Method and apparatus for processing sensor information into receiver-oriented information and sharing receiver-oriented information based on unicast or multicast

Abstract

A method of performing wireless communication by a first device and an apparatus supporting the same are provided. The method may comprise the steps of: detecting information related to a plurality of regions and information related to one or more objects included in the plurality of regions based on the sensing; receiving status information from the second device; selecting an effective area among the plurality of areas based on the state information; determining a valid object included in the valid area among the one or more objects included in the plurality of areas; and transmitting information related to the valid object included in the valid area to the second device.

Description

Technical Field

[0001] The present disclosure relates to a wireless communication system. Background Art

[0002] A sidelink (SL) refers to a communication method in which a direct link is configured between user equipments (UEs), and voice or data is directly exchanged between the UEs without passing through a base station (BS). SL is being considered as a solution to the burden on the BS caused by the rapid increase in data traffic. Vehicle-to-everything (V2X) refers to a communication technology for exchanging information with other vehicles, pedestrians, objects equipped with infrastructure, etc. via wired / wireless communication. V2X can be classified into four types: vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-network (V2N), and vehicle-to-pedestrian (V2P). V2X communication can be provided via a PC5 interface and / or a Uu interface.

[0003] In addition, since a wider range of communication devices requires a greater communication capacity, the demand for enhanced mobile broadband communication compared to existing radio access technologies (RAT) is increasing. Accordingly, services and user equipments sensitive to reliability and latency have been discussed. In addition, next-generation radio access technologies based on enhanced mobile broadband communication, massive machine-type communication (MTC), ultra-reliable low-latency communication (URLLC), etc. may be referred to as new radio access technologies (RAT) or new radio (NR). Summary of the Invention

[0004] Technical Solution

[0005] In one embodiment, a method for a first device to perform wireless communication is provided. The method may include: detecting information related to a plurality of regions and information related to one or more objects included in the plurality of regions based on sensing; receiving status information from a second device; selecting an effective region among the plurality of regions based on the status information; determining effective objects included in the effective region among the one or more objects included in the plurality of regions; and sending information related to the effective objects included in the effective region to the second device.

[0006] In one embodiment, a first device configured to perform wireless communication is provided. The first device may include: at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, these instructions, when executed by the at least one processor, cause the first device to perform operations including: detecting information related to a plurality of regions and information related to one or more objects included in the plurality of regions based on sensing; receiving status information from a second device; selecting a valid region among the plurality of regions based on the status information; determining valid objects included in the valid region among the one or more objects included in the plurality of regions; and sending information related to the valid objects included in the valid region to the second device.

[0007] In one embodiment, a processing device configured to control the first device is provided. The processing device may include: at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, these instructions, when executed by the at least one processor, cause the first device to perform operations including: detecting information related to a plurality of regions and information related to one or more objects included in the plurality of regions based on sensing; receiving status information from a second device; selecting a valid region among the plurality of regions based on the status information; determining valid objects included in the valid region among the one or more objects included in the plurality of regions; and sending information related to the valid objects included in the valid region to the second device.

[0008] In one embodiment, a non-transitory computer-readable storage medium recording instructions is provided. For example, these instructions, when executed, cause the first device to perform operations including: detecting information related to a plurality of regions and information related to one or more objects included in the plurality of regions based on sensing; receiving status information from a second device; selecting a valid region among the plurality of regions based on the status information; determining valid objects included in the valid region among the one or more objects included in the plurality of regions; and sending information related to the valid objects included in the valid region to the second device. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 Shows a communication structure that may be provided in a 6G system based on one embodiment of the present disclosure.

[0010] Figure 2 Shows an electromagnetic spectrum based on one embodiment of the present disclosure.

[0011] Figure 3Shows a scenario where sensor information measured by sensors equipped on an RSU at an intersection is provided to a recipient via a message.

[0012] Figure 4 Shows the operation of the sensor information provider directly / indirectly identifying the information required by the recipient.

[0013] Figure 5 Shows the detection area of sensors at an intersection based on an embodiment of the present disclosure.

[0014] Figure 6 Shows a segmented detection area based on an embodiment of the present disclosure.

[0015] Figure 7 Shows the operation of selecting an effective sensor detection area for a recipient stopped at an intersection based on an embodiment of the present disclosure.

[0016] Figure 8 Shows the operation of a sensor selecting a detection area based on the expected driving path of the recipient based on an embodiment of the present disclosure.

[0017] Figure 9 Shows the operation of selecting only object information on roads and crosswalks based on the status information or request message of the recipient based on an embodiment of the present disclosure.

[0018] Figure 10 Shows the operation of the sensor information provider changing the transmission period of sensor information based on the position and speed of the recipient based on an embodiment of the present disclosure.

[0019] Figure 11 Shows a method for a first device to perform wireless communication based on an embodiment of the present disclosure.

[0020] Figure 12 Shows a method for a second device to perform wireless communication based on an embodiment of the present disclosure.

[0021] Figure 13 Shows communication system 1 based on an embodiment of the present disclosure.

[0022] Figure 14 Shows a wireless device according to an embodiment of the present disclosure.

[0023] Figure 15 Shows a signal processing circuit for transmitting a signal according to an embodiment of the present disclosure.

[0024] Figure 16 Shows another example of a wireless device according to an embodiment of the present disclosure.

[0025] Figure 17 A handheld device according to an embodiment of the present disclosure is shown.

[0026] Figure 18 A vehicle or an autonomous vehicle according to an embodiment of the present disclosure is shown. Detailed Embodiments

[0027] In the present disclosure, "A or B" may mean "only A", "only B", or "both A and B". In other words, in the present disclosure, "A or B" may be interpreted as "A and / or B". For example, in the present disclosure, "A, B, or C" may mean "only A", "only B", "only C", or "any combination of A, B, and C".

[0028] The slash ( / ) or comma used in the present disclosure may mean "and / or". For example, "A / B" may mean "A and / or B". Thus, "A / B" may mean "only A", "only B", or "both A and B". For example, "A, B, C" may mean "A, B, or C".

[0029] In the present disclosure, "at least one of A and B" may mean "only A", "only B", or "both A and B". Additionally, in the present disclosure, the expressions "at least one of A or B" or "at least one of A and / or B" may be interpreted as "at least one of A and B".

[0030] Furthermore, in the present disclosure, "at least one of A, B, and C" may mean "only A", "only B", "only C", or "any combination of A, B, and C". Additionally, "at least one of A, B, or C" or "at least one of A, B, and / or C" may mean "at least one of A, B, and C".

[0031] Furthermore, the parentheses used in the present disclosure may mean "for example". Specifically, when indicated as "control information (PDCCH)", this may mean presenting "PDCCH" as an example of "control information". In other words, the "control information" in the present disclosure is not limited to "PDCCH", and "PDDCH" may be presented as an example of "control information". Specifically, when indicated as "control information (i.e., PDCCH)", this may also mean presenting "PDCCH" as an example of "control information".

[0032] In the following description, "when, if, or in the case of" may be replaced by "based on".

[0033] The technical features separately described in one of the drawings in the present disclosure may be implemented separately or may be implemented simultaneously.

[0034] In the present disclosure, a higher layer parameter may be a parameter configured, pre-configured, or pre-defined for a UE. For example, a base station or network may send a higher layer parameter to the UE. For example, the higher layer parameter may be sent via radio resource control (RRC) signaling or medium access control (MAC) signaling.

[0035] The techniques described below may be used in various wireless communication systems such as code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), single-carrier frequency division multiple access (SC-FDMA), etc. CDMA may be implemented using radio technologies such as Universal Terrestrial Radio Access (UTRA) or CDMA-2000. TDMA may be implemented using radio technologies such as Global System for Mobile Communications (GSM) / General Packet Radio Service (GPRS) / Enhanced Data Rates for GSM Evolution (EDGE). OFDMA may be implemented using radio technologies such as Institute of Electrical and Electronics Engineers (IEEE) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, evolved UTRA (E-UTRA), etc. IEEE 802.16m is an evolved version of IEEE 802.16e and provides backward compatibility for IEEE 802.16e-based systems. UTRA is part of Universal Mobile Telecommunications System (UMTS). The 3rd Generation Partnership Project (3GPP) Long Term Evolution (LTE) is part of the evolved UMTS (E-UMTS) using E-UTRA. 3GPP LTE uses OFDMA in the downlink and SC-FDMA in the uplink. Long Term Evolution-Advanced (LTE-A) is an evolution of LTE.

[0036] 5G NR is a follow-on technology to LTE-A corresponding to a new and novel mobile communication system with characteristics such as high performance, low latency, high availability, etc. 5G NR may use resources of all available spectrums including low frequency bands less than 1 GHz, intermediate frequency bands from 1 GHz to 10 GHz, and high frequencies (millimeter waves) above 24 GHz.

[0037] A 6G (wireless communication) system aims to (i) very high data rates per device, (ii) a very large number of connected devices, (iii) global connectivity, (iv) very low latency, (v) lower energy consumption for battery-less IoT devices, (vi) ultra-reliable connectivity, and (vii) connected intelligence with machine learning capabilities. The vision of a 6G system may have four aspects: intelligent connectivity, deep connectivity, holographic connectivity, and pervasive connectivity, and the 6G system may meet the requirements as shown in Table 1 below. In other words, Table 1 is an example of the requirements of a 6G system.

[0038] [Table 1]

[0039] Peak data rate per device 1 Tbps E2E latency 1 ms Maximum spectral efficiency 100 bps / Hz Mobility support Up to 1000 km / hr Satellite integration Fully AI Fully Autonomous vehicles Fully XR Fully Tactile communication Fully

[0040] The 6G system can have key factors such as enhanced mobile broadband (eMBB), ultra-reliable low-latency communication (URLLC), massive machine-type communication (mMTC), AI-integrated communication, tactile Internet, high throughput, high network capacity, high energy efficiency, low backhaul and access network congestion, and enhanced data security.

[0041] Figure 1 Shows a communication structure that can be provided in a 6G system based on an embodiment of the present disclosure. Figure 1 Embodiments of can be combined with various embodiments of the present disclosure.

[0042] It is expected that the 6G system will have 50 times higher simultaneous radio connectivity than the 5G radio system. URLLC (a key feature of 5G) will become a more dominant technology in 6G communication, which provides an end-to-end delay of less than 1 ms. The 6G system will have better volumetric spectral efficiency compared to the more commonly used area spectral efficiency. The 6G system will be able to provide a very long battery life and advanced battery technologies for energy harvesting. Therefore, in the 6G system, mobile devices will not need to be charged separately. New network features in 6G can include the following.

[0043] - Satellite integrated network: To provide global mobile populations, it is expected that 6G will be integrated with satellites. Integrating terrestrial, satellite, and airborne networks into a single wireless communication system is important for 6G.

[0044] - Connected intelligence: Different from previous generations of wireless communication systems, 6G is revolutionary, and the wireless evolution will be updated from "connecting things" to "connecting intelligence". AI can be applied to every step of the communication process (or every step of signal processing, as will be seen later).

[0045] - Seamless integration of wireless information and energy transfer: The 6G wireless network will deliver electricity to charge the batteries of devices such as smartphones and sensors. Therefore, wireless information and energy transfer (WIET) will be integrated.

[0046] - Ubiquitous super 3D connectivity: Accessing network and core network functions from drones and very low Earth orbit satellites will enable ubiquitous super 3D connectivity in 6G.

[0047] According to the above new network features of 6G, some common requirements can include

[0048] - Small cell network: The concept of small cell network has been introduced in cellular systems to improve the received signal quality due to increased processing throughput, energy efficiency, and spectral efficiency. Therefore, small cell network is a fundamental feature for 5G and beyond 5G (5GB) communication systems. Thus, 6G communication systems will also adopt the characteristics of small cell network.

[0049] - Ultra-dense heterogeneous network: Ultra-dense heterogeneous network will be another important feature of 6G communication systems. A multi-layer network consisting of heterogeneous networks will improve the overall QoS and reduce costs.

[0050] - High-capacity backhaul: Backhaul connections are characterized by high-capacity backhaul networks to support a large amount of traffic. High-speed optical fibers and free space optical (FSO) systems can be possible solutions to this problem.

[0051] - Radar technology integrated with mobile technology: High-precision positioning (or location-based services) through communication is one of the characteristics of 6G wireless communication systems. Therefore, radar systems will be integrated with 6G networks.

[0052] - Softwareization and virtualization: Softwareization and virtualization are two important features essential for the design process in 5GB networks to ensure flexibility, reconfigurability, and programmability. Additionally, billions of devices can be shared on a shared physical infrastructure.

[0053] The key enabling technologies for 6G systems are described below.

[0054] - Artificial intelligence: The most important and up-to-date technology to be introduced into 6G systems is AI. 4G systems do not involve AI. 5G systems will support partial or very limited AI. However, 6G systems will enable AI for full automation. In 6G, the advancement of machine learning will create more intelligent networks for real-time communication. The introduction of AI in telecommunications can simplify and improve real-time data transmission. AI can use many analytics to determine how to perform complex target tasks, which means AI can improve efficiency and reduce processing latency. Time-consuming tasks such as handover, network selection, and resource scheduling can be completed immediately by using AI. AI can also play an important role in M2M, machine-to-human, and human-to-machine communications. Additionally, AI can become fast communication in brain-computer interfaces (BCIs). AI-based communication systems can be supported by metamaterials, intelligent structures, intelligent networks, intelligent devices, intelligent cognitive radios, self-sustaining wireless networks, and machine learning.

[0055] - THz Communication (Terahertz Communication): The data rate can be increased by increasing the bandwidth. This can be achieved by using sub-THz communication with a wide bandwidth and applying advanced massive MIMO technology. THz waves (also known as submillimeter radiation) refer to the frequency band between 0.1 THz and 10 THz, where the corresponding wavelength is usually in the range of 0.03 mm to 3 mm. The 100 GHz - 300 GHz frequency band range (sub-THz band) is considered the main part of the THz band for cellular communication. Adding the sub-THz band to the millimeter wave band increases the capacity of 6G cellular communication. The 300 GHz - 3 THz in the defined THz band is in the far-infrared (IR) band. The 300 GHz - 3 THz frequency band is part of the optical band, but it is on the boundary of the optical band, just behind the RF band. Therefore, the 300 GHz - 3 THz frequency band exhibits similarities with RF. Figure 2 Shows the electromagnetic spectrum according to one embodiment of the present disclosure. Figure 2 Embodiments can be combined with various embodiments of the present disclosure. The key features of THz communication include (i) a widely available bandwidth that supports very high data rates, and (ii) high path loss at high frequencies (for which high-directional antennas are indispensable). The narrow beamwidth generated by high-directional antennas reduces interference. The small wavelength of THz signals allows a larger number of antenna elements to be integrated into devices and BSs operating in this band. This enables the use of advanced adaptive array technologies that can overcome range limitations.

[0056] - Massive MIMO Technology (Massive MIMO)

[0057] - Holographic Beamforming (HBF, Holographic Beamforming)

[0058] - Optical Wireless Technology

[0059] - Free Space Optical Transmission Backhaul Network (FSO Backhaul Network)

[0060] - Non-Terrestrial Network (NTN)

[0061] - Quantum Communication

[0062] - Cell-Free Communication

[0063] - Integration of Wireless Information and Power Transmission

[0064] - Integration of Wireless Communication and Sensing

[0065] - Integrated Access and Backhaul Network

[0066] - Big Data Analysis

[0067] - Reconfigurable Intelligent Surface (Reconfigurable Intelligent Surface)

[0068] - Metaverse

[0069] - Blockchain

[0070] - Unmanned Aerial Vehicle (UAV): Unmanned Aerial Vehicles (UAVs) or drones will be an important part of 6G wireless communication. In most cases, UAV technology will be used to provide high-speed wireless data connections. BS entities are installed on UAVs to provide cellular connections. UAVs have specific characteristics not found in fixed BS infrastructures (e.g., easy deployment, strong line-of-sight links, and controlled degrees of freedom of movement). During emergencies such as natural disasters, the deployment of ground telecommunications infrastructure is economically unfeasible and sometimes cannot provide services in volatile environments. UAVs can easily handle these situations. UAVs will be a new paradigm in wireless communication. This technology contributes to the three basic requirements of wireless networks: eMBB, URLLC, and mMTC. UAVs can also support many other purposes such as enhanced network connectivity, fire detection, disaster emergency services, security and surveillance, pollution monitoring, parking monitoring, accident monitoring, etc. Therefore, UAV technology is considered to be one of the most important technologies for 6G communication.

[0071] - Autonomous Driving: For fully autonomous driving, vehicle-to-vehicle communication is required to notify each other of dangerous situations, and vehicle-to-vehicle communication with infrastructure such as parking lots and traffic lights is needed to check information such as location and signal change times for parking information. Vehicle-to-Everything (V2X), a key element in building an autonomous driving infrastructure, is a technology that enables vehicles to communicate with various elements on the road and share information (e.g., vehicle-to-vehicle (V2V) wireless communication and vehicle-to-infrastructure (V2I) wireless communication) in order to perform autonomous driving. To maximize the performance of autonomous driving and ensure high safety, fast transmission speeds and low latency technologies are necessary. Additionally, in the future, autonomous driving will go beyond delivering warning or guiding messages to the driver to actively intervene in vehicle operations and directly control the vehicle in dangerous situations, so the amount of information to be sent and received will be large, and 6G is expected to maximize autonomous driving with faster transmission speeds and lower latency than 5G.

[0072] For the sake of clear description, 5G NR is mainly described, but the technical conceptions according to the embodiments of the present disclosure are not limited thereto. Various embodiments of the present disclosure can also be applied to 6G communication systems.

[0073] Meanwhile, according to the prior art, there are intelligent transportation system (ITS) services that can improve the recognition rate of the surrounding road environment and / or objects and reduce the collision risk by sharing data or information obtained from sensors (such as cameras, lidar, radar, etc.) installed on vehicles or roadside units (RSUs) via communication. As a representative example, there may be message types that use V2X communication to exchange sensor information, such as the Cooperative Perception Message (CPM) of the European Telecommunications Standards Institute (ETSI) and the Sensor Data Sharing Message (SDSM) of the Society of Automotive Engineers (SAE). For example, a sensor information provider (such as an RSU, a vehicle, or a server, etc.) can generate the above messages (such as CPM, SDSM) based on the information obtained by the sensor and provide them to road users through short-range communication (such as Dedicated Short Range Communication (DSRC), PC5) or long-range communication (such as the Uu interface).

[0074] Figure 3 Fig. shows a scenario in which sensor information measured by sensors on an RSU at an intersection is provided to a recipient via a message. Figure 3 The embodiments of... can be combined with various embodiments of the present disclosure.

[0075] For reference Figure 3 To explain the prior art with reference to the embodiments shown in..., object information 321 to 325 obtained by sensors 311 and 312 of an RSU 310 installed at an intersection can be sent to a recipient 340 capable of V2X communication via a message (such as CPM or SDSM) 330. For example, the recipient 340 that receives the object information 321 to 325 can identify objects before entering the intersection, thus enabling safe driving.

[0076] Meanwhile, the standardized content of the prior art related to the content proposed in the present disclosure is as follows.

[0077] According to the ETSI ITS standard (ETSI ITS TS103 324), the rules for including object information measured by sensors in a message can be defined as follows.

[0078] The CPM shall include, within the perceivedObjectContainer, the available information about the perceived objects, with each object using one PerceivedObject instance according to the type of the object.

[0079] This inclusion management depends on the Cooperative Perception Service (CPS) configuration (such as stored in the Management Information Base (MIB) and listed in the ETSI ITS standard (ETSI ITS TS103 324)).

[0080] - If ObjectInclusionConfig is configured as "0", the rules are not defined in the current standard (ETSI ITS TS103 324). The sender determines based on its own rules for including sensed objects.

[0081] - If ObjectInclusionConfig is configured as "1", the inclusion rules defined in the current standard (ETSI ITS TS103 324) are applied.

[0082] The sensed object inclusion rules vary according to the object type. Based on the object category with the highest classification confidence, two object types are defined:

[0083] - Type A objects: Objects with a vruSubclass category or groupSubclass category or otherSubclass category having a VRU profile of pedestrian, bicyclistAndLightVruVehicle, or animal

[0084] - Type B objects: Objects of any category not included in Type A (e.g., objects of the vehicleSubclass category or objects of the vruSubclass category with a VRU profile of Motorcyclist)

[0085] As a current CPM generation event, if an object meets any of the following conditions, objects with an object perception quality exceeding the ObjectPerceptionQualityThreshold should be selected from the object list for transmission:

[0086] 1) If the object has Type A:

[0087] a) The object is detected by the recognition system for the first time since the last CPM generation event.

[0088] b) If there are Type A objects in the object list that have not been included in the CPM for more than T_GenCpmMax / 2, all Type A objects should be included in the currently generated CPM.

[0089] 2) If the object has Type B:

[0090] a) The object is detected by the recognition system for the first time after the last CPM generation event.

[0091] b) The Euclidean distance between the current estimated reference point position of the object and the estimated reference point position of the object last included in the CPM exceeds the minPositionChangeThreshold.

[0092] c) The difference between the current estimated ground speed of the object reference point and the absolute speed estimate of the object reference point included in the previous CPM exceeds the minGroundSpeedChangeThreshold.

[0093] d) The estimated velocity direction of the object reference point has changed by at least the minGroundVelocityOrientationChangeThreshold since the object was last included in the CPM.

[0094] e) The elapsed time since the object was last included in the CPM is greater than or equal to T_GenCpmMax.

[0095] To reduce the number of messages generated, in each message generation event, objects of type B that are to be included in the next CPM generation event (e.g., after T_GenCpm) can be included in the currently generated CPM. For this purpose, for example, by assuming a constant velocity model, objects not selected for transmission in the currently generated CPM can be predicted for the next CPM generation event (e.g., after T_GenCpm). Based on this prediction, all objects that should be included in the next CPM generation event can be selected to be included in the currently generated CPM, including the latest available kinematic and attitude states. Applying this mechanism may result in generation events where no CPM is generated.

[0096] If the ITS station (ITS-S) supports multi-channel operation (MCO), the CPS shall adjust T_GenCpm as well as the amount of data generated and generation events for each channel to meet the limitations provided by the MCO_FAC defined in the ETSI standard (ETSI TS103 141). For this purpose, among the identified objects selected for transmission in the currently generated CPM, the object with the lowest information value (VoI) shall be omitted.

[0097] If the ITS-S supports MCO, when an object is omitted from the currently generated CPM due to low VoI, one or more additional CPMs can be generated for transmission on alternative channels. For this purpose, considering the constraints provided by the MCO_FAC, the objects are sorted using the VoI, and alternative channels on which each object can be included in the CPM are selected. The VoI of an object transmitted on a certain channel shall depend only on the data transmitted or received on channels with a priority higher than or equal to the channel on which the object is transmitted.

[0098] Meanwhile, the use cases specified in the SAE standard (SAE J3216) are as follows.

[0099] Table 2 is a description of the main vehicle detecting an un-equipped vehicle.

[0100] [Table 2]

[0101]

[0102] Table 3 is a description of the detection of equipped vehicles by the host roadside unit (HRSU).

[0103] [Table 3]

[0104]

[0105] Table 4 is a description of the UVRU detection performed by the host vehicle.

[0106] [Table 4]

[0107]

[0108] Table 5 is a description of the UVRU detection performed by the RSU.

[0109] [Table 5]

[0110]

[0111] Table 6 is a description of the obstacle detection performed by the host vehicle.

[0112] [Table 6]

[0113]

[0114] Table 7 is a description of the obstacle detection performed by the HRSU.

[0115] [Table 7]

[0116]

[0117] At the same time, current ITS services basically do not take into account the status of the receiver (e.g., location, speed, direction, etc.), and in the case of short-range communication, the sensor information provider (e.g., RSU, vehicle, or server, etc.) can send sensor information to receivers located within the communication distance by broadcasting, while in the case of long-range communication, the service provider can provide sensor information to all receivers located in a specified area (e.g., tiles in the case of the Message Queuing Telemetry Transport (MQTT) architecture). In this case, for example, since the information provided by the service provider is sent to an unspecified number of receivers located in the area, network traffic may increase as general information including some unnecessary information is shared with some receivers. Additionally, for example, for receivers with limited computing power, processing a large amount of information may be burdensome, and for dynamic object information, the object information may not be available due to communication delays. Additionally, for example, on devices with limited battery life, the increase in battery consumption may have a negative impact on other functions.

[0118] In the present disclosure, a method is proposed, namely, when a sensor information provider (e.g., a vehicle, an RSU, or an ITS server) provides sensor information through unicast, groupcast, multicast, or geobroadcast, based on status information or requests of a specific road user or road user group with which communication is possible, processing effective information (e.g., removing information unnecessary for the receiver (road user or road user group) and information related to the receiver (road user or road user group)) and sending it to the specific road user or road user group, as well as an apparatus supporting the method.

[0119] The method proposed in this disclosure can be described as an operation of (1) collecting status information or requests of a receiver (or receiver group), (2) selecting valid information, and (3) sending optimized information to the receiver (or receiver group).

[0120] (1) Collecting the status information of the receiver (or receiver group) or the requested operation

[0121] For example, a sensor information provider may check the status of a recipient (or a group of recipients) to determine the information requested by the recipient. Specifically, the method for transmitting recipient status information and a request, along with the specific information included therein, may be as follows. For example, the recipient may directly or indirectly transmit its status via messages in various formats, or directly request the requested information from the sensor information provider.

[0122] Figure 4 The operation of the sensor information provider directly or indirectly identifying the information required by the receiver is shown. Figure 4 The embodiments of the present disclosure may be combined with various embodiments of the present disclosure.

[0123] Referring to Figure 4 , vehicle 410 as the recipient can send a status information message (CAM / BSM) or a request message 430 to the RSU or ITS server 420 as the sensor information provider. For example, Figure 4 the operation can be explained by dividing it into each method as follows.

[0124] For example, in the indirect method, the sensor information provider can obtain the status information of the recipient (or recipient group) through cooperative awareness messages (CAM) or basic safety messages (BSM) using V2X communication, thereby inferring the necessary information of the recipient. For example, the recipient can periodically (e.g., 1 Hz to 10 Hz) send messages to the surrounding to share its status information. At this time, for example, the sensor information provider can also receive status information messages from multiple recipients within the communication range. For example, the above messages (CAM / BSM) can include the status information of various recipients, and the sensor information provider can use the information related to 1) speed, 2) direction, 3) position, and 4) expected driving path among them. For example, the sensor information provider can select the target recipient to whom the sensor information is to be provided after checking whether the recipient is moving from the current position towards the sensor detection area or the expected driving path of the recipient. For example, referring to Figure 4 , Figure 4 , vehicle 410 can be a representative example of selecting the target of sensor information provision. For example, when vehicle 410 periodically sends its own status information message (CAM / BSM) 430 while approaching an intersection, the RSU or ITS server 420 capable of providing sensor information can check the position, speed, direction, and expected driving path of vehicle 410 among the information of status information message 430 and identify vehicle 410 as the target of sensor information provision. For example, if vehicle 410 leaves the intersection, that is, moves in the direction opposite to the sensor detection area, vehicle 410 can be excluded from the target of sensor information provision. For example, the above information (e.g., position, direction, speed, expected driving path) can also be utilized in the second operation described below. For example, in addition to the above method, the sensor information provider can obtain the driving information (speed, direction, position, expected path) of the recipient by using directly installed sensors. For example, a camera installed on a traffic light can detect the speed, direction, and position of the recipient, and can use external elements such as turn signalers to obtain the expected path of the recipient.

[0125] For example, the direct method is a method in which the recipient directly sends a request message to the sensor information provider to request the information it wants to receive. The sensor information provider can send a signal indicating the availability of the sensor information service to the surroundings. For example, the recipient that receives the signal can determine whether to receive the sensor information. For example, after the recipient determines to receive the sensor information, it can include a request message that includes information about 1) the detection area, 2) the object type (e.g., vehicle, pedestrian on the sidewalk / roadway / crosswalk, bicycle, etc.), 3) the object state (e.g., dynamic object, static object), and 4) the information update period or aperiodicity (e.g., one-time reception) of the information to be received. For example, the operation of the sensor information provider to include the request information received from the recipient is described below.

[0126] (2) Operation of selecting valid information

[0127] For example, the sensor information provider can select the sensor information required by the recipient based on the state or request information of the recipient obtained in the above operation (1). For example, first, the sensor information provider may need to identify the characteristics of the area measured by the sensor in order to effectively select and process the sensor information it provides. For example, the characteristics of the sensor measurement area can include fixed structures, roads (e.g., sidewalks, roadways, bicycle lanes, etc.), area classifications (e.g., safety dividers between sidewalks and roadways, median strips on roadways, etc.), and area shapes (presence or absence of intersections, crosswalks, etc.). Or, for example, the sensor information provider may need to identify information related to multiple objects included in the area measured by the sensor in order to effectively select and process the sensor information it provides. For example, the information related to multiple objects included in the area measured by the sensor can include the type of the object, the state of the object, the method of distinguishing the object, etc. For example, the sensor information provider can select the object information or area that is valid for the recipient from among the multiple object information in the entire area detected by the sensor based on the above information and the state of the recipient (e.g., type, speed, direction, position, expected driving path) or the request message information. In this case, for example, there may be several ways for the sensor information provider to divide the detection area.

[0128] Figure 5 Shows the detection area of the sensor at the intersection based on one embodiment of the present disclosure. Figure 5 The embodiments can be combined with various embodiments of the present disclosure.

[0129] Figure 6 Shows the segmented detection area based on one embodiment of the present disclosure. Figure 6 The embodiments can be combined with various embodiments of the present disclosure.

[0130] For example, when there are areas 521 to 524 detected by four sensors 511 to 514 at an intersection as shown in Figure 5 , the sensor information provider can divide the detection area of the RSU as shown in Figure 6 (the areas #1 to #13 in Figure 6 ) and classify the objects detected in each area, and only select the areas that are valid for the recipient. For example, Figure 6 the size and shape of the divided areas (areas #1 to #13) in

[0131] can vary. For example, as in the above method, when the sensor information provider selects valid object information based on the status information of the recipient, the selection of the detection area can be mainly calculated based on the position, speed, and moving direction of the recipient. For example, when the recipient stops at a position far from the sensor detection area or approaches the position at a low speed, the sensor information provider can only select the detection area or the object information in the detection area that is close to the recipient's current position or has a possibility of collision, and exclude the detection area that is far from the recipient's current position or has no possibility of collision. At this time, for example, the sensor information provider can only select the areas where the difference (e.g., distance) between each area and the recipient's position is less than [x] m, or calculate the time to reach each area based on the recipient's position, direction, and speed and only select the areas where this value is less than [x] s.

[0132] Figure 7 shows the operation of selecting a valid sensor detection area for a recipient stopped at an intersection based on an embodiment of the present disclosure. Figure 7 The embodiments of

[0133] can be combined with various embodiments of the present disclosure. Figure 7 Referring to Figure 7 , when the recipient (e.g., a vehicle) 710 stops at an intersection, the RSU 720 can only select the areas (areas #3, #4, #11) that are adjacent to the current position of the recipient 710 (e.g., within 20 m) or the object information in the areas (areas #3, #4, #11) that are adjacent to the current position of the recipient 710 (e.g., within 20 m) from the object information detected in the entire detection area (areas #1 to #13). Additionally, for example, as the speed of the recipient 710 increases, the size of the detection area can increase. For example, in

[0134] For example, the detection area can be adjusted as a secondary selection operation in the expected driving path of the recipient. For example, as described above, the predicted driving path of the recipient (the future driving path of the recipient) can be obtained in the above operation (1) by means of the driving prediction (PathPrediction) information of the CAM / BSM sent by the recipient, the characteristics of the road, and the position of the drivable lane where the recipient is located (for example, a lane that only allows straight-ahead, right-turn, left-turn, and U-turn, or an overpass, tunnel, highway entrance, etc.), and the external signals (such as turn signals) identified by the sensors of the sensor information provider. For example, the sensor detection area can be selected by expanding or shrinking such an expected driving path of the recipient. That is, for example, a detection area corresponding to the expected driving path and an area that may affect it can be selected.

[0135] Figure 8 An operation of a sensor selecting a detection area based on the expected driving path of the recipient according to an embodiment of the present disclosure is shown. Figure 8 The embodiments can be combined with various embodiments of the present disclosure.

[0136] Referring to Figure 8 , if the expected driving path of the recipient (e.g., a vehicle) 810 approaching an intersection is a right turn 820, then only the effective areas with a collision risk (areas #2, #3, #5, #7, #9, #10, #11, #12, #13) or the object information in the effective areas with a collision risk (areas #2, #3, #5, #7, #9, #10, #11, #12, #13) can be selected. In this case, for example, the size of the selected area can be expanded or shrunk according to the accuracy of the expected driving path. For example, if the confidence level of the driving prediction (PathPrediction) of the CAM / BSM is [x]% or lower, the detection area can be selected conservatively. For example, in Figure 8 , if the accuracy of the right turn expected driving path information 820 of the recipient (e.g., a vehicle) 810 is as low as 80% or lower, the detection area can be expanded.

[0137] Also, for example, if the roadway and the sidewalk where the recipient (e.g., a vehicle) is located are divided by an impassable safety divider, or if the roadway where the recipient is driving and the oncoming roadway are divided by an impassable median, the selected area can be expanded or shrunk. For example, if the roadway and the sidewalk are divided by a safety divider, the information of pedestrians on the sidewalk can be omitted. In addition, for example, if they are divided by a median, the information of vehicles driving in the opposite direction can be omitted.

[0138] For example, as in the above method (where the sensor information provider directly receives a request message in operation (1)), if the recipient requests the sensor information to be received via the request message, the object information can be selected based on the requested information (e.g., area, type, object status, information update period / aperiodicity).

[0139] Figure 9 An operation of selecting only object information on roads and crosswalks based on the recipient's status information or request message according to an embodiment of the present disclosure is shown. Figure 9 Embodiments can be combined with various embodiments of the present disclosure.

[0140] For example, in the case of an operation of selecting only object information about vehicles on roads and pedestrians on crosswalks based on the recipient's request message, referring to Figure 9 , if a recipient (e.g., a vehicle) 910 planning to turn right 920 sends a request message including information about an area (areas #2, #3, #5, #7, #9, #10, #11, #12, #13), type (e.g., vehicle or pedestrian on a crosswalk), object status (e.g., dynamic object), and information about information update (e.g., periodicity) to a sensor information provider (e.g., RSU) 930, the sensor information provider can omit the pedestrian information on the sidewalk in the detection area requested by the recipient and select only the object information of pedestrians on crosswalks and vehicles on roads. For example, in Figure 9 , if the RSU 930 detects vehicles 941 to 944 and pedestrians 951 to 952 using sensors, it can select only the object information 943, 944, 951, and 952 in the requested areas (areas #2, #3, #5, #7, #9, #10, #11, #12, #13). For example, as another example, if a request message is sent to receive only information about objects that cannot communicate (e.g., non-V2X road users), the RSU can select the object information accordingly.

[0141] For example, in the case of an operation of selecting only object information about vehicles on roads and pedestrians on crosswalks based on the recipient's status information, referring to Figure 9, the sensor information provider (e.g., RSU) 930 can use sensors to obtain information related to the entire area (Area #1 to #13) and information related to objects (vehicles 941 to 944 and pedestrians 951 to 952) in the entire area. In addition, for example, the sensor information provider 930 can receive status information from a recipient (e.g., a vehicle) 910 and can determine the current driving path and the expected driving path of the recipient 910 based on the received status information. For example, if the sensor information provider 930 determines based on the received status information that the recipient 910 will make a right turn 920, the sensor information provider 930 can select an effective area (e.g., the area where the recipient 910 makes a right turn 920) (Area #2, #3, #5, #7, #9, #10, #11, #12, #13) related to the current driving path and the expected driving path of the recipient 910 from the entire area (Area #1 to #13). In addition, for example, the sensor information provider 930 can select effective objects (vehicles 943 and 944 and pedestrians 951 and 952) in the selected effective area (Area #2, #3, #5, #7, #9, #10, #11, #12, #13) from the objects (vehicles 941 to 944 and pedestrians 951 to 952) in the entire area. For example, the sensor information provider 930 can send information related to the effective objects (vehicles 943 and 944 and pedestrians 951, 952) in the effective area (Area #2, #3, #5, #7, #9, #10, #11, #12, #13) to the recipient 910 by the following method.

[0142] (3) Operation of sending optimization information to the recipient (or recipient group)

[0143] For example, the sensor information provider may perform an operation of sending the selected and processed object information to the recipient. For example, the sensor information provider may select valid objects among the detected objects and periodically generate and send messages to the recipient. In this case, for example, the sensor information provider may send messages periodically, and even if the selected object does not change over time (e.g., change in position, speed, direction, etc.), if the transmission period is reached, it may be included in the generated message. For example, if an object identified in a previously received message is not present in the most recently received message, it may indicate that the object is not in the corresponding detection area. That is, for example, this may mean that the state of the object has changed very little (e.g., position movement, speed change, angle change, etc.), so it has not been excluded from the message but has disappeared (from the detection area). For example, under these conditions, the message transmission frequency may be changed based on the arrival time (e.g., derived from position, direction, and speed) of the recipient at a representative sensor detection point (e.g., the center point of a virtual intersection). For example, if the arrival time is [A] seconds, the transmission frequency may be determined as [k / A] Hz (k is a constant).

[0144] Figure 10 An operation of a sensor information provider changing the transmission period of sensor information based on the position and speed of a recipient according to an embodiment of the present disclosure is shown. Figure 10 Embodiments may be combined with various embodiments of the present disclosure.

[0145] Refer to Figure 10 , for example, in the case where vehicle 1010 approaches an intersection at a low speed of 10 m / s at a distance of 1000 m, that is, if the arrival time to the sensor detection area (e.g., 100 seconds) is long enough, sensor information may be sent at a period of 1 Hz (constant k = 100). For example, conversely, for vehicle 1020 approaching the intersection at a speed of 10 m / s at a short distance (e.g., 100 m), sensor information may be sent at a period of 10 Hz (constant k = 100). For example, if sensor information is requested via a request message, it may be sent according to the update period / aperiodic (e.g., one-time) information included in the request message.

[0146] Meanwhile, based on what is proposed in the present disclosure, the existing content of the above ETSI ITS standard (ETSI TS 103 324) may be applied through the following modifications / additions.

[0147] The CPM shall include, within the perceivedObjectContainer, the available information about the perceived objects, with each object using one PerceivedObject instance according to the type of the object.

[0148] This includes management that depends on the Cooperative Perception Service (CPS) configuration (e.g., stored in the Management Information Base (MIB) and listed in the ETSI ITS standard (ETSI ITS TS103 324)).

[0149] - If ObjectInclusionConfig is configured as "0", the rules are not defined in the current standard (ETSI ITS TS103 324). The sender determines based on its own rules for including perceived objects.

[0150] - If ObjectInclusionConfig is configured as "1", the inclusion rules defined in the current standard (ETSI ITS TS103324) are applied.

[0151] The perceived object inclusion rules vary according to the object type. Based on the object category with the highest classification confidence, two object types are defined:

[0152] - Type A objects: Objects with a vruSubclass category or groupSubclass category or otherSubclass category having a VRU profile of pedestrian, bicyclistAndLightVruVehicle, or animal

[0153] - Type B objects: Objects of any category not included in Type A (e.g., vehicleSubclass category or vruSubclass category with a VRU profile of Motorcyclist)

[0154] As the current CPM generates an event, if an object meets any of the following conditions, objects with a perceived object quality exceeding the ObjectPerceptionQualityThreshold should be selected from the object list for transmission:

[0155] 1) If the object has Type A:

[0156] a) The object is detected by the recognition system for the first time since the last CPM generation event.

[0157] b) If there are Type A objects in the object list that have not been included in the CPM for more than T_GenCpmMax / 2, all Type A objects should be included in the currently generated CPM.

[0158] 2) If the object has Type B:

[0159] a) The object is detected by the recognition system for the first time after the last CPM generation event.

[0160] b) The Euclidean distance between the current estimated reference point position of the object and the estimated reference point position of the object included in the CPM last time exceeds the minPositionChangeThreshold.

[0161] c) The difference between the current estimated ground speed of the object reference point and the absolute speed estimate of the object reference point included in the CPM last time exceeds the minGroundSpeedChangeThreshold.

[0162] d) The estimated velocity direction of the object reference point has changed by at least minGroundVelocityOrientationChangeThreshold since the object was last included in the CPM.

[0163] e) The elapsed time since the object was last included in the CPM is greater than or equal to T_GenCpmMax.

[0164] To reduce the number of generated messages, in each message generation event, objects of type B that are to be included in the next CPM generation event (e.g., after T_GenCpm) can be included in the currently generated CPM. For this purpose, for example, by assuming a constant velocity model, objects not selected for transmission in the currently generated CPM can be predicted for the next CPM generation event (e.g., after T_GenCpm). According to this prediction, all objects that should be included in the next CPM generation event can be selected to be included in the currently generated CPM, including the latest available kinematic and attitude states. Applying this mechanism may result in a generation event where no CPM is generated.

[0165] If the ITS station (ITS-S) supports multi-channel operation (MCO), the CPS shall adjust T_GenCpm, as well as the amount of data generated and generation events for each channel, to meet the limitations provided by MCO_FAC defined in the ETSI standard (ETSI TS103 141). For this purpose, among the identified objects selected for transmission in the currently generated CPM, the object with the lowest information value (VoI) shall be omitted.

[0166] If the ITS-S supports MCO, when an object is omitted from the currently generated CPM due to low VoI, one or more additional CPMs can be generated for transmission on alternative channels. For this purpose, considering the constraints provided by MCO_FAC, the objects are sorted using VoI, and alternative channels on which each object can be included in the CPM are selected. The VoI of an object transmitted on a certain channel shall depend only on the data transmitted or received on channels with a priority higher than or equal to the channel on which the object is transmitted.

[0167] If the ITS-S supports unicast, multicast, anycast, or geocast transmission, the ITS-S can generate a CPM / SDSM including relevant data content (sensed objects) for the receiving ITS-S based on the location, direction, speed, or predicted path of the receiving ITS-S, without including any irrelevant data content.

[0168] According to various embodiments of the present disclosure, with the improvement of the performance of sensors and communication devices and the computing power of transportation infrastructure (e.g., the transmitter), and due to the use of long-distance communication (e.g., the Uu interface) and the development of short-distance communication (e.g., NR-V2X) technologies, in addition to existing broadcasts, unicast, multicast, anycast, and / or geocast are possible, enabling the transmitter to selectively provide only the information required by the receiver. For example, this function can prevent over-occupation of the communication channel from the perspective of network traffic and reduce data downlink in the case of long-distance communication. In addition, for example, on the receiver side, processing resources for processing received data can be saved, and sensor information can be used with less processing power. In addition, for example, in receivers where battery consumption is crucial, battery consumption can be reduced.

[0169] Figure 11 A method of performing wireless communication by a first device according to an embodiment of the present disclosure is shown. Figure 11 Embodiments of [description missing] can be combined with various embodiments of the present disclosure.

[0170] Referring to Figure 11 , in step S1110, the first device can detect information related to multiple regions and information related to one or more objects included in the multiple regions based on sensing. In step S1120, the first device can receive status information from the second device. In step S1130, the first device can select valid regions among the multiple regions based on the status information. In step S1140, the first device can determine valid objects included in the valid regions among one or more objects included in the multiple regions. In step S1150, the first device can send information related to the valid objects included in the valid regions to the second device.

[0171] For example, the current occupied area of the second device and the expected occupied area of the second device can be determined based on the status information, and the valid area can be selected based on at least one of the current occupied area or the expected occupied area. For example, the valid area can be the area among multiple areas excluding the areas not related to the current occupied area and the expected occupied area. For example, the information related to the multiple areas can include the information related to at least one of the type of the area, the status of the area, or the method of differentiating the area, and the valid area can be the area among the multiple areas excluding the areas not related to the current occupied area and the expected occupied area based on the information related to the multiple areas. For example, the information related to one or more objects included in the multiple areas can include the information related to at least one of the type of the object, the status of the object, or the method of differentiating the object, and the valid object can be the object among the one or more objects excluding the objects not related to the current occupied area and the expected occupied area based on the information related to the one or more objects. For example, the higher the accuracy of the determination related to the current occupied area and the expected occupied area, the less at least one of the following: (i) the area selected as the valid area among the multiple areas or (ii) the object determined as the valid object among the one or more objects.

[0172] For example, based on the status information, the faster the second device arrives at the multiple areas, the more areas are selected as the valid area among the multiple areas.

[0173] For example, based on the information related to the multiple areas, the stricter the differentiation between the driving direction of the second device and the opposite direction, the fewer areas are selected as the valid area among the multiple areas.

[0174] For example, the shorter the time for the second device to approach the valid area, the shorter the transmission period of the information related to the valid object included in the valid area.

[0175] Additionally, for example, the first device can obtain the area configuration information for differentiating the multiple areas. For example, the sensing of the multiple areas can be performed based on the area configuration information.

[0176] For example, the information related to the valid object included in the valid area can be sent to the second device based on at least one of unicast, multicast, broadcast, or geocast.

[0177] For example, the status information can include the information related to at least one of the type, speed, direction, position, or driving path of the second device.

[0178] For example, the status information can be received from the second device based on at least one of the Cooperative Awareness Message (CAM) or the Basic Safety Message (BSM).

[0179] The proposed method can be applied to apparatuses according to various embodiments of the present disclosure. First, the processor 102 of the first apparatus 100 may detect information related to multiple regions and information related to one or more objects included in the multiple regions based on sensing. Also, the processor 102 of the first apparatus 100 may control the transceiver 106 to receive status information from the second apparatus. And the processor 102 of the first apparatus 100 may select a valid region among the multiple regions based on the status information. And the processor 102 of the first apparatus 100 may determine valid objects included in the valid region among one or more objects included in the multiple regions. And the processor 102 of the first apparatus 100 may control the transceiver 106 to send information related to the valid objects included in the valid region to the second apparatus.

[0180] According to an embodiment of the present disclosure, there is provided a first apparatus configured to perform wireless communication. The first apparatus may include: at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, when executed by the at least one processor, cause the first apparatus to perform operations including: detecting information related to multiple regions and information related to one or more objects included in the multiple regions based on sensing; receiving status information from a second apparatus; selecting a valid region among the multiple regions based on the status information; determining valid objects included in the valid region among one or more objects included in the multiple regions; and sending information related to the valid objects included in the valid region to the second apparatus.

[0181] According to an embodiment of the present disclosure, there is provided a processing apparatus configured to control a first apparatus. The processing apparatus may include: at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, when executed by the at least one processor, cause the first apparatus to perform operations including: detecting information related to multiple regions and information related to one or more objects included in the multiple regions based on sensing; receiving status information from a second apparatus; selecting a valid region among the multiple regions based on the status information; determining valid objects included in the valid region among one or more objects included in the multiple regions; and sending information related to the valid objects included in the valid region to the second apparatus.

[0182] According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium recording instructions is provided. For example, these instructions, when executed, cause a first device to perform operations, including: based on sensing, detecting information related to a plurality of regions and information related to one or more objects included in the plurality of regions; receiving status information from a second device; based on the status information, selecting a valid region among the plurality of regions; determining valid objects included in the valid region among one or more objects included in the plurality of regions; and sending information related to the valid objects included in the valid region to the second device.

[0183] Figure 12 A method for a second device to perform wireless communication based on an embodiment of the present disclosure is shown. Figure 12 Embodiments of can be combined with various embodiments of the present disclosure.

[0184] Referring to Figure 12 , in step S1210, the second device may send the status information of the second device to the first device. In step S1220, the second device may receive information related to the valid objects included in the valid region from the first device. For example, the valid region may be selected based on the sensing of the plurality of regions by the first device and the status information, and the valid objects may be determined based on the sensing of one or more objects included in the plurality of regions by the first device and the selected valid region.

[0185] The proposed method can be applied to devices according to various embodiments of the present disclosure. First, the processor 202 of the second device 200 may control the transceiver 206 to send the status information of the second device to the first device. Also, the processor 202 of the second device 200 may control the transceiver 206 to receive information related to the valid objects included in the valid region from the first device. For example, the valid region may be selected based on the sensing of the plurality of regions by the first device and the status information, and the valid objects may be determined based on the sensing of one or more objects included in the plurality of regions by the first device and the selected valid region.

[0186] According to an embodiment of the present disclosure, a second device configured to perform wireless communication is provided. The second device may include: at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, these instructions, when executed by the at least one processor, cause the second device to perform operations including: sending status information of the second device to a first device; and receiving information related to valid objects included in a valid area from the first device. For example, the valid area may be selected based on sensing of multiple areas by the first device and the status information, and the valid objects may be determined based on sensing of one or more objects included in the multiple areas by the first device and the selected valid area.

[0187] According to an embodiment of the present disclosure, a processing device configured to control a second device is provided. The processing device may include: at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, these instructions, when executed by the at least one processor, cause the second device to perform operations including: sending status information of the second device to a first device; and receiving information related to valid objects included in a valid area from the first device. For example, the valid area may be selected based on sensing of multiple areas by the first device and the status information, and the valid objects may be determined based on sensing of one or more objects included in the multiple areas by the first device and the selected valid area.

[0188] According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium recording instructions is provided. For example, these instructions, when executed, cause the second device to perform operations including: sending status information of the second device to a first device; and receiving information related to valid objects included in a valid area from the first device. For example, the valid area may be selected based on sensing of multiple areas by the first device and the status information, and the valid objects may be determined based on sensing of one or more objects included in the multiple areas by the first device and the selected valid area.

[0189] Various embodiments of the present disclosure may be combined with each other.

[0190] Hereinafter, devices to which various embodiments of the present disclosure can be applied will be described.

[0191] Various descriptions, functions, processes, proposals, methods, and / or operation flows of the present disclosure described in this document can be applied to, but are not limited to, various fields that require wireless communication / connection (e.g., 5G) between devices.

[0192] In the following, a more detailed description will be given with reference to the accompanying drawings. In the following drawings / description, unless otherwise described, the same reference numerals may represent the same or corresponding hardware blocks, software blocks, or functional blocks.

[0193] Figure 13 A communication system 1 according to an embodiment of the present disclosure is shown. Figure 13 Embodiments of can be combined with various embodiments of the present disclosure.

[0194] Referring to Figure 13 , a communication system 1 to which various embodiments of the present disclosure are applied includes a wireless device, a base station (BS), and a network. Herein, the wireless device represents a device that performs communication using a radio access technology (RAT) (e.g., 5G new RAT (NR) or long term evolution (LTE)), and may be referred to as a communication / radio / 5G device. The wireless device may include, without limitation, a robot 100a, vehicles (100b-1, 100b-2), an extended reality (XR) device (100c), a handheld device 100d, a household appliance 100e, an Internet of Things (IoT) device 100f, and an artificial intelligence (AI) device / server 400. For example, the vehicle may include a vehicle having a wireless communication function, an autonomous vehicle, and a vehicle capable of performing vehicle-to-vehicle communication. Herein, the vehicle may include an unmanned aerial vehicle (UAV) (e.g., a drone). The XR device may include an augmented reality (AR) / virtual reality (VR) / mixed reality (MR) device and may be implemented in the form of a head-mounted device (HMD), a head-up display (HUD) mounted in a vehicle, a TV, a smart phone, a computer, a wearable device, a household appliance device, a digital sign, a vehicle, a robot, etc. The handheld device may include a smart phone, a smart board, a wearable device (e.g., a smart watch or smart glasses), and a computer (e.g., a notebook). The household appliance may include a TV, a refrigerator, and a washing machine. The IoT device may include a sensor and a smart meter. For example, the BS and the network may be implemented as wireless devices, and a specific wireless device (200a) may operate as a BS / network node with respect to other wireless devices.

[0195] Here, in addition to LTE, NR, and 6G, the wireless communication technologies implemented in the wireless devices 100a to 100f of the present disclosure may also include narrowband Internet of Things for low-power communication. In this case, for example, the NB-IoT technology may be an example of a low-power wide area network (LPWAN) technology and may be implemented as a standard such as LTE Cat NB1 and / or LTE Cat NB2, and is not limited to the above names. Additionally or alternatively, the wireless communication technologies implemented in the wireless devices 100a to 100f of the present disclosure may perform communication based on the LTE-M technology. In this case, as an example, the LTE-M technology may be an example of LPWAN and may be referred to by various names including enhanced machine type communication (eMTC), etc. For example, the LTE-M technology may be implemented as at least any one of various standards such as 1) LTE CAT 0, 2) LTE Cat M1, 3) LTE Cat M2, 4) LTE non-bandwidth limited (non-BL), 5) LTE-MTC, 6) LTE machine type communication, and / or 7) LTE M, and is not limited to the above names. Additionally or alternatively, the wireless communication technologies implemented in the wireless devices 100a to 100f of the present disclosure may include at least one of Bluetooth, low-power wide area network (LPWAN), and ZigBee considering low-power communication, and is not limited to the above names. As an example, the ZigBee technology may generate a personal area network (PAN) related to small / low-power digital communication based on various standards including IEEE 802.15.4, etc., and may be referred to by various names.

[0196] The wireless devices 100a to 100f may be connected to the network 300 via the BS200. AI technology may be applied to the wireless devices 100a to 100f, and the wireless devices 100a to 100f may be connected to the AI server 400 via the network 300. The network 300 may be configured using a 3G network, a 4G (e.g., LTE) network, or a 5G (e.g., NR) network. Although the wireless devices 100a to 100f may communicate with each other via the BS200 / network 300, the wireless devices 100a to 100f may perform direct communication (e.g., sidelink communication) with each other without going through the BS / network. For example, vehicles 100b-1 and 100b-2 may perform direct communication (e.g., vehicle-to-vehicle (V2V) / vehicle-to-everything (V2X) communication). IoT devices (e.g., sensors) may perform direct communication with other IoT devices (e.g., sensors) or other wireless devices 100a to 100f.

[0197] Wireless communication / connection 150a, 150b, or 150c can be established between wireless devices 100a to 100f / BS200 or BS200 / BS200. Here, the wireless communication / connection can be established through various RATs (e.g., 5G NR) such as uplink / downlink communication 150a, sidelink communication 150b (or D2D communication), or inter-BS communication (e.g., relay, integrated access and backhaul (IAB)). The wireless device and the BS / wireless device can send / receive radio signals to / from each other through wireless communication / connections 150a and 150b. For example, wireless communication / connections 150a and 150b can send / receive signals through various physical channels. To this end, at least a part of various configuration information configuration processes, various signal processing processes (e.g., channel coding / decoding, modulation / demodulation, and resource mapping / demapping), and resource allocation processes for sending / receiving radio signals can be performed based on various proposals of the present disclosure.

[0198] Figure 14 A wireless device according to an embodiment of the present disclosure is shown. Figure 14 Embodiments of can be combined with various embodiments of the present disclosure.

[0199] Referring to Figure 14 , the first wireless device 100 and the second wireless device 200 can send radio signals through various RATs (e.g., LTE and NR). Here, {the first wireless device 100 and the second wireless device 200} can correspond to Figure 13 {wireless device 100x and BS200} and / or {wireless device 100x and wireless device 100x} in

[0200] The first wireless device 100 may include one or more processors 102 and one or more memories 104, and may additionally further include one or more transceivers 106 and / or one or more antennas (antenna units) 108. The (one or more) processors 102 may control the (one or more) memories 104 and / or the (one or more) transceivers 106, and may be configured to implement the descriptions, functions, processes, proposals, methods, and / or operation flows disclosed in this document. For example, the (one or more) processors 102 may process the information in the (one or more) memories 104 to generate first information / signals, and then send radio signals including the first information / signals through the (one or more) transceivers 106. The (one or more) processors 102 may receive radio signals including second information / signals through the transceivers 106, and then store the information obtained by processing the second information / signals in the (one or more) memories 104. The (one or more) memories 104 may be connected to the (one or more) processors 102, and may store various information related to the operations of the (one or more) processors 102. For example, the (one or more) memories 104 may store software codes including commands for executing a part or all of the processes controlled by the (one or more) processors 102 or for executing the descriptions, functions, processes, proposals, methods, and / or operation flows disclosed in this document. Here, the (one or more) processors 102 and the (one or more) memories 104 may be part of a communication modem / circuit / chip designed to implement a RAT (e.g., LTE or NR). The (one or more) transceivers 106 may be connected to the (one or more) processors 102, and send and / or receive radio signals through the (one or more) antennas 108. Each transceiver 106 may include a transmitter and / or a receiver. The (one or more) transceivers 106 may be used interchangeably with the (one or more) radio frequency (RF) units. In the present disclosure, the wireless device may represent a communication modem / circuit / chip.

[0201] The second wireless device 200 may include one or more processors 202 and one or more memories 204, and may additionally further include one or more transceivers 206 and / or one or more antennas 208. The (one or more) processors 202 may control the (one or more) memories 204 and / or the (one or more) transceivers 206, and may be configured to implement the descriptions, functions, processes, proposals, methods, and / or operation flows disclosed in this document. For example, the (one or more) processors 202 may process the information in the (one or more) memories 204 to generate third information / signals, and then transmit radio signals including the third information / signals through the (one or more) transceivers 206. The (one or more) processors 202 may receive radio signals including fourth information / signals through the (one or more) transceivers 106, and then store the information obtained by processing the fourth information / signals in the (one or more) memories 204. The (one or more) memories 204 may be connected to the (one or more) processors 202, and may store various information related to the operation of the (one or more) processors 202. For example, the (one or more) memories 204 may store software codes including commands for executing part or all of the processes controlled by the (one or more) processors 202 or for executing the descriptions, functions, processes, proposals, methods, and / or operation flows disclosed in this document. Here, the (one or more) processors 202 and the (one or more) memories 204 may be part of a communication modem / circuit / chip designed to implement a RAT (e.g., LTE or NR). The (one or more) transceivers 206 may be connected to the (one or more) processors 202, and transmit and / or receive radio signals through the (one or more) antennas 208. Each transceiver 206 may include a transmitter and / or a receiver. The (one or more) transceivers 206 may be used interchangeably with the (one or more) RF units. In the present disclosure, the wireless device may represent a communication modem / circuit / chip.

[0202] Next, the hardware components of wireless devices 100 and 200 will be described in more detail. One or more protocol layers may be implemented by one or more processors 102 and 202, but are not limited thereto. For example, one or more processors 102 and 202 may implement one or more layers (e.g., functional layers such as PHY, MAC, RLC, PDCP, RRC, and SDAP). One or more processors 102 and 202 may generate one or more protocol data units (PDUs) and / or one or more service data units (SDUs) according to the descriptions, functions, procedures, proposals, methods, and / or operation flows disclosed in this document. One or more processors 102 and 202 may generate messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operation flows disclosed in this document. One or more processors 102 and 202 may generate signals (e.g., baseband signals) including PDUs, SDUs, messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operation flows disclosed in this document, and provide the generated signals to one or more transceivers 106 and 206. One or more processors 102 and 202 may receive signals (e.g., baseband signals) from one or more transceivers 106 and 206, and obtain PDUs, SDUs, messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operation flows disclosed in this document.

[0203] One or more processors 102 and 202 may be referred to as a controller, microcontroller, microprocessor, or microcomputer. One or more processors 102 and 202 may be implemented by hardware, firmware, software, or a combination thereof. For example, one or more application specific integrated circuits (ASICs), one or more digital signal processors (DSPs), one or more digital signal processing devices (DSPDs), one or more programmable logic devices (PLDs), or one or more field programmable gate arrays (FPGAs) may be included in one or more processors 102 and 202. The descriptions, functions, procedures, proposals, methods, and / or operation flows disclosed in this document may be implemented using firmware or software, and the firmware or software may be configured to include modules, procedures, or functions. The firmware or software configured to execute the descriptions, functions, procedures, proposals, methods, and / or operation flows disclosed in this document may be included in one or more processors 102 and 202 or stored in one or more memories 104 and 204, and thus driven by one or more processors 102 and 202. The descriptions, functions, procedures, proposals, methods, and / or operation flows disclosed in this document may be implemented using software or firmware in the form of code, commands, and / or command sets.

[0204] One or more memories 104 and 204 may be connected to one or more processors 102 and 202, and may store various types of data, signals, messages, information, programs, code, instructions, and / or commands. One or more memories 104 and 204 may be constituted by read-only memory (ROM), random access memory (RAM), electrically erasable programmable read-only memory (EPROM), flash memory, hard drive, register, cache memory, computer-readable storage medium, and / or combinations thereof. One or more memories 104 and 204 may be located inside and / or outside one or more processors 102 and 202. One or more memories 104 and 204 may be connected to one or more processors 102 and 202 by various techniques such as wired or wireless connections.

[0205] One or more transceivers 106 and 206 may send user data, control information, and / or radio signals / channels mentioned in the methods and / or operation procedures of this document to one or more other devices. One or more transceivers 106 and 206 may receive user data, control information, and / or radio signals / channels mentioned in the descriptions, functions, processes, proposals, methods, and / or operation procedures disclosed in this document from one or more other devices. For example, one or more transceivers 106 and 206 may be connected to one or more processors 102 and 202 and may send and receive radio signals. For example, one or more processors 102 and 202 may execute controls such that one or more transceivers 106 and 206 may send user data, control information, or radio signals to one or more other devices. One or more processors 102 and 202 may execute controls such that one or more transceivers 106 and 206 may receive user data, control information, or radio signals from one or more other devices. One or more transceivers 106 and 206 may be connected to one or more antennas 108 and 208, and one or more transceivers 106 and 206 may be configured to send and receive user data, control information, and / or radio signals / channels mentioned in the descriptions, functions, processes, proposals, methods, and / or operation procedures disclosed in this document through one or more antennas 108 and 208. In this document, one or more antennas may be multiple physical antennas or multiple logical antennas (e.g., antenna ports). One or more transceivers 106 and 206 may convert received radio signals / channels, etc. from RF band signals to baseband signals to process received user data, control information, radio signals / channels, etc. using one or more processors 102 and 202. One or more transceivers 106 and 206 may convert user data, control information, radio signals / channels, etc. processed using one or more processors 102 and 202 from baseband signals to RF band signals. To this end, one or more transceivers 106 and 206 may include (analog) oscillators and / or filters.

[0206] Figure 15 A signal processing circuit for transmitting a signal according to an embodiment of the present disclosure is shown. Figure 15 Embodiments of may be combined with various embodiments of the present disclosure.

[0207] Referring to Figure 15 , the signal processing circuit 1000 may include a scrambler 1010, a modulator 1020, a layer mapper 1030, a precoder 1040, a resource mapper 1050, and a signal generator 1060. The operations / functions of may be performed, not limited to Figure 15 and without being limited to Figure 14the processor(s) (102, 202) and / or transceiver(s) (106, 206). It can be implemented by Figure 14 the processor(s) (102, 202) and / or transceiver(s) (106, 206) to implement Figure 15 the hardware components. For example, it can be implemented by Figure 14 the processor(s) (102, 202) to implement blocks 1010 to 1060. Alternatively, it can be implemented by Figure 14 the processor(s) (102, 202) to implement blocks 1010 to 1050, and it can be implemented by Figure 14 the transceiver(s) (106, 206) to implement block 1060.

[0208] It can convert the codeword into a radio signal via Figure 15 the signal processing circuit 1000. Here, the codeword is a coded bit sequence of an information block. The information block can include transport blocks (e.g., UL-SCH transport block, DL-SCH transport block). The radio signal can be sent through various physical channels (e.g., PUSCH and PDSCH).

[0209] Specifically, the codeword can be converted by the scrambler 1010 into a scrambled bit sequence. The scrambling sequence for scrambling can be generated based on an initial value, and the initial value can include the ID information of the wireless device. The scrambled bit sequence can be modulated by the modulator 1020 into a sequence of modulation symbols. The modulation scheme can include pi / 2-binary phase shift keying (pi / 2-BPSK), m-phase shift keying (m-PSK), and m-quadrature amplitude modulation (m-QAM). The complex sequence of modulation symbols can be mapped by the layer mapper 1030 to one or more transmission layers. The modulation symbols of each transmission layer can be mapped (precoded) by the precoder 1040 to the corresponding antenna port(s). The output z of the precoder 1040 can be obtained by multiplying the output y of the layer mapper 1030 by the N*M precoding matrix W. Here, N is the number of antenna ports and M is the number of transmission layers. The precoder 1040 can perform precoding after performing transform precoding (e.g., DFT) for the complex modulation symbols. Alternatively, the precoder 1040 can perform precoding without performing transform precoding.

[0210] The resource mapper 1050 may map the modulated symbols of each antenna port to time-frequency resources. The time-frequency resources may include a plurality of symbols in the time domain (e.g., CP-OFDMA symbols and DFT-s-OFDMA symbols) and a plurality of subcarriers in the frequency domain. The signal generator 1060 may generate a radio signal from the mapped modulated symbols, and the generated radio signal may be transmitted to other devices through each antenna. To this end, the signal generator 1060 may include an inverse fast Fourier transform (IFFT) module, a cyclic prefix (CP) inserter, a digital-to-analog converter (DAC), and an upconverter.

[0211] It may be configured in a manner opposite to the signal processing procedure (1010 to 1060) of Figure 15 for the signal received in the wireless device. For example, a wireless device (e.g., Figure 14 100, 200) may receive a radio signal from the outside through an antenna port / transceiver. The received radio signal may be converted into a baseband signal by a signal restorer. To this end, the signal restorer may include a frequency downlink converter, an analog-to-digital converter (ADC), a CP remover, and a fast Fourier transform (FFT) module. Next, the baseband signal may be restored to a codeword through a resource demapping process, a post-coding process, a demodulation processor, and a descrambling process. The codeword may be restored to the original information block through decoding. Therefore, the signal processing circuit (not illustrated) for receiving a signal may include a signal restorer, a resource demapper, a post-encoder, a demodulator, a descrambler, and a decoder.

[0212] Figure 16 Another example of a wireless device based on an embodiment of the present disclosure is shown. The wireless device may be implemented in various forms according to use cases / services (refer to Figure 13 ). Figure 16 The embodiments of

[0213] may be combined with various embodiments of the present disclosure. Figure 16 Referring to Figure 14 , the wireless devices (100, 200) may correspond to the wireless devices (100, 200) of Figure 14 , and may be configured by various elements, components, units / parts, and / or modules. For example, each of the wireless devices (100, 200) may include a communication unit 110, a control unit 120, a memory unit 130, and additional components 140. The communication unit may include a communication circuit 112 and one or more transceivers 114. For example, the communication circuit 112 may include Figure 14One or more transceivers (106, 206) and / or one or more antennas (108, 208). The control unit 120 is electrically connected to the communication unit 110, the memory unit 130, and the additional components 140, and controls the overall operation of the wireless device. For example, the control unit 120 may control the electrical / mechanical operations of the wireless device based on programs / codes / commands / information stored in the memory unit 130. The control unit 120 may send the information stored in the memory unit 130 to the outside (e.g., other communication devices) via the communication unit 110 through a wireless / wired interface, or store the information received from the outside (e.g., other communication devices) via the communication unit 110 through a wireless / wired interface in the memory unit 130.

[0214] The additional components 140 may be configured in various ways according to the type of the wireless device. For example, the additional components 140 may include at least one of a power unit / battery, an input / output (I / O) unit, a driving unit, and a computing unit. The wireless device may be implemented in forms including but not limited to: a robot ( Figure 13 of 100a), a vehicle ( Figure 13 of 100b-1 and 100b-2), an XR device ( Figure 13 of 100c), a handheld device ( Figure 13 of 100d), a household appliance ( Figure 13 of 100e), an IoT device ( Figure 13 of 100f), a digital broadcast terminal, a holographic device, a public safety device, an MTC device, a medical device, a fintech device (or financial device), a security device, a climate / environment device, an AI server / device ( Figure 13 of 400), a BS ( Figure 13 of 200), a network node, etc. According to the use case / service, the wireless device may be used in a mobile or fixed location.

[0215] In Figure 16In this case, various elements, components, units / parts, and / or modules in the wireless devices (100, 200) can all be connected to each other through a wired interface, or at least some of them can be wirelessly connected through the communication unit 110. For example, in each of the wireless devices (100, 200), the control unit 120 and the communication unit 110 can be connected by a wired connection, and the control unit 120 and the first unit (e.g., 130, 140) can be wirelessly connected through the communication unit 110. Each element, component, unit / part, and / or module within the wireless devices (100, 200) can also include one or more elements. For example, the control unit 120 can be constructed by a set of one or more processors. As an example, the control unit 120 can be constructed by a set of a communication control processor, an application processor, an electronic control unit (ECU), a graphics processing unit, and a memory control processor. As another example, the memory unit 130 can be constructed by a random access memory (RAM), a dynamic RAM (DRAM), a read-only memory (ROM), a flash memory, a volatile memory, a non-volatile memory, and / or a combination thereof.

[0216] Hereinafter, examples of implementing Figure 12 will be described in detail with reference to the accompanying drawings.

[0217] Figure 17 FIG. shows a handheld device according to an embodiment of the present disclosure. The handheld device can include a smart phone, a smart tablet, a wearable device (e.g., a smart watch or smart glasses), or a portable computer (e.g., a notebook). The handheld device can be referred to as a mobile station (MS), a user terminal (UT), a mobile subscriber station (MSS), a subscriber station (SS), an advanced mobile station (AMS), or a wireless terminal (WT). Figure 17 Embodiments of

[0218] Referring to Figure 17 , the handheld device 100 can include an antenna unit 108, a communication unit 110, a control unit 120, a memory unit 130, a power supply unit 140a, an interface unit 140b, and an I / O unit 140c. The antenna unit 108 can be configured as part of the communication unit 110. Blocks 110 to 130 / 140a to 140c respectively correspond to Figure 16 blocks 110 to 130 / 140 of

[0219] The communication unit 110 may send and receive signals (e.g., data signals and control signals) to and from other wireless devices or the BS. The control unit 120 may perform various operations by controlling the components of the handheld device 100. The control unit 120 may include an application processor (AP). The memory unit 130 may store data / parameters / programs / codes / commands required to drive the handheld device 100. The memory unit 130 may store input / output data / information. The power supply unit 140a may supply power to the handheld device 100 and includes a wired / wireless charging circuit, a battery, etc. The interface unit 140b may support the connection of the handheld device 100 to other external devices. The interface unit 140b may include various ports for connecting to external devices (e.g., audio I / O ports and video I / O ports). The I / O unit 140c may input or output video information / signals, audio information / signals, data, and / or information input by the user. The I / O unit 140c may include a camera, a microphone, a user input unit, a display unit 140d, a speaker, and / or a haptic module.

[0220] For example, in the case of data communication, the I / O unit 140c may acquire information / signals input by the user (e.g., touch, text, voice, image, or video), and the acquired information / signals may be stored in the memory unit 130. The communication unit 110 may convert the information / signals stored in the memory into a radio signal and directly send the converted radio signal to other wireless devices or to the BS. The communication unit 110 may receive a radio signal from other wireless devices or the BS and then restore the received radio signal to the original information / signals. The restored information / signals may be stored in the memory unit 130 and may be output through the I / O unit 140 in various types (e.g., text, voice, image, video, or haptic).

[0221] Figure 18 A vehicle or an autonomous vehicle according to an embodiment of the present disclosure is shown. The vehicle or the autonomous vehicle may be implemented by a mobile robot, a car, a train, a manned / unmanned aerial vehicle (AV), a ship, etc. Figure 18 Embodiments of may be combined with various embodiments of the present disclosure.

[0222] Referring to Figure 18 , the vehicle or autonomous vehicle 100 may include an antenna unit 108, a communication unit 110, a control unit 120, a driving unit 140a, a power supply unit 140b, a sensor unit 140c, and an autonomous driving unit 140d. The antenna unit 108 may be configured as part of the communication unit 110. Blocks 110 / 130 / 140a to 140d respectively correspond to Figure 16 blocks 110 / 130 / 140 of

[0223] The communication unit 110 can send and receive signals (e.g., data signals and control signals) to and from external devices such as other vehicles, BSs (e.g., gNBs and roadside units), and servers. The control unit 120 can perform various operations by controlling elements of the vehicle or autonomous driving vehicle 100. The control unit 120 can include an electronic control unit (ECU). The driving unit 140a can cause the vehicle or autonomous driving vehicle 100 to travel on the road. The driving unit 140a can include an engine, a motor, a transmission system, wheels, brakes, a steering device, etc. The power supply unit 140b can supply power to the vehicle or autonomous driving vehicle 100, and can include a wired / wireless charging circuit, a battery, etc. The sensor unit 140c can acquire vehicle state, external environment information, user information, etc. The sensor unit 140c can include an inertial measurement unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, a slope sensor, a weight sensor, a heading sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, a lighting sensor, a pedal position sensor, etc. The autonomous driving unit 140d can implement technologies for keeping the lane in which the vehicle travels, technologies for automatically adjusting the speed (e.g., adaptive cruise control), technologies for autonomously driving along a determined path, technologies for driving by automatically setting a path when a destination is set, etc.

[0224] For example, the communication unit 110 can receive map data, traffic information data, etc. from an external server. The autonomous driving unit 140d can generate an autonomous driving path and a driving plan from the acquired data. The control unit 120 can control the driving unit 140a so that the vehicle or autonomous driving vehicle 100 can move along the autonomous driving path according to the driving plan (e.g., speed / direction control). During autonomous driving, the communication unit 110 can acquire the latest traffic information data from an external server non-periodically / periodically, and acquire surrounding traffic information data from adjacent vehicles. During autonomous driving, the sensor unit 140c can acquire vehicle state and / or surrounding environment information. The autonomous driving unit 140d can update the autonomous driving path and the driving plan based on the newly acquired data / information. The communication unit 110 can transmit information about the vehicle position, the autonomous driving path, and / or the driving plan to an external server. The external server can use AI technologies, etc. to predict traffic information data based on the information collected from the vehicle or autonomous driving vehicle, and provide the predicted traffic information data to the vehicle or autonomous driving vehicle.

[0225] The claims in this specification can be combined in various ways. For example, the technical features in the method claims of this specification can be combined to be implemented or executed in a device, and the technical features in the device claims can be combined to be implemented or executed in a method. Additionally, the technical features in (one or more) method claims and (one or more) device claims can be combined to be implemented or executed in a device. Additionally, the technical features in (one or more) method claims and (one or more) device claims can be combined to be implemented or executed in a method.

Claims

1. A method for a first device to perform wireless communication, the method comprising: Detecting information related to a plurality of regions and information related to one or more objects included in the plurality of regions based on sensing; Receiving status information from a second device; Selecting a valid region among the plurality of regions based on the status information; Determining valid objects included in the valid region among the one or more objects included in the plurality of regions; And Sending information related to the valid objects included in the valid region to the second device.

2. The method according to claim 1, wherein Determining a current occupied region of the second device and an expected occupied region of the second device based on the status information, and Wherein the valid region is selected based on at least one of the current occupied region or the expected occupied region.

3. The method according to claim 2, wherein The valid region is a region among the plurality of regions excluding regions not related to the current occupied region and the expected occupied region.

4. The method according to claim 2, wherein, The information related to the plurality of regions includes information related to at least one of a type of a region, a status of a region, or a method of differentiating a region, and Wherein the valid region is a region among the plurality of regions excluding regions not related to the current occupied region and the expected occupied region based on the information related to the plurality of regions.

5. The method according to claim 2, wherein The information related to the one or more objects included in the plurality of regions includes information related to at least one of a type of an object, a status of an object, or a method of differentiating an object, and Wherein the valid object is an object among the one or more objects excluding objects not related to the current occupied region and the expected occupied region based on the information related to the one or more objects.

6. The method according to claim 2, wherein, The higher the accuracy of the determination related to the current occupied region and the expected occupied region, the less at least one of the following: (i) the regions selected as the valid region among the plurality of regions, or (ii) the objects determined as the valid objects among the one or more objects.

7. The method according to claim 1, wherein Based on the status information, the faster the second device reaches the plurality of regions, the more regions are selected as the valid region among the plurality of regions.

8. The method according to claim 1, wherein, Based on the information related to the plurality of regions, the stricter the differentiation between the driving direction of the second device and the opposite direction, the fewer regions are selected as the valid region among the plurality of regions.

9. The method according to claim 1, wherein The shorter the time for the second device to approach the valid region, the shorter the transmission period of the information related to the valid objects included in the valid region.

10. The method according to claim 1, wherein The greater the mobility of the valid objects included in the valid region, the shorter the transmission period of the information related to the valid objects included in the valid region.

11. The method according to claim 1, the method further comprising: Obtaining region configuration information for differentiating the plurality of regions, Wherein the sensing of the plurality of regions is performed based on the region configuration information.

12. The method according to claim 1, wherein, Transmit the information related to the valid objects included in the valid area to the second device based on at least one of unicast, multicast, anycast, or geocast.

13. The method according to claim 1, wherein, The status information includes information on at least one of the type, speed, direction, location, or driving path of the second device, and wherein the status information is received from the second device based on at least one of a Cooperative Awareness Message (CAM) or a Basic Safety Message (BSM).

14. A first device adapted to perform wireless communication, the first device comprising: At least one transceiver; At least one processor; And At least one memory connected to the at least one processor and storing instructions, which when executed cause the first device to perform operations, the operations including: Based on sensing, detect information related to multiple areas and information related to one or more objects included in the multiple areas; Receive status information from a second device; Based on the status information, select a valid area among the multiple areas; Among the one or more objects included in the multiple areas, determine valid objects included in the valid area; and Transmit information related to the valid objects included in the valid area to the second device.

15. A processing device adapted to control a first device to perform wireless communication, the processing device comprising: At least one processor; And At least one memory connected to the at least one processor and storing instructions, which when executed cause the at least one processor to perform operations, the operations including: Based on sensing, detect information related to multiple areas and information related to one or more objects included in the multiple areas; Receive status information from a second device; Based on the status information, select a valid area among the multiple areas; Among the one or more objects included in the multiple areas, determine valid objects included in the valid area; and Transmit information related to the valid objects included in the valid area to the second device.

16. A non-transitory computer-readable storage medium recording instructions, which when executed cause a first device to perform operations, the operations including: Based on sensing, detect information related to multiple areas and information related to one or more objects included in the multiple areas; Receive status information from a second device; Based on the status information, select a valid area among the multiple areas; Among the one or more objects included in the multiple areas, determine valid objects included in the valid area; And Transmit information related to the valid objects included in the valid area to the second device.

17. A method for a second device to perform wireless communication, the method comprising: Transmit the status information of the second device to a first device; And Receive information related to valid objects included in a valid area from the first device, Wherein, the valid area is selected based on the sensing of multiple areas by the first device and the status information, and wherein, the valid object is determined based on the sensing of one or more objects included in the multiple areas by the first device and the selected valid area.

18. A second device adapted to perform wireless communication, the second device comprising: At least one transceiver; At least one processor; And At least one memory connected to the at least one processor and storing instructions that, when executed, cause the second device to perform operations, the operations including: Sending the status information of the second device to the first device; and Receiving, from the first device, information related to valid objects included in a valid area, wherein, the valid area is selected based on the sensing of multiple areas by the first device and the status information, and wherein, the valid object is determined based on the sensing of one or more objects included in the multiple areas by the first device and the selected valid area.

19. A processing device adapted to control a second device to perform wireless communication, the processing device comprising: At least one processor; And At least one memory connected to the at least one processor and storing instructions that, when executed, cause the at least one processor to perform operations, the operations including: Sending the status information of the second device to the first device; and Receiving, from the first device, information related to valid objects included in a valid area, wherein, the valid area is selected based on the sensing of multiple areas by the first device and the status information, and wherein, the valid object is determined based on the sensing of one or more objects included in the multiple areas by the first device and the selected valid area.

20. A non-transitory computer-readable storage medium recording instructions that, when executed, cause a second device to perform operations, the operations including: Sending the status information of the second device to the first device; And Receiving, from the first device, information related to valid objects included in a valid area, wherein, the valid area is selected based on the sensing of multiple areas by the first device and the status information, and wherein, the valid object is determined based on the sensing of one or more objects included in the multiple areas by the first device and the selected valid area.

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