Method for transmitting message in wireless communication system and apparatus therefor

Abstract

According to various embodiments, a method in which a first device transmits a message including object information in a wireless communication system and an apparatus therefor are disclosed. Disclosed are a method and an apparatus therefor, the method comprising the steps of: acquiring sensing data for detecting a plurality of objects; buffering object information detected from the sensing data in a buffer; and transmitting a first segment message to a second device through a first session, the first segment message including partial object information on at least one object buffered in the buffer for a first threshold time among the plurality of objects.

Description

TECHNICAL FIELD

[0001] The disclosure relates to a method for transmitting, by a device in a wireless communication system, a message including object information detected through sensing data, and a device thereof. BACKGROUND

[0002] Wireless communication systems are widely deployed to provide various types of communication services such as voice and data. Generally, a wireless communication system is a multiple-access system capable of supporting communication with multiple users by sharing the available system resources (e.g., bandwidth, transmit power, etc.). Examples of such multiple-access systems include code division multiple access (CDMA) systems, frequency division multiple access (FDMA) systems, time division multiple access (TDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single-carrier frequency division multiple access (SC-FDMA) systems, and multi-carrier frequency division multiple access (MC-FDMA) systems.

[0003] Sidelink (SL) refers to a communication method in which a direct link is established between user equipments (UEs) and the UEs directly exchange voice or data without passing through a base station (BS). The SL is considered as a solution to address the burden of the BS due to rapidly increasing data traffic.

[0004] Vehicle-to-Everything (V2X) is a communication technology in which a vehicle exchanges information with another vehicle, a pedestrian, and infrastructure through wired / wireless communication. The V2X can be divided 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.

[0005] As more and more communication devices need greater communication capacity when transmitting and receiving signals, improved mobile broadband communication over the conventional radio access technology is required. Therefore, a communication system considering services / UEs sensitive to reliability and latency is being discussed. The next-generation radio access technology considering enhanced mobile broadband communication, massive machine type communication (MTC), and ultra-reliable and low-latency communication (URLLC) can be called New Radio Access Technology (RAT) or New Radio (NR). Even in NR, Vehicle-to-Everything (V2X) communication can be supported.

[0006] Figure 1 is a diagram comparing RAT-based V2X communication before NR with NR-based V2X communication.

[0007] With respect to V2X communications, in pre-NR RATs, schemes for providing safety services based on V2X messages such as Basic Safety Message (BSM), Cooperative Awareness Message (CAM), and Decentralized Environmental Notification Message (DENM) were mainly discussed. The V2X messages can include location information, dynamic information, and attribute information. For example, a UE can transmit a periodic message type CAM and / or an event triggered message type DENM to another UE.

[0008] For example, the CAM can include dynamic state information about a vehicle such as direction and speed, vehicle static data such as size, and basic vehicle information such as external lighting conditions and route details. For example, a UE can broadcast the CAM, and a CAM latency can be less than 100 ms. For example, when an unexpected situation such as a vehicle breakdown or accident occurs, a UE can generate a DENM and transmit the DENM to another UE. For example, all vehicles within a transmission range of the UE can receive the CAM and / or the DENM. In this case, a priority of the DENM can be higher than that of the CAM.

[0009] With respect to V2X communications, various V2X scenarios were introduced in NR later. For example, the various V2X scenarios can include platooning, advanced driving, extended sensors, and remote driving.

[0010] For example, based on platooning, vehicles can dynamically form a group and move together. For example, to perform a platooning operation based on platooning, vehicles belonging to the group can receive periodic data from a lead vehicle. For example, the vehicles belonging to the group can decrease or increase a distance between the vehicles based on the periodic data.

[0011] For example, based on advanced driving, vehicles can be semi-automated or fully automated. For example, each vehicle can adjust a trajectory or maneuver based on data acquired from local sensors of nearby vehicles and / or nearby logical entities. Also, for example, each vehicle can share a driving intention with nearby vehicles.

[0012] For example, based on extended sensors, raw data or processed data acquired through local sensors, or live video data can be exchanged between vehicles, logical entities, pedestrian UEs, and / or a V2X application server. Thus, for example, a vehicle can recognize an environment improved with respect to an environment that can be detected using its own sensors.

[0013] For example, for a person who cannot drive or a remote vehicle located in a dangerous environment, a remote driver or a V2X application can operate or control the remote vehicle based on remote driving. For example, when a route is predictable as in the case of public transportation, cloud computing based driving can be used to operate or control the remote vehicle. For example, for remote driving, access to a cloud based backend service platform can be considered.

[0014] A method of specifying service requirements for various V2X scenarios such as vehicle platooning, advanced driving, extended sensor, and remote driving is discussed in the field of NR-based V2X communication. SUMMARY

[0015] TECHNICAL PROBLEM

[0016] An object of the disclosure is to provide a method of more accurately and efficiently transmitting and receiving data and messages.

[0017] The person skilled in the art will understand that the objects that can be achieved using various embodiments of the disclosure are not limited to what has been specifically described above, and the above and other objects that can be achieved by various embodiments of the disclosure will be more clearly understood from the following detailed description.

[0018] TECHNICAL SOLUTION

[0019] In an aspect of the disclosure, a method of transmitting, by a first device, a message including object information in a wireless communication system is provided herein. The method includes obtaining sensing data for detecting a plurality of objects, buffering object information detected from the sensing data in a buffer, and transmitting, to a second device, a first segmented message including partial object information for at least one object among the plurality of objects that is buffered in the buffer during a first threshold time through a first session. The first threshold time can be determined based on a round trip time (RTT) associated with the first session.

[0020] Alternatively, the first threshold time can be determined as an average of the RTT associated with the first session.

[0021] Alternatively, the first device can provide object information of the plurality of objects to the second device through the first segmented message to the Nth segmented message that are sequentially transmitted based on a buffering time.

[0022] Alternatively, the first segmented message to the Nth segmented message can be segments of a single sensor data sharing message (SDSM).

[0023] Alternatively, static data defined for the SDSM can be included only in the first segmented message that is first transmitted among the first segmented message to the Nth segmented message.

[0024] Alternatively, a value of DetectedObjectCount of the static data can be set to an arbitrary value or a maximum value regardless of the number of the plurality of objects.

[0025] Alternatively, the first segmented message can further include at least one of a start code, a link code, or an end code.

[0026] Alternatively, the first threshold time can be determined by further considering an object detection time of generating the object information detected from the sensing data.

[0027] In another aspect of the disclosure, provided herein is a first device configured to perform the above-described method of transmitting a message including object information.

[0028] In another aspect of the disclosure, provided herein is a processing device configured to control a first device performing the above-described method of transmitting a message including object information.

[0029] In another aspect of the disclosure, provided herein is a method of receiving a message including object information by a second device in a wireless communication system. The method includes sequentially receiving first through Nth segmented messages including partial object information from a first device through a first session, and acquiring a sensor data sharing message (SDSM) by combining the first through Nth segmented messages. The partial object information can be object information for at least one object from object information for a plurality of objects included in the SDSM, which is buffered in a buffer of the first device during a first threshold time. The first threshold time can be determined based on a round trip time (RTT) associated with the first session.

[0030] In another aspect of the disclosure, provided herein is a non-transitory computer-readable storage medium having instructions recorded thereon for performing the above-described method of receiving a message including object information.

[0031] In another aspect of the disclosure, provided herein is a second device configured to perform the above-described method of receiving a message including object information.

[0032] In another aspect of the disclosure, provided herein is a processing device configured to control a second device configured to perform the above-described method of receiving a message including object information.

[0033] Advantageous Effects

[0034] According to various embodiments, data and messages can be more accurately and efficiently transmitted and received in a wireless communication system.

[0035] Effects to be achieved with the embodiments are not limited to what has been particularly described above and other effects which are not described above will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this application, illustrate embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure.

[0037] Figure 1 is a diagram for explanation by comparing RAT-based V2X communication before NR with NR-based V2X communication.

[0038] Figure 2 A structure of an LTE system to which embodiments suitable for application are applicable is illustrated.

[0039] Figure 3 A structure of an NR system to which embodiments suitable for application are applicable is illustrated.

[0040] Figure 4 A structure of an NR radio frame to which embodiments suitable for application are applicable is illustrated.

[0041] Figure 5 A slot structure of an NR frame to which embodiments suitable for application are applicable is illustrated.

[0042] Figure 6 A communication structure that can be provided in a 6G system based on embodiments of the present disclosure is shown.

[0043] Figure 7 An electromagnetic spectrum based on embodiments of the present disclosure is shown.

[0044] Figure 8 An example of a transparent payload-based NTN typical scenario based on embodiments of the present disclosure is shown.

[0045] Figure 9 An example of a regenerative payload-based NTN typical scenario based on embodiments of the present disclosure is shown.

[0046] Figure 10 An example of a sensing operation based on embodiments of the present disclosure is shown.

[0047] Figure 11 A radio protocol architecture for SL communication is illustrated.

[0048] Figure 12 A UE performing V2X or SL communication is illustrated.

[0049] Figure 13 A resource unit for V2X or SL communication is illustrated.

[0050] Figure 14 An example of a BWP based on embodiments of the present disclosure is shown.

[0051] Figure 15A procedure for performing V2X or SL communication by a UE based on a resource allocation pattern based on an embodiment of the disclosure is shown.

[0052] Figure 16 is a diagram for explaining an architecture of a V2N interface.

[0053] Figure 17 is a diagram for explaining an interface related to a connection structure between two servers providing a SoftV2X service.

[0054] Figure 18 is a diagram for explaining data processing of a bridge.

[0055] Figure 19 is a diagram for explaining a buffer model for V2X communication.

[0056] Figures 20 to 22 is a diagram for explaining a method of transmitting queued data based on the proposed buffer model.

[0057] Figure 23 is a diagram for explaining a method of streaming messages based on the proposed buffer model.

[0058] Figure 24 is a diagram for explaining a method of a first device transmitting a message including object information.

[0059] Figure 25 is a diagram for explaining a method of a second device receiving a message including object information from a first device.

[0060] Figure 26 A communication system to which the present disclosure is applied is exemplified.

[0061] Figure 27 A wireless device to which the present disclosure is applied is exemplified.

[0062] Figure 28 Another example of a wireless device to which the present disclosure is applied is exemplified.

[0063] Figure 29 A vehicle or an autonomous driving vehicle to which the present disclosure is applied is exemplified. DETAILED DESCRIPTION

[0064] A wireless communication system is a multiple access system that supports communication with multiple users by sharing available system resources (e.g., bandwidth, transmit power, etc.). Examples of multiple access systems include Code Division Multiple Access (CDMA) systems, Frequency Division Multiple Access (FDMA) systems, Time Division Multiple Access (TDMA) systems, Orthogonal Frequency Division Multiple Access (OFDMA) systems, Single-Carrier Frequency Division Multiple Access (SC-FDMA) systems, Multi-Carrier Frequency Division Multiple Access (MC-FDMA) systems, and so on.

[0065] A sidelink refers to a communication scheme in which a direct link is established between user equipments (UEs) without assistance from a base station (BS) to directly exchange voice or data between the UEs. The sidelink is considered as one way to solve the burden on the BS caused by rapidly increasing data traffic.

[0066] Vehicle-to-Everything (V2X) refers to a communication technology that exchanges information with other vehicles, pedestrians, and infrastructure construction objects through wired / wireless communication. V2X can be divided 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 through a PC5 interface and / or a Uu interface.

[0067] As more and more communication devices require greater communication capacity when transmitting and receiving signals, improved mobile broadband communication relative to legacy radio access technology is required. Therefore, a communication system that considers services / UEs sensitive to reliability and latency is being discussed. A next-generation radio access technology that considers enhanced mobile broadband communication, massive MTC, and ultra-reliable and low-latency communication (URLLC) can be referred to as New Radio Access Technology (RAT) or New Radio (NR). Even in NR, V2X communication can be supported.

[0068] The technology described herein can be used for various wireless access 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. The CDMA can be implemented as a radio technology such as universal terrestrial radio access (UTRA) or CDMA2000. The TDMA can be implemented as a radio technology such as global system for mobile communications (GSM) / general packet radio service (GPRS) / enhanced data rates for GSM evolution (EDGE). The OFDMA can be implemented as a radio technology such as IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, evolved UTRA (E-UTRA), etc. The UTRA is a part of a universal mobile telecommunication system (UMTS). A 3rd generation partnership project (3GPP) long term evolution (LTE) is a part of an evolved UMTS (E-UMTS). The 3GPP LTE adopts the OFDMA for the downlink and the SC-FDMA for the uplink. LTE-A is an evolution of the 3GPP LTE. The 3GPP NR (New Radio or New Radio Access Technology) is an evolved version of the 3GPP LTE / LTE-A / LTE-A pro.

[0069] 5G NR is a successor technology to LTE-A, and is a mobile communication system featuring a new clean state with high performance, low latency, and high availability. 5G NR can use all available spectrum resources, including low frequency bands below 1 GHz, mid frequency bands between 1 GHz and 10 GHz, and high frequency (millimeter wave) bands of 24 GHz or more.

[0070] For clarity, LTE-A or 5G NR is mainly described, but the technical spirit of the embodiments is not limited thereto.

[0071] Figure 2 The structure of the LTE system to which the disclosure is applicable is exemplified. This can also be referred to as an evolved UMTS terrestrial radio access network (E-UTRAN) or LTE / LTE-A system.

[0072] Referring to Figure 2 , the E-UTRAN includes evolved NodeBs (eNBs) 20 that provide a control plane and a user plane to a UE 10. The UE 10 can be fixed or mobile, and also can be referred to as a mobile station (MS), a user terminal (UT), a subscriber station (SS), a mobile terminal (MT) or a wireless device. The eNB 20 is a fixed station that communicates with the UE 10 and can also be referred to as a base station (BS), a base transceiver system (BTS) or an access point.

[0073] The eNBs 20 can be connected to each other via an X2 interface. The eNBs 20 are connected to a mobility management entity (MME) via an S1 interface. The MME can be connected to a network entity such as another MME or a serving gateway (S-GW) via the S1 interface.

[0074] The EPC 30 includes the MME, the S-GW, and a packet data network gateway (P-GW). The MME has access information or capability information about the UE, which is mainly used for mobility management of the UE. The S-GW is a gateway having E-UTRAN as an end point, and the P-GW is a gateway having a packet data network (PDN) as an end point.

[0075] Based on the lowest three layers of the open system interconnection (OSI) reference model known in a communication system, the radio protocol stack for the UE and the network can be divided into a layer 1 (L1), a layer 2 (L2) and a layer 3 (L3). These layers are defined between the UE and the evolved UTRAN (E-UTRAN) in pairs, so as to be used for data transmission via a Uu interface. A physical (PHY) layer at L1 provides information transfer service on a physical channel. A radio resource control (RRC) layer at L3 is used for controlling a radio resource between the UE and the network. For this purpose, the RRC layer exchanges RRC messages between the UE and the eNB.

[0076] Figure 3 A structure of an NR system to which the disclosure is applicable is exemplified.

[0077] Referring to Figure 3 , a next generation radio access network (NG-RAN) can include next generation Node Bs (gNBs) and / or eNBs that provide user plane and control plane protocol terminations towards the UE. In Figure 3 , for example, the NG-RAN is shown to include only gNBs. The gNBs and eNBs are connected to each other via an Xn interface. The gNBs and eNBs are connected to a 5G core network (5GC) via an NG interface. More specifically, the gNBs and eNBs are connected to an access and mobility management function (AMF) via an NG-C interface and to a user plane function (UPF) via an NG-U interface.

[0078] Figure 4 A structure of an NR radio frame to which the disclosure is applicable is exemplified.

[0079] Referring to Figure 4 , a radio frame can be used for UL transmission and DL transmission in NR. The length of the radio frame is 10 ms and can be defined by two 5 ms half frames. The HF can include five 1 ms subframes. The subframe can be divided into one or more slots, and the number of slots in the SF can be determined according to a subcarrier spacing (SCS). Each slot can include 12 or 14 OFDM(A) symbols according to a cyclic prefix (CP).

[0080] In a normal CP (NCP) case, each slot can include 14 symbols, and in an extended CP (ECP) case, each slot can include 12 symbols. Herein, a symbol can be an OFDM symbol (or a CP-OFDM symbol) or an SC-FDMA symbol (or a DFT-s-OFDM symbol).

[0081] Table 1 below lists the number of symbols N slot symb per slot according to an SCS configuration μ in the NCP case frame,u slot and the number of slots N subframe,u slot per frame and per subframe.

[0082] [Table 1]

[0083] Table 2 below lists the number of symbols per slot, the number of slots per frame, and the number of slots per subframe according to an SCS in the ECP case.

[0084] [Table 2]

[0085] In the NR system, different OFDM(A) numerology (e.g., SCS, CP length, etc.) can be configured for a plurality of cells aggregated for one UE. Accordingly, the (absolute time) duration of a time resource (e.g., subframe, slot, or TTI) including the same number of symbols (for convenience, the time resource is collectively referred to as a time unit (TU)) can be configured to be different for the aggregated cells.

[0086] In the NR, various numerologies or SCSs can be supported to support various 5G services. For example, with an SCS of 15 kHz, a wide area in a legacy cellular band can be supported, and with an SCS of 30 kHz / 60 kHz, a dense urban area, lower latency, and a wide carrier bandwidth can be supported. When the SCS is 60 kHz or more, a bandwidth wider than 24.25 GHz can be supported to overcome phase noise.

[0087] The NR band can be defined by two types of frequency ranges, FR1 and FR2. The two types of frequency ranges can be FR1 and FR2. The numerical values of the frequency ranges can change. For example, the two types of frequency ranges can be configured as shown in Table 3 below. Among the frequency ranges used in the NR system, FR1 can denote a "sub-6 GHz range", and FR2 can denote a "above-6 GHz range", and can be referred to as a millimeter wave (mmW).

[0088] [Table 3]

[0089] As mentioned above, the numerical values of the frequency ranges of the NR system can change. For example, FR1 can include a frequency band of 410 MHz to 7125 MHz as shown in Table 24 below. That is, FR1 can include a frequency band of 6 GHz (or 5850 MHz, 5900 MHz, 5925 MHz, etc.) or more. For example, the frequency band of 6 GHz (or 5850 MHz, 5900 MHz, 5925 MHz, etc.) or more included in FR1 can include an unlicensed band. The unlicensed band can be used for various purposes, for example, for vehicle communication (e.g., autonomous driving).

[0090] [Table 4]

[0091] Figure 5 A slot structure of an NR frame to which the disclosure is applicable is exemplified.

[0092] Referring to Figure 5One slot includes a plurality of symbols in the time domain. For example, one slot can include 14 symbols in the normal CP case and 12 symbols in the extended CP case. Alternatively, one slot includes 7 symbols in the normal CP case and 6 symbols in the extended CP case.

[0093] A carrier can include a plurality of subcarriers in the frequency domain. A resource block (RB) is defined as a plurality of contiguous subcarriers (e.g., 12 subcarriers) in the frequency domain. A bandwidth part (BWP) can be defined as a plurality of contiguous (P) RBs in the frequency domain, and a BWP can correspond to one numerology (e.g., SCS, CP length, etc.). A carrier can include up to N (e.g., 5) BWPs. Data communication can be made in an activated BWP. In a resource grid, each element can be referred to as a resource element (RE) and can be mapped to one complex symbol.

[0094] A wireless interface between UEs or a wireless interface between a UE and a network can include an L1 layer, an L2 layer, and an L3 layer. In various embodiments of the disclosure, the L1 layer can denote a physical layer. The L2 layer can denote, for example, at least one of a MAC layer, an RLC layer, a PDCP layer, or an SDAP layer. The L3 layer can denote, for example, an RRC layer.

[0095] Figure 6 A communication structure that can be provided in a 6G system based on an embodiment of the disclosure is illustrated. Figure 6 Embodiments of the disclosure can be combined with various embodiments of the disclosure.

[0096] In 6G, new network characteristics can be as follows.

[0097] - Satellite-integrated network

[0098] - Connected intelligence: Unlike previous generations of wireless communication systems, 6G is revolutionary, and wireless evolution can be updated from "connecting things" to "connecting intelligence." AI can be applied to every step of the communication process (or every signal processing process, which will be described below).

[0099] - Seamless integration of wireless information and energy transfer

[0100] - Ubiquitous hyper-3D connectivity: Network and core network functions for access to drones and very low earth orbit satellites will establish hyper-3D connectivity ubiquitously in 6G.

[0101] Among the new network characteristics of 6G, some common requirements can be as follows.

[0102] - Small cell network

[0103] - Super-dense heterogeneous network

[0104] - High-capacity backhaul

[0105] - Radar technology integrated with mobile technology: High-precision positioning through communication (or location-based service) is one of the functions of the 6G wireless communication system. Accordingly, a radar system will be integrated with the 6G network.

[0106] - Software and virtualization

[0107] The following describes key implementation technologies for the 6G system.

[0108] - Artificial intelligence (AI): When AI is introduced into communication, real-time data transmission can be simplified and improved. AI can determine a method of performing a complex target task using non-count analysis. That is, Al can improve efficiency and reduce processing delay. It takes time to immediately perform operations such as handover, network selection, and resource scheduling by using A1. AI can also play an important role in M2M, machine-to-human, and human-to-machine. In addition, AI can be instant communication in brain-computer interface (BCI). An AI-based communication system can be supported by metamaterials, intelligent structures, intelligent networks, intelligent devices, intelligent cognitive radio, self-maintaining wireless networks, and machine learning.

[0109] - Terahertz (THz) communication: Data rates can be improved by increasing bandwidth. This can be achieved by using sub-THz communication with a wide bandwidth and applying advanced massive MIMO technology. THz waves (also referred to as sub-millimeter radiation) generally refer to a frequency band of 0.1 THz to 10 THz, in which the corresponding wavelength ranges from 0.03 mm to 3 mm. The frequency band range of 100 GHz to 300 GHz (sub-THz band) is considered to be a main part of the THz band for cellular communication. When the sub-THz band is added to the millimeter wave band, the capacity of 6G cellular communication is increased. 300 GHz to 3 THz in the defined THz band is in the far-infrared (IR) band. The frequency band of 300 GHz to 3 THz is a part of the optical band, but it is on the border of the optical band and just behind the RF band. Accordingly, the frequency band of 300 GHz to 3 THz is similar to RF.

[0110] Figure 7 An electromagnetic spectrum based on an embodiment of the disclosure is shown. Figure 7Embodiments of the implementation can be combined with various embodiments of the present disclosure. The main characteristics of THz communication include (i) widely available bandwidth that supports very high data rates, and (ii) high path loss at high frequencies (highly directional antennas are indispensable). Narrow beam width produced in highly directional antennas reduces interference. The small wavelength of THz signals allows a larger number of antenna elements to be integrated into devices and BSs that operate in this frequency band. Therefore, advanced adaptive arrangement techniques that can overcome range limitations can be used.

[0111] - Massive MIMO techniques (Massive MIMO)

[0112] - Holographic beamforming (HBF)

[0113] - Optical wireless techniques

[0114] - Free space optical (FSO) backhaul networks

[0115] - Quantum communication

[0116] - Cell-less communication

[0117] - Integration of wireless information and power transfer

[0118] - Integration of wireless communication and sensing

[0119] - Integrated access and backhaul networks

[0120] - Big data analytics

[0121] - Reconfigurable intelligent surfaces

[0122] - Metaverse

[0123] - Blockchain

[0124] - Unmanned aerial vehicles (UAVs): UAVs or drones will be an important factor in 6G wireless communications. In most cases, high-speed data wireless connectivity can be provided using UAV technology. A base station (BS) entity can be installed in a UAV to provide cellular connectivity. UAVs can have specific features not found in fixed BS infrastructure, such as easy deployment, strong line-of-sight links, and controlled mobility freedom. During emergency situations such as natural disasters, deployment of ground telecommunication infrastructure is not economically feasible and sometimes cannot provide service in a changing environment. UAVs can easily handle such situations. UAVs will be a new paradigm in the field of wireless communications. This technology helps the three basic requirements of wireless networks, such as eMBB, URLLC, and mMTC. UAVs can also serve many purposes such as network connectivity improvement, fire detection, disaster emergency services, safety and surveillance, pollution monitoring, parking monitoring, and accident monitoring. Therefore, UAV technology is considered one of the most important technologies for 6G communications.

[0125] - Autonomous driving (self-driving): Vehicle-to-Everything (V2X), which is a core element of establishing an autonomous driving infrastructure, can be a technology in which vehicles communicate and share with various elements in the road for autonomous driving, such as vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), etc. To maximize the performance of autonomous driving and ensure high safety, high transmission speed and low latency technology is needed. In addition, in the future, autonomous driving can need to go beyond delivering warning or guidance messages to drivers and actively intervene in vehicle operation and directly control vehicles in dangerous situations. For this reason, autonomous driving is expected to be maximized in 6G, which is higher transmission speed and lower latency than 5G, since the amount of information that needs to be transmitted and received can be huge.

[0126] - Non-terrestrial networks (NTNs): NTN can refer to a network or a network segment that utilizes radio frequency (RF) resources on a satellite (or unmanned aerial system (UAS) platform). Figure 8 An example of a typical scenario of NTN based on a transparent payload based on an embodiment of the disclosure is illustrated. Figure 9 An example of a typical scenario of NTN based on a regenerative payload based on an embodiment of the disclosure is illustrated. Figure 8 Or Figure 9 Embodiments of the above-described Figure 8 , a satellite (or UAS platform) can establish a service link with a UE. The satellite (or UAS platform) can be connected with a gateway through a feeder link. The satellite can be connected with a data network through the gateway. A beam coverage can refer to an area that can receive a signal transmitted by the satellite. Referring to Figure 9, a satellite (or UAS platform) can establish a service link with a UE. A satellite (or UAS platform) connected with a UE can connect with another satellite (or another UAS platform) through an inter-satellite link (ISL). Another satellite (or another UAS platform) can connect with a gateway through a feeder link. Based on a regenerative payload, a satellite can connect with a data network through a gateway and another satellite. If there is no ISL between a satellite and another satellite, a feeder link between the satellite and the gateway can be needed. Figure 8 and Figure 9 are examples of NTN scenarios, and NTN can be implemented based on various types of scenarios. For example, a satellite (or UAS platform) can implement a transparent or regenerative (with on-board processing) payload. For example, a satellite (or UAS platform) can generate a plurality of beams on a designated service area based on a field of view of the satellite (or UAS platform). For example, the field of view of the satellite (or UAS platform) can vary according to an on-board antenna pattern and a minimum elevation angle. For example, a transparent payload can include radio frequency filtering, frequency conversion, and amplification. Accordingly, a waveform signal repeated by the payload can not be changed. For example, a regenerative payload can include radio frequency filtering, frequency conversion and amplification, demodulation / decryption, switching and / or routing, and encoding / modulation. For example, a regenerative payload can be substantially equivalent to equipping a satellite (or UAS platform) with all or part of base station functions.

[0127] - Integrated Sensing and Communication (ISAC): Wireless sensing is a technology for acquiring information about characteristics of an environment and / or objects within the environment, which uses radio frequency to determine distance (range), angle, or instantaneous linear velocity, etc. of an object. The radio frequency sensing function can provide a service for device-free object positioning, since there is no need to connect objects via devices in the network. The ability to obtain range, velocity, and angle information from radio frequency signals can provide a wide range of new functions, such as various object detection, object identification (e.g., vehicles, people, animals, UAVs), and high-accuracy positioning, tracking, and activity recognition. For example, a wireless sensing service can provide input to different vertical structures (e.g., unmanned aerial vehicles, smart homes, V2X, factories, railways, public safety, etc.), thereby enabling applications such as intruder detection, assisting in car maneuvering and navigation, trajectory tracking, collision avoidance, traffic management, health and activity monitoring. In some cases, wireless sensing can also use non-3GPP type sensors (e.g., radar, camera) to further support 3GPP-based sensing. For example, the operation of a wireless sensing service (i.e., sensing operation) can rely on processing the transmission, reflection, and scattering of wireless sensing signals. Accordingly, wireless sensing can have an opportunity to enhance the traditional system from a communication network to a wireless communication and sensing network. Figure 10 Examples of sensing operations based on embodiments of the disclosure are shown. Figure 10 Embodiments of the disclosure can be combined with various embodiments of the disclosure. Specifically,Figure 10 (a) shows an example of sensing with co-located sensing receiver and sensing transmitter (e.g., single station sensing), and Figure 10 (b) shows an example of sensing with separate sensing receiver and sensing transmitter (e.g., double station sensing).

[0128] Figure 11 A radio protocol architecture for SL communication is shown. Specifically, Figure 11 (a) shows a user plane protocol stack of NR, Figure 11 (b) shows a control plane protocol stack of NR.

[0129] In the following, sidelink synchronization signal (SLSS) and synchronization information will be described.

[0130] As SL-specific sequences, SLSS can include a primary sidelink synchronization signal (PSSS) and a secondary sidelink synchronization signal (SSSS). The PSSS can be referred to as a sidelink primary synchronization signal (S-PSS), and the SSSS can be referred to as a sidelink secondary synchronization signal (S-SSS). For example, a length-127 M-sequence can be used for the S-PSS, and a length-127 gold sequence can be used for the S-SSS. For example, a UE can use the S-PSS to detect an initial signal and obtain synchronization. For example, a UE can use the S-PSS and the S-SSS to obtain detailed synchronization and detect a synchronization signal ID.

[0131] A physical sidelink broadcast channel (PSBCH) can be a (broadcast) channel for transmitting basic (system) information that a UE needs to know first before SL signal transmission and reception. For example, the basic information can include information related to SLSS, duplex mode (DM), time division duplex uplink / downlink (TDD) UL / DL configuration, information related to resource pool, application type related to SLSS, subframe offset, and broadcast information, etc. For example, to evaluate the PSBCH performance in NR V2X, the payload size of the PSBCH can be 56 bits, including 24 bits of CRC.

[0132] S-PSS, S-SSS, and PSBCH can be included in a block format that supports periodic transmission (e.g., SL synchronization signal (SS) / PSBCH block) (hereinafter, the SL SS / PSBCH block is referred to as a sidelink synchronization signal block (S-SSB)). The S-SSB can have the same numerology (i.e., SCS and CP length) as a physical sidelink control channel (PSCCH) / physical sidelink shared channel (PSSCH) on a carrier, and its transmission bandwidth can be within a (pre-)set SL BWP. For example, the S-SSB can have a bandwidth of 11 RBs. For example, the PSBCH can span 11 RBs. In addition, the frequency location of the S-SSB can be (pre-)set. Accordingly, the UE does not need to perform hypothesis detection on the frequency to discover the S-SSB in the carrier.

[0133] In the NR SL system, multiple numerologies with different SCSs and / or CP lengths can be supported. In this case, as the SCS increases, the length of the time resource in which the transmitting UE transmits the S-SSB can be shortened. Thereby, the coverage of the S-SSB can become narrow. Accordingly, to guarantee the coverage of the S-SSB, the transmitting UE can transmit one or more S-SSBs to the receiving UE within one S-SSB transmission period according to the SCS. For example, the number of S-SSBs that the transmitting UE transmits to the receiving UE within one S-SSB transmission period can be pre-configured or configured for the transmitting UE. For example, the S-SSB transmission period can be 160 ms. For example, for all SCSs, the S-SSB transmission period of 160 ms can be supported.

[0134] For example, when the SCS is 15 kHz in FR1, the transmitting UE can transmit one or two S-SSBs to the receiving UE within one S-SSB transmission period. For example, when the SCS is 30 kHz in FR1, the transmitting UE can transmit one or two S-SSBs to the receiving UE within one S-SSB transmission period. For example, when the SCS is 60 kHz in FR1, the transmitting UE can transmit one, two, or four S-SSBs to the receiving UE within one S-SSB transmission period.

[0135] For example, when the SCS is 60 kHz in FR2, the transmitting UE can transmit 1, 2, 4, 8, 16, or 32 S-SSBs to the receiving UE within one S-SSB transmission period. For example, when the SCS is 120 kHz in FR2, the transmitting UE can transmit 1, 2, 4, 8, 16, 32, or 64 S-SSBs to the receiving UE within one S-SSB transmission period.

[0136] When the SCS is 60 kHz, two types of CPs can be supported. Also, a structure of an S-SSB transmitted from a transmitting UE to a receiving UE can depend on a CP type. For example, the CP type can be a normal CP (NCP) or an extended CP (ECP). Specifically, for example, when the CP type is the NCP, a number of symbols to which a PSBCH is mapped in the S-SSB transmitted by the transmitting UE can be 9 or 10. On the other hand, for example, when the CP type is the ECP, the number of symbols to which the PSBCH is mapped in the S-SSB transmitted by the transmitting UE can be 7 or 6. For example, the PSBCH can be mapped to a first symbol in the S-SSB transmitted by the transmitting UE. For example, upon reception of the S-SSB, the receiving UE can perform an automatic gain control (AGC) operation in a period for the first symbol of the S-SSB.

[0137] Figure 12 A UE performing V2X or SL communication is exemplified.

[0138] Referring to Figure 12 In V2X or SL communication, the term UE can mainly refer to a UE of a user. However, when a network device such as a BS transmits and receives a signal according to a communication scheme between UEs, the BS can also be regarded as a kind of UE. For example, the UE 1 can be the first device 100, and the UE 2 can be the second device 200.

[0139] For example, the UE 1 can select a resource unit corresponding to a specific resource in a resource pool (which indicates a set of resources). Then, the UE 1 can transmit a SL signal through the resource unit. For example, the UE 2 as a receiving UE can receive a configuration of a resource pool in which the UE 1 can transmit a signal, and can detect the signal of the UE 1 in the resource pool.

[0140] Here, when the UE 1 is within a connection range of the BS, the BS can inform the UE 1 of the resource pool. On the other hand, when the UE 1 is outside the connection range of the BS, another UE can inform the UE 1 of the resource pool, or the UE 1 can use a pre-configured resource pool.

[0141] Generally, a resource pool can be composed of a plurality of resource units, and each UE can select one or more resource units and transmit a SL signal through the selected unit.

[0142] Figure 13 A resource unit for V2X or SL communication is exemplified.

[0143] Referring to Figure 13 , frequency resources of a resource pool can be divided into NF sets, and time resources of the resource pool can be divided into NT sets. Accordingly, a total of NF NT resource units. Figure 13 An exemplary case of a periodically repeating resource pool with NT subframes is shown.

[0144] like Figure 13 As shown, a resource element (e.g., element #0) can appear periodically and repeatedly. Alternatively, to achieve diversity effects in the time or frequency dimension, the index of the physical resource element to which a logical resource element is mapped can change over time in a predetermined pattern. In this structure of resource elements, a resource pool can represent the set of resource elements available to a UE intended to transmit SL signals.

[0145] Resource pools can be further subdivided into several types. For example, based on the content of the SL signals sent in each resource pool, resource pools can be divided as follows.

[0146] (1) Scheduling assignment (SA) can be a signal that includes information such as the location of the resources through which the UE transmits SL data channels, the modulation and coding scheme (MCS) or multiple-input multiple-output (MIMO) transmission scheme required for demodulating other data channels, and timing advance (TA). SA can be multiplexed with SL data and transmitted through the same resource element. In this case, the SA resource pool can refer to the resource pool where SA and SL data are multiplexed and transmitted. SA can be called the SL control channel.

[0147] (2) The SL data channel (Physical Side Link Shared Channel (PSSCH)) can be a resource pool through which the transmitting UE transmits user data. When SA and SL data are multiplexed and transmitted together in the same resource element, only the SL data channel other than the SA information can be transmitted in the resource pool for the SL data channel. In other words, the resource element (RE) used to transmit SA information in a separate resource element in the SA resource pool can still be used to transmit SL data in the resource pool for the SL data channel. For example, the transmitting UE can map the PSSCH to consecutive PRBs and transmit them.

[0148] (3) The discovery channel can be a resource pool used by the transmitting UE to send information such as its ID. Through this channel, the transmitting UE can allow neighboring UEs to discover the transmitting UE.

[0149] Even when the above SL signals have the same content, they can use different resource pools according to the transmission / reception characteristics of the SL signals. For example, even when the SL data channel or the discovery message is the same among the signals, it can be classified into different resource pools according to the determination of the SL signal transmission timing (e.g., transmission at the reception time of the synchronization reference signal or transmission by applying a predetermined TA at the reception time), the resource allocation scheme (e.g., the BS specifies separate signal transmission resources to separate transmission UEs, or the separate transmission UEs select separate signal transmission resources within the resource pool), the signal format (e.g., the number of symbols occupied by each SL signal in a subframe, or the number of subframes for transmission of one SL signal), the strength of the signal from the BS, the strength of the transmission power of the SL UE, etc.

[0150] Figure 14 An example of a BWP based on an embodiment of the disclosure is shown. Figure 14 Embodiments of the disclosure can be combined with various embodiments of the disclosure. In Figure 14 In an embodiment of the disclosure, it is assumed that the number of BWPs is 3.

[0151] Referring to Figure 14 A common resource block (CRB) can be a carrier resource block numbered from one end of a carrier frequency band to the other end thereof. In addition, a PRB can be a resource block numbered within each BWP. Point A can indicate a common reference point for a resource block grid.

[0152] A BWP can be indicated by point A, an offset N start BWP and a bandwidth N size BWP from point A. For example, point A can be an outer reference point of a PRB of a carrier aligned with subcarrier 0 of all numerologies (e.g., all numerologies supported by the network on the carrier). For example, the offset can be a PRB interval between the lowest subcarrier in a given numerology and point A. For example, the bandwidth can be the number of PRBs in a given numerology.

[0153] A sidelink synchronization signal (SLSS) can include a primary sidelink synchronization signal (PSSS) and a secondary sidelink synchronization signal (SSSS) as a sidelink (SL) specific sequence. The PSSS can be referred to as a sidelink primary synchronization signal (S-PSS), and the SSSS can be referred to as a sidelink secondary synchronization signal (S-SSS). For example, a length-127 M-sequence can be used for the S-PSS, and a length-127 gold sequence can be used for the S-SSS. For example, a UE can use the S-PSS for initial signal detection and synchronization acquisition. For example, the UE can use the S-PSS and the S-SSS to acquire detailed synchronization and detect a synchronization signal ID.

[0154] The Physical Sidelink Broadcast Channel (PSBCH) can be a (broadcast) channel used to transmit default (system) information, which the UE must know before sending / receiving SL signals. For example, default information could include SLSS-related information, duplex mode (DM), Time Division Duplex (TDD) uplink / downlink (UL / DL) configuration, resource pool-related information, SLSS-related application type, subframe offset, broadcast information, etc. For instance, to evaluate PSBCH performance, in NRV2X, the PSBCH payload size can be 56 bits, including 24 bits of Cyclic Redundancy Check (CRC).

[0155] S-PSS, S-SSS, and PSBCH can be included in a block format that supports periodic transmission (e.g., SL synchronization signal (SS) / PSBCH block, hereinafter, sidelink synchronization signal block (S-SSB)). The S-SSB can have the same set of parameters (i.e., SCS and CP lengths) as the Physical Sidelink Control Channel (PSCCH) / Physical Sidelink Shared Channel (PSSCH) in the carrier, and the transmission bandwidth can exist within a (pre)configured sidelink (SL) BWP. For example, the S-SSB can have a bandwidth of 11 resource blocks (RBs). Similarly, the PSBCH can exist across 11 RBs. Furthermore, the frequency location of the S-SSB can be (pre)configured. Therefore, the UE does not need to perform hypothesis detection at the frequency to discover the S-SSB in the carrier.

[0156] Figure 15 The process of a UE performing V2X or SL communication based on a resource allocation mode, according to an embodiment of this disclosure, is illustrated. Figure 15 The implementation methods can be combined with various implementation methods of this disclosure.

[0157] Reference Figure 15 In (a) of resource allocation mode 1, the base station may schedule SL resources to be used for SL transmissions of the UE. For example, in step S1500, the base station may send information related to SL resources and / or information related to UL resources to the first UE. For example, UL resources may include PUCCH resources and / or PUSCH resources. For example, UL resources may be resources that report SL HARQ feedback to the base station.

[0158] For example, the first UE can receive, from the base station, information related to dynamic grant (DG) resources and / or information related to configured grant (CG) resources. For example, the CG resources can include CG Type 1 resources or CG Type 2 resources. In the disclosure, the DG resources can be resources configured / allocated to the first UE by the base station via downlink control information (DCI). In the disclosure, the CG resources can be (periodic) resources configured / allocated to the first UE by the base station via DCI and / or RRC message. For example, in case of CG Type 1 resources, the base station can transmit, to the first UE, an RRC message including information related to the CG resources. For example, in case of CG Type 2 resources, the base station can transmit, to the first UE, an RRC message including information related to the CG resources, and the base station can transmit, to the first UE, DCI related to activation or release of the CG resources.

[0159] In step S1510, the first UE can transmit, to the second UE, a PSCCH (e.g., a sidelink control information (SCI) or a 1st-stage SCI) based on the resource scheduling. In step S1520, the first UE can transmit, to the second UE, a PSSCH (e.g., a 2nd-stage SCI, a MAC PDU, data, etc.) related to the PSCCH. In step S1530, the first UE can receive, from the second UE, a PSFCH related to the PSCCH / PSSCH. For example, HARQ feedback information (e.g., negative acknowledgement (NACK) information or acknowledgement (ACK) information) can be received from the second UE via the PSFCH. In step S1540, the first UE can transmit / report, to the base station, the HARQ feedback information via a PUCCH or a PUSCH. For example, the HARQ feedback information reported to the base station can be information generated by the first UE based on the HARQ feedback information received from the second UE. For example, the HARQ feedback information reported to the base station can be information generated by the first UE based on a preconfigured rule. For example, the DCI can be a DCI for SL scheduling.

[0160] Referring to Figure 15of (b), in resource allocation mode 2, the UE can determine SL transmission resources within SL resources configured by the base station / network or pre-configured SL resources. For example, the configured SL resources or pre-configured SL resources can be a resource pool. For example, the UE can autonomously select or schedule resources for SL transmission. For example, the UE can perform SL communication by autonomously selecting resources within the configured resource pool. For example, the UE can perform a sensing and resource selection (reselection) procedure to autonomously select resources within a selection window. For example, the sensing can be performed in units of sub-channels. For example, in step S1510, the first UE that has selected resources by itself in the resource pool can transmit a PSCCH (e.g., Sidelink Control Information (SCI) or 1st SCI) to the second UE using the resources. In step S1520, the first UE can transmit a PSSCH (e.g., 2nd SCI, MAC PDU, data, etc.) related to the PSCCH to the second UE. In step S1530, the first UE can receive a PSFCH related to the PSCCH / PSSCH from the second UE.

[0161] Referring to Figure 15 of (a) or Figure 15 of (b), for example, the first UE can transmit SCI to the second UE on the PSCCH. Alternatively, for example, the first UE can transmit two consecutive SCIs (e.g., two-level SCI) to the second UE on the PSCCH and / or PSSCH. In this case, the second UE can decode the two consecutive SCIs (e.g., two-level SCI) to receive the PSSCH from the first UE. In the present disclosure, the SCI transmitted on the PSCCH can be referred to as 1st SCI, 1st SCI, 1st SCI format, and the SCI transmitted on the PSSCH can be referred to as 2nd SCI, 2nd SCI, 2nd SCI format.

[0162] Referring to Figure 15 of (a) or Figure 15 of (b), in step S1530, the first UE can receive the PSFCH. For example, the first UE and the second UE can determine PSFCH resources, and the second UE can transmit HARQ feedback to the first UE using the PSFCH resources.

[0163] Referring to Figure 15 of (a), in step S1540, the first UE can transmit SL HARQ feedback to the base station via a PUCCH and / or a PUSCH.

[0164] The sidelink described above can be defined as communication between UEs or direct communication between UEs. In this case, the PSCCH can be defined as a physical control channel for communication between UEs, the PSSCH can be defined as a physical data channel or a physical shared channel for communication between UEs, and the PSFCH can be defined as a physical feedback transmission channel between UEs.

[0165] The SoftV2X system can be a system in which the SoftV2X server receives a VRU message or a personal safety message (PSM) from a vulnerable road user (VRU) or a V2X vehicle, and transmits information about a neighboring VRU or vehicle based on the VRU message or the PSM message, or can analyze a road condition on which a neighboring VRU or vehicle moves, etc., and can transmit a message informing a collision warning, etc. of the neighboring VRU or vehicle based on the analyzed information (e.g., through a downlink signal) via V2X communication using a UU interface. Here, the VRU message can be a message transmitted to the SoftV2X server through the UU interface, and can include mobility information about the VRU, such as a position, a moving direction, a moving path, and a speed of the VRU. That is, the SoftV2X system can use a method of receiving mobility information of a VRU and / or a vehicle related to V2X communication through a UU interface, and controlling a driving route of the VRU or a VRU moving flow, etc. based on the mobility information received by the SoftV2X server (such as a network). The SoftV2X system can be configured in relation to V2N communication.

[0166] Hereinafter, a method for providing a V2X service through a network will be described in detail based on the above.

[0167] Inter-network interface structure based on message protocol for V2N services

[0168] The V2X service plays an important role in ensuring safety (including collision prevention) and controlling efficient traffic flow by allowing road users (vehicles, road side units (RSUs), pedestrians, etc.) to transmit state information (position, speed, size, etc.) or environmental information (map information, signal information, etc.) to nearby road users through communication. Currently, there are various V2X services using various communication schemes (short distance communication, long distance communication), and for the organic operation of the V2X service in which a plurality of intelligent transportation system (ITS) stations participate, service level requirements are defined.

[0169] V2X messages can be generated by vehicles and infrastructure, and can carry information related to the surrounding environment, road conditions, situations, and events. V2X messages can be used for various purposes, including interaction between vehicles, communication between vehicles and infrastructure, object detection, and warning systems. In other words, such V2X messages can be generated by vehicles or infrastructure, and can include information related to the surrounding environment, situations, and events. Furthermore, V2X messages can include information collected through sensors of vehicles, global positioning system (GPS) information, and communication devices, and can be configured in a standardized format. Standardized V2X messages can include various data such as position, speed, acceleration, lane change information, and traffic signal status. V2X messages can be transmitted in a unidirectional manner or a bidirectional manner, and information included in V2X messages can be updated and processed in real time. In a V2X environment requiring low latency communication, fast transmission of messages is essential, and a latency of several milliseconds or less can be extremely important for quick situation response such as accident prevention or collision warning. Furthermore, since communication based on V2X messages relies on real-time interaction between vehicles and infrastructure, message transmission speed and reliability can play an important role in providing warnings to drivers and enabling vehicles to respond appropriately to situations. Therefore, in V2X message communication, it is necessary to minimize message transmission time and latency, and a design is required to implement an appropriate buffering model and transmission method for fast data exchange based on network technology and protocols suitable for real-time communication.

[0170] A connection structure for providing such V2X services considers an architecture extending to network-wide vehicle-to-network-to-everything (V2N2X) (or V2N or SoftV2X). Such an architecture can be schematically represented at a high level according to the requirements of a vehicle, infrastructure, service provider, and information sharing instance to meet a specific use case. Hereinafter, the V2N architecture will be described in detail.

[0171] Figure 16 is a diagram for explaining the architecture of a V2N interface.

[0172] Reference Figure 16 , the architecture of a V2N interface (or SoftV2X interface) can include an infrastructure owner operator (IOO) autonomous system (AS), a V2N original equipment manufacturer (OEM) autonomous system (AS), a V2N OEM application, a V2N service provider (SP) autonomous system (V2X AS), and an information sharing instance. Detailed definitions of each configuration are described below.

[0173] - IOO AS: As a local player providing services related to the automotive and transportation field, the IOO AS is typically based on infrastructure such as sensors and road or parking facilities. For example, the IOO AS can be a city, a road authority, a road operator, or a city or parking provider.

[0174] - V2N OEM AS: As an OEM backend component (e.g., a control entity) managing V2N OEM applications in the vehicle OEM domain, the V2N OEM AS can allow vehicle connectivity. The V2N OEM AS performs a proxy and filtering role for information transmitted and received by the vehicle OEM applications.

[0175] - V2N OEM application: As an on-board component implementing service functions for service users in the vehicle OEM domain, the V2N OEM application receives data for service operations from other system components. Depending on the case, the V2N OEM application can implement functions for alerting a human driver or functions for supporting advanced driver assistance systems (ADAS) or automated driving (AD) functions of the vehicle.

[0176] - V2N V2X AS: In the service provider domain, the V2N service provider application server (V2N SP AS) refers to a generic term for a player providing services related to the automotive domain, and can provide services such as VRU protection services, map services, traffic information services, and fleet operator services.

[0177] - Information sharing instance: As an entity connecting each AS, the information sharing instance can interwork information across national or regional boundaries. For example, the information sharing instance can perform a relay role in establishing a connection by hosting a server desired to be connected (similar to a rendezvous server). In addition, when relaying a message of a non-standard entity, the information sharing instance can perform an appropriate translation function as needed.

[0178] Figure 17 is a diagram for explaining interfaces related to a connection structure between two servers providing SoftV2X services.

[0179] Reference Figure 17 , a MEC or V2X system 100 can include a UE (RSU or server) 140 transmitting and receiving V2X messages, a first server 120 providing SoftV2X services, and a bridge 110. The MEC or V2X system 100 can perform exchange of data or messages with an external broker 221 using the bridge 110.

[0180] Such a connection structure can be based on interface 1 to interface 5 at least one of the interfaces described below can be an interface using a message queuing telemetry transport (MQTT)-based messaging protocol. For ease of description, an MQTT-based client and an MQTT-based broker are defined and described as a client and a broker.

[0181] (1) Interface 1

[0182] Interface 1 may be an interface connected between a UE 140 generating and transmitting a V2X message and a first server. The UE (or RSU, server, etc.) can be an entity publishing a message, or can be a client subscribing to a message.

[0183] (2) Interface 2

[0184] Interface 2 may be an interface connecting a broker 121 of the first server 120 and a bridge (client-message relay module-client) connecting a messaging protocol to an external entity. Through the interface 2 , data or messages having compatibility with a standardized format based on MQTT (a message format defined in a 5G Automotive Association (5GAA) standard) can be exchanged, or data or messages using a non-standard message or protocol format operated internally by the first server 120 can be exchanged.

[0185] (3) Interface 3

[0186] Interface 3 may be an interface connecting an internal client 111 included in the bridge 110 and an external client 113. Alternatively, the interface 3 may be an interface connecting the internal client 111, the message relay module 115, and the external client 113. For the interface 3 , at least one of the two clients can directly perform a function corresponding to a function of the message relay module 115. In this case, the message relay module 115 can be omitted.

[0187] Specifically, the interface 3 may be an interface for relaying a message payload obtained by decoding an MQTT protocol stack at the internal client 111 to the external client 113. The internal client 111 relays data or messages through the interface 3 may have a different message format from data or messages received through the interface 2 . For example, through the interface 2 The received data or message can be a message in which an additional field or data for a proprietary operation and / or for implementing faster and more efficient provision of a V2X service to a user is defined by the V2X system or the first server 120. On the other hand, the message relayed through the interface 3 may be a pure standardized message according to a standardized format (see 5GAA TR-23 9129).

[0188] For example, the internal client 111 can remove an MQTT protocol stack (layer) from the data or message received through the interface 2 and can transmit a pure standardized format message from which the MQTT protocol stack is removed to the external client 113. Alternatively, the internal client 111 can convert the data or message received through the interface 2 into a message corresponding to a message transmission protocol of the external server.

[0189] (4) Interface 4 and / or interface 5

[0190] Interface 4 may be an interface connecting the external client 113 and the external broker 221. Here, the interface 4 may be an interface connecting exchanging data through a transmission control protocol (TCP) session. In this case, the external client 113 and the external broker 221 can initialize or configure a transmission and reception IP address, a port, a topic, and configuration information in advance. Alternatively, the external client 113 can convert data or a message from which the MQTT protocol stack is removed and which is transmitted from the internal client 111 into data or a message having an MQTT protocol stack related to the external broker. The external client 113 can publish or transmit the converted data or message to the external broker 221.

[0191] Interface 5 may be an interface connecting the external client 113 and the external broker 221 through a user datagram protocol (UDP) session connection. The UDP-based external client can transmit a message or data received from the interface 3 to the broker of the second server (or switch) in a unidirectional manner.

[0192] Further, the above-described bridge can relay a message or data between two servers based on improved functions and logic. Hereinafter, the improved functions and logic of the bridge will be described in detail.

[0193] Advanced functions and logic of the bridge

[0194] Figure 18 is a diagram for explaining data processing of the bridge.

[0195] Data or messages related to typical V2X services can be sent from a V2X entity or a V2X system (application, infrastructure (e.g., RSU), or server) to a corresponding MQTT-based broker based on appropriate filtering information (e.g., geographic information). Then, the data or messages can be sent to a V2X application server through a session previously established with the broker. In this case, data or messages of a V2X service of a V2X entity can need to be delivered to another external server (MEC, server, network, or AS). For this, the V2X application server can connect to the external server using the above-described bridge. As described above, the bridge can include a symmetric TCP-based internal client and external client in order to maintain an existing TCP-based client reception or subscription structure in a connection between two servers that apply a messaging protocol.

[0196] Reference Figure 18 The internal client can forward a message sent by the first broker to the external client after performing data processing according to additional logic.

[0197] Figure 18 Each component shown in FIG. 1 can operate as follows. For ease of description, it is assumed that data or messages are published from a first broker to provide the following description. However, the same description can be equally applied to a case where data or messages are published from a second broker of an external server (only the sending entity and the receiving entity are different).

[0198] (1) Sender

[0199] An entity (application, infrastructure (e.g., RSU), or server) that generates and sends data can group and send data through connected or connectable brokers (broker A, broker B, broker C, …, broker N) according to a transmission protocol (e.g., MQTT protocol).

[0200] (2) Receiver

[0201] The receiver can receive and process data sent from the sender and the network. The receiver (receiving side) can accept data sent from the sender and the network, decode the packet, and restore the packet to a message to be sent. In this case, in addition to pure message data, data for additional functions can support filtering functions for external transmission. For example, the receiver can be an external client.

[0202] (3) Data processing

[0203] The data processing can classify the data or message transmitted from the transmitter by appropriate data processing, connect the classified data or message to a data interface to be connected, and perform appropriate data exchange. The data processing can operate according to functions as described below. The data processing can be performed at the application server or the internal client.

[0204] 1) Data receiver

[0205] The data receiver (or internal client) can receive data or messages from the transmitter and can perform decoding according to a transmission protocol and a coding stream method. The data receiver can identify the occurrence time of the message obtained during the decoding process (for example, by extensible markup language (XML) data of the message). The data receiver can transmit information about the occurrence time of the identified data or message to the database tree, so that the identified data or message is stored in the database according to the occurrence time. In this case, the occurrence time of the message can be set as a basic parameter.

[0206] 2) Database tree

[0207] The database tree can configure a tree-based database (for example, a red-black tree-based database) that classifies the received data or message according to the occurrence time of the message in a relational database structure. The database tree can interwork with the algorithm of the database processing manager to configure a database in which the received data or message is classified based on the degree of association among additional information (for example, geographical information, direction information, speed information, velocity information, etc.) with reference to the occurrence time of the message. Alternatively, the internal client can configure the database to include the above-described database tree.

[0208] 3) Data processing manager

[0209] The data processing manager can include an algorithm capable of creating a tree structure in the database and a transmission (Tx) buffer balancer. The algorithm can be an application programming interface (API) for configuring a tree in the database based on parameters of data or messages. The buffer balancer can perform appropriate buffering and queuing of data or messages included in the database, and can manage the encapsulation of the queued data or messages. Alternatively, the internal client can include the data processing manager.

[0210] 4) Network interface

[0211] The network interface can encapsulate the queued data by using a stack required in a network domain, and can perform preparation for transmitting a message including the encapsulated data.

[0212] The functional units of the network bridge 110 can adaptively turn on or off the data processing function based on a grouping insertion condition according to the size or priority of the database, thereby controlling or adjusting the buffering.

[0213] Hereinafter, a buffer model capable of efficiently transmitting messages according to a transmission environment associated with a SoftV2X or V2X service will be described in detail.

[0214] Buffering model and aggregation method for V2X services

[0215] In the above-described transmission structure for V2X message communication, the following problems can occur.

[0216] - Network bandwidth and congestion: Due to various mesh-based connections (vehicles, infrastructure, servers), in a real-time communication environment in which a large amount of data needs to be transmitted, network bandwidth can be insufficient, or processing data can be concentrated within a predetermined period of time, thereby causing the communication environment to become significantly congested. Insufficiency of network bandwidth or congestion of the communication environment can affect the transmission speed and reliability of message transmission.

[0217] - Loss of message effectiveness due to an inappropriate buffer model or aggregation time: If a V2X vehicle or infrastructure does not support an appropriate buffer model, timely response to actual emergency situations of vehicles, pedestrians, etc. can not be achieved, and messages can not be delivered to surrounding UEs within an effective time (or within a delay requirement).

[0218] - Quality assurance mechanism: In real-time communication, latency and reliability can be very important. However, since most modules managing transmission transmit messages based on a static buffer model, appropriate response to latency variation can not be supported.

[0219] In a V2X message transmission and reception system, a buffer model currently performs buffering only in a period corresponding to a single operable message size, and a suitable buffer model is not defined. For example, the buffer model in the V2X message transmission and reception system is designed such that when a single message is generated, the message is transmitted. Specifically, for a sensor data sharing message (SDSM), a transmitting device aggregates objects in an arbitrary order, defines a value of a DetectedObjectList field to generate a single message, and transmits the generated message. Such a buffering method (or message generation and transmission method) is a buffering method based on message completion, not a buffering method based on an actual transmission environment, and thus can not be able to efficiently transmit data or messages according to a transmission environment, or messages can not be transmitted within an effective time required for the messages (e.g., a service delay requirement).

[0220] The following are proposed: (1) a buffer condition for queuing received data; and (2) a technique for streaming the remaining data after sending basic data in a Uu-based connection session in a conventional architecture, in which the queued data is generated as a data payload and then a header is created.

[0221] In V2X services, message aggregation for message buffer modeling and transport packet configuration can be performed at various levels (vehicle, infrastructure, and network). Optimal handling (or buffer modeling) of this data or message queue can lead to faster message decoding and an improved user experience at the receiving end.

[0222] The message buffer modeling will be described in detail below.

[0223] Figure 19 This is a diagram used to explain the buffer model used for V2X communication.

[0224] refer to Figure 19 A buffer model for V2X communication may include an RX buffer configured to receive and aggregate data, and a TX buffer configured to receive the received and aggregated data and perform buffering for transmission.

[0225] Typically, data can be received at the RX buffer and stored in an array according to predetermined criteria. For output, some data stored in the array can be delivered to the TX side, and the array of output buffers on the TX side can buffer the data for transmission. In this case, The value and used to set The duration of the TX buffer period can vary depending on the implementation, but it can typically be configured based on the output of a single message. However, the configuration of the TX buffer period is not based on the actual data stream, but rather on the buffering of completed messages in the array. Furthermore, data reception does not involve receiving blocks of data one byte at a time, but can involve inputting a sequence of bytes of partially received data into the RX buffer. Therefore, an efficient aggregation method and buffer model for data packets need to be redefined. The criteria for aggregating data or data packets and / or defining the buffer model need to consider not only the buffering of the array but also the characteristics of the transport network and / or the actual object detection time. In other words, the aggregation and / or buffer model for data or data packets can be reasonably defined so that message buffering and queuing are performed based on the characteristics of the transport network and / or the actual object detection time.

[0226] The following will describe in detail a method for performing message buffering and queuing based on the characteristics of the transport network and / or the actual object detection time (hereinafter referred to as buffering condition 1 or buffering condition 2).

[0227] (1) Buffer condition 1 (treating TCP round-trip time (RTT) as a characteristic of the transmission network)

[0228] TCP RTT is a metric used to measure the time required for data to travel from source to destination and for a response to return in a TCP-based network. RTT is used as an important indicator of network latency and can play a significant role in evaluating the performance and stability of TCP communication. In TCP-based message passing, (i) a request message is first sent from the source (e.g., client) to the destination (e.g., server), (ii) the destination processes the request message and then sends a response message (or acknowledgment (ACK)) back to the source, and (iii) the source receives the response message from the destination. RX and TX buffers can be used based on the connection of the TCP session. (=TCP RTT) is used to buffer data. In this case, to avoid unnecessary consumption of (receive / decode) time on the network, the client can pre-determine the data buffering time and fill the TX buffer. When sending a data block on the TX side based on RTT buffering, the data block can be received on the RX side through a symmetric (ideal) buffer model. In this case, It can be calculated on an average basis, and the specific application method can be regarded as an implementation method problem.

[0229] (2) Buffer condition 2 (considering object detection time, which is the time used to generate or output object data)

[0230] Typically, object detection can be performed 5 to 7 times per second, generating or outputting data for the detected objects. That is, objects can be detected every 143 ms. This means that, based on 30 frames per second (fps), objects in an image can be detected once every 4.29 frames or every 5 frames. In the following text, the time it takes for the On-Board Unit (OBU) and Roadside Unit (RSU) to detect objects and output object information or object data is assumed to be... (Object detection time). In this case, it is based on the time when the actual data is generated. Execution buffering can implement a buffering model corresponding to data generation and input.

[0231] The following section will describe in detail the method for defining buffer models based on the RTT and / or ODT of the TCP described above.

[0232] Figures 20 to 22 This is a diagram used to explain the method of sending queued data based on the proposal-based buffer model.

[0233] refer to Figure 20of (a), in the related art, data or a message is transmitted and a corresponding header is generated after completion of aggregation of objects to be grouped (i.e., after completion of object detection on an image). Specifically, in object detection on an image, a payload for an aggregated object is generated , a header including a total length of object data for the aggregated object and / or an object count is generated , and when a grouping structure or a single message is completed through generation of the payload and the header, a message including the payload and the header is transmitted through a network stack . In other words, after a payload for all detected objects is constructed, a header including a length and / or a number of objects associated with the payload can be configured, and a message including the payload and the header can be transmitted. That is, in the related art, a payload for an SDSM can be aggregated and buffered based on a counter value defined for the SDSM, and when a message form is constructed by performing an aggregation and buffering operation, the payload can be transmitted at a message unit or a message boundary. That is, in the related art, when a message form is configured by performing an aggregation and buffering operation based on a counter value defined for an SDSM, the payload can be transmitted based on a message unit or a message boundary. As described above, a transmission and / or buffering method of an SDSM depending on aggregation of object information and a counter does not consider an actual network environment or a relationship with data generation, and thus a latency can be increased more than necessary according to a channel environment.

[0234] In contrast, referring to Figure 20 of (b), a static header (or a static field in an SDSM) can be first generated before a payload is configured, and data for a detected object can be sequentially queued and transmitted. In this case, information about a payload length and / or an object number can not be defined in a header, or an infinite value (or a maximum value) can be configured or indicated. Thereafter, data for a detected object can be generated according to the above-described buffering condition, and can be sequentially transmitted after the static header. However, in order for an RX side to recognize that received data corresponds to data (hereinafter, fragmented data) segmented and sequentially transmitted from a TX side, the fragmented data can further include a length and a streaming link code. Here, the streaming link code can include a start code, a link code, and a streaming end-of-stream (EoS) code.

[0235] As described above, Figure 20The buffer and transmission method of (b) is advantageous in that data or messages can be transmitted based on a network environment and / or a reception or output buffer environment rather than a conventional message-based encapsulation form. That is, a transmitting device can transmit messages or data by configuring boundaries or units based on byte sequences themselves rather than performing buffering or transmission based on boundaries or units of data or messages. In this case, the present disclosure can significantly reduce transmission latency of messages while minimizing buffering operations for message transmission. For example, in terms of latency, data packets can be received faster at a receiving device or receiver, thereby enabling faster rendering. For example, for SDSM, when an RSU located at a static position performs object detection and transmits detected object data, the RSU can generate data in a form in which byte sequences corresponding to predetermined portions are substantially constant, and can subsequently configure a payload for objects detected thereafter. In other words, the RSU can first generate or transmit static data (header) in which little change occurs, such as information of a transmitting entity or a detecting entity, and can sequentially transmit object data satisfying the above-described buffer condition 1 and / or buffer condition 2 in a segmented manner. That is, a payload for existing object information can be divided into a plurality of data segments according to the buffer condition 1 and / or buffer condition 2, and can be sequentially transmitted.

[0236] Reference Figure 21 The degree of latency is compared between a case in which SDSM is transmitted according to the prior art (regular buffer model, general aggregation mode, Que #1) and a case in which SDSM is transmitted based on the proposed buffer model (proposed buffer model, fast latency mode, Que #2). Based on the same timeline, an object timeline can represent a time for aggregating objects (for example, a time until detection of an object is completed from sensing data such as an image acquired), and a Tx timeline can represent a delivery or transmission timeline of a data packet. An RX (client) timeline can represent a time in which decoding and rendering of received data are performed at a receiver or client.

[0237] Reference Figure 22 In the regular Que #1 method (hereinafter, regular buffer model), a DetectedObjectCount value is set to N, and N objects can be aggregated during an object aggregation time. When aggregation of N objects is completed, a transmitting device can generate static data (for example, a field from a MsgCount field to a DetectedObjectList field, or a field from a MsgCount field to an ElevationConfidence field, in SDSM, as described in FIG. 6B) and can transmit the static data. In this case, the transmitting device can generate a payload for N objects and can transmit the payload. In this case, the payload can be transmitted in a form in which a boundary between the static data and the payload is not present. Figure 22The sending device can transmit the SDSM in which N number of object information is added after the static data (as shown). The sending device based on the conventional buffer model can perform the buffering and queuing operation for the SDSM in a conventional manner in which the object data for N number of objects is configured or generated and the header for the static data is added. The data packet or SDSM completed during the TX timeline is transmitted, and the receiving device can provide the data to the user at the presentation time point of the RX timeline.

[0238] In contrast, in the queue #2 method (hereinafter, proposed buffer model), the value of the DetectedObjectCount field can be set to an arbitrary value or a predefined value. The sending device based on the proposed buffer model can generate the static data (for example, from the MsgCount field to the field before the DetectedObjectList field in the SDSM, or from the MsgCount field to the ElevationConfidence field in the SDSM, as shown). Figure 22 In addition, the sending device based on the proposed buffer model can queue the data of the object generated or output based on the byte sequence regardless of the above aggregation time. As shown, Figure 21 When the object data buffered in the buffer satisfies the above buffer condition 1 or buffer condition 2, the sending device based on the proposed buffer model can transmit the data or message for the object buffered in the buffer. The sending device based on the proposed buffer model can empty the buffer after transmitting the data or message, buffer the object information for the newly detected object in the buffer again, and transmit the data or message for the object buffered in the buffer again when the above buffer condition 1 or buffer condition 2 is satisfied. By sequentially transmitting the data or message as described above, the sending device based on the proposed buffer model can transmit all of the object information for N number of objects. In this case, the data or message transmitted by the sending device based on the proposed buffer model can be presented at the receiving device through a short delivery time and a short decoding time. When comparing the conventional buffer model (queue #1) and the proposed buffer model (queue #2), since the presentation time of the proposed buffer model (queue #2) is significantly earlier than the presentation time of the related buffer model (queue #1), the receiving device can recognize and process the data or message faster. The proposed buffer model (queue #2) has a technical effect of providing a message or data capable of sufficiently satisfying the safety assurance requirement which is a core requirement of the traffic safety service.

[0239] Figure 23 is a diagram for explaining a method of streaming a message based on the proposed buffer model.

[0240] Referring to Figure 23, the transmitting device can stream the SDSM by applying the proposed buffer model (Queue #2). The proposed buffer model can be applied to determine under which conditions and how to aggregate queued data in the output data buffer. In this case, the transmitting device can queue object information for a detected object in the buffer at a buffering period determined based on the TCP RTT for transmitting object information and / or object detection time. As described above, since object information is buffered and transmitted based on the boundary of the byte sequence rather than the boundary of the message, the transmitting device based on the proposed buffer model can need to additionally attach additional link information and length information to data or a message. The link information and the length information can be included in the part separately indicated in Figure 23 .

[0241] Here, the static data can include fields of the SDSM from the MsgCount field to the DetectedObjectList field before, as shown in Figure 22 . The value of the DetectedObjectCount field in the static data can be defined or set to a maximum value (255) or an agreed unlimited value. To apply the proposed buffer model (Queue #2), the static data and the delimiter obtained by segmenting data into a predetermined byte sequence can be transmitted together with a two-byte data sequence (a type of header). In this case, the boundary of the delimiter can correspond to the boundary of the data of the object information, or can correspond to the boundary of an arbitrary byte sequence. For each transmitted data, at least one of the byte sequence length (1 byte), the start code of 0xF0, the link code (0xF1, 0xF2, …, 0xFN), or the EoS code of 0xFF can be added. Through such a delimiter, length, start code, link code, and end code, the proposed buffer model (Queue #2) can be effectively applied or supported for the streaming method.

[0242] Figure 24 is a diagram for explaining a method in which a first device transmits a message including object information.

[0243] Based on the proposed buffer model described above, the first device can provide a message including object information for a plurality of objects to the second device through a first session. The first device can be an RSU or a UE (or a client) that transmits and receives a message for a SoftV2X service using a Uu interface, and the second device can be a network (or a broker) or another client. As described above, the first session can be a TCP-based connection for transmitting an MQTT-based message. For example, the first device can establish the first session for transmitting an MQTT-based message with the second device (a network or a broker) based on TCP.

[0244] In detail, reference is made to Figure 24The first device can acquire sensing data for detecting a plurality of objects (S241). The sensing data can be data acquired for a surrounding environment through a sensor such as a camera, a radar, or a lidar, and the first device can detect or sense object information of objects located in the surrounding environment through the sensing data.

[0245] Next, the first device can buffer object information for objects detected from the sensing data in a buffer (S243). The first device can buffer object information sequentially detected from the sensing data in the buffer for a predetermined duration. For example, when the sensing data corresponds to an image of a specific geographical area, the first device can divide the image into a plurality of areas, sequentially generate or output object information for each area, and buffer the generated or output object information in the buffer.

[0246] Thereafter, the first device can sequentially transmit a first segmented message to an Nth segmented message (where N is an integer) through the first session based on a buffering time of the detected object information buffered in the buffer (S245). Specifically, based on the above-described buffering condition 1, when the buffering time for the buffer is equal to or greater than a first threshold time, the first device can first transmit a first segmented message including object information buffered in the buffer during the first threshold time. As described above, the first device can determine the first threshold time based on an RTT measured for the first session. Specifically, the first device can transmit a message related to the RTT measurement to the second device, receive a response message from the second device, and measure or calculate the RTT associated with the first session by calculating a difference between a transmission time of the message and a reception time of the response message. For example, the first threshold time can be determined as an average value of the RTT measured for the first session for a predetermined duration. Alternatively, the first threshold time can be determined by further considering the above-described buffering condition 2. For example, the first device can determine the first threshold time based on the RTT and an object detection time of generating or outputting object information detected from the sensing data. For example, the first device can determine a larger value between the RTT and the object detection time as the first threshold time.

[0247] For example, the first segmented message can include object information (e.g., first partial object information) for at least one object buffered in the buffer during the first threshold time, which is from the total object information for a predetermined number of objects to be provided to the second device. That is, even when the detection of a plurality of objects from the sensing data is not completed (or even when the predetermined number of objects for transmitting the SDSM is not detected), if the first threshold time elapses, the first device can preferentially transmit the first segmented message including first object information (or first partial object information) corresponding to the object information buffered during the first threshold time as a segment for configuring the SDSM. Then, after transmitting the first segmented message including the first object information, the first device can transmit a second segmented message including second object information for objects buffered in the first buffer during the first threshold time (or during a second threshold time different from the first threshold time). After transmitting the second segmented message, the first device can transmit a third segmented message including third object information for objects buffered in the buffer during the first threshold time. In this way, the first device can sequentially transmit the first segmented message to the Nth segmented message based on the buffering time of the data buffered in the buffer and the first threshold time. By sequentially transmitting the first segmented message to the Nth segmented message, the first device can provide the second device with the total object information for a plurality of objects detected from the sensing data.

[0248] Alternatively, each of the first segmented message to the Nth segmented message can be a segment of a single SDSM defined to include object information for a predetermined number of objects. That is, the first device can provide the second device with object information corresponding to the SDSM through the first segmented message to the Nth segmented message. Meanwhile, in order to identify a linkage relationship between the first segmented message to the Nth segmented message, as described above, each of the first segmented message to the Nth segmented message can include at least one of a predefined start code, a linkage code, or an end code.

[0249] Alternatively, among the first segmented message to the Nth segmented message, the first segmented message transmitted first can include static data defined for the SDSM (e.g., fields from the MsgCount field to the DetectedObjectList field of the SDSM, or fields from the MsgCount field to the ElevationConfidence field of the SDSM, as shown in Figure 22 For example, the static data defined for the SDSM (e.g., fields from the MsgCount field to the DetectedObjectList field of the SDSM, or fields from the MsgCount field to the ElevationConfidence field of the SDSM, as shown in Figure 22The DetectedObjectCount included in the static data of the first segment message can be included only in the first segment message and can not be included in the remaining segment messages. Meanwhile, the value of the DetectedObjectCount included in the static data of the first segment message can be set to a predefined value (or a maximum value) or an arbitrary value regardless of the number of objects that can be detected from the sensing data.

[0250] Figure 25 is a diagram for explaining a method of the second device receiving a message including object information from the first device.

[0251] Referring to Figure 25 , the second device can sequentially receive the first segment message to the Nth segment message including partial object information from the first device through the first session (S251). As described above, even when the second device does not receive the Nth segment message, the second device can preferentially perform decoding with respect to the first segment message. As described with reference to Figure 24 , the partial object information can be object information for at least one object from among object information for a plurality of objects included in the SDSM that is buffered in the buffer of the first device for a first threshold time. In addition, the first threshold time can be determined by the first device based on the RTT associated with the first session.

[0252] Then, the second device can combine the first segment message to the Nth segment message to acquire the SDSM. For example, as described above, each of the first segment message to the Nth segment message can include at least one of a predefined start code, a link code, or an end code (see Figure 23 ). The second device can combine or concatenate the first segment message to the Nth segment message based on the code included in the received segment message, thereby acquiring the SDSM.

[0253] As described above, the present disclosure can significantly improve the reliability of message operation of a V2X service by implementing fast transmission of a message through the proposed buffer model, thereby greatly enhancing the reliability of data transmitted through a message. That is, according to the present disclosure, implementation of an appropriate buffer model and transmission method can enhance the reliability of message operation for interaction between objects for a V2X service, and can deliver a message for a V2X service without losing a data packet within an effective time or a required delay time, thereby improving the reliability of data included in the message.

[0254] The present disclosure can minimize latency and latency variation occurring in a V2X service requiring real-time communication by transmitting a message according to a proposed buffer model. That is, the present disclosure can support a low-latency communication environment suitable for real-time communication by fast transmission of a message based on a proposed buffer model. For example, in a real-time communication environment such as a V2X service, fast transmission of data can be required. In this case, the present disclosure can minimize latency and latency variation required for real-time communication by transmitting a message according to a proposed buffer model, and can effectively support fast data transmission and interaction through a message. Alternatively, the present disclosure can maximize the utilization of bandwidth for providing a V2X service through efficient buffer management and data flow control, thereby improving the efficiency of network resources.

[0255] Accordingly, the present disclosure can play an important role in improving the reliability and efficiency of data transmission in a V2X service (or Soft V2X service) requiring a real-time communication environment. That is, through an efficient buffer model and transmission method, the present disclosure can optimize network performance and provide a smooth and reliable V2X operating system to users.

[0256] Example of a communication system applying the disclosure

[0257] Although not limited thereto, various descriptions, functions, processes, proposals, methods, and / or operation flowcharts of the present disclosure disclosed in the present document can be applied to various fields requiring wireless communication / connection (5G) between devices.

[0258] Hereinafter, it will be exemplified in more detail with reference to the accompanying drawings. In the following drawings / description, the same reference numerals can exemplify the same or corresponding hardware blocks, software blocks, or functional blocks unless otherwise specified.

[0259] Figure 26 A communication system to which the present disclosure is applied is exemplified.

[0260] Referring to Figure 26, applied to the communication system 1 of the disclosure includes a wireless device, a base station (BS), and a network. Herein, a wireless device denotes a device that performs communication using a radio access technology (RAT) (e.g., 5G new RAT (NR) or long term evolution (LTE)), and can be referred to as a communication / radio / 5G device. The wireless device can include, but is not limited to, a robot 100a, vehicles 100b-1 and 100b-2, an extended reality (XR) device 100c, a handheld device 100d, a home appliance 100e, an Internet of Things (IoT) device 100f, and an artificial intelligence (AI) device / server 400. For example, the vehicles can include vehicles having a wireless communication function, self-driving vehicles, and vehicles capable of performing communication between vehicles. Herein, the vehicles can include unmanned aerial vehicles (UAVs) (e.g., drones). The XR device can include an augmented reality (AR) / virtual reality (VR) / mixed reality (MR) device, and can be implemented in the form of a head-mounted device (HMD), a head-up display (HUD) mounted in a vehicle, a television, a smartphone, a computer, a wearable device, a home appliance device, a digital signage, a vehicle, a robot, etc. The handheld device can include a smartphone, a smartpad, a wearable device (e.g., a smartwatch or smartglasses), and a computer (e.g., a notebook). The home appliance can include a TV, a refrigerator, and a washing machine. The IoT device can include a sensor and a smartmeter. For example, the BS and the network can be implemented as a wireless device, and a specific wireless device 200a can operate as a BS / network node with respect to other wireless devices.

[0261] The wireless devices 100a to 100f can be connected to the network 300 via the BS 200. The AI technology can be applied to the wireless devices 100a to 100f, and the wireless devices 100a to 100f can be connected to the AI server 400 via the network 300. The network 300 can 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 can communicate with each other through the BS 200 / network 300, the wireless devices 100a to 100f can perform direct communication (e.g., sidelink communication) with each other without going through the BS / network. For example, the vehicles 100b-1 and 100b-2 can perform direct communication (e.g., vehicle-to-vehicle (V2V) / vehicle-to-everything (V2X) communication). The IoT device (e.g., a sensor) can perform direct communication with other IoT devices (e.g., sensors) or other wireless devices 100a to 100f.

[0262] The wireless communication / connection 150a, 150b, or 150c can be established between the wireless devices 100a-100f / BS 200 or the BS 200 / BS 200. Herein, the wireless communication / connection can be established by 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 backhaul (IAB)). The wireless devices and the BS / wireless devices can transmit / receive radio signals to / from each other through the wireless communication / connection 150a and 150b. For example, the wireless communication / connection 150a and 150b can transmit / receive signals through various physical channels. To this end, at least a part of various configuration information of procedures for transmitting / receiving radio signals, various signal processing procedures (e.g., channel coding / decoding, modulation / demodulation, and resource mapping / demapping), and resource allocation procedures can be performed based on various proposals of the disclosure.

[0263] Example of a wireless device applying the disclosure

[0264] Figure 27 A wireless device suitable for the disclosure is exemplified.

[0265] Referring to Figure 27 , the first wireless device 100 and the second wireless device 200 can transmit radio signals through various RATs (e.g., LTE and NR). Herein, the {first wireless device 100 and the second wireless device 200} can correspond to Figure 26 {wireless device 100x and BS 200} and / or {wireless device 100x and wireless device 100x} of the disclosure.

[0266] The first wireless device 100 can include one or more processors 102 and one or more memories 104, and additionally further include one or more transceivers 106 and / or one or more antennas 108. The processor(s) 102 can control the memory(s) 104 and / or the transceiver(s) 106, and can be configured to implement the descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed in the present document. For example, the processor(s) 102 can process information within the memory(s) 104 to generate first information / signals, and then transmit radio signals including the first information / signals through the transceiver(s) 106. The processor(s) 102 can receive radio signals including second information / signals through the transceiver(s) 106, and then store information obtained by processing the second information / signals in the memory(s) 104. The memory(s) 104 can be connected to the processor(s) 102, and can store a variety of information related to operations of the processor(s) 102. For example, the memory(s) 104 can store software code including commands for executing some or all of the procedures controlled by the processor(s) 102 or for executing the descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed in the present document. Herein, the processor(s) 102 and the memory(s) 104 can be a part of a communication modem / circuitry / chip designed to implement a RAT (e.g., LTE or NR). The transceiver(s) 106 can be connected to the processor(s) 102 and transmit and / or receive radio signals through the one or more antennas 108. Each of the transceiver(s) 106 can include a transmitter and / or a receiver. The transceiver(s) 106 can be used interchangeably with radio frequency (RF) unit(s). In the present disclosure, a wireless device can represent a communication modem / circuitry / chip.

[0267] The first wireless device 100 or the first apparatus can include a processor 102, a memory 104, and a transceiver 106. The memory 104 can include at least one program capable of performing operations related to the described embodiments. Figures 16 to 25 The processor 102 can control the transceiver 106 to acquire sensing data for detecting a plurality of objects, buffer object information for objects detected from the sensing data in a buffer, and transmit, to a second apparatus through a first session, a first segmented message including partial object information for at least one object among the plurality of objects that is buffered in the buffer during a first threshold time. Here, the first threshold time can be determined based on an RTT associated with the first session.

[0268] In particular, the processor 102 can control the transceiver 106 to acquire sensing data for detecting a plurality of objects, buffer object information for objects detected from the sensing data in a buffer, and transmit, to a second apparatus through a first session, a first segmented message including partial object information for at least one object among the plurality of objects that is buffered in the buffer during a first threshold time. Here, the first threshold time can be determined based on an RTT associated with the first session.

[0269] Alternatively, a processing device including the processor 102 and the memory 104 and configured to control a first apparatus that transmits a message including object information can be configured. In this case, the processing device can include at least one processor; and at least one memory connected to the at least one processor and storing instructions that, when executed by the at least one processor, cause the first apparatus to acquire sensing data for detecting a plurality of objects, buffer object information for an object detected from the sensing data in a buffer, and transmit, to a second apparatus, a first segmented message including partial object information for at least one object among the plurality of objects that is buffered in the buffer during a first threshold time through a first session. Here, the first threshold time can be determined based on an RTT associated with the first session.

[0270] The second wireless device 200 can include one or more processors 202 and one or more memories 204, and additionally include one or more transceivers 206 and / or one or more antennas 208. The processor(s) 202 can control the memory(s) 204 and / or the transceiver(s) 206, and can be configured to implement the descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed in the present document. For example, the processor(s) 202 can process information within the memory(s) 204 to generate third information / signals, and then transmit radio signals including the third information / signals through the transceiver(s) 206. The processor(s) 202 can receive radio signals including fourth information / signals through the transceiver(s) 206, and then store information obtained by processing the fourth information / signals in the memory(s) 204. The memory(s) 204 can be connected to the processor(s) 202, and can store a variety of information related to operations of the processor(s) 202. For example, the memory(s) 204 can store software code including commands for executing parts or all of processes controlled by the processor(s) 202 or for executing the descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed in the present document. Herein, the processor(s) 202 and the memory(s) 204 can be a part of a communication modem / circuitry / chip designed to implement a RAT (e.g., LTE or NR). The transceiver(s) 206 can be connected to the processor(s) 202 and transmit and / or receive radio signals through the one or more antennas 208. Each of the transceiver(s) 206 can include a transmitter and / or a receiver. The transceiver(s) 206 can be used interchangeably with RF unit(s). In the present disclosure, a wireless device can represent a communication modem / circuitry / chip.

[0271] The second wireless device 200 or the second apparatus can include the processor 202, the memory 204, and the transceiver 206. The memory 204 can include at least one program capable of performing operations related to the described embodiments. Figures 16 to 25 The memory 204 can include at least one program capable of performing operations related to the described embodiments.

[0272] In particular, the processor 202 can control the transceiver 206 to sequentially receive the first through Nth segmented messages including partial object information from the first device through the first session, and acquire the SDSM by combining the first through Nth segmented messages. Here, the partial object information is object information of at least one object from object information for a plurality of objects included in the SDSM, which is buffered in a buffer of the first device during a first threshold time. The first threshold time can be determined based on an RTT associated with the first session.

[0273] Hereinafter, the hardware elements of the wireless devices 100 and 200 will be described in more detail. One or more protocol layers can be implemented by, but not limited to, one or more processors 102 and 202. For example, one or more processors 102 and 202 can 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 can 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 operational flowcharts disclosed in the present document. One or more processors 102 and 202 can generate messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in the present document. One or more processors 102 and 202 can generate signals (e.g., baseband signals) including the PDUs, SDUs, messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in the present document, and provide the generated signals to one or more transceivers 106 and 206. One or more processors 102 and 202 can receive signals (e.g., baseband signals) from one or more transceivers 106 and 206 and acquire the PDUs, SDUs, messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in the present document.

[0274] The one or more processors 102 and 202 can be referred to as controllers, microcontrollers, microprocessors, or microcomputers. The one or more processors 102 and 202 can be implemented by hardware, firmware, software, or a combination thereof. As an 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) can be included in the one or more processors 102 and 202. The descriptions, functions, processes, proposals, methods, and / or operational flowcharts disclosed in the present document can be implemented using firmware or software, and the firmware or software can be configured to include modules, processes, or functions. The firmware or software configured to perform the descriptions, functions, processes, proposals, methods, and / or operational flowcharts disclosed in the present document can be included in the one or more processors 102 and 202 or stored in the one or more memories 104 and 204 to be driven by the one or more processors 102 and 202. The descriptions, functions, processes, proposals, methods, and / or operational flowcharts disclosed in the present document can be implemented using firmware or software in the form of codes, commands, and / or command sets.

[0275] The one or more memories 104 and 204 can be connected to the one or more processors 102 and 202 and store various types of data, signals, messages, information, programs, codes, instructions, and / or commands. The one or more memories 104 and 204 can be configured by read-only memory (ROM), random access memory (RAM), electrically programmable read only memory (EPROM), flash memory, hard disk drive, register, cache memory, computer readable storage media, and / or a combination thereof. The one or more memories 104 and 204 can be located inside and / or outside the one or more processors 102 and 202. The one or more memories 104 and 204 can be connected to the one or more processors 102 and 202 by various techniques such as wired or wireless connection.

[0276] The one or more transceivers 106 and 206 can transmit user data, control information, and / or radio signals / channels mentioned in the methods and / or operational flowcharts of the present document, to one or more other apparatuses. The one or more transceivers 106 and 206 can receive user data, control information, and / or radio signals / channels mentioned in the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in the present document, from one or more other apparatuses. For example, the one or more transceivers 106 and 206 can be connected to the one or more processors 102 and 202 and transmit and receive radio signals. For example, the one or more processors 102 and 202 can perform control so that the one or more transceivers 106 and 206 can transmit user data, control information, or radio signals to one or more other apparatuses. The one or more processors 102 and 202 can perform control so that the one or more transceivers 106 and 206 can receive user data, control information, or radio signals from one or more other apparatuses. The one or more transceivers 106 and 206 can be connected to the one or more antennas 108 and 208, and the one or more transceivers 106 and 206 can be configured to transmit and receive user data, control information, and / or radio signals / channels mentioned in the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in the present document, through the one or more antennas 108 and 208. In the present document, the one or more antennas can be a plurality of physical antennas or a plurality of logical antennas (for example, antenna ports). The one or more transceivers 106 and 206 can convert received radio signals / channels, etc., from RF band signals to baseband signals in order to process received user data, control information, radio signals / channels, etc., using the one or more processors 102 and 202. The one or more transceivers 106 and 206 can convert user data, control information, radio signals / channels, etc., processed using the one or more processors 102 and 202, from baseband signals to RF band signals. To this end, the one or more transceivers 106 and 206 can include (analog) oscillators and / or filters.

[0277] Example of a wireless device applying the disclosure

[0278] Figure 28 Another example applied to the wireless device of the present disclosure is shown. The wireless device can be implemented in various forms according to use cases / services (refer to Figure 26 ).

[0279] Referring to Figure 28 , the wireless devices 100 and 200 can correspond to Figure 27wireless devices 100 and 200, and can be configured by various elements, components, units / portions, and / or modules. For example, each of the wireless devices 100 and 200 can include a communication unit 110, a control unit 120, a memory unit 130, and additional components 140. The communication unit can include a communication circuit 112 and a transceiver 114. For example, the communication circuit 112 can include Figure 27 one or more processors 102 and 202 and / or one or more memories 104 and 204. For example, the transceiver 114 can include Figure 27 one or more transceivers 106 and 206 and / or one or more antennas 108 and 208. The control unit 120 is electrically connected to the communication unit 110, the memory 130, and the additional components 140, and controls overall operation of the wireless device. For example, the control unit 120 can control electric / mechanical operation of the wireless device, based on programs / code / commands / information stored in the memory unit 130. The control unit 120 can transmit information stored in the memory unit 130 to the outside (e.g., other communication devices) via the communication unit 110 through wireless / wired interfaces, or store, in the memory unit 130, information received from the outside (e.g., other communication devices) via the communication unit 110 through wireless / wired interfaces.

[0280] The additional components 140 can be variously configured according to types of the wireless device. For example, the additional components 140 can include at least one of a power supply unit / battery, an input / output (I / O) unit, a driving unit, and a computing unit. The wireless device can be implemented in, but not limited to, a robot (100a), a vehicle (100b-1 and 100b-2), an XR device (100c), a hand-held device (100d), a home appliance (100e), an IoT device (100f), a digital broadcast terminal, a hologram device, a public safety device, an MTC device, a medical device, a financial technology device (or a financial device), a security device, a climate / environment device, an AI server / device (400), a BS (200), a network node, etc. The wireless device can be used in a mobile or fixed place according to use examples / services. Figure 26 Figure 26 Figure 26 Figure 26 Figure 26 Figure 26 Figure 26 Figure 26

[0281] In Figure 28 ​​​​​​​​In some embodiments, various elements, components, units / portions, and / or modules in the wireless devices 100 and 200 can all be connected to each other through a wired interface, or at least part of them can be wirelessly connected through the communication units 110. For example, in each of the wireless devices 100 and 200, the control unit 120 and the communication unit 110 can be connected through a wired interface, and the control unit 120 and the first units (e.g., 130 and 140) can be wirelessly connected through the communication unit 110. The various elements, components, units / portions, and / or modules within the wireless devices 100 and 200 can also include one or more elements. For example, the control unit 120 can be configured by a set of one or more processors. As an example, the control unit 120 can be configured by a set of communication control processor, application processor, electronic control unit (ECU), graphic processing unit, and memory control processor. In another example, the memory 130 can be configured by random access memory (RAM), dynamic RAM (DRAM), read only memory (ROM), flash memory, volatile memory, non-volatile memory, and / or a combination thereof.

[0282] Example of a vehicle or autonomous vehicle applying the disclosure

[0283] Figure 29 A vehicle or an autonomous driving vehicle applied to the present disclosure is illustrated. The vehicle or the autonomous driving vehicle can be implemented by a mobile robot, a car, a train, a manned / unmanned aerial vehicle (AV), a ship, etc.

[0284] Referring to Figure 29 , the vehicle or the autonomous driving vehicle 100 can 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 can be configured as a part of the communication unit 110. The blocks 110 / 130 / 140a to 140d correspond to the blocks 110 / 130 / 140 of Figure 26 , respectively.

[0285] The communication unit 110 can transmit and receive signals (e.g., data 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 the autonomous driving vehicle 100. The control unit 120 can include an electronic control unit (ECU). In addition, the driving unit 140a can cause the vehicle or the autonomous driving vehicle 100 to travel on a road. The driving unit 140a can include an engine, a motor, a powertrain, a wheel, a brake, a steering device, etc. The power supply unit 140b can supply power to the vehicle or the autonomous driving vehicle 100 and include a wired / wireless charging circuit, a battery, etc. The sensor unit 140c can acquire vehicle states, surrounding 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 depth sensor, an ultrasonic sensor, an illumination sensor, a pedal position sensor, etc. The autonomous driving unit 140d can implement a technology for maintaining a lane in which the vehicle is traveling, a technology for automatically adjusting a speed (e.g., adaptive cruise control), a technology for autonomously traveling along a determined path, a technology for traveling by automatically setting a path if a destination is set, etc.

[0286] 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 obtained data. The control unit 120 can control the driving unit 140a so that the vehicle or the autonomous driving vehicle 100 can move along the autonomous driving path according to the driving plan (e.g., speed / direction control). In the middle of autonomous driving, the communication unit 110 can acquire recent traffic information data from an external server aperiodically / periodically and surrounding traffic information data from a neighboring vehicle. In the middle of autonomous driving, the sensor unit 140c can obtain vehicle states and / or surrounding environment information. The autonomous driving unit 140d can update the autonomous driving path and the driving plan based on newly obtained data / information. The communication unit 110 can transmit information about a vehicle position, an autonomous driving path, and / or a driving plan to an external server. The external server can predict traffic information data using an AI technology, etc. based on information collected from vehicles or autonomous driving vehicles and provide the predicted traffic information data to the vehicles or the autonomous driving vehicles.

[0287] Here, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification can include, in addition to Narrow Band Internet of Things for low power communication, LTE, NR, and 6G. At this time, for example, the NB-IoT technology can be an example of a Low Power Wide Area Network (LPWAN) technology, and can be implemented in standards such as LTE Cat NB1 and / or LTE Cat NB2, and is not limited to the above name. In addition or alternatively, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification can perform communication based on LTE-M technology. In this case, as an example, the LTE-M technology can be an example of a LPWAN technology, and can be referred to as various names such as eMTC (enhanced machine type communication). For example, the LTE-M technology can be implemented in at least one of various standards such as 1) LTE CAT 0, 2) LTE Cat M1, 3) LTE Cat M2, 4) LTE non-BL (non-band limited), 5) LTE-MTC, 6) LTE machine type communication, and / or 7) LTE M, and is not limited to the above name. In addition or alternatively, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification is at least one of ZigBee, Bluetooth, and Low Power Wide Area Network (LPWAN) in consideration of low power communication, and is not limited to the above name. As an example, the ZigBee technology can generate a personal area network (PAN) related to small / low power digital communication based on various standards such as IEEE 802.15.4, and can be referred to as various names.

[0288] The above-described embodiments are implementations of the present disclosure in which components and features of the present disclosure are combined in predetermined forms. Each component or feature should be considered selectable unless explicitly stated otherwise. Each component or feature can be implemented in a form not combined with other components or features. In addition, the present disclosure can be constructed by combining some components and / or features. The order of operations described in the embodiments of the present disclosure can be changed. Some configurations or features of one embodiment can be included in other embodiments, or can be replaced with corresponding configurations or features of other embodiments. It is obvious that the embodiments can be constructed by combining claims having no explicit relationship with each other in the claims, or can be included as new claims by modifying after filing.

[0289] In the present document, the embodiments of the present disclosure are described mainly based on a signal transmission / reception relationship between a terminal and a base station. Such a transmission / reception relationship is extended in the same / similar manner to a signal transmission / reception between a terminal and a repeater or between a base station and a repeater. In some cases, a specific operation described in the present document as performed by the base station can be performed by the node thereon. That is, it is apparent that, in order to communicate with the terminal in a network including a plurality of network nodes including the base station, various operations performed for the communication can be performed by the base station or by a network node other than the base station. The base station can be replaced with terms such as a fixed station, a Node-B, an eNode-B (eNB), an access point, etc. In addition, the terminal can be replaced with terms such as a user equipment (UE), a mobile station (MS), and a mobile subscriber station (MSS).

[0290] In a hardware configuration, the embodiments of the present disclosure can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, etc.

[0291] In a firmware or software configuration, the method according to the embodiments of the present disclosure can be implemented in the form of modules, procedures, functions, etc. Software code can be stored in a memory unit and executed by a processor. The memory is located at the interior or exterior of the processor and can deliver data to and receive data from the processor via various known means.

[0292] As described above, a detailed description of the preferred embodiments of the present disclosure has been given so that those skilled in the art can implement and execute the present disclosure. Although the above has been described with reference to the preferred embodiments of the present disclosure, those skilled in the art will understand that various modifications and changes can be made in the present disclosure within the scope of the present disclosure. For example, those skilled in the art can use the components described in the above-described embodiments in combination. Therefore, the above-described embodiments are to be interpreted in all aspects as illustrative and not restrictive. The scope of the present disclosure should be determined by the appended claims and their legal equivalents, not by the above description, and all changes within the meaning and range of equivalency of the appended claims are intended to be included therein.

[0293] Industrial Applicability

[0294] The above-described embodiments of the present disclosure are applicable to various mobile communication systems.

Claims

1. A method for transmitting a message including object information by a first device in a wireless communication system, the method comprising: Acquire sensor data for detecting multiple objects; The object information detected from the sensing data is buffered in a buffer; as well as A first segmented message is sent to a second device via a first session. The first segmented message includes partial object information for at least one of the plurality of objects that is buffered in the buffer during a first threshold time period. The first threshold time is determined based on the round-trip time (RTT) associated with the first session.

2. The method according to claim 1, wherein, The first threshold time is determined to be the average value of the RTT associated with the first session.

3. The method according to claim 1, wherein, The first device provides the object information for the plurality of objects to the second device by sending the first segment message to the Nth segment message in sequence based on the buffer time.

4. The method according to claim 3, wherein, The first segment message to the Nth segment message are segments of a single sensor data sharing message (SDSM).

5. The method according to claim 4, wherein, The static data defined for the SDSM is only included in the first segment message sent among the first segment messages to the Nth segment messages.

6. The method according to claim 5, wherein, The value of DetectedObjectCount in the static data is set to any value or the maximum value, regardless of the number of objects.

7. The method according to claim 1, wherein, The first segment message also includes at least one of a start code, a link code, or an end code.

8. The method according to claim 1, wherein, The first threshold time is determined by further considering the object detection time that generates the object information detected from the sensing data.

9. A computer-readable recording medium having a program recorded thereon for performing the method according to claim 1.

10. A first means configured to transmit a message including object information in a wireless communication system, the first means comprising: RF transceiver; as well as The processor is connected to the RF transceiver. The processor is configured as follows: Control the RF transceiver to acquire sensing data for detecting multiple objects; Object information for objects detected from the sensing data is buffered in a buffer; and A first segmented message is sent to a second device via a first session. The first segmented message includes partial object information for at least one of the plurality of objects that is buffered in the buffer during a first threshold time period. The first threshold time is determined based on the round-trip time (RTT) associated with the first session.

11. A processing apparatus configured to control a first means to transmit a message including object information in a wireless communication system, the processing apparatus comprising: At least one processor; as well as At least one memory, connected to the at least one processor and storing instructions that, when executed by the at least one processor, cause the first device to: Acquire sensor data for detecting multiple objects; Object information for objects detected from the sensing data is buffered in a buffer; and A first segmented message is sent to a second device via a first session. The first segmented message includes partial object information for at least one of the plurality of objects that is buffered in the buffer during a first threshold time period. The first threshold time is determined based on the round-trip time (RTT) associated with the first session.

12. A method for receiving a message including object information by a second device in a wireless communication system, the method comprising: The first segment message, including partial object information, is received sequentially from the first device through the first session; as well as Sensor Data Sharing Message (SDSM) is obtained by combining the first segment message to the Nth segment message. The object information mentioned herein includes, among the object information for multiple objects in the SDSM, object information for at least one object buffered in the buffer of the first device during the first threshold time period, and The first threshold time is determined based on the round-trip time (RTT) associated with the first session.

13. A computer-readable recording medium having a program recorded thereon for performing the method according to claim 12.

14. A second means configured to receive a message including object information in a wireless communication system, the second means comprising: RF transceiver; as well as The processor is connected to the RF transceiver. The processor is configured as follows: The RF transceiver is controlled to sequentially receive, through a first session, segment messages from the first device up to the Nth segment message, which includes partial object information; and Sensor Data Sharing Message (SDSM) is obtained by combining the first segment message to the Nth segment message. The object information mentioned herein includes, among the object information for multiple objects in the SDSM, object information for at least one object buffered in the buffer of the first device during the first threshold time period, and The first threshold time is determined based on the round-trip time (RTT) associated with the first session.

15. A processing apparatus configured to control a second means to receive a message including object information in a wireless communication system, the processing apparatus comprising: At least one processor; as well as At least one memory, connected to the at least one processor and storing instructions that, when executed by the at least one processor, cause the second device to: The sensor data sharing message (SDSM) is obtained by sequentially receiving first segment messages to Nth segment messages, including partial object information, from the first device in a first session, and by combining the first segment messages to the Nth segment messages. The object information mentioned herein includes, among the object information for multiple objects in the SDSM, object information for at least one object buffered in the buffer of the first device during the first threshold time period, and The first threshold time is determined based on the round-trip time (RTT) associated with the first session.

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