device #A or device #B can also estimate the "distance between device #A and device #B" and use the estimated value of the "distance between device #A and device #B" to further estimate the target's position with high precision.

[0610] When device #A sends radio waves and estimates the direction of arrival of the radio waves, for example, due to reflection from a target, device #A can also estimate the "distance between device #A and the target" and use this "distance between device #A and the target" to further estimate the target's position with high precision.

[0611] It should be noted that although Figure 14 、 Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F 、 Figure 16 As examples of the operation flow of the first device and the base station, these are only examples, and the order of the operations may be different from the order shown in the figure. Figure 19 、 Figure 20 These are examples of the operation flow of the first device, the second device, and the base station. However, these are merely examples, and the order of operations may be different from the order shown in the figure.

[0612] (Third embodiment)

[0613] In this embodiment, an example different from the second embodiment will be described.

[0614] Figure 12 This is a diagram showing an example of a “sensing system” or a “sensing and communication system” in this embodiment.

[0615] exist Figure 12 In the example, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 communicate with the terminal.

[0616] The first device 1201 is, for example, a terminal, and communicates with the base station #1 of 1202_1 and / or the base station #2 of 1202_2 and / or the base station #3 of 1202_3.

[0617] The target (object) 1203 is an object whose position is estimated through sensing.

[0618] In this embodiment, as an example, the method of "the first device 1201 and the base station #1 of 1202_1 perform the triangulation described in the first embodiment", "the first device 1201 and the base station #2 of 1202_2 perform the triangulation described in the first embodiment", and "the first device 1201 and the base station #3 of 1202_3 perform the triangulation described in the first embodiment" is described.

[0619] Assume that first device 1201 has the sensing function described in Embodiment 1. Also, assume that first device 1201 has a communication function, for example, communicating with base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0620] Here, it is assumed that first device 1201 performs sensing to implement triangulation. In this case, first device 1201 performs triangulation by sensing one of base stations: base station #1 of 1202_1, base station #2 of 1202_2, or base station #3 of 1202_3. However, it is assumed that the sensing base station may not correspond to the base station due to factors such as the scale or installation time of the base station.

[0621] Therefore, it is assumed that the base station #1 of 1202_1, the base station #2 of 1202_2, the base station #3 of 1202_3, etc. send a message including the following: Figure 13 The information 1301 related to sensing capability is shown as control information.

[0622] It should be noted that it is assumed that the base station uses, for example, PBCH, PDSCH, and PDCCH to transmit control information including the information 1301 related to the sensing capability. The channel for transmitting the control information is not limited to the above example.

[0623] like Figure 13 As shown, it is assumed that the information 1301 related to sensing capability includes at least one of "information 1311 related to sensing availability", "information 1312 related to whether a sensing request from a terminal can be implemented", and "information 1313 related to whether a sensing request from a terminal can be accepted".

[0624] Specific examples of “information on sensing feasibility 1311 ,” “information on feasibility of a sensing request from a terminal 1312 ,” and “information on feasibility of acceptability of a sensing request from a terminal 1313 ” are as follows.

[0625] "Information 1311 related to sensing availability":

[0626] This information is used to inform, for example, terminals, repeaters, other base stations, etc., whether the base station can perform sensing.

[0627] Therefore, it is assumed that at least when the information "sensing is possible" is included as "information 1311 regarding sensing feasibility", the base station has a sensing function. In addition, it is assumed that the base station has a communication function. It should be noted that the specific configuration has been described in the first embodiment and therefore will be omitted.

[0628] "Information 1312 on whether a sensing request from a terminal can be implemented":

[0629] This information is used to notify the terminal of information on whether sensing can be performed, for example, when the base station receives a sensing request from the terminal (a request from the base station to perform sensing of the terminal).

[0630] It should be noted that although the information herein refers to "information 1312 regarding the feasibility of a sensing request from a terminal," "information 1312 regarding the feasibility of a sensing request from a terminal" may also refer to "information regarding the feasibility of a sensing request from a device other than a terminal, such as a repeater or another base station." Details of "sensing request" will be described later.

[0631] "Information 1313 on whether a sensing request from a terminal can be accepted":

[0632] This information is used to notify the terminal, for example, of whether to accept sensing from the terminal when the base station receives a sensing request from the terminal (a request by the base station to sense the terminal).

[0633] Therefore, even if there is a sensing request from the terminal, there are modes in which the base station "accepts" and "does not accept".

[0634] It should be noted that although "information 1313 regarding the acceptability of a sensing request from a terminal" is referred to here, "information 1313 regarding the acceptability of a sensing request from a terminal" may also refer to "information regarding the acceptability of a sensing request from a device other than a terminal, such as a repeater or another base station." Details of "sensing request" will be described later.

[0635] This allows terminals, repeaters, other base stations, etc. to know the status of the base station's sensing and sensing requests, thereby enabling appropriate "sensing-related control and communication with the base station."

[0636] In addition, the above will send Figure 13 The device for transmitting the information 1301 related to the sensing capability is described as a base station, but this is only an example, and the information 1301 related to the sensing capability may also be transmitted by a communication device such as a repeater, a terminal, or an access point.

[0637] In addition, for the Figure 13 Although the "information 1312 regarding the feasibility of a sensing request from a terminal" and "information 1313 regarding the acceptability of a sensing request from a terminal" sent by the device that displays information 1301 regarding sensing capabilities are described as "sensing requests from a terminal...", these may also be sensing requests from communication devices other than terminals, such as base stations, repeaters, and access points. Therefore, 1312 may be implemented as "information regarding the feasibility of a sensing request from a communication device," and 1313 may be implemented as "information regarding the acceptability of a sensing request from a communication device."

[0638] Then, Figure 12 The operation of the base station #2 of the first device 1201 and 1202_2 in FIG. 1 is described as an example.

[0639] The first device 1201 may be a terminal capable of communicating with a base station, or the first device 1201 may be a base station. In the following description, the case where the first device 1201 is a terminal is described, but even if the first device 1201 is a base station, the same implementation is possible. However, in the case where the first device 1201 is a base station and a special action occurs, additional description will be given. In addition, Figure 12 The first device 1201 in the example may also be a repeater, and the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 may also be repeaters.

[0640] In this embodiment, triangulation is used. Specific examples of triangulation methods have been described in the first embodiment. The first and second methods are triangulation methods based on a technique for obtaining distance information through sensing.

[0641] On the other hand, the third method and the fourth method are triangulation-based techniques for obtaining information on the (arrival) direction (however, the distance may also be obtained in some cases) by performing sensing.

[0642] Below, for Figure 12 The third and fourth methods are used as examples to describe direction-based triangulation. This embodiment is a modified example of the third and fourth methods.

[0643] The case of direction-based triangulation:

[0644] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0645] Assume that the first device 1201 obtains the data sent by base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3. Figure 13 The information 1301 related to the sensing capability is obtained, and the corresponding sensing conditions of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 are obtained.

[0646] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing, and it is assumed that when there is a sensing request from a terminal, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can all perform sensing actions in response to the sensing request.

[0647] In this example, if Figure 23A As shown, it is assumed that the first device 1201 transmits a sensing signal, and the signal hits the target 1203. The base station #2 of 1202_2 receives the sensing signal, thereby performing position estimation, for example.

[0648] exist Figure 23B In the example, it is assumed that the first device 1201 has already obtained at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position 2305 of the target (object)".

[0649] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the base station" has been used. Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F The description has been given, so the description is omitted.

[0650] As another method, when the first device 1201 is a base station or a fixed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0651] Alternatively, the first device 1201 and the base station may obtain their locations using a location estimation system such as GPS. Alternatively, the base station may transmit its own location information to the first device 1201, and the first device 1201 may calculate the distance between the first device 1201 and the base station based on its own location information and the base station's location information. Alternatively, the first device 1201 may transmit its own location information to the base station, and the base station may calculate the distance between the first device 1201 and the base station based on its own location information and the first device 1201's location information.

[0652] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0653] Figure 12 、 Figure 23A The first device 1201 in the example sends a request message for "estimating the (arrival) direction to the target 1203" to the base station #2 of 1202_2 (2301).

[0654] Base station #2 of 1202_2 receives the request information of "estimating the direction (of arrival) to target 1203" and responds "whether to accept the request" (2311). In addition, the case of "accepting the request" is used as an example for description.

[0655] The first device 1201 receives the response information of the request (2303).

[0656] First device 1201 transmits a sensing signal (2304). The details of the method of transmitting the sensing signal by first device 1201 will be described later.

[0657] The base station #2 of 1202_2 receives the sensing signal transmitted by the first device 1201 and estimates (receives) the direction of arrival, for example (2312).

[0658] The base station #2 of 1202_2 transmits (receives) the arrival direction estimation result and feedback information to the first device 1201 (2313). It should be noted that a specific operation example will be described later.

[0659] The first device 1201 uses the information such as "the (received) arrival direction estimation result and feedback information" and "the distance between the first device 1201 and the base station #2 of 1202_2" sent by the base station #2 of 1202_2 to perform triangulation and obtain Figure 12 、 Figure 23A The estimation result (2305) of the "position of the target (object) 1203" is obtained. It should be noted that a specific operation example will be described later.

[0660] The first device 1201 transmits information related to the estimation result of the "position of the target (object) 1203" to the base station #2 of 1202_2 (2306).

[0661] It should be noted that when there is no need to share information related to the estimation result of the "position of target 1203" with base station #2 of 1202_2, the first device 1201 may not send information related to the estimation result of the "position of target 1203" to base station #2 of 1202_2.

[0662] By implementing in this manner, the triangulation based on the (arrival) direction described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0663] Next, explain Figure 23B Action examples of 2304, 2312, 2313, and 2305.

[0664] exist Figure 23A In the example, the base station #2 of 1202_2 receives the sensing signal sent by the first device 1201 and estimates the direction of arrival, thereby being able to estimate Figure 23B The angle formed by the “line segment formed by the base station #2 of 1202_2 and the first device 1201” and the “line segment formed by the base station #2 of 1202_2 and the target 1203” in .

[0665] For example, if the angle formed by the line segment formed by first device 1201 and base station #2 of 1202_2 and the line segment formed by first device 1201 and target 1203 can be estimated, triangulation can be achieved. The following describes a method for estimating the angle formed by the line segment formed by first device 1201 and base station #2 of 1202_2 and the line segment formed by first device 1201 and target 1203.

[0666] Figure 24 Yes Figure 12 、 Figure 23A FIG is a diagram showing an example of the structure of the first device 1201 (and base station #2 of 1202_2). Figure 24 21, the same reference numerals are attached to the parts that perform the same operation as in FIG. 21, and the description thereof is omitted. Figure 24 The following description will be given taking the case of a structure of as an example.

[0667] like Figure 24 As shown, it is assumed that first device 1201 includes transmitting antennas 2402_1 to 2402_L. Also, it is assumed that L is an integer greater than or equal to 1.

[0668] Figure 25 1 and 2 are diagrams showing a configuration example associated with a transmitting antenna 2402_i (i is an integer greater than or equal to 1 and less than or equal to L).

[0669] like Figure 25 As shown, it is assumed that transmitting antenna 2402_i is composed of four antennas, for example, antenna 2504_1, antenna 2504_2, antenna 2504_3, and antenna 2405_4. However, although the example here shows that transmitting antenna 2402_i is composed of four antennas, the number of antennas is not limited to the above example as long as it is composed of two or more antennas.

[0670] Processing unit 2502 converts signal 2501 (equivalent to Figure 24 signal 2401_i), control signal 2500 (equivalent to Figure 24 Processing unit 2502 receives control signal 2100 (e.g., a control signal 2100) as input. When control signal 2500 indicates "transmitting a sensing signal," processing unit 2502 performs transmission directivity control on signal 2501 and outputs signal 2503_i after the transmission directivity control processing. Here, i is an integer from 1 to 4. Signal 2503_i after the transmission directivity control processing is then output from antenna 2504_i as radio waves.

[0671] A specific configuration example of the sensing signal transmitted by first device 1201 will be described.

[0672] Figure 26 1 is a diagram showing an example of a frame 2601 of a sensing signal transmitted by the first device 1201 .

[0673] Assume that a sensing signal frame 2601 is composed of, for example, "sensing signal 2611_1 transmitted using the first antenna," "sensing signal 2611_2 transmitted using the second antenna," ..., and "sensing signal 2611_L transmitted using the Lth antenna."

[0674] “Sensing signal 2611_1 transmitted using the first antenna” is a signal transmitted from the transmitting antenna 2402_1 of the first device 1201 .

[0675] “Sensing signal 2611_L transmitted using the Lth antenna” is a signal transmitted from the transmitting antenna 2402_L of the first device 1201 .

[0676] That is, "sensing signal 2611_i transmitted using the i-th antenna" is a signal transmitted from the transmitting antenna 2402_i of the first device 1201. Note that i is an integer from 1 to L.

[0677] Figure 27 Yes Figure 26 A diagram showing an example of the structure of the “sensing signal 2611_i transmitted using the i-th antenna” in FIG.

[0678] like Figure 27As shown, it is assumed that "sensing signal 2611_i transmitted using the i-th antenna" is composed of "sensing signal 2701_1 transmitted using the i-th antenna and the first parameter," "sensing signal 2701_2 transmitted using the i-th antenna and the second parameter," ..., and "sensing signal 2701_z transmitted using the i-th antenna and the z-th parameter." Note that z is assumed to be an integer greater than or equal to 1 or an integer greater than or equal to 2.

[0679] The first device 1201 Figure 24 The transmitting antenna 2402_i Figure 25 The processing unit 2502 performs transmission directivity control using the first parameter and generates a "sensing signal 2701_1 transmitted using the i-th antenna and the first parameter". The "sensing signal 2701_1 transmitted using the i-th antenna and the first parameter" is generated using Figure 25 It should be noted that "sensing signal 2701_1 transmitted using the i-th antenna and the first parameter" is composed of four signals: signal 2503_1, signal 2503_2, signal 2503_3, and signal 2503_4.

[0680] The first device 1201 Figure 24 The transmitting antenna 2402_i Figure 25 The processing unit 2502 uses the second parameter to perform transmission directivity control and generates a "sensing signal 2701_2 sent using the i-th antenna and the second parameter". The "sensing signal 2701_2 sent using the i-th antenna and the second parameter" is used Figure 25 It should be noted that "sensing signal 2701_2 transmitted using the i-th antenna and the second parameter" is composed of four signals: signal 2503_1, signal 2503_2, signal 2503_3, and signal 2503_4.

[0681] The first device 1201 Figure 24 The transmitting antenna 2402_i Figure 25 The processing unit 2502 uses the zth parameter to perform transmission directivity control and generates a "sensing signal 2701_z sent using the i-th antenna and the zth parameter". The "sensing signal 2701_z sent using the i-th antenna and the zth parameter" is used Figure 25 It should be noted that "sensing signal 2701_z transmitted using the i-th antenna and the z-th parameter" is composed of four signals: signal 2503_1, signal 2503_2, signal 2503_3, and signal 2503_4.

[0682] Figure 28 Yes Figure 27 FIG2 is a diagram showing a configuration example of a “sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter” in FIG2. Note that j is an integer greater than or equal to 1 and less than or equal to z.

[0683] like Figure 28 As shown, it is assumed that "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter" includes, for example, "antenna information 2801" and "parameter information 2802". Figure 28 Although not shown, it is assumed that “sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter” includes a signal used for sensing.

[0684] Assuming that "antenna information 2801" includes information that can identify the used "i-th antenna" (e.g., antenna ID (identification) information), base station #2 1202_2, having received "sensing signal 2701_j transmitted using the i-th antenna and j-th parameters," can obtain information about the antenna used by first device 1201 when transmitting the sensing signal.

[0685] Furthermore, it is assumed that "parameter information 2802" includes information (parameter ID, etc.) that can identify the parameters used for transmission directivity control. Therefore, base station #2 1202_2, which has received "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter," can obtain information on the transmission directivity control parameters used by first device 1201 when transmitting the sensing signal.

[0686] It should be noted that the base station #2 of the first device 1201 or 1202_2 may also transmit the above information together with the above information. Figure 28 Reference signal 2899 (for sensing) is transmitted using the i-th antenna and the j-th parameter.

[0687] exist Figure 23B In steps 2304 and 2312, base station #2 at 1202_2 is able to receive one of the signals in "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameters" in sensing frame 2601 transmitted by first device 1201. Next, base station #2 at 1202_2 receives "antenna information 2801" and "parameter information 2802" of the received "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameters" as feedback information and transmits this feedback information to first device 1201.

[0688] The base station #2 of 1202_2 can obtain the feedback information and know the transmission directivity, i.e., the direction, of the signal received by the base station #2 of 1202_2, that is, it can estimate Figure 23A The angle formed by the "line segment formed by the first device 1201 and the base station #2 of 1202_2" and the "line segment formed by the first device 1201 and the target (object) 1203".

[0689] Therefore, base station #2 of 1202_2 obtains Figure 23A The position of the target (object) 1203 can be estimated by using the “angle formed by the line segment formed by the base station #2 of 1202_2 and the first device 1201” and the “angle formed by the line segment formed by the base station #2 of 1202_2 and the target 1203”, the “angle formed by the line segment formed by the first device 1201 and the base station #2 of 1202_2” and the “line segment formed by the first device 1201 and the target (object) 1203”, and the “distance between the first device 1201 and the base station #2 of 1202_2”.

[0690] It should be explained that Figure 28 In the figure, although "antenna information 2801" and "parameter information 2802" are described separately, the information may be generated without being distinguished.

[0691] For example, in the case of "1st antenna, 1st parameter", let In the case of "1st antenna, 2nd parameter", let In the case of "2nd antenna, 1st parameter", let In the case of "2nd antenna, 2nd parameter", let ···, and attach the ID in this way.

[0692] Next, for example, the "sensing signal transmitted using the first antenna and the first parameter" includes , and the first device 1201 sends a "sensing signal sent using the first antenna and the first parameters."

[0693] The "sensing signal transmitted using the first antenna and the second parameter" includes , and the first device 1201 sends a "sensing signal sent using the first antenna and the second parameters."

[0694] The "sensing signal transmitted using the second antenna and the first parameter" includes , and the first device 1201 sends a "sensing signal sent using the second antenna and the first parameters."

[0695] The "sensing signal transmitted using the second antenna and the second parameter" includes , and the first device 1201 sends a "sensing signal sent using the second antenna and the second parameters."

[0696] Next, the base station #2 of 1202_2 transmits the ID information of the received "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter" (for example, …) as feedback information, and sends the feedback information to the first device 1201.

[0697] The first device 1201 can obtain the feedback information and know the transmission directivity, that is, the direction, of the signal received by the base station #2 of 1202_2, that is, it can estimate the angle formed by the "line segment formed by the first device 1201 and the base station #2 of 1202_2" and the "line segment formed by the first device 1201 and the target (object) 1203".

[0698] Therefore, base station #2 of 1202_2 obtains Figure 23A The “angle formed by the line segment formed by the base station #2 of 1202_2 and the first device 1201” and the “line segment formed by the base station #2 of 1202_2 and the target 1203”, “the angle formed by the line segment formed by the first device 1201 and the base station #2 of 1202_2” and the “line segment formed by the first device 1201 and the target (object) 1203”, and “the distance between the first device 1201 and the base station #2 of 1202_2” can be used to estimate the position of the target (object) 1203.

[0699] illustrate Figure 23B Another example of the actions of 2304, 2312, 2313, and 2305.

[0700] The base station #2 of 1202_2 receives the sensing signal sent by the first device 1201 and estimates the direction of arrival, thereby being able to estimate the direction of arrival. Figure 23A The angle formed by the “line segment formed by the base station #2 of 1202_2 and the first device 1201” and the “line segment formed by the base station #2 of 1202_2 and the target 1203” in .

[0701] Moreover, in Figure 23A In the example, triangulation can be performed by estimating the sum of the "line segment formed by the first device 1201 and the target (object) 1203" and the "line segment formed by the target (object) 1203 and the base station #2 of 1202_2".

[0702] Therefore, the first device 1201 is as follows Figure 23B2304, the base station #2 of 1202_2 receives the sensing signal (2312), estimates the sum of the "line segment formed by the first device 1201 and the target (object) 1203" and the "line segment formed by the target (object) 1203 and the base station #2 of 1202_2", and transmits the information of the estimated value to the first device 1201. In addition, the base station #2 of 1202_2 transmits the estimation result of the received incoming direction to the first device 1201. Figure 24 、 Figure 25 、 Figure 26 、 Figure 27 、 Figure 28 The method of transmitting the sensing signal transmitted by first device 1201 has been described, so the description thereof will be omitted.

[0703] In this way, the first device 1201 can estimate the position of the target (object) 1203 based on the "distance between the first device 1201 and the base station #2 of 1202_2", "the sum of the 'line segment formed by the first device 1201 and the target (object) 1203' and the 'line segment formed by the target (object) 1203 and the base station #2 of 1202_2'", and "the angle formed by the 'line segment formed by the base station #2 of 1202_2 and the first device 1201' and the 'line segment formed by the base station #2 of 1202_2 and the target 1203'".

[0704] By implementing in this manner, triangulation can be achieved, thereby achieving the effect of being able to determine the position of the target.

[0705] It should be noted that in this embodiment, when there are two devices (referred to as "device #A" and "device #B"), when device #A or device #B sends radio waves and device #A or device #B estimates the "distance between device #A and device #B", device #A or device #B can also estimate the arrival direction and use the estimated value of the arrival direction to further estimate the target position with high precision.

[0706] Similarly, when device #A transmits radio waves and estimates the distance between device #A and the target, device #A can also estimate the direction of arrival and use the estimated value of the direction of arrival to further estimate the position of the target with high precision.

[0707] In addition, when device #A or device #B sends radio waves and device #A or device #B estimates the direction of arrival, device #A or device #B can also estimate the "distance between device #A and device #B" and use the estimated value of the "distance between device #A and device #B" to further estimate the target's position with high precision.

[0708] When device #A sends radio waves and estimates the direction of arrival of the radio waves, for example, due to reflection from a target, device #A can also estimate the "distance between device #A and the target" and use this "distance between device #A and the target" to further estimate the target's position with high precision.

[0709] It should be noted that although Figure 15A 、 Figure 15B 、 Figure 15C 、 Figure 15D 、 Figure 15E 、 Figure 15F 、 Figure 23B These are examples of the operation flow of the first device and the base station, but these are merely examples, and the order of operations may be different from the order shown in the figure.

[0710] In addition, similarly to the second embodiment, Figure 23B In the action flow, the first device 1201 may also change the base station requested for sensing in order to improve the accuracy of the target position estimation.

[0711] For example, the base station #2 of 1202_2 performs "sending 2313 of the arrival direction estimation result and feedback information". When the first device 1201 receives the above-mentioned arrival direction estimation result and feedback information and determines that it may not be possible to estimate the position of the target with high precision as described in the second embodiment, the first device 1201 may also change the base station requested for sensing.

[0712] Furthermore, when the first device 1201 estimates the position of the target ( 2305 ) and determines that the position of the target cannot be estimated with high accuracy, the first device 1201 may request another base station to perform sensing.

[0713] (Fourth embodiment)

[0714] In this embodiment, an example different from the second embodiment will be described.

[0715] Figure 29 : is a diagram showing an example of a "sensing system" or "sensing and communication system" in this embodiment. Figure 29 In, with Figure 12 Parts that perform the same operations are assigned the same reference numerals.

[0716] exist Figure 29 In the embodiment, the third device 2903 communicates with the first device 1201 using the third frequency (frequency band).

[0717] The 4_1st device in 2904_1, the 4_2nd device in 2904_2, ..., and the 4_Qth device in 2904_Q communicate using the fourth frequency (frequency band).

[0718] It should be noted that, for example, there is a method in which the third frequency (frequency band) is set to FR (Frequency Range) 1 and / or FR2, and the fourth frequency (frequency band) is set to a frequency of 52.6 GHz or higher. However, FR1 is set to "frequencies between 450 MHz and below 6 GHz," and FR2 is set to "frequencies between 24.25 GHz and 52.6 GHz." Furthermore, as another example, the fourth frequency (frequency band) may be a frequency higher than the third frequency (frequency band). As yet another example, the third frequency (frequency band) may be set to FR1, and the fourth frequency (frequency band) may be set to FR2.

[0719] Furthermore, it is assumed that the third device 2903 communicates with the 4_1st device in 2904_1, the 4_2nd device in 2904_2, ..., and the 4_Qth device in 2904_Q. The communication in this case may be wireless communication or wired communication.

[0720] Regarding "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q", two of these devices may be capable of communicating. In this case, the communication may be wireless or wired.

[0721] The target (object) 1203 is an object whose position is estimated through sensing.

[0722] In this embodiment, as an example, a method of "the first device 1201 and the 4_1 device of 2904_1 perform the triangulation described in the first embodiment", "the first device 1201 and the 4_2 device of 2904_2 perform the triangulation described in the first embodiment", ..., "the first device 1201 and the 4_Q device of 2904_Q perform the triangulation described in the first embodiment" is described.

[0723] Here, it is assumed that first device 1201 performs triangulation by sensing. In this case, first device 1201 performs triangulation by sensing with one of "device 4_1 in 2904_1, device 4_2 in 2904_2, ..., device 4_Q in 2904_Q." However, it is assumed that device 4_i in 2904_i may not correspond to the device 4_i being sensed, due to factors such as the size or installation time. Note that i is an integer between 1 and Q.

[0724] Therefore, it is assumed that "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" sends a message including the following: Figure 30 For example, it is assumed that "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q" transmits control information including information 3001 related to sensing capability using PBCH, PDSCH, or PDCCH.

[0725] The channel for transmitting the control information is not limited to the above example. In addition, "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q" can transmit the information 3001 related to the sensing capability to either the first device 1201 or the third device 2903.

[0726] Figure 30 FIG is a diagram for explaining an example of information related to sensing capability. Figure 30 As shown, it is assumed that the information 3001 related to the sensing capability includes at least one of "information 3011 related to sensing feasibility", "information 3012 related to whether the sensing request from the first device 1201 can be implemented", and "information 3013 related to whether the sensing request from the first device 1201 can be accepted".

[0727] Specific examples of “information 3011 on sensing feasibility,” “information 3012 on feasibility of sensing request from first device 1201,” and “information 3013 on feasibility of sensing request from first device 1201” are as follows.

[0728] "Information 3011 related to sensing availability":

[0729] This information is used to notify, for example, the first device 1201, the repeater, other 4_x devices, the third device 2903, etc., of "whether the 4_ith device 2904_i can perform sensing."

[0730] Therefore, it is assumed that at least when the information "sensing is possible" is included as "information 3011 regarding sensing feasibility", the 4_i device 2904_i has a sensing function. In addition, it is assumed that the 4_i device 2904_i has a communication function. It should be noted that the specific structure has been described in the first embodiment and therefore will be omitted.

[0731] "Information 3012 on whether the sensing request from the first device 1201 can be implemented":

[0732] This information is used to notify, for example, first device 1201, third device 2903, etc., whether sensing is possible when the 4_ith device 2904_i receives a sensing request from first device 1201 (a request for first device 1201 to sense the terminal).

[0733] It should be noted that although the information herein refers to "information 3012 regarding the feasibility of a sensing request from the first device 1201," the "information 3012 regarding the feasibility of a sensing request from the first device 1201" may also refer to "information regarding the feasibility of a sensing request from a device other than the first device 1201, such as a repeater, the third device 2903, or another base station." The details of the "sensing request" will be described later.

[0734] "Information 3013 on whether the sensing request from the first device 1201 can be accepted":

[0735] This information is used to notify, for example, first device 1201 of whether to accept sensing from first device 1201 when the 4_ith device 2904_i receives a sensing request from first device 1201 (a request from first device 1201 to sense the terminal).

[0736] Therefore, even if there is a sensing request from the first device 1201, there are modes when the 4_i-th device 2904_i "accepts" and "does not accept".

[0737] It should be noted that although the information herein refers to "information 3013 regarding the acceptability of a sensing request from the first device 1201," the "information 3013 regarding the acceptability of a sensing request from the first device 1201" may also refer to "information regarding the acceptability of a sensing request from a device other than the first device 1201, such as a repeater, the third device 2903, or another base station." The details of the "sensing request" will be described later.

[0738] As a result, the first device 1201, the repeater, the third device 2903, other base stations, etc. can know the sensing of the base station and the status of the sensing request, thereby being able to obtain the effect of being able to perform appropriate "sensing-related control and communication with the 4_i device 2904_i".

[0739] Should be explained, the above will be sent Figure 30The device for transmitting the information 3001 related to the sensing capability is described as the 4th_i device of 2904_i, but this is only an example, and the information 3001 related to the sensing capability may also be transmitted by a communication device such as a repeater, a terminal, an access point, or the third device 2903.

[0740] In addition, for the Figure 30 Although "information 3012 regarding the feasibility of a sensing request from first device 1201" and "information 3013 regarding the acceptability of a sensing request from first device 1201" sent by a device that displays information 3001 regarding sensing capabilities are described as "sensing request from first device 1201...", these may also be sensing requests from communication devices other than first device 1201, such as base stations, repeaters, access points, or third device 2903. Therefore, information 3012 may be represented as "information regarding the feasibility of a sensing request from a communication device," and information 3013 may be represented as "information regarding the acceptability of a sensing request from a communication device."

[0741] Next, we will explain how to use Figure 29 Sensing is performed by the 1st device 1201 and the 4th device 2904_1.

[0742] First device 1201 can be a terminal capable of communicating with third device 2903 and the fourth-i device of 2904_i. First device 1201 can also be a base station (or an access point, repeater, etc.). Furthermore, first device 1201 can also be the fourth-x device of 2904_x (where x is, for example, a natural number). Third device 2903 can be a base station, a terminal, a repeater, an access point, etc. Fourth-i device of 2904_i can be a base station, a terminal, a repeater, an access point, etc.

[0743] The following description is based on the case where the first device 1201 is a terminal, but the same implementation is applicable even if the first device 1201 is a base station, access point, or repeater. However, additional explanation will be provided when the first device 1201 is a base station and a special operation occurs.

[0744] In this embodiment, triangulation is used. Specific examples of triangulation methods have been described in the first embodiment. The first and second methods are triangulation methods based on a technique for obtaining distance information through sensing.

[0745] On the other hand, the third method and the fourth method are triangulation-based techniques for obtaining information on the (arrival) direction (however, the distance may also be obtained in some cases) by performing sensing.

[0746] Below, for Figure 29 , divided into distance-based triangulation with the first method and the second method as examples, and direction-based triangulation with the third method and the fourth method as examples.

[0747] The case of distance-based triangulation:

[0748] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0749] The first device 1201 receives the data sent by "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q". Figure 30 The information 3001 related to the sensing capability is obtained, and the corresponding sensing status of "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" is obtained.

[0750] As another method, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" may also be Figure 30 Information 3001 related to sensing capabilities is sent to third device 2903. Third device 2903 may also use the third frequency to transmit control information containing information related to the sensing capabilities of each of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q." This allows first device 1201 to understand the sensing capabilities of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q."

[0751] In the following, as an example, it is assumed that "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing, and it is assumed that when there is a sensing request from a terminal such as the 1st device 1201, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing actions in response to the sensing request.

[0752] Figure 31 Yes Figure 29 Figure 1 shows an example of a sensing process in a system example. Figure 31 In the example, it is assumed that the first device 1201 has at least obtained information on the distance between the first device 1201 and the 4_1 device 2904_1 before estimating the target (object) position 3104 .

[0753] In addition, Figure 31 In the example, it is assumed that the first device 1201 has obtained the information "the distance between the first device 1201 and the 4_i device 2904_i" before "selecting the 4_i device 3102 of 2904_i for target sensing (sensing target)" (i is an integer greater than 1 and less than Q).

[0754] In the description Figure 31 Before, use Figure 32A 、 Figure 32B 、 Figure 32C 、 Figure 32D 、 Figure 32E 、 Figure 32F 、 Figure 32G 、 Figure 32H A method of obtaining information on "the distance between the first device 1201 and the 4_1 device 2904_1" will be described.

[0755] exist Figure 32A In the example, first, the 4_ith device in 2904_i transmits a signal (3201). Next, the first device 1201 receives this signal and estimates the distance between the first device 1201 and the 4_1th device in 2904_1 (3202). The detailed method for distance estimation has been described in the first embodiment, so its further explanation is omitted.

[0756] As another method, Figure 32B In the example, first device 1201 transmits a signal to device 4_i in 2904_i (3211). Next, device 1201 receives the signal and estimates the distance between device 1201 and device 4_1 in 2904_1 (3212). The detailed method for distance estimation has been described in the first embodiment, so its further explanation is omitted.

[0757] As another method, Figure 32C In the example, first, device 1201 transmits a signal to device 2904_i's (4_i) (3221). Device 2904_i's (4_i) receives the signal and estimates the distance between device 1201 and device 2904_i's (4_i) (3222). Device 2904_i's (4_i) transmits a modulated signal containing information about the distance between device 1201 and device 2904_i's (4_i) to device 1201 (3223). Device 1201 receives the modulated signal containing information about the distance between device 1201 and device 2904_i's (4_i) and obtains information about the distance between device 1201 and device 2904_i's (4_i) (3224).

[0758] As another method, when first device 1201 is a base station or a fixed terminal, first device 1201 and the 4th_i device of 2904_i may obtain the "distance between first device 1201 and the 4th_i device of 2904_i" in advance.

[0759] First device 1201 and the 4th_i device in 2904_i can also obtain their locations using a location estimation system such as GPS. Subsequently, the 4th_i device in 2904_i can also transmit its own location information to first device 1201. First device 1201 can then calculate the distance between first device 1201 and the 4th_i device in 2904_i based on its own location information and the location information of the 4th_i device in 2904_i. Subsequently, first device 1201 can also transmit its own location information to the 4th_i device in 2904_i. The 4th_i device in 2904_i can then calculate the distance between first device 1201 and the 4th_i device in 2904_i based on its own location information and the location information of first device 1201.

[0760] As another method, Figure 32D In the example, first device 1201 transmits a signal to device 4_i in 2904_i (3231). Device 4_i in 2904_i then receives the signal and estimates the distance between device 1201 and device 4_i in 2904_i (3232). The detailed method for distance estimation has been described in the first embodiment, so its further explanation is omitted.

[0761] As another method, Figure 32E In the example, first, the 4_ith device 2904_i sends a signal to the first device 1201 (3241). Next, the 4_ith device 2904_i receives the signal and estimates the distance between the first device 1201 and the 4_ith device 2904_i (3242). The detailed method for distance estimation has been described in the first embodiment, so its further explanation is omitted.

[0762] As another method, Figure 32FIn the example, first, the 4_i device of 2904_i transmits a signal to the first device 1201 (3251). Next, the first device 1201 receives the signal and estimates the distance between the first device 1201 and the 4_i device of 2904_i (3252). The first device 1201 transmits a modulated signal containing information about the distance between the first device 1201 and the 4_i device of 2904_i to the 4_i device of 2904_i (3253). The 4_i device of 2904_i receives the modulated signal containing information about the distance between the first device 1201 and the 4_i device of 2904_i and obtains information about the distance between the first device 1201 and the 4_i device of 2904_i (3254).

[0763] As another method, Figure 32G In the example, first device 1201 transmits a signal to device 2904_i (4_i) (3261). Device 2904_i (4_i) receives the signal and estimates the distance between device 1201 and device 2904_i (4_i) (3262). Device 2904_i (4_i) transmits a modulated signal containing the distance between device 1201 and device 2904_i (4_i) to device 2903 (3263). The third device 2903 obtains the information "the distance between the first device 1201 and the 4_i device of 2904_i" (3264), and the third device 2903 sends a modulated signal containing the information "the distance between the first device 1201 and the 4_i device of 2904_i" to the first device 1201 (3265). The first device 1201 obtains the information "the distance between the first device 1201 and the 4_i device of 2904_i" (3266).

[0764] As another method, Figure 32HIn the embodiment, first, the 4_i device 2904_i transmits a signal to the first device 1201 (3271). Next, the 4_i device 2904_i receives the signal and estimates the distance between the first device 1201 and the 4_i device 2904_i (3272). The detailed method for distance estimation has been described in the first embodiment, so its explanation is omitted. The 4_i device 2904_i transmits a modulated signal containing information about the distance between the first device 1201 and the 4_i device 2904_i to the third device 2903 (3273). The third device 2903 obtains the information "the distance between the first device 1201 and the 4_i device of 2904_i" (3274), and the third device 2903 sends a modulated signal containing the information "the distance between the first device 1201 and the 4_i device of 2904_i" to the first device 1201 (3275). The first device 1201 obtains the information "the distance between the first device 1201 and the 4_i device of 2904_i" (3276).

[0765] Above, use Figures 32A to 32H An example of a method for obtaining information on "the distance between the first device 1201 and the 4_1 device 2904_1" has been described.

[0766] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0767] exist Figure 31 First, the first device 1201 implements Figure 29 The target (object) 1203 is sensed and an estimated value of the “distance between the first device 1201 and the target 1203” is obtained (3101).

[0768] Based on the estimated value of the distance between the first device 1201 and the target 1203 and the information of the distance between the first device 1201 and the 4_i device 2904_i, the first device 1201 selects the 4_i device 2904_i for which the distance estimation to the target 1203 is requested (3102).

[0769] In addition to the explanation, Figure 31 In the example, suppose the first device 1201 selects Figure 29 The 4_1st device 2904_1 is used as the 4_ith device 2904_i that requests distance estimation to the target 1203. However, if the 4_ith device 2904_i that requests distance estimation to the target 1203 has already been determined (in advance), "selection of the 4_ith device 3102 2904_i for target sensing (target sensing)" is not required.

[0770] The first device 1201 transmits request information for "estimating the distance to the target 1203" to the third device 2903 (3103).

[0771] The third device 2903 receives the request information of "estimating the distance to the target 1203" and sends the request information of "estimating the distance to the target 1203" to the fourth_1st device 2904_1 (3121).

[0772] The 4_1st device 2904_1 receives the request information of "estimating the distance to the target 1203" and responds "whether to accept the request" (3111). In addition, the case of "accepting the request" is used as an example for description.

[0773] The third device 2903 receives the response information of the request and then transmits the response information of the request to the first device 1201 (3122).

[0774] The 4_1st device 2904_1 transmits a signal for sensing and obtains an estimated value of “the distance between the 4_1st device 2904_1 and the target 1203 ” ( 3112 ).

[0775] The 4_1st device 2904_1 transmits information on “the distance between the 4_1st device 2904_1 and the target 1203” to the third device 2903 ( 3113 ).

[0776] The third device 2903 receives the information "the distance between the 4_1st device of 2904_1 and the target 1203", and transmits the information "the distance between the 4_1st device of 2904_1 and the target 1203" to the first device 1201 (3123).

[0777] The first device 1201 obtains the information of "the distance between the 4_1 device of 2904_1 and the target 1203", and uses "the distance between the first device 1201 and the 4_i device of 2904_i", "the distance between the first device 1201 and the target 1203", and "the distance between the 4_1 device of 2904_1 and the target 1203" to perform triangulation, for example, to estimate the position of the target 1203 (3104).

[0778] The first device 1201 transmits the "location of the object 1203" information to the third device 2903 (3105).

[0779] The third device 2903 receives the "location of the target 1203" information and sends the "location of the target 1203" information to the fourth_1 device 2904_1 (3124).

[0780] Note that, when there is no need to share the "location of object 1203" information with the 4_1st device 2904_1, the first device 1201 does not need to transmit the "location of object 1203" information to the third device 2903.

[0781] By implementing in this manner, the distance-based triangulation described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0782] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, achieving highly accurate sensing. This effect is due to the relationship between the third and fourth frequencies.

[0783] Next, use Figure 33 Description and Figure 31 Examples of different processes for sensing. Figure 33 is a diagram showing another example of a process for sensing. Figure 33 In, with Figure 31 Parts that perform the same action are given the same reference numerals. Figure 33 In, with Figure 31 The differences between Figure 33 In, with Figure 31 The differences between them are as follows.

[0784] The difference is: "In Figure 31 In the example, the 4_i device (3102) of 2904_i is selected by the 1st device 1201 for sensing the target 1203 (sensing the target), and Figure 33 In the example, the third device 2903 selects the 4th_i device (3399) of 2904_i for sensing the target 1203 (sensing the target) for the first device 1201.

[0785] like Figure 33 As shown, the first device 1201 sends a request message "estimate the distance to the target 1203" to the third device 2903 (3103). It should be noted that at this time, the first device 1201 may also send the information "the distance to the target 1203" to the third device 2903.

[0786] Next, the third device 2903 is used to monitor the first device 1201 based on the information of the “distance to the target 1203” and the corresponding status of the sensing of the fourth device 2904_i ( Figure 30Based on the information 3001 related to the sensing capability, etc., the 4_i device (3399) of 2904_i that implements "estimating the distance to the target 1203" is selected.

[0787] Note that, here, it is assumed that the device performing sensing is the 4_1th device in 2904_1. However, if the 4_ith device in 2904_i that is requested to estimate the distance to the target 1203 has already been determined (in advance), "selecting the 4_ith device 3399 in 2904_i for target sensing (target sensing)" does not necessarily need to be performed.

[0788] for Figure 33 The action after 3399 has been used Figure 31 The description has been given, so the description is omitted.

[0789] By implementing in this manner, the distance-based triangulation described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0790] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, achieving highly accurate sensing. This effect is due to the relationship between the third and fourth frequencies.

[0791] Next, use Figure 34 Another example of using distance-based triangulation using the first and second methods will be described.

[0792] Figure 34 This is a diagram showing another example of a sensing process. Assume that the first device 1201 receives data sent by "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q". Figure 30 The information 3001 related to the sensing capability is obtained, and the corresponding sensing status of "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" is obtained.

[0793] As another method, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" may be Figure 30Information 3001 related to sensing capabilities is sent to third device 2903. Third device 2903 uses the third frequency to transmit control information containing information related to the sensing capabilities of each of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q." This allows first device 1201 to obtain the sensing capabilities of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q."

[0794] In the following, as an example, it is assumed that "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing, and it is assumed that when there is a sensing request from a terminal such as the 1st device 1201, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing actions in response to the sensing request.

[0795] In addition, Figure 34 In the example, it is assumed that the first device 1201 has at least obtained the information of "the distance between the first device 1201 and the 4_1 device 2904_1" before "estimating the position 3413 of the target (object). Figure 34 In the example, it is assumed that the first device 1201 has obtained information about the distance between the first device 1201 and the 4_i device 2904_i before "selecting the 4_i device 3402 of 2904_i for target sensing (sensing target)" (i is an integer greater than 1 and less than Q).

[0796] In addition, the method for obtaining the information of "the distance between the first device 1201 and the fourth device 2904_1" has been used. Figure 32A 、 Figure 32B 、 Figure 32C 、 Figure 32D 、 Figure 32E 、 Figure 32F 、 Figure 32G 、 Figure 32H The description has been given, so the description is omitted.

[0797] As another method, when first device 1201 is a base station or a fixed terminal, first device 1201 and the 4th_i device of 2904_i may obtain the "distance between first device 1201 and the 4th_i device of 2904_i" in advance.

[0798] Alternatively, first device 1201 and the 4th_i device of 2904_i may obtain their locations using a location estimation system such as GPS. Subsequently, the 4th_i device of 2904_i may transmit its own location information to first device 1201, and first device 1201 may calculate the distance between first device 1201 and the 4th_i device of 2904_i based on its own location information and the location information of the 4th_i device of 2904_i. Subsequently, first device 1201 may transmit its own location information to the 4th_i device of 2904_i, and the 4th_i device of 2904_i may calculate the distance between first device 1201 and the 4th_i device of 2904_i based on its own location information and the location information of first device 1201.

[0799] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0800] exist Figure 34 First, the first device 1201 implements Figure 29 The target (object) 1203 is sensed and an estimated value of the “distance between the first device 1201 and the target 1203” is obtained (3401).

[0801] The first device 1201 selects the 4_i device 2904_i for which it requests estimation of the distance to the target 1203 based on the estimated value of the distance between the first device 1201 and the target 1203 and the information of the distance between the first device 1201 and the 4_i device 2904_i (3402).

[0802] It should be explained that Figure 34 In the example, suppose the first device 1201 selects Figure 29 The 4_1st device 2904_1 is used as the 4_ith device 2904_i that requests distance estimation to the target 1203. However, if the 4_ith device 2904_i that requests distance estimation to the target 1203 has already been determined (in advance), "selection of the 4_ith device 3402 2904_i for target sensing (target sensing)" is not required.

[0803] First device 1201 transmits request information for "estimating the distance to target 1203" to third device 2903. In addition, first device 1201 transmits information on the estimated value of "the distance between first device 1201 and target 1203" to third device 2903 (3403).

[0804] The third device 2903 receives the request information of "estimate the distance between the target 1203" and the information of the estimated value of "the distance between the first device 1201 and the target 1203", and sends the request information of "estimate the distance between the target 1203" and the information of the estimated value of "the distance between the first device 1201 and the target 1203" to the 4_1 device (3421) of 2904_1.

[0805] The 4_1st device of 2904_1 receives the request information of "estimating the distance to the target 1203" and responds "whether to accept the request" (3411). In addition, the case of "accepting the request" is used as an example for description.

[0806] The third device 2903 receives the response information of the request. Then, the third device 2903 sends the response information of the request to the first device 1201 (3422).

[0807] The 4_1st device of 2904_1 transmits a signal for sensing and obtains an estimated value of “the distance between the 4_1st device of 2904_1 and the target 1203 ” ( 3412 ).

[0808] The 4_1st device of 2904_1 uses the “distance between the 1st device 1201 and the 4_ith device of 2904_i”, the “distance between the 1st device 1201 and the target 1203”, and the “distance between the 4_1st device of 2904_1 and the target 1203” to perform triangulation, for example, to estimate the position of the target 1203 (3413).

[0809] The 4_1st device of 2904_1 transmits the “location of the target 1203” information to the 3rd device 2903 (3414).

[0810] The third device 2903 receives the "location of the target 1203" information and transmits the "location of the target 1203" information to the first device 1201 (3423).

[0811] Note that, when there is no need to share the “location of the object 1203 ” information with the first device 1201 , the 4_1st device 2904_1 may not transmit the “location of the object 1203 ” information to the third device 2903 .

[0812] By implementing in this manner, the distance-based triangulation described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0813] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, resulting in highly accurate sensing. This effect is due to the relationship between the third frequency and the fourth frequency.

[0814] Next, use Figure 35 Description and Figure 34 Different embodiments. Figure 35 is a diagram showing another example of a process for sensing. Figure 35 In, with Figure 34 Parts that perform the same action are given the same reference numerals. Figure 35 In, with Figure 34 The differences between Figure 35 In, with Figure 34 The differences between them are as follows.

[0815] The difference is: "In Figure 34 In the example, the 4th_i device (3402) of 2904_i is selected by the first device 1201 for sensing the target 1203 (sensing the target), and Figure 35 In the example, the third device 2903 selects the 4th_i device (3599) of 2904_i for sensing the target 1203 (sensing the target) for the first device 1201.

[0816] like Figure 35 As shown, the first device 1201 sends a request message "estimate the distance to the target 1203" to the third device 2903 (3403). In this case, the first device 1201 may also send the information "the distance to the target 1203" to the third device 2903.

[0817] Next, the third device 2903 is used to monitor the first device 1201 based on the information of the “distance to the target 1203” and the corresponding status of the sensing of the fourth device 2904_i ( Figure 30 Based on the information 3001 related to the sensing capability, etc., the 4_i device (3599) of 2904_i that implements "estimating the distance to the target 1203" is selected.

[0818] Note that, here, it is assumed that the device performing sensing is the 4_1th device in 2904_1. However, if the 4_ith device in 2904_i that is requested to estimate the distance to the target 1203 has already been determined (in advance), "selecting the 4_ith device 3599 in 2904_i for target sensing (target sensing)" does not necessarily need to be performed.

[0819] for Figure 35 The action after 3599 has been used Figure 34 The description has been given, so the description is omitted.

[0820] By implementing in this manner, the distance-based triangulation described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0821] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, achieving highly accurate sensing. This effect is due to the relationship between the third and fourth frequencies.

[0822] The case of direction-based triangulation:

[0823] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0824] Assume that the first device 1201 receives the data sent by "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q". Figure 30 The information 3001 related to the sensing capability is obtained, and the corresponding sensing status of "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" is obtained.

[0825] As another method, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" may be Figure 30 Information 3001 related to sensing capabilities is sent to third device 2903. Third device 2903 uses the third frequency to transmit control information containing information related to the sensing capabilities of each of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q." This allows first device 1201 to obtain the sensing capabilities of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q."

[0826] In the following, as an example, it is assumed that "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing, and it is assumed that when there is a sensing request from a terminal such as the 1st device 1201, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing actions in response to the sensing request.

[0827] In addition, Figure 31 In , it is assumed that the first device 1201 has at least obtained the information of "the distance between the first device 1201 and the 4_1 device 2904_1" before "estimating the position 3104 of the target (object). Figure 31 In the example, it is assumed that the first device 1201 has obtained the information "the distance between the first device 1201 and the 4_i device 2904_i" before "selecting the 4_i device 1402 of 2904_i for target sensing (sensing target)" (i is an integer greater than 1 and less than Q).

[0828] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the fourth device 2904_1" has been used. Figure 32A 、 Figure 32B 、 Figure 32C 、 Figure 32D 、 Figure 32E 、 Figure 32F 、 Figure 32G 、 Figure 32H The description has been given, so the description is omitted.

[0829] As another method, when first device 1201 is a base station or a fixed terminal, first device 1201 and the 4th_i device of 2904_i may obtain the "distance between first device 1201 and the 4th_i device of 2904_i" in advance.

[0830] Alternatively, first device 1201 and the 4th_i device of 2904_i may obtain their locations using a location estimation system such as GPS. Subsequently, the 4th_i device of 2904_i may transmit its own location information to first device 1201, and first device 1201 may calculate the distance between first device 1201 and the 4th_i device of 2904_i based on its own location information and the location information of the 4th_i device of 2904_i. Subsequently, first device 1201 may transmit its own location information to the 4th_i device of 2904_i, and the 4th_i device of 2904_i may calculate the distance between first device 1201 and the 4th_i device of 2904_i based on its own location information and the location information of first device 1201.

[0831] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0832] exist Figure 31 First, the first device 1201 implements Figure 29 The target (object) 1203 is sensed and an estimated value (3101) of the "(arrival) direction of the first device 1201 and the target 1203" is obtained.

[0833] The first device 1201 selects the 4_i device (3102) of 2904_i that requests estimation of the (arrival) direction between the first device 1201 and the target 1203 based on the estimated value of the "(arrival) direction between the first device 1201 and the target 1203" and the information of the "distance between the first device 1201 and the 4_i device of 2904_i".

[0834] It should be noted that Figure 31 In the example, suppose the first device 1201 selects Figure 29 The 4_1st device in 2904_1 is selected as the 4_ith device in 2904_i that requests estimation of the direction (of arrival) to the target 1203. However, if the 4_ith device in 2904_i that requests estimation of the direction (of arrival) to the target 1203 has already been determined (in advance), "selection of the 4_ith device 3102 in 2904_i for target sensing (target sensing)" is not required.

[0835] Next, the first device 1201 transmits request information for "estimating the (arrival) direction to the target 1203" to the third device 2903 (3103).

[0836] The third device 2903 receives the request information of "estimate the (arrival) direction to the target 1203" and sends the request information of "estimate the (arrival) direction to the target 1203" to the fourth_1 device (3121) of 2904_1.

[0837] The 4_1st device of 2904_1 receives the request information of "estimating the (arrival) direction to the target 1203" and responds "whether to accept the request" (3111). In addition, the case of "accepting the request" is used as an example for description.

[0838] The third device 2903 receives the response information of the request and then transmits the response information of the request to the first device 1201 (3122).

[0839] The 4_1st device of 2904_1 transmits a signal for sensing and obtains an estimated value of the “(arrival) direction of the 4_1st device of 2904_1 and the target 1203” ( 3112 ).

[0840] The 4_1st device 2904_1 transmits information on the “(arrival) direction of the 4_1st device 2904_1 and the target 1203” to the third device 2903 ( 3113 ).

[0841] The third device 2903 receives the information "the (arrival) direction of the 4_1st device of 2904_1 and the target 1203", and transmits the information "the (arrival) direction of the 4_1st device of 2904_1 and the target 1203" to the first device 1201 (3123).

[0842] The first device 1201 obtains the information of "the (arrival) direction of the 4_1st device of 2904_1 and the target 1203", and uses "the distance between the first device 1201 and the 4_ith device of 2904_i", "the (arrival) direction of the first device 1201 and the target 1203", and "the (arrival) direction of the 4_1st device of 2904_1 and the target 1203" to perform triangulation, for example, to estimate the position of the target 1203 (3104).

[0843] The first device 1201 transmits the "location of the object 1203" information to the third device 2903 (3105).

[0844] The third device 2903 receives the "location of the target 1203" information and sends the "location of the target 1203" information to the fourth_1 device 2904_1 (3124).

[0845] Note that, when there is no need to share the "location of object 1203" information with the 4_1st device 2904_1, the first device 1201 does not need to transmit the "location of object 1203" information to the third device 2903.

[0846] By implementing in this manner, the distance-based triangulation described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0847] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, resulting in highly accurate sensing. This effect is due to the relationship between the third frequency and the fourth frequency.

[0848] Next, use Figure 33 Description and Figure 31 Different embodiments. Figure 33 In, with Figure 31 Parts that perform the same action are given the same reference numerals. Figure 33 In, with Figure 31 The differences between Figure 33 In, with Figure 31 The differences between them are as follows.

[0849] The difference is: "In Figure 31 In the example, the 4_i device (3102) of 2904_i is selected by the 1st device 1201 for sensing the target 1203 (sensing the target), and Figure 33 In the example, the third device 2903 selects the 4th_i device (3399) of 2904_i for sensing the target 1203 (sensing the target) for the first device 1201.

[0850] like Figure 33 As shown, first device 1201 sends a request message for "estimate the (arrival) direction to target 1203" to third device 2903 (3103). Note that, at this time, first device 1201 may also send the information "the (arrival) direction to target 1203" to third device 2903.

[0851] Next, the third device 2903 is used to monitor the corresponding status of the sensing of the 4_i device 2904_i based on the information of the "direction (towards) the target 1203" of the first device 1201. Figure 30 The 4_ith device (3399) of 2904_i that performs "estimation of the (arrival) direction to the target 1203" is selected based on the information 3001 related to the sensing capability in the data. Note that, here, it is assumed that the device performing sensing is the 4_1th device of 2904_1.

[0852] for Figure 33 The action after 3399 has been used Figure 31 The description has been given, so the description is omitted.

[0853] By implementing in this manner, the distance-based triangulation described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0854] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, achieving highly accurate sensing. This effect is due to the relationship between the third and fourth frequencies.

[0855] Next, use Figure 34 Another example of using direction-based triangulation using the third and fourth methods will be described.

[0856] Assume that the first device 1201 receives the data sent by "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q". Figure 30 The information 3001 related to the sensing capability is obtained, and the corresponding sensing status of "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" is obtained.

[0857] As another method, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" may be Figure 30 Information 3001 related to sensing capabilities is sent to third device 2903. Third device 2903 uses the third frequency to transmit control information containing information related to the sensing capabilities of each of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q." This allows first device 1201 to obtain the sensing capabilities of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q."

[0858] In the following, as an example, it is assumed that "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing, and it is assumed that when there is a sensing request from a terminal such as the 1st device 1201, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing actions in response to the sensing request.

[0859] In addition, Figure 34 In the example, it is assumed that the first device 1201 has obtained at least information about the distance between the first device 1201 and the 4_1 device 2904_1 before estimating the target (object) position 3413 .

[0860] Moreover, in Figure 34 In the example, it is assumed that the first device 1201 has obtained information about the distance between the first device 1201 and the 4_i device 2904_i before "selecting the 4_i device 3402 of 2904_i for target sensing (sensing target)" (i is an integer greater than 1 and less than Q).

[0861] It should be noted that the method for obtaining the information of "the distance between the first device 1201 and the fourth device 2904_1" has been used. Figure 32A 、 Figure 32B 、 Figure 32C 、 Figure 32D 、 Figure 32E 、 Figure 32F 、 Figure 32G 、 Figure 32H The description has been given, so the description is omitted.

[0862] As another method, when first device 1201 is a base station or a fixed terminal, first device 1201 and the 4th_i device of 2904_i may obtain the "distance between first device 1201 and the 4th_i device of 2904_i" in advance.

[0863] Alternatively, first device 1201 and the 4th_i device of 2904_i may obtain their locations using a location estimation system such as GPS. Subsequently, the 4th_i device of 2904_i may transmit its own location information to first device 1201, and first device 1201 may calculate the distance between first device 1201 and the 4th_i device of 2904_i based on its own location information and the location information of the 4th_i device of 2904_i. Subsequently, first device 1201 may transmit its own location information to the 4th_i device of 2904_i, and the 4th_i device of 2904_i may calculate the distance between first device 1201 and the 4th_i device of 2904_i based on its own location information and the location information of first device 1201.

[0864] An example of using direction-based triangulation using the third and fourth methods described in the first embodiment will be described.

[0865] exist Figure 34 First, the first device 1201 implements Figure 29 The target (object) 1203 is sensed and an estimated value (3401) of the "(arrival) direction of the first device 1201 and the target 1203" is obtained.

[0866] The first device 1201 selects the 4_i device (3402) of 2904_i that requests estimation of the (arrival) direction between the first device 1201 and the target 1203 based on the estimated value of the "(arrival) direction between the first device 1201 and the target 1203" and the information of the "distance between the first device 1201 and the 4_i device of 2904_i".

[0867] It should be noted that Figure 34 In the example, suppose the first device 1201 selects Figure 29The 4_1st device in 2904_1 is used as the 4_ith device in 2904_i that requests estimation of the direction (of arrival) to the target 1203. However, if the 4_ith device in 2904_i that requests estimation of the direction (of arrival) to the target 1203 has already been determined (in advance), "selection of the 4_ith device in 2904_i for target sensing (target sensing) 3402" does not need to be performed.

[0868] First device 1201 transmits request information for "estimate the (arrival) direction to target 1203" to third device 2903. In addition, first device 1201 transmits information on the estimated value of "the (arrival) direction between first device 1201 and target 1203" to third device 2903 (3403).

[0869] The third device 2903 receives the request information of "estimated (arrival) direction between target 1203" and the information of estimated value of "(arrival) direction between first device 1201 and target 1203", and sends the request information of "estimated (arrival) direction between target 1203" and the information of estimated value of "(arrival) direction between first device 1201 and target 1203" to the 4_1 device (3421) of 2904_1.

[0870] The 4_1st device of 2904_1 receives the request information of "estimating the (arrival) direction to the target 1203" and responds "whether to accept the request" (3411). In addition, the case of "accepting the request" is used as an example for description.

[0871] The third device 2903 receives the response information of the request and then transmits the response information of the request to the first device 1201 (3422).

[0872] The 4_1st device of 2904_1 transmits a signal for sensing and obtains an estimated value of the “(arrival) direction of the 4_1st device of 2904_1 and the target 1203” ( 3412 ).

[0873] The 4_1st device of 2904_1 uses the "distance between the 1st device 1201 and the 4_ith device of 2904_i", the "(arrival) direction of the 1st device 1201 and the target 1203", and the "4_1st device of 2904_1 and the (arrival) direction of the target 1203" to perform triangulation, for example, to estimate the position of the target 1203 (3413).

[0874] The 4_1st device of 2904_1 transmits the “location of the target 1203” information to the 3rd device 2903 (3414).

[0875] The third device 2903 receives the "location of the target 1203" information and transmits the "location of the target 1203" information to the first device 1201 (3423).

[0876] Note that, when there is no need to share the “location of the object 1203 ” information with the first device 1201 , the 4_1st device 2904_1 may not transmit the “location of the object 1203 ” information to the third device 2903 .

[0877] By implementing in this manner, the triangulation based on the (arrival) direction described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0878] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, resulting in highly accurate sensing. This effect is due to the relationship between the third frequency and the fourth frequency.

[0879] Next, use Figure 35 Description and Figure 34 Different embodiments. In addition, Figure 35 In, with Figure 34 Parts that perform the same action are given the same reference numerals. Figure 35 In, with Figure 34 The differences between Figure 35 In, with Figure 34 The differences between them are as follows.

[0880] The difference is: "In Figure 34 In the example, the 4th_i device (3402) of 2904_i is selected by the first device 1201 for sensing the target 1203 (sensing the target), and Figure 35 In the example, the third device 2903 selects the 4th_i device (3599) of 2904_i for sensing the target 1203 (sensing the target) for the first device 1201.

[0881] like Figure 35 As shown, first device 1201 sends a request message for "estimate the (arrival) direction to target 1203" to third device 2903 (3403). It should be noted that at this time, first device 1201 may also send the information "the (arrival) direction to target 1203" to third device 2903.

[0882] Next, the third device 2903 is used to monitor the corresponding status of the sensing of the 4_i device 2904_i based on the information of the "direction (towards) the target 1203" of the first device 1201. Figure 30 Based on the information 3001 related to the sensing capability, etc., the 4_i device (3599) of 2904_i that implements "estimation of the (arrival) direction to the target 1203" is selected.

[0883] Note that, here, it is assumed that the device performing sensing is the 4_1th device in 2904_1. However, if the 4_ith device in 2904_i that is requested to estimate the (arrival) direction to the target 1203 has already been determined (in advance), "selecting the 4_ith device 3599 in 2904_i for target sensing (target sensing)" does not necessarily need to be performed.

[0884] for Figure 35 The action after 3599 has been used Figure 34 The description has been given, so the description is omitted.

[0885] By implementing in this manner, the triangulation based on the (arrival) direction described in the first embodiment can be realized, thereby achieving the effect of being able to identify the position of the target.

[0886] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, achieving highly accurate sensing. This effect is due to the relationship between the third and fourth frequencies.

[0887] An example of base station selection is described below. Figure 31 The first device 1201 in the embodiment has already "performed target sensing (sensing target) (3101)" before "selecting target sensing (sensing target) 2904_i 4th_i device (3102)".

[0888] Likewise, in Figure 33 In the example, before the third device 2903 "selects 2904_i 4th_i device (3399) for sensing the target (sensing the target)", the first device 1201 has already "implemented sensing of the target (sensing the target) (3101)".

[0889] In addition, Figure 34 In the example, "target sensing (sensing target) (3401)" has been performed before the first device 1201 "selects the 2904_i 4th_i device (3402) for sensing the target (sensing target)".

[0890] Moreover, in Figure 35 In the example, before the third device 2903 "selects 2904_i 4th_i device (3599) for sensing the target (sensing the target)", the first device 1201 has already "implemented sensing of the target (sensing the target) (3401)".

[0891] At this time, Figure 29 In the embodiment, the 4_ith device of 2904_i can be selected based on the shape of the triangle formed by "the 1st device 1201, the target 1203, and the 4_ith device of 2904_i", but this point has been described in detail in the second embodiment and is therefore omitted.

[0892] Thereby, it may be possible to mitigate estimation errors caused by sensing.

[0893] By implementing in this manner, high-precision triangulation can be performed, thereby achieving the effect of each device being able to grasp the position of the target. It should be noted that when the first device 1201 or the base station "has previously grasped the position (or position information) on the map" or when the first device 1201 or the base station "can grasp the position (or position information) on the map using a position estimation system such as GPS," each device can grasp the position (or position information) of the target on the map.

[0894] It should be noted that, in the above description, base stations, terminals, and repeaters, for example, transmit signals to sense targets (objects), but these signals may also be referred to as "reference signals," "reference symbols," "pilot symbols," "pilot signals," or "preambles." However, these terms are not limited to the above examples.

[0895] In addition, the above use Figures 29 to 35 etc. to explain each action. Figure 29 As an example of a "sensing system" or a "sensing and communication system". Figure 29 In the description, an example is described in which the first device 1201 and the 4th_i device 2904_i perform sensing using the 4th frequency. However, one of the first device 1201 and the 4th_i device 2904_i may perform sensing using another frequency.

[0896] Next, an embodiment different from the above embodiment will be described. An embodiment related to a case where a target transmits radio waves will be described.

[0897] Figure 36 : is a diagram showing an example of a "sensing system" or a "sensing and communication system" in this example. Figure 36 In, with Figure 12 、 Figure 18 、 Figure 29Parts that perform the same operations are assigned the same reference numerals.

[0898] exist Figure 36 In FIG, the second device 1802 is an object whose position is estimated through sensing.

[0899] In this embodiment, a method of "performing the triangulation described in the first embodiment by the first device 1201 and the 4_i device 2904_i" will be described as an example.

[0900] It is assumed that the first device 1201 is a device having the sensing function described in Embodiment 1. It is assumed that the first device 1201 performs sensing using the fourth frequency (frequency band).

[0901] Assume that first device 1201 has a communication function. For example, first device 1201 communicates with third device 2903 using a third frequency (frequency band).

[0902] Furthermore, the first device 1201 can also communicate with the 4th_i device 2904_i using the fourth frequency (frequency band).

[0903] Assume that the second device 1802 is, for example, a device capable of transmitting radio waves of a fourth frequency (frequency band).

[0904] It is assumed that the 4_i-th device in 2904_i is a device having the sensing function described in Embodiment 1. It is assumed that the 4_i-th device in 2904_i performs sensing using the fourth frequency (frequency band).

[0905] In addition, the 4th_i device 2904_i may also have a communication function and can communicate using the 4th frequency (frequency band).

[0906] Assume that the third device 2903 communicates with the 4_1st device in 2904_1, the 4_2nd device in 2904_2, ..., and the 4_Qth device in 2904_Q. The communication in this case may be wireless communication or wired communication.

[0907] Regarding "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q", two of these devices may be capable of communicating. In this case, the communication may be wireless or wired.

[0908] Here, it is assumed that first device 1201 performs sensing to implement triangulation. In this case, first device 1201 performs sensing with device 4_i in 2904_i, thereby achieving triangulation. However, it is assumed that device 4_i in 2904_i may not correspond to device 4_x in 2904_x due to factors such as the size or installation time of device 4_i in 2904_i.

[0909] Therefore, it is assumed that the 4_ith device 2904_i sends a message containing Figure 30 For example, it is assumed that the base station transmits control information including the sensing capability-related information 3001 using the PBCH, PDSCH, and PDCCH. It should be noted that the channel for transmitting this control information is not limited to the above example.

[0910] like Figure 30 As shown, it is assumed that the information 3001 related to the sensing capability includes at least one of "information 3011 related to sensing feasibility", "information 3012 related to whether the sensing request from the first device 1201 can be implemented", and "information 3013 related to whether the sensing request from the first device 1201 can be accepted".

[0911] Specific examples of “information 3011 on sensing feasibility,” “information 3012 on feasibility of sensing request from first device 1201,” and “information 3013 on feasibility of sensing request from first device 1201” are as follows.

[0912] "Information 3011 related to sensing availability":

[0913] This information is used to notify, for example, the first device 1201, the repeater, other 4_x devices, the third device 2903, etc., of "whether the 4_ith device 2904_i can perform sensing."

[0914] Therefore, it is assumed that at least when the information "sensing is possible" is included as "information 3011 regarding sensing feasibility", the 4_i device 2904_i has a sensing function. In addition, it is assumed that the 4_i device 2904_i has a communication function. It should be noted that the specific structure has been described in the first embodiment and therefore will be omitted.

[0915] "Information 3012 on whether the sensing request from the first device 1201 can be implemented":

[0916] This information is used to notify, for example, first device 1201, third device 2903, etc., whether sensing can be performed, when the 4_ith device 2904_i receives a sensing request from first device 1201.

[0917] It should be noted that although the information herein refers to "information 3012 regarding the feasibility of a sensing request from the first device 1201," the "information 3012 regarding the feasibility of a sensing request from the first device 1201" may also refer to "information regarding the feasibility of a sensing request from a device other than the first device 1201, such as a repeater, the third device 2903, or another base station." The details of the "sensing request" will be described later.

[0918] "Information 3013 on whether the sensing request from the first device 1201 can be accepted":

[0919] This information is used to notify, for example, first device 1201 of information on whether to accept sensing from first device 1201 when the 4_ith device 2904_i receives a sensing request from first device 1201.

[0920] Therefore, even if there is a sensing request from the first device 1201, there are modes when the 4_i-th device 2904_i "accepts" and "does not accept".

[0921] It should be noted that although the information herein refers to "information 3013 regarding the acceptability of a sensing request from the first device 1201," the "information 3013 regarding the acceptability of a sensing request from the first device 1201" may also refer to "information regarding the acceptability of a sensing request from a device other than the first device 1201, such as a repeater, the third device 2903, or another base station." The details of the "sensing request" will be described later.

[0922] As a result, the first device 1201, the repeater, the third device 2903, other base stations, etc. can know the sensing of the base station and the status of the sensing request, thereby being able to obtain the effect of being able to perform appropriate "sensing-related control and communication with the 4_i device 2904_i".

[0923] Should be explained, the above will be sent Figure 30 The device for transmitting the information 3001 related to the sensing capability is described as the 4th_i device of 2904_i, but this is only an example, and the information 3001 related to the sensing capability may also be transmitted by a communication device such as a repeater, a terminal, an access point, or the third device 2903.

[0924] In addition, for the Figure 30Although "information 3012 regarding the feasibility of a sensing request from first device 1201" and "information 3013 regarding the acceptability of a sensing request from first device 1201" sent by a device that displays information 3001 regarding sensing capabilities are described as "sensing request from first device 1201...", these may also be sensing requests from communication devices other than first device 1201, such as base stations, repeaters, access points, or third device 2903. Therefore, information 3012 may be represented as "information regarding the feasibility of a sensing request from a communication device," and information 3013 may be represented as "information regarding the acceptability of a sensing request from a communication device."

[0925] Next, use Figure 36 The sensing performed by the first device 1201, the second device 1802, and the fourth device 2904_1 is described.

[0926] First device 1201 can be a terminal capable of communicating with third device 2903 and the fourth-i device of 2904_i. First device 1201 can also be a base station (or an access point, repeater, etc.). Furthermore, first device 1201 can also be the fourth-x device of 2904_x (however, for example, x is a natural number). Third device 2903 can be a base station, a terminal, a repeater, an access point, etc. Fourth-i device of 2904_i can be a base station, a terminal, a repeater, an access point, etc.

[0927] The following description is based on the case where the first device 1201 is a terminal, but the same implementation is applicable even if the first device 1201 is a base station, access point, or repeater. However, additional explanation will be provided when the first device 1201 is a base station and a special operation occurs.

[0928] In this embodiment, triangulation is used. Specific examples of triangulation methods have been described in the first embodiment. The first and second methods are triangulation methods based on a technique for obtaining distance information through sensing.

[0929] On the other hand, the third method and the fourth method are triangulation-based techniques for obtaining information on the (arrival) direction (however, the distance may also be obtained in some cases) by performing sensing.

[0930] Below, for Figure 12 , divided into distance-based triangulation with the first method and the second method as examples, and direction-based triangulation with the third method and the fourth method as examples.

[0931] The case of distance-based triangulation:

[0932] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0933] The first device 1201 receives the data sent by "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q". Figure 30 The information 3001 related to the sensing capability is obtained, and the corresponding sensing conditions of “the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q” are known.

[0934] As another method, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" may be Figure 30 Information 3001 related to sensing capabilities is sent to third device 2903. Third device 2903 uses the third frequency to transmit control information containing information related to the sensing capabilities of each of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q." This allows first device 1201 to understand the sensing capabilities of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q."

[0935] In the following, as an example, it is assumed that "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing, and it is assumed that when there is a sensing request from a terminal such as the 1st device 1201, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing actions in response to the sensing request.

[0936] Figure 37 Yes Figure 36 Figure 1 shows an example of a sensing process in a system example. Figure 37 In the example, it is assumed that the first device 1201 has at least obtained the information of "the distance between the first device 1201 and the 4_1 device 2904_1" before "estimating the position 3704 of the second device". Figure 37 In the example, it is assumed that the first device 1201 has obtained the information "the distance between the first device 1201 and the 4_i device 2904_i" before "selecting the 4_i device 3702 of 2904_i for sensing the second device (sensing the second device)" (i is an integer greater than 1 and less than Q).

[0937] In addition, the method for obtaining the information of "the distance between the first device 1201 and the fourth device 2904_1" has been used. Figure 32A 、 Figure 32B 、 Figure 32C 、 Figure 32D 、 Figure 32E 、 Figure 32F 、 Figure 32G 、 Figure 32H The description has been given, so the description is omitted.

[0938] As another method, when first device 1201 is a base station or a fixed terminal, first device 1201 and the 4th_i device of 2904_i may obtain the "distance between first device 1201 and the 4th_i device of 2904_i" in advance.

[0939] First device 1201 and the 4th_i device in 2904_i can also obtain their locations using a location estimation system such as GPS. Subsequently, the 4th_i device in 2904_i can also transmit its own location information to first device 1201. First device 1201 can then calculate the distance between first device 1201 and the 4th_i device in 2904_i based on its own location information and the location information of the 4th_i device in 2904_i. Subsequently, first device 1201 can also transmit its own location information to the 4th_i device in 2904_i. The 4th_i device in 2904_i can then calculate the distance between first device 1201 and the 4th_i device in 2904_i based on its own location information and the location information of first device 1201.

[0940] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0941] exist Figure 37 In the process, the second device 1802 sends a signal (3731) (for sensing).

[0942] First device 1201 receives the signal sent by second device 1802 and performs sensing processing to obtain an estimated value (3701) of the distance between first device 1201 and second device 1802. Note that the sensing processing has been described in other embodiments and will not be described here.

[0943] Based on the estimated value of the distance between the first device 1201 and the second device 1802 and the information of the distance between the first device 1201 and the 4_i device 2904_i, the first device 1201 selects the 4_i device 2904_i for which the distance estimation to the target 1203 is requested (3702).

[0944] It should be explained that Figure 37 In the example, suppose the first device 1201 selects Figure 36 The 4_1st device in 2904_1 is selected as the 4_ith device in 2904_i that requests distance estimation to the second device 1802. However, if the 4_ith device in 2904_i that requests distance estimation to the second device 1802 has already been determined (in advance), "selection of the 4_ith device in 2904_i for sensing the second device 1802 (sensing the second device) 3702" may not be performed.

[0945] The first device 1201 transmits request information for "estimating the distance to the second device 1802" to the third device 2903 (3703).

[0946] The third device 2903 receives the request information for "estimating the distance to the second device 1802" and sends the request information for "estimating the distance to the second device 1802" to the fourth_1st device 2904_1 (3721).

[0947] The 4_1st device 2904_1 receives the request information "estimate the distance to the second device 1802" and responds "whether to accept the request" (3711). It should be noted that the case of "accepting the request" is used as an example for description.

[0948] The third device 2903 receives the response information of the request and then transmits the response information of the request to the first device 1201 (3722).

[0949] The second device 1802 sends a signal (3732) (for sensing).

[0950] Device 4_1 of device 2904_1 receives the signal sent by device 2802 and performs sensing processing to obtain an estimated value (3712) of the distance between device 4_1 of device 2904_1 and device 2802. The sensing processing has been described in other embodiments and will not be described here.

[0951] The 4_1st device 2904_1 transmits information regarding the “distance between the 4_1st device 2904_1 and the second device 1802” to the third device 2903 ( 3713 ).

[0952] Third device 2903 receives the information "the distance between the 4_1st device of 2904_1 and second device 1802", and transmits the information "the distance between the 4_1st device of 2904_1 and second device 1802" to first device 1201 (3723).

[0953] The first device 1201 obtains the information "the distance between the 4_1st device of 2904_1 and the second device 1802" and uses the "distance between the first device 1201 and the 4_ith device of 2904_i", "the distance between the first device 1201 and the second device 1802", and "the distance between the 4_1st device of 2904_1 and the second device 1802" to perform triangulation, for example, to estimate the position of the second device 1802 (3704).

[0954] The first device 1201 transmits the information of the "location of the second device 1802" to the third device 2903 (3705).

[0955] The third device 2903 receives the "location of the second device 1802" information and transmits the "location of the second device 1802" information to the fourth_1st device 2904_1 (3724).

[0956] Note that, when there is no need to share the "location of second device 1802" information with the 4_1st device 2904_1, the first device 1201 does not have to transmit the "location of second device 1802" information to the third device 2903.

[0957] By implementing in this manner, the distance-based triangulation described in the first embodiment can be implemented, thereby achieving the effect of being able to identify the position of the second device 1802.

[0958] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, resulting in highly accurate sensing. This effect is due to the relationship between the third frequency and the fourth frequency.

[0959] Next, use Figure 38 Description and Figure 37 Examples of different processes for sensing.

[0960] Figure 38 is a diagram showing another example of a process for sensing. Figure 38 In, with Figure 37 Parts that perform the same action are given the same reference numerals. Figure 38 In, with Figure 37 The differences between Figure 38 In, with Figure 37 The differences between them are as follows.

[0961] The difference is: "In Figure 37In the example, the first device 1201 selects the 4_i device (3102) of 2904_i for sensing (sensing the second device) of the second device 1802, and " Figure 38 In the example, the third device 2903 selects the fourth_i device (3399) of the third device 2903 for sensing the second device 1802 (sensing the second device) 2904_i.

[0962] like Figure 38 As shown, first device 1201 sends a request message "estimate the distance to second device 1802" to third device 2903 (3703). Note that, at this time, first device 1201 may also send the information "distance to second device 1802" to third device 2903.

[0963] Next, the third device 2903 is used to monitor the first device 1201 based on the information of the "distance to the second device 1802" and the corresponding status of the sensing of the fourth device 2904_i ( Figure 30 Based on the information 3001 related to the sensing capability, etc., the 4_i device (3899) of 2904_i that implements "estimation of the distance to the second device 1802" is selected.

[0964] Note that, here, it is assumed that the device performing sensing is the 4_1th device in 2904_1. However, if the 4_ith device in 2904_i that is requested to estimate the distance to the second device 1802 has already been determined (in advance), "selecting the 4_ith device 3899 in 2904_i for sensing the second device 1802 (sensing the second device)" does not need to be performed.

[0965] for Figure 38 The action after 3899 has been used Figure 37 The description has been given, so the description is omitted.

[0966] By implementing in this manner, the distance-based triangulation described in the first embodiment can be implemented, thereby achieving the effect of being able to identify the position of the second device 1802.

[0967] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, resulting in highly accurate sensing. This effect is due to the relationship between the third frequency and the fourth frequency.

[0968] Next, use Figure 39 Another example of using distance-based triangulation using the first and second methods will be described.

[0969] Figure 39 This is a diagram showing another example of a sensing process. Assume that the first device 1201 receives data sent by "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q". Figure 30 The information 3001 related to the sensing capability is obtained, and the corresponding sensing status of "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" is obtained.

[0970] As another method, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" may be Figure 30 Information 3001 related to sensing capabilities is sent to third device 2903. Third device 2903 uses the third frequency to transmit control information containing information related to the sensing capabilities of each of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q." This allows first device 1201 to obtain the sensing capabilities of "device 4_1 of 2904_1, device 4_2 of 2904_2, ..., device 4_Q of 2904_Q."

[0971] In the following, as an example, it is assumed that "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing, and it is assumed that when there is a sensing request from a terminal such as the 1st device 1201, "the 4_1st device of 2904_1, the 4_2nd device of 2904_2, ..., the 4_Qth device of 2904_Q" can all perform sensing actions in response to the sensing request.

[0972] In addition, Figure 39 In the example, it is assumed that first device 1201 has obtained at least information about the distance between first device 1201 and device 4_1 at 2904_1 before estimating location 3913 of second device 1802.

[0973] Moreover, in Figure 39 In the example, it is assumed that the first device 1201 has obtained information about the distance between the first device 1201 and the 4_i device 2904_i before "selecting the 4_i device 3902 of 2904_i for sensing the second device 1802 (sensing the second device)" (i is an integer greater than 1 and less than Q).

[0974] In addition, the method for obtaining the information of "the distance between the first device 1201 and the fourth device 2904_1" has been used. Figure 32A 、 Figure 32B 、 Figure 32C 、 Figure 32D 、 Figure 32E 、 Figure 32F 、 Figure 32G 、 Figure 32H The description has been given, so the description is omitted.

[0975] As another method, when first device 1201 is a base station or a fixed terminal, first device 1201 and the 4th_i device of 2904_i may obtain the "distance between first device 1201 and the 4th_i device of 2904_i" in advance.

[0976] Alternatively, first device 1201 and the 4th_i device of 2904_i may obtain their locations using a location estimation system such as GPS. Subsequently, the 4th_i device of 2904_i may transmit its own location information to first device 1201, and first device 1201 may calculate the distance between first device 1201 and the 4th_i device of 2904_i based on its own location information and the location information of the 4th_i device of 2904_i. Subsequently, first device 1201 may transmit its own location information to the 4th_i device of 2904_i, and the 4th_i device of 2904_i may calculate the distance between first device 1201 and the 4th_i device of 2904_i based on its own location information and the location information of first device 1201.

[0977] An example of using distance-based triangulation using the first method and the second method described in the first embodiment will be described.

[0978] exist Figure 39 In the process, the second device 1802 sends a signal (3931) (for sensing).

[0979] First device 1201 receives the signal sent by second device 1802 and performs sensing processing to obtain an estimated value (3901) of the distance between first device 1201 and second device 1802. The sensing processing has been described in other embodiments and will not be described here.

[0980] First device 1201 selects the 4th_i device 2904_i for which it requests estimation of the distance to second device 1802 based on the estimated value of the distance between first device 1201 and second device 1802 and the information of the distance between first device 1201 and 4th_i device 2904_i (3902).

[0981] It should be explained that Figure 39 In the example, suppose the first device 1201 selects Figure 36 The 4_1st device in 2904_1 is selected as the 4_ith device in 2904_i that requests distance estimation to the second device 1802. However, if the 4_ith device in 2904_i that requests distance estimation to the second device 1802 has already been determined (in advance), the "selection of the 4_ith device 3902 in 2904_i for sensing the second device 1802 (sensing the second device)" does not need to be performed.

[0982] The first device 1201 transmits request information for "estimating the distance to the second device 1802" to the third device 2903 (3903).

[0983] First device 1201 transmits information regarding the "distance between first device 1201 and second device 1802" to third device 2903 (3903).

[0984] The third device 2903 receives the request information "estimate the distance to the second device 1802" and the information "the distance between the first device 1201 and the second device 1802", and sends these information to the 4_1st device (3921) of 2904_1.

[0985] The 4_1st device 2904_1 receives the request information of "estimating the distance to the second device 1802" and responds "whether to accept the request" (3911). In addition, the case of "accepting the request" is used as an example for description.

[0986] The third device 2903 receives the response information of the request and then transmits the response information of the request to the first device 1201 (3922).

[0987] The second device 1802 sends a (sensing) signal (3932).

[0988] Device 4_1 of device 2904_1 receives the signal sent by device 2802 and performs sensing processing to obtain an estimated value (3912) of the distance between device 4_1 of device 2904_1 and device 2802. Note that the sensing processing has been described in other embodiments and is therefore omitted.

[0989] The 4_1st device of 2904_1 uses the "distance between the 1st device 1201 and the 4_ith device of 2904_i", the "distance between the 1st device 1201 and the 2nd device 1802", and the "distance between the 4_1st device of 2904_1 and the 2nd device 1802" to perform triangulation, for example, to estimate the position of the 2nd device 1802 (3913).

[0990] The 4_1st device 2904_1 transmits the "location of the second device 1802" information to the third device 2903 (3914).

[0991] Third device 2903 receives the "location of second device 1802" information and transmits the "location of second device 1802" information to first device 1201 (3923).

[0992] Note that, when there is no need to share the “location of second device 1802 ” information with first device 1201 , the 4_1st device 2904_1 may not transmit the “location of second device 1802 ” information to the third device 2903 .

[0993] By implementing in this manner, the distance-based triangulation described in the first embodiment can be implemented, thereby achieving the effect of being able to identify the position of the second device 1802.

[0994] Furthermore, first device 1201 communicates with device 4_1 of 2904_1 via third device 2903, enabling satisfactory information transmission. Furthermore, device 4_1 of 2904_1 performs sensing, resulting in highly accurate sensing. This effect is due to the relationship between the third frequency and the fourth frequency.

[0995] Next, use Figure 40 Description and Figure 39 Different embodiments. Figure 40 is a diagram showing another example of a process for sensing. Figure 40 In, with Figure 39 Parts that perform the same action are given the same reference numerals. Figure 40 In, with Figure 39 The differences between Figure 40 In, with Figure 39 The differences between them are as follows.

[0996] The difference is: "In Figure 39 In the example, the first device 1201 selects the 4th_i device (3902) of 2904_i for sensing (sensing the second device) of the second device 1802, and " Figure 40 In the example, the third device 2903 selects the 4th_i device (4099) of 2904_i for sensing (sensing the second device) of the second device 1802 for the first device 1201.

[0997] like Figure 40As shown, first device 1201 sends a request message "estimate the distance to second device 1802" to third device 2903 (3903). Note that, at this time, first device 1201 may also send the information "distance to second device 1802" to third device 2903.

[0998] Next, the third device 2903 is used to monitor the first device 1201 based on the information of the "distance to the second device 1802" and the corresponding status of the sensing of the fourth device 2904_i ( Figure 30 Based on the information 3001 related to the sensing capability in the data, the 4_i device (4099) of 2904_i that imple...

Claims

1. A terminal, characterized in that: include: a sending unit, sending request information for requesting to sense a target; a receiving unit configured to receive result information indicating a sensing result from the first base station that has sensed the target in response to the request information; as well as a control unit that determines the state of the target based on the sensing result indicated by the result information and the sensing result of the target sensed by the terminal by transmitting a sensing signal and receiving the sensing signal reflected by the target, The sending unit sends the request information to the first base station via the second base station, The receiving unit receives the result information from the first base station via the second base station, A frequency band used in communication between the terminal and the first base station is higher than a frequency band used in communication between the terminal and the second base station.

2. The terminal according to claim 1, wherein: The control unit determines at least one of the position of the object, the presence or absence of the object, the outer shape of the object, and the movement of the object.

3. The terminal according to claim 1, wherein: The receiving unit receives the result information after receiving a response to the request information from the first base station. The terminal according to claim 1 , wherein: The transmitting unit transmits a determination result of the position of the object to the first base station. The terminal according to claim 1 , wherein: The receiving unit receives capability information related to sensing capability from the first base station. The terminal according to claim 1 , wherein: The control section performs sensing of the target using an antenna port different from an antenna port used for data communication.

7. The terminal according to claim 1, wherein: The transmitting unit transmits the sensing signal using beamforming, The receiving unit receives directivity information related to directivity of beamforming from the first base station. The control unit determines the direction of the target based on the directional information.

8. A sensing method, which is a sensing method in a terminal, characterized in that: The following steps are involved: Sending a request message requesting to sense a target; receiving result information indicating a sensing result from a first base station that has sensed the target in response to the request information; as well as determining a state of the target based on a sensing result indicated by the result information and a sensing result of the target sensed by the terminal by transmitting a sensing signal and receiving the sensing signal reflected by the target, sending the request information to the first base station via the second base station, receiving the result information from the first base station via the second base station, A frequency band used in communication between the terminal and the first base station is higher than a frequency band used in communication between the terminal and the second base station.

Images