Communication device, and sensing method

Abstract

To provide a communication device capable of performing object sensing.SOLUTION: The communication device includes: a transmission unit that sends request information to request target sensing; a receiving unit that receives result information indicating the sensing results; a first communication device that senses the target based on the request information; and a control unit that determines the status of the target based on the sensing results indicated by the result information, and the sensing results of the target object sensed by the communication device.SELECTED DRAWING: Figure 14

Description

[Technical Field]

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

[0002] Non-Patent Documents 1 and 2 disclose the use of pulse signals for object sensing. Non-Patent Document 3 discloses object sensing based on frequency modulated continuous wave (FMCW) and phase modulated continuous wave (PMCW) systems. Non-Patent Document 4 discloses the use of OFDM (Orthogonal Frequency Division Multiplexing) signals for object sensing. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] S. Schuster, S. Scheiblhofer, R. Feger, and A. Stelzer, “Signal model and statistical analysis for the sequential sampling pulse radar technique,” ​​in Proc. IEEE Radar Conf, 2008, pp. 1-6, 2008 [Non-patent document 2] D. Cao, T. Li, P. Kang, H. Liu, S. Zhou, H. Su, “Single-Pulse Multi-Beams Operation of Phased Array Radar”, 2016 CIE International Conference on Radar (RADAR), pp. 1-4, 2016 [Non-patent document 3] A. Bourdoux, K. Parashar, and M. Bauduin, “Phenomenology of mutual interference of FMCW and PMCW automotive radars,” in 2017 IEEE Radar Conference (Radar Conf.), pp. 1709-1714, 2017 [Non-patent document 4] J. Fink, FK Jondral, “Comparison of OFDM radar and chirp sequence radar,” in 2015 16th International Radar Symposium (IRS), pp. 315-320, 2015 Summary of the Invention

[0004] In the discussion of the fifth generation mobile communication system, discussions are underway regarding position estimation, and the Institute of Electrical and Electronics Engineers (IEEE) is also discussing object sensing in wireless local area networks (LANs).

[0005] However, the method for performing position estimation and the specific specifications for performing object sensing have not been formulated.

[0006] Non-limiting embodiments of the present disclosure contribute to providing a communication device and a sensing method for performing object sensing.

[0007] A communication device according to one embodiment of the present disclosure is a communication device having a transmitting unit that transmits request information requesting sensing of a target, a receiving unit that receives result information indicating a sensing result from a first communication device that sensed the target in accordance with the request information, and a control unit that determines the state of the target based on the sensing result indicated by the result information and the sensing result of the target sensed by the communication device.

[0008] A sensing method according to one embodiment of the present disclosure is a sensing method in a communication device, which transmits request information requesting sensing of a target, receives result information indicating the sensing results from a first communication device that senses the target in accordance with the request information, and determines the state of the target based on the sensing results indicated by the result information and the sensing results of the target sensed by the communication device.

[0009] These comprehensive or specific aspects may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0010] According to one embodiment of the present disclosure, the communication device can perform object sensing.

[0011] Further advantages and benefits of an embodiment of the present disclosure will become apparent from the specification and drawings. Such advantages and / or benefits may be provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all of them may be provided to obtain one or more identical features. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a sensing device. [Figure 2] FIG. 1 is a diagram showing an example of the configuration of a sensing device. [Figure 3] FIG. 1 is a diagram showing an example of the configuration of a device that performs communication and sensing. [Figure 4] FIG. 1 shows an example of a communication system. [Figure 5] A diagram showing an example of the structure of a data transmission frame [Figure 6A] A diagram showing an example of the sensing frame configuration [Figure 6B]A diagram showing an example of the sensing frame configuration [Figure 7] FIG. 1 is a diagram showing an example of a frame state on the time axis of a certain frequency band. [Figure 8] FIG. 10 is a diagram showing another example of a frame state on the time axis of a certain frequency band. [Figure 9] A diagram showing an example of the time-frequency of a signal transmitted by a base station [Figure 10] A diagram showing an example of the time-frequency of a signal transmitted by a terminal [Figure 11] FIG. 1 is a diagram showing an example of a system configuration for explaining an example of triangulation; [Figure 12] System configuration example [Figure 13] FIG. 1 is a diagram illustrating an example of information related to sensing capabilities. [Figure 14] FIG. 13 illustrates an example procedure for sensing in the example system of FIG. 12. [Figure 15A] A diagram illustrating an example of distance information acquisition. [Figure 15B] A diagram illustrating an example of distance information acquisition. [Figure 15C] A diagram illustrating an example of distance information acquisition. [Figure 15D] A diagram illustrating an example of distance information acquisition. [Figure 15E] A diagram illustrating an example of distance information acquisition. [Figure 15F] A diagram illustrating an example of distance information acquisition. [Figure 16] FIG. 1 shows another example of a procedure for sensing. [Figure 17] FIG. 1 is a diagram illustrating an example of base station selection. [Figure 18] System configuration example [Figure 19] FIG. 19 illustrates an example procedure for sensing in the example system of FIG. 18. [Figure 20] FIG. 19 illustrates another example procedure for sensing in the example system of FIG. [Figure 21A] FIG. 1 shows an example of the configuration of a device and a base station. [Figure 21B] FIG. 1 shows an example of the configuration of a device and a base station. [Figure 22] FIG. 1 is a diagram showing an example of a state when a device and a base station are performing a sensing operation. [Figure 23A] System configuration example [Figure 23B] A diagram showing an example of a sensing procedure [Figure 24] FIG. 23B is a diagram showing an example of the configuration of the device (base station) in FIGS. 12 and 23A. [Figure 25] A diagram showing an example of a configuration related to a transmitting antenna. [Figure 26] A diagram showing an example of a sensing signal frame. [Figure 27] FIG. 1 is a diagram showing an example of the configuration of a sensing signal. [Figure 28] FIG. 1 is a diagram showing an example of the configuration of a sensing signal. [Figure 29] System configuration example [Figure 30] FIG. 1 is a diagram illustrating an example of information related to sensing capabilities. [Figure 31] FIG. 30 illustrates an example procedure for sensing in the example system of FIG. 29. [Figure 32A] A diagram illustrating an example of distance information acquisition. [Figure 32B] A diagram illustrating an example of distance information acquisition. [Figure 32C] A diagram illustrating an example of distance information acquisition [Figure 32D] A diagram illustrating an example of distance information acquisition [Figure 32E] A diagram illustrating an example of distance information acquisition. [Figure 32F] A diagram illustrating an example of distance information acquisition [Figure 32G] A diagram illustrating an example of distance information acquisition [Figure 32H] A diagram illustrating an example of distance information acquisition [Figure 33] FIG. 1 shows another example of a procedure for sensing. [Figure 34] FIG. 1 shows another example of a procedure for sensing. [Figure 35] FIG. 1 shows another example of a procedure for sensing. [Figure 36]System configuration example [Figure 37] FIG. 37 illustrates an example procedure for sensing in the example system of FIG. 36. [Figure 38] FIG. 1 shows another example of a procedure for sensing. [Figure 39] FIG. 1 shows another example of a procedure for sensing. [Figure 40] FIG. 1 shows another example of a procedure for sensing. [Figure 41] An example of a transmission frame [Figure 42] An example of a transmission frame [Figure 43] An example of a transmission frame [Figure 44] An example of a transmission frame [Figure 45] An example of a transmission frame [Figure 46] An example of a transmission frame [Figure 47] An example of a transmission frame [Figure 48] An example of a transmission frame [Figure 49] An example of a transmission frame [Figure 50] An example of a transmission frame [Figure 51] System configuration example [Figure 52] System configuration example [Figure 53] System configuration example [Figure 54] System configuration example [Figure 55A] FIG. 1 is a diagram showing an example of operation when performing sensing by a device and a base station. [Figure 55B] FIG. 1 is a diagram showing an example of operation when performing sensing by a device and a base station. [Figure 56A] FIG. 1 is a diagram showing an example of operation when performing sensing by a device and a base station. [Figure 56B] FIG. 1 is a diagram showing an example of operation when performing sensing by a device and a base station. [Figure 57] System configuration example [Figure 58] System configuration example [Figure 59] System configuration example [Figure 60A] FIG. 1 is a diagram showing an example of operation when performing sensing by a device and a base station. [Figure 60B] FIG. 1 is a diagram showing an example of operation when performing sensing by a device and a base station. [Figure 61A] FIG. 1 is a diagram showing an example of operation when performing sensing by a device and a base station. [Figure 61B] FIG. 1 is a diagram showing an example of operation when performing sensing by a device and a base station. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed description of well-known matters or redundant description of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art.

[0014] The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0015] Hereinafter, sensing may include estimating the position of an object, detecting an object, grasping the outline of an object, estimating the movement of an object, and estimating the gesture of an object. The object to be sensed may be referred to as a target object. Furthermore, the object to be sensed may be a living thing such as a person or an animal. Naturally, the object to be sensed does not have to be a living thing.

[0016] The main purpose of object position estimation is to estimate the position of an object. Object position estimation may include both object detection and object movement estimation. The object position may be estimated using triangulation using radio waves, light, ultrasound, etc. The object movement may be detected using Doppler frequency. Furthermore, the object gesture may be estimated. Note that the above description is an example and is not limited to this.

[0017] The main purpose of object detection is to detect an object. Object detection may also include identifying the object. Objects may be detected using reflection or reflected wave detection of radio waves, light, ultrasound, etc. Object detection may or may not include object position estimation. Note that the above description is an example and is not limited to this.

[0018] The main purpose of recognizing the outline of an object is to detect the outline of the object. Recognizing the outline of an object may include, for example, identifying the object. Recognizing the outline of an object may also include, for example, a change in the outline or movement of the object. The outline of an object may be recognized using a pulse spread spectrum signal or a signal having a certain band. Recognizing the outline of an object may or may not include estimating the position of the object. Furthermore, a gesture of the object may be estimated. Note that the above description is an example and is not limited to this.

[0019] The estimation of the object position, the detection of the object, the grasping of the object's outline, the estimation of the object's movement, and the estimation of the object's gesture may be rephrased as the estimation of the object's state. In other words, the state of the object may include at least one of the object's position, the detection of the object (presence or absence), the object's outline, the object's movement, and the object's gesture. Furthermore, the object's gesture may be included in the object's movement.

[0020] In the present disclosure, a terminal may have a communication function. A terminal may have a function of sensing an object. A terminal may have a communication function and a function of sensing an object. An AP or a base station may or may not have a function of sensing an object. An AP or a base station has at least a function of communicating with a terminal. A terminal may also be referred to as a device or a communication device.

[0021] (First embodiment) First, the configuration of a device that performs sensing, a device that performs communication and sensing, etc., related to the present disclosure will be described. Note that in a device that has a sensing function (capability), such as a device that performs sensing or a device that performs communication and sensing, the sensing method may be, for example, any of the methods described in this specification.

[0022] 1 is a diagram showing an example of the configuration of device X100 that transmits a sensing signal, receives the sensing signal that has been reflected off surrounding objects, and performs sensing. Device X100 transmits a sensing signal, receives the sensing signal that has been reflected off surrounding objects, and performs sensing of the objects.

[0023] The transmitting device X101 generates transmission signals X102_1 to X102_M. The transmission signals X102_1 to X102_M are signals for sensing. The transmitting device X101 transmits the generated transmission signals X102_1 to X102_M from antennas X103_1 to X103_M, respectively. Here, the number of antennas used for transmission is M, and M is an integer equal to or greater than 1 or an integer equal to or greater than 2.

[0024] The transmitting device X101 may perform directivity control for the sensing signals, for example, by multiplying the same sensing signal by a coefficient determined for each antenna to generate transmission signals X102_1 to X102_M and transmitting the transmission signals from antennas X103_1 to X103_M. Alternatively, the transmitting device X101 may perform directivity control for each sensing signal by multiplying each of a plurality of sensing signals by a coefficient determined for each sensing signal and each antenna, combining the signals, and transmitting the transmission signals from antennas X103_1 to X103_M. This allows directivity control for each sensing signal.

[0025] The coefficients determined for each antenna or for each sensing signal and each antenna are expressed as complex numbers or real numbers. The amplitude and / or phase of the sensing signal transmitted from each antenna is changed according to the value of this coefficient. However, the coefficient may be 1. In this case, the sensing signal generated by the transmitting device X101 is transmitted as is from the antenna with a coefficient value of 1.

[0026] The transmitting device X101 may transmit a transmission signal without performing directivity control. For example, the transmitting device X101 may output each of the multiple sensing signals as a transmission signal for the corresponding antenna and transmit the signals from the antennas X103_1 to X103_M.

[0027] In the above description, the case where there are a plurality of sensing signals and a plurality of antennas has been described, but the number of sensing signals generated by the transmitting device X101 and the number of antennas that transmit the sensing signals may be one.

[0028] The sensing signals transmitted from antennas X103_1 to X103_M are reflected by object #1 (X110_1) or object #2 (X110_2). The reflected sensing signals are received by antennas X104_1 to X104_N provided in device X100. Here, the number of antennas receiving the sensing signals is N, where N is an integer equal to or greater than 1 or an integer equal to or greater than 2. The number M of antennas used for transmission may be the same as or different from the number N of antennas used for reception.

[0029] Received signals X105_1 to X105_N received by antennas X104_1 to X104_N are input to the receiving device X106. The receiving device X106 performs, for example, filtering on the received signals X105_1 to X105_N to extract only components of the frequency band or channels within the frequency band through which the sensing signals are transmitted, frequency conversion processing to convert from a radio frequency band to an intermediate frequency band (IF) and / or the frequency band of a baseband signal, and weighting and combining processing on the N received signals, and outputs an estimated signal X107.

[0030] The coefficients used in the weighting and combining process for the N received signals may be set for each of the received signals X105_1 to X105_N. By changing the values ​​of the coefficients, the device X100 can control the reception directionality. The coefficients may be estimated in advance, or the received signals X105_1 to X105_N may be used to estimate a coefficient that results in a larger amplitude or signal-to-noise ratio (CNR) of the sensing signal components after weighting and combining than when other coefficients are used, or that exceeds a predetermined threshold.

[0031] Furthermore, the receiving device X106 may use a plurality of N coefficient sets corresponding to the received signals X105_1 to X105_N to simultaneously acquire directional signals corresponding to the respective coefficient sets. Note that the receiving device X106 does not need to perform weighted synthesis processing.

[0032] The estimation unit X108 performs sensing, that is, estimation processing related to the surrounding environment, using the estimation signal X107. Details of the estimation processing performed by the estimation unit X108 will be described later.

[0033] The control signal X109 is a control signal input to the transmitting device X101, the receiving device X106, and the estimation unit X108, and instructs the transmitting device X101, the receiving device X106, and the estimation unit X108 to perform sensing, instructs the sensing range, and controls the sensing timing.

[0034] The above is a description of an example of the configuration of the device X100.

[0035] Note that, in FIG. 1, an example is described in which signals generated by device X100 are transmitted by M antennas, and signals received by N antennas are processed by receiving device X106; however, the configuration of a device that implements the sensing method described in the present disclosure is not limited to this.

[0036] For example, multiple transmitting antenna units that transmit signals may each be configured with multiple antenna units including multiple antennas. Here, the multiple antenna units may have the same directivity and directivity control function, or the range over which the directivity can be controlled may differ between the antenna units. In this case, one transmitting device X101 may select an antenna unit to use for transmitting a sensing signal from the multiple antenna units, or may simultaneously transmit the same sensing signal from the multiple antenna units.

[0037] Furthermore, the transmitting device X101 may switch between transmitting one sensing signal from one antenna unit or simultaneously transmitting one sensing signal from multiple antenna units. Furthermore, the device X100 may include multiple transmitting devices X101, or may include a transmitting device X101 for each antenna unit.

[0038] Similarly, the multiple receiving antenna units that receive signals may each be composed of multiple antenna units including multiple antennas. Here, the multiple antenna units may have the same directivity control capabilities, such as the directivity control range and directivity control accuracy, or the directivity control capabilities may differ between the antenna units. Furthermore, the multiple antenna units may have the same directivity control capabilities, such as the directivity control range and directivity control accuracy, but may be installed so that the spatial regions in which the directivity can be controlled are different. In this case, one receiving device X106 may select an antenna unit from among the multiple antenna units to acquire a received signal, or may simultaneously process signals received from the multiple antenna units.

[0039] Furthermore, the receiving device X106 may switch between processing only the received signal received from one antenna unit and processing the received signals received from multiple antenna units simultaneously. Furthermore, the device X100 may include multiple receiving devices X106, or may include a receiving device X106 for each antenna unit.

[0040] Furthermore, device X100 may be provided with multiple antennas that can be used for both transmitting and receiving signals, rather than having multiple antennas for transmitting and receiving separately. In this case, device X100 may select and switch between using each antenna for transmission or reception, or may switch over time between using multiple antennas for transmission and reception.

[0041] Furthermore, device X100 may include a transmitting / receiving antenna unit that can be used in common for transmitting and receiving signals. Here, the transmitting / receiving antenna unit includes multiple antenna units, and each antenna unit can be switched between being used for transmission and being used for reception. Device X100 may include a selection unit that selects and switches between the antenna unit used for transmitting signals generated by transmitting device X101 and the antenna unit used for receiving signals that are signal-processed by receiving device X106.

[0042] When multiple antenna units are used to simultaneously transmit sensing signals, the directivity of the signals transmitted from each antenna unit may be the same or different. If device X100 transmits sensing signals from multiple antenna units with the same directivity, it may be possible to increase the reach of the sensing signals or the distance to the reflection position where the reflected sensing signals can be received.

[0043] The number of antennas constituting the antenna units described above does not need to be the same between the antenna units, and the number of antennas may differ between the antenna units.

[0044] Next, the estimation process performed by the estimation unit X108 will be described using an example.

[0045] The estimation unit X108 estimates, for example, the distance between the device X100 and the object that reflected the sensing signal. The distance between the device X100 and the object that reflected the sensing signal can be estimated by, for example, detecting the delay time between the transmission time of the sensing signal and the reception time, and multiplying the delay time by the propagation speed of the electromagnetic wave.

[0046] The estimation unit X108 may estimate the direction of arrival of the received signal, i.e., the direction of the object that reflected the sensing signal, using a direction of arrival estimation method such as the MUSIC (Multiple Signal Classification) method. The estimation unit X108 can estimate the position of the object that reflected the transmitted signal by estimating the direction in addition to the distance between the device X100 and the object.

[0047] The estimation unit X108 can estimate the position of an object by performing triangulation using, for example, direction of arrival estimation such as the MUSIC method, the position of the transmitting antenna, the position of the receiving antenna, information on the direction of transmission directivity control, etc. The estimation unit X108 may detect the detection of an object, the movement of the object, the material of the object, etc. using the received signal. Furthermore, the estimation unit X108 may estimate the detection of an object, the position of the object, the movement of the object, etc. using an estimation method other than triangulation. Note that, as an example of the sensing method, the methods described in this specification can be cited.

[0048] The position of the object may be expressed in a polar coordinate system or a three-dimensional Cartesian coordinate system, the origin of which may be any position within the device X100, and the coordinate axes of the coordinate system may be oriented in any direction.

[0049] If the equipment including the device X100 includes, in addition to the device X100, multiple wireless sensors or other distance sensors having the same or different configurations as the device X100, the origin and coordinate axes of the coordinate systems of the data acquired by each sensor may be common to the sensors or may be unique to each sensor. The estimation unit X108 may output the location information expressed in the unique coordinate system as is, or may convert it into a coordinate system common within the equipment and output it. The converted coordinate system may be a coordinate system unique to the equipment, or may be a coordinate system common to other equipment, such as the same coordinate system as the 3D map data used by the equipment.

[0050] The estimation unit X108 may also estimate the distance to the object that reflected the signal in each of multiple directions and acquire the three-dimensional coordinates of the estimated multiple reflection positions as a point cloud. Note that the format of the data of the multiple distance measurement results acquired by the estimation unit X108 does not have to be a point cloud format having three-dimensional coordinate values, and may be, for example, a range image or other format. When a range image format is used, the position (coordinates) in a two-dimensional plane of the range image corresponds to the direction of arrival of the received signal as seen from the device X100, and the distance to the object in the direction corresponding to the pixel position of each image is stored as a pixel sample value.

[0051] Furthermore, the estimation unit X108 may perform recognition processing such as estimating the shape of an object using the point cloud data or range image data. For example, the estimation unit X108 may extract "one or more points located close to each other within a predetermined distance range," or multiple points or image areas, assuming that they are the same object, and estimate the shape of the object based on the positional relationship of the one or multiple points or the shape of the image area. The estimation unit X108 may also perform recognition processing such as identifying the sensed object using the result of the object shape estimation. In this case, the estimation unit X108 may, for example, identify whether the object in the sensing range is a person or an animal, or identify the type of object.

[0052] Note that the recognition processing performed by the estimation unit X108 may be other than object identification. For example, the estimation unit X108 may detect the number of people or vehicles within the sensing range as recognition processing, or may estimate the position and posture of the detected person's face. The estimation unit X108 may also perform a recognition processing other than the above-mentioned recognition processing, such as face recognition, which determines whether the shape of the detected person's face matches a pre-registered person, and which person it is.

[0053] Furthermore, the estimation unit X108 may measure the distance between the device X100 and the object multiple times at different times to acquire a change over time in the distance between the device X100 and the object or the position of a detected point. In this case, the estimation unit X108 may estimate the speed, acceleration, etc. of a moving object as a recognition process using the change over time in the distance between the device X100 and the object or the position of a point. For example, the estimation unit X108 may estimate the speed, direction of movement, etc. of a vehicle traveling within the sensing range.

[0054] Note that the recognition process performed by the estimation unit X108 using the change over time in distance or point position may be other than the estimation of the speed or acceleration of an object. For example, the estimation unit X108 may detect whether a person has performed a specific action based on a detected change in the person's posture, and the device X100 may be used as a gesture input device for electronic devices such as smartphones, tablets, and personal computers.

[0055] The speed of the moving object described above may be estimated by comparing the frequency of the transmitted sensing signal with the frequency of the received reflected signal and estimating the change in frequency due to the Doppler effect experienced by the reflected signal.

[0056] Next, an example of the sensing signal used in the transmitting device X101 and the receiving device X106 will be described.

[0057] Device X100 may transmit, as the sensing signal, a pulse signal disclosed in, for example, Non-Patent Document 1 or Non-Patent Document 2. Device X100 transmits the pulse signal in the frequency band used for sensing, and measures the distance to the object that reflected the sensing signal based on the delay time between the transmission time of the pulse signal and the reception time of the reflected signal.

[0058] As a different example of a sensing signal, the device X100 may use an FMCW or PMCW signal as described in Non-Patent Document 3. The FMCW signal is a signal obtained by converting a chirp signal, the frequency of which is changed over time, into a radio frequency. As an estimation process using the FMCW signal, the estimation unit X108 superimposes the signal transmitted from the transmitting device X101 and the signal received by the receiving device X106 using a mixer. As a result, the superimposed signal becomes an intermediate frequency signal with a frequency corresponding to the time of flight of the received signal, and the distance to the object that reflected the FMCW signal is measured by detecting the frequency components contained in the superimposed signal.

[0059] As a different example of the sensing signal, the device X100 may use a signal obtained by frequency-converting a modulated signal of a predetermined frequency into a signal in a frequency band used for sensing. In this case, the estimation unit X108 can estimate the distance to the object that reflected the sensing signal, for example, based on the difference between the phase of the modulated component of the signal transmitted from the transmitting device X101 and the phase of the modulated component of the signal received by the receiving device X106.

[0060] The estimation unit X108 may also compare the frequency of the transmitted modulated signal with the frequency of the received modulated signal to detect frequency fluctuations caused by the Doppler effect until the sensing signal is reflected and received, and estimate the moving speed and direction of the moving object. Note that the modulated signal may contain multiple frequency components, and for example, multicarrier transmission including multiple frequency components as the modulated signal described in Non-Patent Document 4, such as an OFDM signal, may be used.

[0061] Examples of the sensing signal are not limited to those mentioned above, and may be a signal modulated by a modulation method, an unmodulated carrier, or any other signal.

[0062] As described above, device X100 may use multiple antennas to simultaneously transmit multiple sensing signals, or may use multiple antenna units each including multiple antennas to simultaneously transmit multiple sensing signals.

[0063] Here, the estimation process performed by the estimation unit X108 has been described as an example in which the distance is measured from the difference between the transmission time of the sensing signal and the reception time of the reflected signal. However, the estimation process performed by the estimation unit X108 is not limited to the above.

[0064] For example, the estimation unit X108 may estimate the state of the transmission path from the received reflected signal, and perform recognition processing based on a comparison of the estimated transmission path state with changes over time and average values ​​or feature quantities of transmission path states estimated in the past, thereby determining whether an object is present in the sensing range or detecting whether the object is moving. The estimation unit X108 may also detect whether it is raining or not from the attenuation state of the received signal.

[0065] Although the example has been described above in which the reflected wave of a transmitted sensing signal is used for sensing, sensing using the sensing signal is not limited to the device that transmitted the sensing signal.

[0066] For example, the receiving device X106 of the device X100 may receive a sensing signal transmitted from another device, and the estimation unit X108 may determine whether the other device is within the range of the sensing signal based on the received signal, estimate the direction of the other device, or estimate the distance to the other device based on the signal strength of the received sensing signal.

[0067] Furthermore, the receiving device X106 of the device X100 may transmit a sensing signal so that other devices can use it for sensing. The sensing signal transmitted at this time may be a sensing signal transmitted by the device X100 for sensing using reflected waves, or a sensing signal may be periodically transmitted for sensing in other devices. Furthermore, when the device X100 receives a sensing signal transmitted from another device, the device X100 may transmit the sensing signal using the transmitting device X101 in the direction from which the received signal was received. Note that the sensing signal transmitted to other devices may be transmitted without controlling the directionality. Furthermore, the sensing signal may be generated using the method described in this specification.

[0068] Also, while Figure 1 shows an example in which sensing device X100 receives signals reflected by objects #1 and #2, signals obtained by reflection from objects #1 and #2 and then from other objects or substances may be used to detect objects and estimate the distance and position of the objects.

[0069] Next, an example of a sensing method using radio waves different from that shown in FIG. 1 will be described.

[0070] Fig. 2 is a diagram showing an example of the configuration of device X200 that performs sensing using radio waves. Of the configuration shown in Fig. 2, components having the same functions as those shown in Fig. 1 are given the same reference numerals, and detailed description of those components will be omitted.

[0071] Device X200 differs from device X100 in that it performs sensing using a modulated signal for sensing and / or a modulated signal for communication. Here, for example, device X200 transmits a signal, and a terminal, which is the communication partner, estimates the position, size, and distance to an object (e.g., object #1 in FIG. 2) by detecting changes in the signal transmitted by device X200. Note that when device X200 transmits a modulated signal for communication, data communication with the terminal is also possible. The following describes the case where sensing is performed using a modulated signal for communication.

[0072] The transmitting device X201 receives the control signal X109 and the transmission data X210, and performs error correction coding, modulation, precoding, multiplexing, etc. to generate transmission signals X202_1 to X202_M for communication. The device X200 transmits the transmission signals X202_1 to X202_M from the antennas X103_1 to X103_M, respectively.

[0073] The number of transmission signals and antennas used for transmission is the same as in the description regarding FIG. 1, and may be two or more, or may be one. Compared to the description regarding FIG. 1, the transmission signal in FIG. 2 differs in that the transmission signal in the description regarding FIG. 1 includes a sensing signal component, whereas the transmission signal in FIG. 2 includes a signal component obtained by modulating transmission data. However, like transmitting device X101, transmitting device X201 can perform directivity control using coefficients used in weighted synthesis processing to generate transmission signals. Also, like device X100, device X200 may include only one antenna unit equipped with multiple antennas, or may include multiple antenna units.

[0074] When performing directivity control, transmitting device X101 in Fig. 1 controls the directivity of transmission in the direction in which sensing is desired, while transmitting device X201 in Fig. 2 controls the directivity of transmission so as to improve the quality of communication with a terminal that is the communication partner. However, transmitting device X201 may control the directivity of a transmission signal in the direction in which sensing is desired, or the terminal that is the communication partner may control the directivity so as to obtain desirable sensing results when performing sensing using a signal transmitted by device X200.

[0075] When transmitting device X201 performs directivity control for sensing in a terminal, transmitting device X201 transmits a signal using a coefficient specified by the terminal. The signal transmitted here may or may not include a signal component modulated using transmission data. A signal that does not include a signal component modulated using transmission data is, for example, a signal modulated with a value known on the terminal side, such as a preamble or a reference signal. Furthermore, transmitting device X201 may perform different directivity control when transmitting a signal that includes a signal component modulated using transmission data and a signal that does not include a signal component modulated using transmission data.

[0076] The terminal receives the modulated signal transmitted by device X200, thereby obtaining data (performing communication) and also performing sensing.

[0077] Furthermore, when a terminal transmits a signal, device X200, the communication partner, may detect changes in the signal transmitted by the terminal and thereby estimate the position, size, distance to the object (e.g., object #1 in FIG. 2), type, material, etc. of the object (e.g., object #1 in FIG. 2). Note that when the terminal transmits a modulated signal for communication, data communication with device X200 is also possible.

[0078] For example, device X200 receives modulated signals transmitted from terminals using antennas X104_1 to X104_N. Receiving device X206 receives control signal X109 and received signals X205_1 to X205_N as input, and performs demodulation processing, error correction decoding processing, and the like to acquire received data. Receiving device X206 also outputs the transmission path characteristics and the like obtained by the receiving processing as estimated signal X207.

[0079] The coefficients used in the weighting and combining process for the N received signals can be set for each of the received signals X105_1 to X105_N, and the reception directionality can be controlled by changing the coefficient values. The coefficients may be estimated in advance, or the received signals X105_1 to X105_N may be used to estimate a coefficient that will result in a greater amplitude or signal-to-noise ratio (CNR) of the sensing signal component after weighting and combining than when other coefficients are used, or that exceeds a predetermined threshold. Furthermore, the receiving device X206 may use multiple sets of N coefficients corresponding to the received signals X105_1 to X105_N to simultaneously acquire directional signals corresponding to each set of coefficients.

[0080] The estimation unit X208 receives the control signal X109 and the estimation signal X207 as input, and performs estimation processing using the estimation signal X207. The estimation unit X208 estimates the surrounding environment, such as whether or not an object is present in the vicinity, based on, for example, the transmission path characteristics included in the estimation signal X207. The estimation unit X208 may also detect the movement or approach of an object based on changes over time in the transmission path characteristics.

[0081] The estimation unit X208 may estimate the direction of arrival of the received signal, i.e., the direction of the object that reflected the sensing signal, using, for example, a direction of arrival estimation method such as the MUSIC algorithm. The estimation unit X208 may estimate the position of the object by triangulation using, for example, direction of arrival estimation such as the MUSIC algorithm, antenna positions (e.g., positions of the transmitting device and receiving device), information on the direction of transmission directivity control, etc. The estimation unit X208 may also detect the object, the object's movement, the object's material, etc., using the received signal.

[0082] The estimation unit X208 performs the above-mentioned estimation processing on the estimated signal X207, for example, signal processing according to an event to be detected, such as the presence or absence of the above-mentioned object or the presence or absence of movement of the object. At this time, the estimation processing is performed based on, for example, a determination result of whether or not the feature amount extracted by the signal processing exceeds a predetermined threshold.

[0083] The estimation unit X208 may perform estimation processing based on signal processing other than the above examples. For example, the estimation processing may be performed using a model created by machine learning using a multi-layered neural network. When using a model created by machine learning using a multi-layered neural network for the estimation processing, the estimation unit X208 may perform predetermined preprocessing on the estimated signal X207 and then input the preprocessed data to the model created by machine learning using the multi-layered neural network.

[0084] The estimation unit X208 may also use information such as the frequency band used for communication or a channel number within the frequency band. The estimation unit X208 may also use the address of a communication device that transmitted a received communication signal or the address of a communication device that is the destination of the signal. By using information about the received communication signal, such as the frequency band or the address of the communication device, it is possible to compare communication signals that have the same or similar conditions, such as the location of the communication device that transmitted the signal or the directivity used when transmitting the signal, which may improve estimation accuracy.

[0085] In the above description, sensing is performed using a communication signal transmitted by a communication partner. In Fig. 2, device X200 is shown as having different configurations, including transmitting device X201 and antennas X103_1 to X103_M, which are components for performing transmission processing, and receiving device X206 and antennas X104_1 to X104_N, which are components for performing reception processing. However, the configuration of device X200 is not limited to this.

[0086] For example, transmitting device X201 and receiving device X206 may be realized as a single component, or multiple antennas may be shared for transmission and reception. Furthermore, as in the description of FIG. 1, the multiple transmitting antennas in device X200 may be configured as multiple antenna units, and the multiple receiving antennas may be configured as multiple antenna units. Furthermore, the multiple transmitting antennas and the multiple receiving antennas in device X200 may be configured as a common transmitting / receiving antenna unit.

[0087] Furthermore, a sensing signal may be used instead of a communication signal. That is, the first device may use a sensing signal transmitted by another device to estimate the position, size, distance to the object (e.g., object #1 in FIG. 2), type, material, etc. of the object (e.g., object #1 in FIG. 2).

[0088] The sensing method using a communication signal can also be used for the same purpose as the example of transmitting a sensing signal to another device described with reference to Fig. 1. That is, device X200 may use a communication signal transmitted from another device such as a terminal not to sense the surrounding environment based on the transmission path characteristics of the signal, but to determine whether the other device is within the reach of the communication signal or to estimate the direction of the other device.

[0089] It should be noted that when device X200 receives a modulated signal for communication transmitted by a communication partner, for example, a terminal, it may perform only a demodulation operation without performing a sensing operation.

[0090] Next, a device that performs communication and sensing will be described.

[0091] Fig. 3 is a diagram showing an example of the configuration of a communication and sensing device X300. Of the components shown in Fig. 3, components having the same functions as the components shown in Fig. 1 and Fig. 2 are given the same reference numerals, and detailed descriptions of these components will be omitted.

[0092] Device X300 performs both sensing using a modulated signal for sensing and sensing using a modulated signal for communication.

[0093] That is, the transmitting device X301 of the device X300 has a function of transmitting a sensing signal similar to the transmitting device X101, and a function of transmitting a communication signal to another communication device similar to the transmitting device X201.

[0094] Furthermore, the receiving device X306 of the device X300 has a function of receiving a sensing signal, similar to the receiving device X106, and a function of receiving a communication signal transmitted by another communication device, similar to the receiving device X206.

[0095] Furthermore, the estimation unit X308 executes both estimation processing using sensing signals, similar to the estimation unit X108, and estimation processing using communication signals, similar to the estimation unit X208.

[0096] In the processing performed by each component of device X300, the processing for transmitting and receiving sensing signals is the same as that of device X100 in Figure 1, and the processing for transmitting and receiving communication signals is the same as that of device X200 in Figure 2, so explanations are omitted.

[0097] 3, the device X300 is shown with different configurations for the transmitting device X301 that performs the transmitting process, the antennas X103_1 to X103_M, and the receiving device X306 that performs the receiving process, the antennas X104_1 to X104_N, but the configuration of the device X300 is not limited to this. For example, the transmitting device X301 and the receiving device X306 may be realized as a single component, or one or more antennas may be used in common for transmitting and receiving.

[0098] Device X300 may include a transmitter for sensing in addition to a transmitter for communication. In this case, the transmitter for communication and the transmitter for sensing may use the same one or more antennas by switching between them, or may include one or more antennas or multiple antennas that are different for communication and sensing.

[0099] The communication and sensing signal transmitter X301 may switch between transmitting a sensing signal and transmitting a modulated signal for communication based on mode information included in the control signal X309, and transmit the signal from the antenna. That is, there may be a mode for transmitting a sensing signal and a mode for transmitting a modulated signal for communication. The communication and sensing transmitter X301 may also transmit a signal that combines a sensing signal and a modulated signal for communication.

[0100] Device X300 may include a receiving device for sensing separate from a receiving device for communication. In this case, the receiving device for communication and the receiving device for sensing may use the same one or more antennas by switching between them, or may include one or more different antennas for communication and sensing.

[0101] Furthermore, device X300 may separately include a transmitter for communication, a transmitter for sensing, a receiver for communication, and a receiver for sensing. Furthermore, device X300 may include a transmitter / receiver for communication and a transmitter / receiver for sensing. Furthermore, device X300 may include a transmitter / receiver for communication, a transmitter for sensing, and a receiver for sensing.

[0102] 3, similarly to the descriptions of Fig. 1 and Fig. 2, one or more transmitting antennas may be configured with one or more antenna units, and one or more receiving antennas may be configured with one or more antenna units. Furthermore, one or more transmitting antennas and one or more receiving antennas may be configured with a common transmitting / receiving antenna unit.

[0103] FIG. 4 is a diagram showing an example of a communication system according to the present invention. As an example, a base station and a terminal communicate with each other. The base station has at least a communication function. Therefore, the base station has a configuration of device X200 in FIG. 2 or device X300 in FIG. 3.

[0104] A terminal may or may not have a communication function. For example, terminal #4 in FIG. 4 may have a function for sensing an object but may not have a communication function. Therefore, terminals with a communication function (terminals #1, #2, and #3 in FIG. 3) have the configuration of device X200 in FIG. 2 or device X300 in FIG. 3. A terminal without a communication function (terminal #4 in FIG. 3) has the configuration of device X100 in FIG. 1.

[0105] In the following, an embodiment will be described in which the modulated signal for communication and the signal for sensing exist in the same frequency band.

[0106] Fig. 5 is a diagram showing an example of the structure of a data transmission frame transmitted by a base station and a terminal equipped with a communication function. The preamble shown in Fig. 5 is a symbol for the communication partner to perform, for example, signal detection, time synchronization, frequency synchronization, channel estimation, frequency offset estimation, etc.

[0107] The control information symbols are symbols for transmitting information such as a data size, a data symbol transmission method (for example, the number of transmission streams, an MCS (Modulation and Coding Scheme) such as an error correction coding method, etc.).

[0108] A data symbol is a symbol for transmitting data, and may include other symbols (for example, a reference symbol, a pilot symbol, a pilot carrier, etc.).

[0109] The frame structure of the data transmission frame is not limited to this example, and the data transmission frame may include symbols other than those shown in FIG.

[0110] 6A and 6B are diagrams showing examples of the configuration of a sensing frame transmitted by a base station and a terminal equipped with a sensing function. Fig. 6A shows a first example of the sensing frame, and Fig. 6B shows a second example of the sensing frame.

[0111] The sensing frame in the first example of Fig. 6A is configured with a sensing reference symbol, although other symbols may also be included in the sensing frame.

[0112] The base station and terminal will perform sensing processing using the sensing reference symbols in Figure 6A. The base station and terminal may transmit the sensing reference symbols continuously in time. Note that although the sensing reference symbols are described, they may be signals such as unmodulated signals or carrier waves. This also applies to Figure 6B.

[0113] The sensing frame in the second example of Fig. 6B is composed of, for example, a preamble, a control information symbol, and a sensing reference symbol, although other symbols may also be included in the sensing frame.

[0114] Using the sensing reference symbols in FIG. 6B, the base station and the terminal will perform sensing processing.

[0115] The preamble in Fig. 6B is a symbol that allows a communication partner to perform signal detection, time synchronization, frequency synchronization, channel estimation, frequency offset estimation, etc. Note that base stations and terminals equipped with communication functions are also assumed to be able to detect this preamble. For example, the configuration of the preamble may be the same as (but not necessarily the same as) the preamble in Fig. 5.

[0116] By doing this, the base station and the terminal with communication function can know the existence of the sensing frame, which has the effect of reducing interference between the sensing frame and the communication frame.

[0117] 6B is a symbol that includes information about the sensing reference symbol. The control information symbol may include other information.

[0118] The information about the sensing reference symbols includes, for example, the following: The type of sensing reference signal. For example, it is possible to specify from multiple signal types. The frequency band of the sensing reference signal. For example, it can be specified from multiple frequency bands. The time domain of the sensing reference signal, which can be specified from multiple time intervals, for example.

[0119] A base station and a terminal equipped with a sensing function can set a desired sensing accuracy by specifying information about a sensing reference symbol in a control information symbol, although the information in the control information symbol is not limited to this.

[0120] The base station and the terminal perform sensing processing using the sensing reference symbols in Fig. 6B. The base station and the terminal may transmit the sensing reference symbols continuously in time.

[0121] The configuration of the sensing frame is not limited to the examples shown in Figures 6A and 6B, and the sensing frame may include symbols other than those shown in Figures 6A and 6B.

[0122] Fig. 7 is a diagram showing an example of a frame state on the time axis of a certain frequency band. As shown in Fig. 7, for example, a base station may switch between transmitting a data transmission frame and a sensing frame. A terminal may switch between transmitting a data transmission frame and a sensing frame.

[0123] When a base station and a terminal transmit frames, it is desirable to control the frames so that they do not overlap at a certain frequency, as shown in FIG. 7, that is, so that the frames do not interfere with each other.

[0124] Fig. 8 is a diagram showing another example of frame states on the time axis of a certain frequency band. As shown in Fig. 8, for example, a base station may switch between transmitting a data transmission frame, a sensing frame, and a frame containing a data transmission symbol and a sensing signal. A terminal may switch between transmitting a data transmission frame, a sensing frame, and a frame containing a data transmission symbol and a sensing signal.

[0125] The base station and the terminal transmit frames, and as shown in FIG. 8, for example, the frames are controlled so that they do not overlap at a certain frequency, that is, so that the frames do not interfere with each other.

[0126] In the above description, the frequency (or frequency band) of the signal transmitted by the base station and the frequency (or frequency band) of the signal transmitted by the terminal are the same or partly the same, but the present invention is not limited to this example, and the frequency (or frequency band) of the signal transmitted by the base station and the frequency (or frequency band) of the signal transmitted by the terminal may be different. In this case, the timing of the signal transmission by the base station and the timing of the signal transmission by the terminal are not limited to the above example, and may be the same or different, as long as the signals do not interfere with each other.

[0127] Another example of signal transmission by the base station in Fig. 4 will now be described. Fig. 9 is a diagram showing an example of the state of time on the horizontal axis and frequency on the vertical axis when the base station transmits a signal. It is assumed that the base station transmits a signal using a multicarrier transmission method such as OFDM (Orthogonal Frequency Division Multiplexing).

[0128] In FIG. 9, "resources 901 for terminal #1" indicate resources that the base station transmits to terminal #1 in FIG. 4. "resources 902 for terminal #2" indicate resources that the base station transmits to terminal #2 in FIG. 4. "resources 903 for terminal #3" indicate resources that the base station transmits to terminal #3 in FIG. 4. "resources for sensing 904" indicate resources that the base station in FIG. 4 transmits for sensing. In FIG. 9, "resources 901 for terminal #1," "resources 902 for terminal #2," "resources 903 for terminal #3," and "resources for sensing 904" are assumed to exist at time T1.

[0129] "Resources 911 for terminal #1" indicates resources that the base station transmits to terminal #1 in FIG. 4. "Resources 912 for terminal #2" indicates resources that the base station transmits to terminal #2 in FIG. 4. "Resources 913 for terminal #3" indicates resources that the base station transmits to terminal #3 in FIG. 4. "Resources for sensing 914" indicates resources that the base station in FIG. 4 transmits for sensing. In FIG. 9, "resources 911 for terminal #1," "resources 912 for terminal #2," "resources 913 for terminal #3," and "resources for sensing 914" are assumed to exist at time T2.

[0130] In this way, the frequency allocation of the resources addressed to the terminal and the resources for sensing can be changed over time. Note that the method of allocating the resources addressed to the terminal and the resources for sensing over time and frequency is not limited to the example in FIG. 9.

[0131] The "resources 901 for terminal #1" and the "resources 911 for terminal #1" may include data for terminal #1 in Fig. 4, or may include a signal for sensing. Furthermore, these resources may include control information, or may include a reference signal that enables time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, and the like. Furthermore, these resources may include signals other than those described above.

[0132] The "resources 902 for terminal #2" and the "resources 912 for terminal #2" may include data for terminal #2 in FIG. 4, or may include a signal for sensing. Furthermore, these resources may include control information, or may include a reference signal that enables time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, and the like. Furthermore, these resources may include signals other than those described above.

[0133] The "resources 903 addressed to terminal #3" and the "resources 913 addressed to terminal #3" may include data addressed to terminal #3 in FIG. 4, or may include a signal for sensing. Furthermore, these resources may include control information, or may include a reference signal that enables time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, and the like. Furthermore, these resources may include signals other than those described above.

[0134] The "sensing resource 904" and the "sensing resource 914" include sensing signals for the base station in Fig. 4 to perform sensing. These resources may include control information, and may also include reference signals that enable time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, and the like. Furthermore, these resources may also include signals other than those described above.

[0135] An example will be described when terminal #1, terminal #2, terminal #3, and terminal #4 in Fig. 4 are transmitting signals. Fig. 10 shows an example of the state where terminal #1, terminal #2, terminal #3, and terminal #4 in Fig. 4 are transmitting signals, with time on the horizontal axis and frequency on the vertical axis. Note that terminal #1, terminal #2, terminal #3, and terminal #4 are assumed to transmit signals using a multicarrier transmission method such as OFDM. For example, terminal #1 will transmit terminal #1 signal transmission resource 1001 and terminal #1 signal transmission resource 1011.

[0136] In FIG. 10, "resources for transmitting signals from terminal #1 1 in FIG. 4" indicate resources that terminal #1 transmits to the base station. "resources for transmitting signals from terminal #2 1002" indicate resources that terminal #2 in FIG. 4 transmits to the base station. "resources for transmitting signals from terminal #3 1003" indicate resources that terminal #3 in FIG. 4 transmits to the base station. "resources for transmitting signals from terminal #4 1004" indicate resources that terminal #4 in FIG. 4 transmits to the base station. In FIG. 10, "resources for transmitting signals from terminal #1 1001," "resources for transmitting signals from terminal #2 1002," "resources for transmitting signals from terminal #3 1003," and "resources for transmitting signals from terminal #4 1004" are assumed to exist at time t1.

[0137] "Resources for transmitting signals from terminal #1 1011" indicates resources that terminal #1 in FIG. 4 transmits to the base station. "Resources for transmitting signals from terminal #2 1012" indicates resources that terminal #2 in FIG. 4 transmits to the base station. "Resources for transmitting signals from terminal #3 1013" indicates resources that terminal #3 in FIG. 4 transmits to the base station. "Resources for transmitting signals from terminal #4 1004" indicates resources that terminal #4 in FIG. 4 transmits to the base station. In FIG. 10, "resources for transmitting signals from terminal #1 1011," "resources for transmitting signals from terminal #2 1012," "resources for transmitting signals from terminal #3 1013," and "resources for transmitting signals from terminal #4 1014" are assumed to exist at time t2.

[0138] In this way, it is assumed that the frequency allocation of the terminal signal transmission resources can be changed over time. Note that the method of allocating the terminal signal transmission resources in terms of time and frequency is not limited to the example in FIG.

[0139] The "resources 1001 for transmitting signals from terminal #1" and the "resources 1011 for transmitting signals from terminal #1" may include data addressed to the base station in FIG. 4, or may include signals for sensing. These resources may also include control information, or may include reference signals that enable time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. These resources may also include signals other than those mentioned above.

[0140] The "resources 1002 for transmitting signals from terminal #2" and the "resources 1012 for transmitting signals from terminal #2" may include data addressed to the base station in FIG. 4, or may include signals for sensing. Furthermore, these resources may include control information, or may include reference signals that enable time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may include signals other than those described above.

[0141] The "resources 1003 for transmitting signals from terminal #3" and the "resources 1013 for transmitting signals from terminal #3" may include data addressed to the base station in FIG. 4, or may include signals for sensing. Furthermore, these resources may include control information, or may include reference signals that enable time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. Furthermore, these resources may include signals other than those described above.

[0142] The "resources 1004 for transmitting signals from terminal #4" and the "resources 1014 for transmitting signals from terminal #4" may include data addressed to the base station in FIG. 4, or may include signals for sensing. These resources may also include control information, or may include reference signals that enable time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation. These resources may also include signals other than those described above.

[0143] In this specification, signals for sensing, such as sensing frames and sensing resources, include signals that can realize sensing. Examples of "signals that can realize sensing" include, but are not limited to, pilot symbols, pilot signals, reference symbols, reference signals, preambles, midambles, known signals, and known symbols. Furthermore, data may be transmitted using "signals that can realize sensing."

[0144] The triangulation method has been described above. Hereinafter, a different triangulation method will be described.

[0145] First method: Triangulation can be achieved by carrying out processes A, B, C, and D, which will be described below.

[0146] Process A: Fig. 11 is a diagram showing an example of a system configuration for explaining an example of triangulation. In Fig. 11, a first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by a second device 1102, and the first device 1101 obtains the reflected signal to acquire (recognize) the "distance between the first device 1101 and the second device 1102."

[0147] Alternatively, the second device 1102 may transmit a signal using radio waves, for example. The first device 1101 receives this signal and thereby acquires the distance between the first device 1101 and the second device 1102.

[0148] The first device 1101 may share with the second device 1102 information on the distance between the first device 1101 and the second device 1102.

[0149] Process B: The first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by a target (object) 1103, and the first device 1101 obtains the reflected signal to acquire the "distance between the first device 1101 and the target (object) 1103." Note that the first device 1101 may share information about the "distance between the first device 1101 and the target (object) 1103" with the second device 1102.

[0150] Process C: The second device 1102 transmits a signal using, for example, radio waves. This signal is reflected by the target (object) 1103, and the second device 1102 obtains the reflected signal to acquire the "distance between the second device 1102 and the target (object) 1103." Note that the second device 1102 may share information about the "distance between the second device 1102 and the target (object) 1103" with the first device 1101.

[0151] Process D: The first device 1101 and / or the second device 1102 acquires information on the "distance between the first device 1101 and the second device 1102," information on the "distance between the first device 1101 and the target (object) 1103," and information on the "distance between the second device 6602 and the target (object) 1103" through processes A, B, and C, and performs triangulation using this information to acquire (calculate) the position of the target (object) 1103.

[0152] Second method: Triangulation can be achieved by performing processes E, F, G, and H, which will be described below.

[0153] Action E: In FIG. 11, it is assumed that the first device 1101 and / or the second device 1102 holds information on the "distance between the first device 1101 and the second device 1102" at the time of installation, for example.

[0154] Action F: The first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by a target (object) 1103, and the first device 1101 obtains the reflected signal to acquire the "distance between the first device 1101 and the target (object) 1103." Note that the first device 1101 may share information about the "distance between the first device 1101 and the target (object) 1103" with the second device 1102.

[0155] Process G: The second device 1102 transmits a signal using, for example, radio waves. This signal is reflected by the target (object) 1103, and the second device 1102 obtains the reflected signal to acquire the "distance between the second device 1102 and the target (object) 1103." Note that the second device 1102 may share information about the "distance between the second device 1102 and the target (object) 1103" with the first device 1101.

[0156] Process H: The first device 1101 and / or the second device 1102 obtains information on the "distance between the first device 1101 and the second device 1102," information on the "distance between the first device 1101 and the target (object) 1103," and information on the "distance between the second device 1102 and the target (object) 1103" through processes E, F, and G, and performs triangulation using this information to acquire (calculate) the position of the target (object) 1103. Note that the first device 1101 and the second device 1102 may constitute one device.

[0157] Third method: Triangulation can be realized by performing processes XA, XB, XC, and XD, which will be described below.

[0158] Processing XA: 11, a first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by a second device 1102, and the first device 1101 obtains the reflected signal to acquire the "distance between the first device 1101 and the second device 1102."

[0159] Alternatively, the second device 1102 may transmit a signal using, for example, radio waves. The first device 1101 may receive this signal to obtain the distance between the first device 1101 and the second device 1102.

[0160] The first device 1101 may share with the second device 1102 information on the distance between the first device 1101 and the second device 1102.

[0161] Processing XB: The first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by a target (object) 1103, and the first device 1101 obtains the reflected signal to acquire the "(arrival) direction between the first device 1101 and the target (object) 1103." The first device 1101 may share information about the "(arrival) direction between the first device 1101 and the target (object) 1103" with the second device 1102. By obtaining the "(arrival) direction between the second device 1102 and the target (object) 1103," the first device 1101 can, for example, define the "line segment formed by the first device 1101 and the second device 1102 as the first line segment" and the "line segment formed by the first device 1101 and the target (object) 1103 as the second line segment," and obtain an estimate of the "angle formed by the first line segment and the second line segment."

[0162] Processing XC: The second device 1102 transmits a signal using, for example, radio waves. This signal is reflected by the target (object) 1103, and the second device 1102 obtains the reflected signal to acquire the "(arrival) direction of the second device 1102 and the target (object) 1103." The second device 1102 may share information about the "(arrival) direction of the second device 1102 and the target (object) 1103" with the first device 1101. By obtaining the "(arrival) direction of the first device 1101 and the target (object) 1103," the second device 1102 can, for example, define the "line segment formed by the first device 1101 and the second device 1102 as the first line segment" and the "line segment formed by the second device 1102 and the target (object) 1103 as the third line segment," and obtain an estimate of the "angle formed by the first line segment and the third line segment."

[0163] Processing XD: The first device 1101 and / or the second device 1102 obtains information on the "distance between the first device 1101 and the second device 1102," information on the "(arrival) direction between the first device 1101 and the target (object) 1103," and information on the "(arrival) direction between the second device 1102 and the target (object) 1103" through processes XA, XB, and XC, and can perform triangulation using this information to obtain the position of the target (object) 1103.

[0164] Fourth method: Triangulation can be realized by carrying out the processes XE, XF, XG, and XH described below.

[0165] Processing XE: In FIG. 11, it is assumed that the first device 1101 and / or the second device 1102 holds information on the "distance between the first device 1101 and the second device 1102" at the time of installation, for example.

[0166] Processing XF: The first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by a target (object) 1103, and the first device 1101 obtains the reflected signal to acquire the "(arrival) direction between the first device 1101 and the target (object) 1103." The first device 1101 may share information about the "(arrival) direction between the first device 1101 and the target (object) 1103" with the second device 1102. By obtaining the "(arrival) direction between the second device 1102 and the target (object) 1103," the first device 1101 can, for example, define the "line segment formed by the first device 1101 and the second device 1102 as the first line segment" and the "line segment formed by the first device 1101 and the target (object) 1103 as the second line segment," and obtain an estimate of the "angle formed by the first line segment and the second line segment."

[0167] Processing XG: The second device 1102 transmits a signal using, for example, radio waves. This signal is reflected by a target (object) 1103, and the second device 1102 obtains the reflected signal to acquire the "(arrival) direction between the second device 1102 and the target (object) 1103." The second device 1102 may share information about the "(arrival) direction between the second device 1102 and the target (object) 1103" with the first device 1101. By obtaining the "(arrival) direction between the first device 1101 and the target (object) 1103," the second device 1102 can, for example, define the "line segment formed by the first device 1101 and the second device 1102 as the first line segment" and the "line segment formed by the second device 1102 and the target (object) 1103 as the third line segment," and obtain an estimate of the "angle formed by the first line segment and the third line segment."

[0168] Processing XH: The first device 1101 and / or the second device 1102 obtains information on the "distance between the first device 1101 and the second device 1102," information on the "(arrival) direction between the first device 1101 and the target (object) 1103," and information on the "(arrival) direction between the second device 1102 and the target (object) 1103" through processes XE, XF, and XG, and can perform triangulation using this information to obtain the position of the target (object) 1103. Note that the first device 1101 and the second device 1102 may constitute a single device.

[0169] In the above, in this embodiment, a sensing method related to the present invention has been described. The present invention described below, for example, makes it possible to perform highly accurate "sensing such as position estimation, object detection, and distance estimation" by using the sensing method described in this embodiment. Note that the sensing method described in this embodiment is merely an example, and the sensing method is not limited to the description of this embodiment.

[0170] (Second embodiment) In this embodiment, a "sensing system" or a "sensing and communication system" using the sensing method described in the first embodiment will be described.

[0171] FIG. 12 is a diagram showing an example of a "sensing system" or a "sensing and communication system" according to this embodiment.

[0172] In FIG. 12, a base station #1 of 1202_1, a base station #2 of 1202_2, and a base station #3 of 1202_3 communicate with the terminal.

[0173] The first device 1201 is, for example, a terminal, and communicates with a base station #1 of 1202_1 and / or a base station #2 of 1202_2 and / or a base station #3 of 1202_3.

[0174] A target (object) 1203 is an object whose position is estimated by sensing.

[0175] In this embodiment, as an example, a method of performing "triangulation described in the first embodiment between the first device 1201 and base station #1 of 1202_1," "triangulation described in the first embodiment between the first device 1201 and base station #2 of 1202_2," and "triangulation described in the first embodiment between the first device 1201 and base station #3 of 1202_3" will be described.

[0176] The first device 1201 is assumed to be a device having a function of performing the sensing described in the first embodiment. The first device 1201 also has a communication function and communicates with, for example, a base station #1 of 1202_1, a base station #2 of 1202_2, and a base station #3 of 1202_3.

[0177] Here, it is assumed that the first device 1201 performs sensing in order to perform triangulation. At this time, the first device 1201 performs sensing with any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 to realize triangulation. However, it is assumed that there are base stations that do not support sensing due to factors such as the size of the base station and the time of installation.

[0178] Therefore, it is assumed that base stations such as base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 transmit control information including information 1301 on sensing capabilities as shown in the following FIG.

[0179] It is assumed that the control information including the sensing capability information 1301 is transmitted by the base station using, for example, a PBCH (Physical Broadcast Channel), a PDSCH (Physical Downlink Shared Channel), or a PDCCH (Physical Downlink Control Channel). The channel for transmitting this control information is not limited to the above example.

[0180] Fig. 13 is a diagram illustrating an example of information related to sensing capabilities. As shown in Fig. 13, information 1301 related to sensing capabilities includes at least one of "information 1311 regarding whether sensing is possible or not," "information 1312 regarding whether a sensing request from a terminal can be performed or not," and "information 1313 regarding whether a sensing request from a terminal can be received or not."

[0181] Specific examples of "information 1311 regarding whether sensing is possible or not," "information 1312 regarding whether sensing requests from terminals can be performed or not," and "information 1313 regarding whether sensing requests from terminals can be received or not" are as follows:

[0182] "Information about whether sensing is possible or not 1311": This information is used to notify, for example, terminals, relays, other base stations, etc., whether the base station is capable of performing sensing.

[0183] Therefore, when at least the information that "sensing can be performed" is included as "information 1311 regarding sensing availability / unavailability," the base station that transmits the information 1311 is deemed to have a sensing function. Also, this base station is deemed to have a communication function. Note that the specific configuration has already been explained in the first embodiment, so explanation will be omitted.

[0184] "Information 1312 on whether sensing requests from terminals can be performed" This information is used, for example, to notify the terminal, when the base station receives a sensing request from the terminal (a request from the terminal that the base station perform sensing), of information on whether or not sensing can be performed.

[0185] Although the information 1312 is named "information on whether a sensing request from a terminal can be performed" here, the information 1312 on whether a sensing request from a terminal can be performed may also be "information on whether a sensing request from a device other than a terminal, for example, a repeater or another base station, can be performed." Details of the "sensing request" will be explained later.

[0186] "Information 1313 on whether sensing requests from the terminal can be accepted": This information is used, for example, to notify the terminal, when the base station receives a sensing request from the terminal (a request from the terminal that the base station perform sensing), of information on whether or not to accept sensing from the terminal.

[0187] Therefore, even if a base station receives a sensing request from a terminal, there are modes in which the base station will "accept" the request and modes in which the base station will not "accept" the request.

[0188] Although the information 1313 is named "information on whether a sensing request can be received from a terminal" here, the information 1313 on whether a sensing request can be received from a terminal may also be "information on whether a sensing request can be received from a device other than a terminal, for example, a repeater or another base station." Details of the "sensing request" will be explained later.

[0189] By doing this, terminals, repeaters, other base stations, etc. can know the base station's sensing and the status of sensing requests, thereby achieving the effect of enabling appropriate "control of sensing and communication with the base station."

[0190] In the above description, the device that transmits the information 1301 regarding sensing capabilities in Figure 13 is described as a base station, but this is merely an example, and the information 1301 regarding sensing capabilities may also be transmitted by a communication device such as a repeater, terminal, or access point.

[0191] 13, the device that transmits information 1301 related to sensing capabilities transmits "information 1312 regarding whether a sensing request from a terminal can be implemented" and "information 1313 regarding whether a sensing request from a terminal can be accepted" which are described as "sensing request from a terminal...", but the sensing request may also be from a communication device other than a terminal, such as a base station, a repeater, or an access point. Therefore, 1312 can also be implemented as "information regarding whether a sensing request from a communication device can be implemented" and 1313 as "information regarding whether a sensing request from a communication device can be accepted".

[0192] Next, the operation of the base station #2 of the first devices 1201 and 1202_2 in FIG. 12 will be described as an example.

[0193] Note that the first device 1201 may be a terminal capable of communicating with a base station, or the first device 1201 may be a base station. In the following description, the first device 1201 is assumed to be a terminal, but the first device 1201 can be implemented in the same way even if it is a base station. However, when the first device 1201 is a base station, supplementary explanation will be provided if special operations are required. Also, the first device 1201 in FIG. 12 may be a repeater, or the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 may be repeaters.

[0194] This embodiment deals with triangulation. Specific examples of triangulation methods are described in the first embodiment, and the first and second methods are triangulation methods based on obtaining distance information by performing sensing.

[0195] On the other hand, the third and fourth methods are triangulation methods based on obtaining information on the (arrival) direction (but may also obtain distance) by performing sensing.

[0196] In the following, FIG. 12 will be explained separately for distance-based triangulation using the first and second methods as examples, and direction-based triangulation using the third and fourth methods as examples.

[0197] For distance-based triangulation: An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0198] The first device 1201 obtains information 1301 on sensing capabilities in Fig. 13 transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3, and acquires the sensing support status of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. In the following, as an example, it is assumed that the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 are all capable of performing sensing, and when a sensing request is made from a terminal, it is assumed that the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 are all capable of performing sensing in response to the sensing request.

[0199] Figure 14 is a diagram illustrating an example of a procedure for sensing in the example system of Figure 12. In Figure 14, it is assumed that the first device 1201 has at least information on the "distance between the first device 1201 and base station #2 of 1202_2" before "estimating 1405 the position of the target (object)."

[0200] Also, in FIG. 14, it is assumed that the first device 1201 has obtained information on the "distance between base station #1 and the first device 1201_1," information on the "distance between base station #2 and the first device 1201_2," and information on the "distance between base station #3 and the first device 1201_3," before "selecting 1402 a base station for sensing the target (sensing the target)."

[0201] Before explaining Fig. 14, a method for obtaining information on the "distance between first device 1201 and a base station" will be explained using Fig. 15A, Fig. 15B, Fig. 15C, Fig. 15D, Fig. 15E, and Fig. 15F. In this example, the base station is base station #1 of 1202_1, base station #2 of 1202_2, or base station #3 of 1202_3.

[0202] 15A, first, base station 1501 transmits a signal (1501). Then, first device 1201 receives this signal and estimates the "distance between first device 1201 and the base station" (1502). Note that the detailed method of distance estimation has been explained in the first embodiment, so explanation will be omitted here.

[0203] 15B, first, first device 1201 transmits a signal to the base station (1511). Then, first device 1201 receives this signal and estimates the "distance between first device 1201 and the base station" (1512). Note that the detailed method of distance estimation has been explained in the first embodiment, so explanation will be omitted here.

[0204] As another method, in FIG. 15C, first, first device 1201 transmits a signal to the base station (1521). Then, the base station receives this signal and estimates the "distance between first device 1201 and the base station" (1522). The base station transmits a modulated signal including information about the "distance between first device 1201 and the base station" to first device 1201 (1523). First device 1201 receives the modulated signal including information about the "distance between first device 1201 and the base station" and obtains information about the "distance between first device 1201 and the base station" (1524).

[0205] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0206] The first device 1201 and the base station may acquire their positions using a position estimation system such as a GPS (Global Positioning System, Global Positioning Satellite). The base station may then transmit its own position information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the base station" from its own position information and the position information of the base station. The first device 1201 may then transmit its own position information to the base station, and the base station may calculate the "distance between the first device 1201 and the base station" from its own position information and the position information of the first device 1201.

[0207] 15D, first, first device 1201 transmits a signal to the base station (1531). The base station receives this signal and estimates the "distance between first device 1201 and the base station" (1532). Note that the detailed method of distance estimation has been explained in the first embodiment, so explanation will be omitted here.

[0208] As another method, in Fig. 15E, first, the base station transmits a signal to first device 1201 (1541). The base station receives this signal and estimates the "distance between first device 1201 and the base station" (1542). Note that the detailed method of distance estimation has been explained in the first embodiment, so explanation will be omitted here.

[0209] As another method, in FIG. 15F, first, the base station transmits a signal to the first device 1201 (1551). The first device 1201 receives this signal and estimates the "distance between the first device 1201 and the base station" (1552). The first device 1201 transmits a modulated signal including information about the "distance between the first device 1201 and the base station" to the base station (1553). The base station receives the modulated signal including information about the "distance between the first device 1201 and the base station" and obtains information about the "distance between the first device 1201 and the base station" (1554).

[0210] An example of a method for obtaining information on the "distance between first device 1201 and base station" has been described above using FIGS. 15A to 15F.

[0211] An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0212] In FIG. 14, first, the first device 1201 performs sensing on the target (object) 1203 in FIG. 12, and obtains an estimated value of the "distance between the first device 1201 and the target 1203" (1401).

[0213] The first device 1201 selects a base station to request an estimation of the distance to the target 1203 based on the estimated value of the "distance between the first device 1201 and the target 1203", information on the "distance between the first device 1201 and base station #1 between 1202_1", information on the "distance between the first device 1201 and base station #2 between 1202_2", and information on the "distance between the first device 1201 and base station #3 between 1202_3" (1402).

[0214] 14, it is assumed that the first device 1201 selects the base station #2 of 1202_2 in FIG. 12 as the base station to be requested to estimate the distance to the target 1203. However, when the base station to be requested to estimate the distance to the target 1203 is determined (in advance), it is not necessary to perform "selecting a base station for sensing the target (sensing the target) 1402."

[0215] Furthermore, the first device 1201 may broadcast information requesting sensing. The first device 1201 may select a base station to sense the target from among the base stations that have returned responses to the request. For example, as described in FIG. 17, the first device 1201 may select a base station to sense the target so that the first device 1201, the base station, and the target form an obtuse triangle. Examples of broadcast channels are as described in this specification.

[0216] The first device 1201 transmits information requesting "estimation of distance to the target 1203" to the base station #2 1202_2 (1403).

[0217] The base station #2 of 1202_2 receives the information of the request to "estimate the distance to the target 1203" and responds "whether or not to accept this request" (1411). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0218] The first device 1201 receives the response information to this request (1404).

[0219] The base station #2 of 1202_2 transmits a signal for sensing and obtains an estimate of the "distance between the base station #2 of 1202_2 and the target 1203" (1412).

[0220] The base station #2 of 1202_2 transmits information on "the distance between the base station #2 of 1202_2 and the target 1203" to the first device 1201 (1413).

[0221] The first device 1201 obtains information on the "distance between base station #2 of 1202_2 and target 1203," and performs triangulation using the "distance between base station #2 of 1202_2 and base station #2 of 1202_2," "distance between first device 1201 and target 1203," and "distance between base station #2 of 1202_2 and target 1203," to estimate, for example, the position of target 1203 (1405).

[0222] The first device 1201 transmits the "position of the target 1203" information to the base station #2 1202_2 (1406).

[0223] If the first device 1201 does not need to share the "position of the target 1203" information with the base station #2 of 1202_2, the first device 1201 does not need to transmit the "position of the target 1203" information to the base station #2 of 1202_2.

[0224] By implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0225] Next, another example of the use of distance-based triangulation using the first and second methods will be described with reference to FIG.

[0226] Fig. 16 is a diagram showing another example of a procedure for sensing. It is assumed that the first device 1201 receives information 1301 on sensing capabilities in Fig. 13 transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3, and acquires the sensing support status of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3.

[0227] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing, and when a sensing request is made from a terminal, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing operations in response to the request to perform sensing.

[0228] 16, it is assumed that the base station #2 of 1202_2 has at least obtained information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the target (object) 1613." Furthermore, the first device 1201 may have at least obtained information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the target (object) 1613."

[0229] 16, it is assumed that the base station #2 of 1202_2 has obtained information on "the distance between the first device 1201 and the base station #1 of 1202_1," information on "the distance between the first device 1201 and the base station #2 of 1202_2," and information on "the distance between the first device 1201 and the base station #3 of 1202_3" before "selecting 1602 a base station for sensing a target (sensing a target)." Also, in FIG. 16, the first device 1201 may have obtained at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating 1613 the position of a target (object)."

[0230] The method for obtaining information on the "distance between first device 1201 and base station" has already been explained using Figures 15A, 15B, 15C, 15D, 15E, and 15F, so the explanation will be omitted.

[0231] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0232] Alternatively, the first device 1201 and the base station may acquire their locations using a location estimation system such as GPS. The base station may then transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the base station. The first device 1201 may then transmit its own location information to the base station, and the base station may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the first device 1201.

[0233] An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0234] In FIG. 16, first, the first device 1201 performs sensing on the target (object) 1203 in FIG. 12, and obtains an estimated value of the "distance between the first device 1201 and the target 1203" (1601).

[0235] The first device 1201 selects a base station to request an estimation of the distance to the target 1203 based on the estimated value of the "distance between the first device 1201 and the target 1203", information on the "distance between the first device 1201 and base station #1 between 1202_1", information on the "distance between the first device 1201 and base station #2 between 1202_2", and information on the "distance between the first device 1201 and base station #3 between 1202_3" (1602).

[0236] 16, it is assumed that the first device 1201 selects the base station #2 of 1202_2 in FIG. 12 as the base station to be requested to estimate the distance to the target 1203. However, if the base station to be requested to estimate the distance to the target 1203 is determined (in advance), it is not necessary to perform "selecting a base station for sensing the target (sensing the target) 1602."

[0237] The first device 1201 transmits information of a request for "estimation of distance to target 1203" to the base station #2 of 1202_2 (1603). Also, the first device 1201 transmits information of "the distance between the first device 1201 and the target 1203" to the base station #2 of 1202_2 (1603).

[0238] The base station #2 of 1202_2 receives the information of the request to "estimate the distance to the target 1203" and responds "whether or not to accept this request" (1611). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0239] The first device 1201 receives the response information to this request (1604).

[0240] The base station #2 of 1202_2 transmits a signal for sensing and obtains an estimate of the "distance between the base station #2 of 1202_2 and the target 1203" (1612).

[0241] Base station #2 of 1202_2 obtains information on the "distance between base station #2 of 1202_2 and target 1203," and performs triangulation using the "distance between first device 1201 and base station #2 of 1202_2," "distance between first device 1201 and target 1203," and "distance between base station #2 of 1202_2 and target 1203," to estimate, for example, the position of target 1203 (1613).

[0242] It should be noted that the base station #2 of 1202_2 has obtained information on the "distance between the first device 1201 and the base station #2 of 1202_2" at some stage.

[0243] The base station #2 of 1202_2 transmits information about the estimation result of "the position of the target 1203" to the first device 1201 (1614).

[0244] In addition, if there is no need to share information regarding the estimation result of the "position of the target 1203" with the first device 1201, the base station #2 of 1202_2 does not need to transmit information regarding the estimation result of the "position of the target 1203" to the first device 1201.

[0245] By implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0246] For direction-based triangulation: An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0247] Assume that the first device 1201 obtains information 1301 regarding sensing capabilities in FIG. 13 transmitted by base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3, and acquires the sensing support status of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0248] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing, and when a sensing request is made from a terminal, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing operations in response to the request to perform sensing.

[0249] In FIG. 14, it is assumed that the first device 1201 has at least information on the "distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the target (object) 1405".

[0250] In FIG. 14, it is assumed that the first device 1201 has obtained information on the "distance between base station #1 and the first device 1201_1," the "distance between base station #2 and the first device 1201_2," and the "distance between base station #3 and the first device 1201_3" before "selecting 1402 a base station for sensing the target (sensing the target)."

[0251] The method for obtaining information on the "distance between first device 1201 and base station" has already been explained using Figures 15A, 15B, 15C, 15D, 15E, and 15F, so the explanation will be omitted.

[0252] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0253] Alternatively, the first device 1201 and the base station may acquire their locations using a location estimation system such as GPS. The base station may then transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the base station. The first device 1201 may then transmit its own location information to the base station, and the base station may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the first device 1201.

[0254] An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0255] In FIG. 14, first, the first device 1201 performs sensing on the target (object) 1203 in FIG. 12, and obtains an estimated value of the "(arrival) direction of the first device 1201 and the target 1203" (1401).

[0256] The first device 1201 selects a base station to request an estimation of the (arrival) direction of the target 1203 based on the estimated value of the "(arrival) direction of the first device 1201 and the target 1203", as well as information on the "distance between the first device 1201 and the base station #1 between 1202_1", the "distance between the first device 1201 and the base station #2 between 1202_2", and the "distance between the first device 1201 and the base station #3 between 1202_3" (1402).

[0257] 14, it is assumed that the first device 1201 selects the base station #2 of 1202_2 in FIG. 12 as the base station to be requested to estimate the (arrival) direction of the target 1203. However, when the base station to be requested to estimate the (arrival) direction of the target 1203 is determined (in advance), it is not necessary to perform "selecting a base station for sensing the target (sensing the target) 1402."

[0258] The first device 1201 transmits information of a request for "estimating the (arrival) direction of the target 1203" to the base station #2 1202_2 (1403).

[0259] The base station #2 of 1202_2 receives the information of the request for "estimating the (arrival) direction of the target 1203" and responds "whether or not to accept this request" (1411). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0260] The first device 1201 receives the response information to this request (1404).

[0261] The base station #2 of 1202_2 transmits a signal for sensing, and obtains an estimate of the "direction (of arrival) of the base station #2 of 1202_2 and the target 1203" (1412).

[0262] The base station #2 of 1202_2 transmits information on "the (arrival) direction of the base station #2 of 1202_2 and the target 1203" to the first device 1201 (1413).

[0263] The first device 1201 obtains information on the "(arrival) direction of base station #2 of 1202_2 and target 1203," and performs triangulation using the "distance between first device 1201 and base station #2 of 1202_2," "(arrival) direction of first device 1201 and target 1203," and "(arrival) direction of base station #2 of 1202_2 and target 1203," to estimate, for example, the position of target 1203 (1405).

[0264] The first device 1201 transmits the "position of the target 1203" information to the base station #2 1202_2 (1406).

[0265] If the first device 1201 does not need to share the "position of the target 1203" information with the base station #2 of 1202_2, the first device 1201 does not need to transmit the "position of the target 1203" information to the base station #2 of 1202_2.

[0266] As described above, by implementing this, it is possible to realize the triangulation based on the (arrival) direction described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0267] Next, another example of using direction-based triangulation, taking the third and fourth methods as examples, will be described with reference to FIG.

[0268] Assume that the first device 1201 obtains information 1301 regarding the sensing capabilities of FIG. 13 transmitted by base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3, and acquires the sensing support status of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0269] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing, and when a sensing request is made from a terminal, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing operations in response to the request to perform sensing.

[0270] 16, it is assumed that the base station #2 of 1202_2 has at least obtained information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the target (object) 1613." Furthermore, the first device 1201 may have at least obtained information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the target (object) 1613."

[0271] 16, it is assumed that the base station #2 of 1202_2 has obtained information on "the distance between the first device 1201 and the base station #1 of 1202_1," information on "the distance between the first device 1201 and the base station #2 of 1202_2," and information on "the distance between the first device 1201 and the base station #3 of 1202_3" before "selecting 1602 a base station for sensing a target." Also, in FIG. 16, the first device 1201 may have obtained at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating 1613 the position of a target (object)."

[0272] The method for obtaining information on the "distance between first device 1201 and base station" has already been explained using Figures 15A, 15B, 15C, 15D, 15E, and 15F, so the explanation will be omitted.

[0273] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0274] Alternatively, the first device 1201 and the base station may acquire their locations using a location estimation system such as GPS. The base station may then transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the base station. The first device 1201 may then transmit its own location information to the base station, and the base station may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the first device 1201.

[0275] An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0276] In FIG. 16, first, the first device 1201 performs sensing on the target (object) 1203 in FIG. 12, and obtains an estimated value of the "(arrival) direction of the first device 1201 and the target 1203" (1601).

[0277] The first device 1201 selects a base station to request an estimation of the (arrival) direction of the target 1203 based on the estimated value of the "(arrival) direction of the first device 1201 and the target 1203", information on the "distance between the first device 1201 and the base station #1 between 1202_1", information on the "distance between the first device 1201 and the base station #2 between 1202_2", and information on the "distance between the first device 1201 and the base station #3 between 1202_3" (1602).

[0278] 16, it is assumed that the first device 1201 selects the base station #2 of 1202_2 in FIG. 12 as the base station to be requested to estimate the (arrival) direction of the target 1203. However, when the base station to be requested to estimate the (arrival) direction of the target 1203 is determined (in advance), it is not necessary to perform "selecting a base station for sensing the target (sensing the target) 1602."

[0279] The first device 1201 transmits information of a request for "estimation of the (arrival) direction of the target 1203" to the base station #2 of 1202_2 (1603). Also, the first device 1201 transmits information of "the (arrival) direction of the first device 1201 and the target 1203" to the base station #2 of 1202_2 (1603).

[0280] The base station #2 of 1202_2 receives the information of the request for "estimating the (arrival) direction of the target 1203" and responds "whether or not to accept this request" (1611). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0281] The first device 1201 receives the response information to this request (1604).

[0282] The base station #2 of 1202_2 transmits a signal for sensing, and obtains an estimate of the "(arrival) direction of the base station #2 of 1202_2 and the target 1203" (1612).

[0283] Base station #2 of 1202_2 obtains information on the "(arrival) direction of base station #2 of 1202_2 and target 1203," and performs triangulation using the "distance between first device 1201 and base station #2 of 1202_2," "(arrival) direction of first device 1201 and target 1203," and "(arrival) direction of base station #2 of 1202_2 and target 1203," to estimate, for example, the position of target 1203 (1613).

[0284] It should be noted that the base station #2 of 1202_2 has obtained information on the "distance between the first device 1201 and the base station #2 of 1202_2" at some stage.

[0285] The base station #2 of 1202_2 transmits information about the estimation result of "the position of the target 1203" to the first device 1201 (1614).

[0286] In addition, if base station #2 of 1202_2 does not need to share information regarding the estimation result of "the position of target 1203" with the first device 1201, it does not need to transmit information regarding the estimation result of "the position of target 1203" to the first device 1201.

[0287] As described above, by implementing this, it is possible to realize the triangulation based on the (arrival) direction described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0288] An example of base station selection will be described. In the above description, in Fig. 14, the first device 1201 "performs target sensing (1401)" before "selecting a base station for target sensing (1402)". Similarly, in Fig. 16, the first device 1201 "performs target sensing (1601)" before "selecting a base station for target sensing (1602)".

[0289] Fig. 17 is a diagram for explaining an example of base station selection. In Fig. 17, the same numbers are used for components that operate in the same way as in Fig. 12, and their explanation will be omitted.

[0290] In FIG. 17, if the devices sensing the target (object) 1203 are the "first device 1201" and the "base station #2 1202_2," the triangle formed by triangulation is the "second triangle 1702."

[0291] On the other hand, if the devices sensing the target (object) 1203 are the "first device 1201" and the "base station #3 of 1202_3," the triangle formed by triangulation is the "third triangle 1703."

[0292] In this case, the second triangle 1702 is an obtuse triangle, and the third triangle 1703 is an acute triangle. In this case, if an estimation error occurs during sensing in the acute triangle state, there is a possibility that the estimation error in position estimation, etc. will become large. Considering this point, there is a possibility that the second triangle 1702 is more suitable for sensing.

[0293] Therefore, in Figure 14, the first device 1201 "performs target sensing (sensing the target) (1401)" before "selecting a base station for target sensing (sensing the target) (1402)". By selecting a base station, it is possible to select a triangular state, which may reduce estimation errors due to sensing.

[0294] Similarly, in FIG. 16, the first device 1201 "performs target sensing (1601)" before "selecting a base station (for sensing the target) (1602)" and thereby selecting a base station, which allows for the selection of a triangular state, potentially reducing estimation errors due to sensing.

[0295] By carrying out the above-described process, highly accurate triangulation can be carried out, which has the effect of enabling each device to grasp the position of the target, etc.

[0296] In addition, if the first device 1201 and the base station "have knowledge of their position on the map (or location information) in advance," or if the first device 1201 and the base station "can know their position on the map (or location information), for example, by a location estimation system such as GPS," then each device will be able to know the target's position on the map (or location information).

[0297] 14 and 16, when first device 1201 "transmits sensing request information" to the base station, this may be wireless communication or wired communication.

[0298] In the above description, for example, a base station, a terminal, or a repeater transmits a signal to sense a target (object), and this signal may be called a reference signal, a reference symbol, a pilot symbol, a pilot signal, or a preamble. However, the names are not limited to these examples.

[0299] Next, an embodiment different from those shown in Figures 12, 14, and 16 will be described. An embodiment in which the target transmits radio waves will be described.

[0300] Fig. 18 is a diagram showing an example of the "sensing system" or "sensing and communication system" in this example. In Fig. 18, the same numbers are used for components that operate in the same way as in Fig. 12, and since they have already been explained, their explanation will be omitted.

[0301] In FIG. 18, a second device 1802 is an object whose position is estimated by sensing.

[0302] In this embodiment, as an example, methods of performing "triangulation described in the first embodiment between base station #1 of first devices 1201 and 1202_1," "triangulation described in the first embodiment between base station #2 of first devices 1201 and 1202_2," and "triangulation described in the first embodiment between base station #3 of first devices 1201 and 1202_3" are described.

[0303] The first device 1201 is assumed to be a device having a function of performing the sensing described in the first embodiment. The first device 1201 also has a communication function and communicates with, for example, a base station #1 of 1202_1, a base station #2 of 1202_2, and a base station #3 of 1202_3.

[0304] The second device 1802 in FIG. 18 is assumed to be a device capable of transmitting radio waves.

[0305] Here, it is assumed that the first device 1201 performs sensing in order to perform triangulation. At this time, the first device 1201 performs sensing with any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 to realize triangulation. However, it is assumed that there are base stations that do not support sensing due to factors such as the scale of the base station and the time of installation.

[0306] Therefore, it is assumed that base stations such as base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 transmit control information including information 1301 on sensing capabilities as shown in FIG.

[0307] It is assumed that the base station transmits the control information including the sensing capability information 1301 using, for example, the PBCH, PDSCH, or PDCCH. The channel for transmitting this control information is not limited to the above example.

[0308] As shown in FIG. 13, information 1301 regarding sensing capabilities includes at least one of "information 1311 regarding whether sensing is possible or not," "information 1312 regarding whether sensing requests from terminals can be implemented or not," and "information 1313 regarding whether sensing requests from terminals can be accepted or not."

[0309] Specific examples of "information 1311 regarding whether sensing is possible or not," "information 1312 regarding whether sensing requests from terminals can be performed or not," and "information 1313 regarding whether sensing requests from terminals can be received or not" are as follows:

[0310] "Information about whether sensing is possible or not 1311": This information is used to notify, for example, terminals, relays, other base stations, etc., whether the base station is capable of performing sensing.

[0311] Therefore, when at least the information that "sensing can be performed" is included as "information 1311 regarding sensing availability / unavailability," the base station that transmits the information 1311 is deemed to have a sensing function. Also, this base station is deemed to have a communication function. Note that the specific configuration has already been explained in the first embodiment, so explanation will be omitted.

[0312] "Information 1312 on whether sensing requests from terminals can be performed" This information is used by the base station, when it receives a sensing request from a terminal, to notify the terminal, for example, of information indicating whether or not sensing can be performed.

[0313] Although the information 1312 is named "information on whether a sensing request from a terminal can be performed" here, the information 1312 on whether a sensing request from a terminal can be performed may also be "information on whether a sensing request from a device other than a terminal, for example, a repeater or another base station, can be performed." Details of the "sensing request" will be explained later.

[0314] "Information 1313 on whether sensing requests from the terminal can be accepted": This information is used by the base station to notify the terminal, for example, of information indicating whether or not to accept sensing from the terminal when a sensing request is received from the terminal.

[0315] Therefore, even if a base station receives a sensing request from a terminal, there are modes in which the base station will "accept" the request and modes in which the base station will not "accept" the request.

[0316] Although the information 1313 is named "information on whether a sensing request can be received from a terminal" here, the information 1313 on whether a sensing request can be received from a terminal may also be "information on whether a sensing request can be received from a device other than a terminal, for example, a repeater or another base station." Details of the "sensing request" will be explained later.

[0317] By doing this, terminals, repeaters, other base stations, etc. can know the base station's sensing and the status of sensing requests, thereby achieving the effect of enabling appropriate "control of sensing and communication with the base station."

[0318] Next, the operations of the first device 1201, the second device 1802, and the base station #2 of 1202_2 in FIG. 18 will be described as an example.

[0319] Note that the first device 1201 may be a terminal capable of communicating with a base station, or the first device 1201 may be a base station. In the following description, the first device 1201 is assumed to be a terminal, but the first device 1201 can be implemented in the same way even if it is a base station. However, when the first device 1201 is a base station, supplementary explanation will be provided if special operations are required. Also, the first device 1201 in FIG. 12 may be a repeater, and the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 may be repeaters.

[0320] This embodiment deals with triangulation. Specific examples of triangulation methods are described in the first embodiment, and the first and second methods are triangulation methods based on obtaining distance information by performing sensing.

[0321] On the other hand, the third and fourth methods are triangulation methods based on obtaining information on the (arrival) direction (although distance may also be obtained) by performing sensing.

[0322] In the following, FIG. 12 will be explained separately for distance-based triangulation using the first and second methods as examples, and direction-based triangulation using the third and fourth methods as examples.

[0323] For distance-based triangulation: An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0324] The first device 1201 obtains information 1301 on sensing capabilities in Fig. 13 transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3, and acquires the sensing support status of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. In the following, as an example, it is assumed that the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 are all capable of performing sensing, and when a sensing request is made from a terminal, it is assumed that the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 are all capable of performing sensing in response to the sensing request.

[0325] Figure 19 is a diagram illustrating an example procedure for sensing in the example system of Figure 18. In Figure 19, it is assumed that the first device 1201 has at least information on the "distance between the first device 1201 and base station #2 of 1202_2" before "estimating the location of the second device 1905."

[0326] Also, in FIG. 19, it is assumed that the first device 1201 has obtained information on the "distance between base station #1 and the first device 1201_1," the "distance between base station #2 and the first device 1201_2," and the "distance between base station #3 and the first device 1201_3" before "selecting 1902 a base station for sensing the second device (sensing the second device)."

[0327] The method for obtaining information on the "distance between first device 1201 and base station" has already been explained using Figures 15A, 15B, 15C, 15D, 15E, and 15F, so the explanation will be omitted.

[0328] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0329] Alternatively, the first device 1201 and the base station may acquire their locations using a location estimation system such as GPS. The base station may then transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the base station. The first device 1201 may then transmit its own location information to the base station, and the base station may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the first device 1201.

[0330] An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0331] In FIG. 19, the second device 1802 transmits a signal (for sensing) (1921).

[0332] The first device 1201 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the "distance between the first device 1201 and the second device 1802" (1901). Note that the sensing processing has already been described in other embodiments, so a description thereof will be omitted.

[0333] The first device 1201 selects a base station to request an estimation of the distance to the second device 1802 based on the estimated value of the "distance between the first device 1201 and the second device 1802," information on the "distance between base station #1 between the first device 1201 and 1202_1," information on the "distance between base station #2 between the first device 1201 and 1202_2," and information on the "distance between base station #3 between the first device 1201 and 1202_3" (1902).

[0334] 19, it is assumed that the first device 1201 selects base station #2 1202_2 in FIG. 18 as the base station to request estimation of the distance to the second device 1802. However, when the base station to request estimation of the distance to the second device 1802 is determined (in advance), it is not necessary to perform "selecting a base station for sensing the second device 1802 (sensing the second device) 1402."

[0335] The first device 1201 transmits information of a request for "estimating the distance to the second device 1802" to the base station #2 1202_2 (1903).

[0336] The base station #2 of 1202_2 receives the information of the request to "estimate the distance to the second device 1802" and responds "whether or not to accept this request" (1911). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0337] The first device 1201 receives the response information to this request (1904).

[0338] The second device 1802 transmits a signal (for sensing) (1922).

[0339] The base station #2 of 1202_2 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the "distance between the base station #2 of 1202_2 and the second device 1802" (1912).

[0340] The base station #2 of 1202_2 transmits information on "the distance between the base station #2 of 1202_2 and the second device 1802" to the first device 1201 (1913).

[0341] The first device 1201 obtains information on the "distance between base station #2 of 1202_2 and the second device 1802," and performs triangulation using the "distance between base station #2 of the first device 1201 and 1202_2," "distance between the first device 1201 and the second device 1802," and "distance between base station #2 of 1202_2 and the second device 1802," to estimate, for example, the position of the second device 1802 (1905).

[0342] The first device 1201 transmits the "position of the second device 1802" information to the base station #2 1202_2 (1906).

[0343] If there is no need to share the "position of the second device 1802" information with the base station #2 of 1202_2, the first device 1201 does not need to transmit the "position of the second device 1802" information to the base station #2 of 1202_2.

[0344] As described above, by implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the second device 1802.

[0345] Next, another example of using distance-based triangulation using the first and second methods will be described with reference to FIG.

[0346] Fig. 20 is a diagram showing another example procedure for sensing in the example system of Fig. 18. Assume that the first device 1201 obtains the information 1301 on the sensing capabilities of Fig. 13 transmitted by the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3, and acquires the sensing support status of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3.

[0347] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing, and when a sensing request is made from a terminal, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing operations in response to the request to perform sensing.

[0348] 20, it is assumed that the base station #2 of 1202_2 has at least obtained information on the "distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the second device 2013." Furthermore, the first device 1201 may have at least obtained information on the "distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the second device 2013."

[0349] 20, it is assumed that the base station #2 of 1202_2 has obtained information on "the distance between the first device 1201 and the base station #1 of 1202_1," information on "the distance between the first device 1201 and the base station #2 of 1202_2," and information on "the distance between the first device 1201 and the base station #3 of 1202_3" before "selecting 2002 a base station for sensing the second device (sensing the second device)." Also, in FIG. 20, the first device 1201 may have obtained at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating 2013 the position of the second device."

[0350] The method for obtaining information on the "distance between first device 1201 and base station" has already been explained using Figures 15A, 15B, 15C, 15D, 15E, and 15F, so the explanation will be omitted.

[0351] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0352] Alternatively, the first device 1201 and the base station may acquire their locations using a location estimation system such as GPS. The base station may then transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the base station. The first device 1201 may then transmit its own location information to the base station, and the base station may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the first device 1201.

[0353] An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0354] In FIG. 20, the second device 1802 transmits a signal (for sensing) (2021).

[0355] The first device 1201 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the distance between the first device 1201 and the second device 1802 (2001). Note that the sensing processing has already been described in other embodiments, so a description thereof will be omitted.

[0356] The first device 1201 selects a base station to request an estimation of the distance to the second device 1802 based on the estimated value of the "distance between the first device 1201 and the second device 1802," information on the "distance between base station #1 between the first device 1201 and 1202_1," information on the "distance between base station #2 between the first device 1201 and 1202_2," and information on the "distance between base station #3 between the first device 1201 and 1202_3" (2002).

[0357] 20, it is assumed that the first device 1201 selects base station #2 1202_2 in FIG. 12 as the base station to request estimation of the distance to the second device 1802. However, when the base station to request estimation of the distance to the second device 1802 is determined (in advance), it is not necessary to perform "selection 2002 of base station for sensing of the second device 1802 (sensing the second device)."

[0358] The first device 1201 transmits information of a request for "estimating the distance to the second device 1802" to the base station #2 of 1202_2 (2003). Also, the first device 1201 transmits information of "the distance between the first device 1201 and the second device 1802" to the base station #2 of 1202_2 (2003).

[0359] The base station #2 of 1202_2 receives the information of the request to "estimate the distance to the second device 1802" and responds "whether or not to accept this request" (2011). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0360] The first device 1201 receives the response information to this request (2004).

[0361] The second device 1802 transmits a signal (for sensing) (2022).

[0362] The base station #2 of 1202_2 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the "distance between the base station #2 of 1202_2 and the second device 1802" (2012).

[0363] Base station #2 of 1202_2 obtains information on the "distance between base station #2 of 1202_2 and second device 1802," and performs triangulation using the "distance between first device 1201 and base station #2 of 1202_2," "distance between first device 1201 and second device 1802," and "distance between base station #2 of 1202_2 and second device 1802," to estimate, for example, the position of second device 1802 (2013).

[0364] It should be noted that the base station #2 of 1202_2 has obtained information on the "distance between the first device 1201 and the base station #2 of 1202_2" at some stage.

[0365] The base station #2 of 1202_2 transmits information about the estimation result of "the position of the second device 1802" to the first device 1201 (2014).

[0366] In addition, if there is no need to share information regarding the estimation result of the "position of the second device 1802" with the first device 1201, base station #2 of 1202_2 does not need to transmit information regarding the estimation result of the "position of the second device 1802" to the first device 1201.

[0367] As described above, by implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the second device 1802.

[0368] For direction-based triangulation: An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0369] Assume that the first device 1201 obtains information 1301 regarding sensing capabilities in FIG. 13 transmitted by base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3, and acquires the sensing support status of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0370] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing, and when a sensing request is made from a terminal, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing operations in response to the request to perform sensing.

[0371] In FIG. 19, it is assumed that the first device 1201 has at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the second device 1905".

[0372] In FIG. 19, it is assumed that the first device 1201 has obtained information on the "distance between base station #1 and the first device 1201, the "distance between base station #2 and the first device 1201, and the "distance between base station #3 and the first device 1201, and the first device 1202_3" before "selecting 1902 a base station for sensing the second device (sensing the second device)."

[0373] The method for obtaining information on the "distance between first device 1201 and base station" has already been explained using Figures 15A, 15B, 15C, 15D, 15E, and 15F, so the explanation will be omitted.

[0374] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0375] Alternatively, the first device 1201 and the base station may acquire their locations using a location estimation system such as GPS. The base station may then transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the base station. The first device 1201 may then transmit its own location information to the base station, and the base station may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the first device 1201.

[0376] An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0377] In FIG. 19, the second device 1802 transmits a signal (for sensing) (1921).

[0378] The first device 1201 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the "(arrival) direction of the first device 1201 and the second device 1802" (1901). Note that the sensing processing has already been described in other embodiments, so a description thereof will be omitted.

[0379] The first device 1201 selects a base station to request an estimation of the direction of arrival from the second device 1802 based on the estimated value of the "direction of arrival between the first device 1201 and the second device 1802", information on the "distance between base station #1 and the first device 1201_1", information on the "distance between base station #2 and the first device 1201_2", and information on the "distance between base station #3 and the first device 1201_3" (1902).

[0380] 19, it is assumed that the first device 1201 selects base station #2 1202_2 in FIG. 18 as the base station to request estimation of the (arrival) direction of the second device 1802. However, when the base station to request estimation of the (arrival) direction of the second device 1802 is determined (in advance), it is not necessary to perform "selecting 1402 a base station for sensing the second device 1802 (sensing the second device)."

[0381] The first device 1201 transmits information of a request for "estimating the (arrival) direction of the second device 1802" to the base station #2 1202_2 (1903).

[0382] The base station #2 of 1202_2 receives the information of the request for "estimating the (arrival) direction of the second device 1802" and responds "whether or not to accept this request" (1911). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0383] The first device 1201 receives the response information to this request (1904).

[0384] The second device 1802 transmits a signal (for sensing) (1922).

[0385] The base station #2 of 1202_2 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the "(arrival) direction of the base station #2 of 1202_2 and the second device 1802" (1912).

[0386] The base station #2 of 1202_2 transmits information on "the (arrival) direction of the base station #2 of 1202_2 and the second device 1802" to the first device 1201 (1913).

[0387] The first device 1201 obtains information on the "(arrival) direction of base station #2 of 1202_2 and the second device 1802," and performs triangulation using the "distance between the first device 1201 and the base station #2 of 1202_2," the "(arrival) direction of the first device 1201 and the second device 1802," and the "(arrival) direction of base station #2 of 1202_2 and the second device 1802," to estimate, for example, the position of the second device 1802 (1905).

[0388] The first device 1201 transmits the "position of the second device 1802" information to the base station #2 1202_2 (1906).

[0389] If there is no need to share the "position of the second device 1802" information with the base station #2 of 1202_2, the first device 1201 does not need to transmit the "position of the second device 1802" information to the base station #2 of 1202_2.

[0390] As described above, by implementing the above, it is possible to realize the triangulation based on the (arrival) direction described in the first embodiment, thereby obtaining the effect of being able to identify the position of the second device 1802.

[0391] Next, another example of using direction-based triangulation, using the third and fourth methods as examples, will be described with reference to FIG.

[0392] Assume that the first device 1201 obtains information 1301 regarding the sensing capabilities of FIG. 13 transmitted by base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3, and acquires the sensing support status of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0393] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing, and when a sensing request is made from a terminal, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing operations in response to the request to perform sensing.

[0394] 20, it is assumed that the base station #2 of 1202_2 has at least obtained information on the "distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the second device 2013." Furthermore, the first device 1201 may have at least obtained information on the "distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the second device 2013."

[0395] 20, it is assumed that the base station #2 of 1202_2 has obtained information on "the distance between the first device 1201 and the base station #1 of 1202_1," information on "the distance between the first device 1201 and the base station #2 of 1202_2," and information on "the distance between the first device 1201 and the base station #3 of 1202_3" before "selecting 2002 a base station for sensing the second device (sensing the second device)." Also, in FIG. 20, the first device 1201 may have obtained at least information on "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating 2013 the position of the second device."

[0396] The method for obtaining information on the "distance between first device 1201 and base station" has already been explained using Figures 15A, 15B, 15C, 15D, 15E, and 15F, so the explanation will be omitted.

[0397] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0398] Alternatively, the first device 1201 and the base station may know their locations using a location estimation system such as GPS. The base station may then transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the base station. The first device 1201 may then transmit its own location information to the base station, and the base station may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the first device 1201.

[0399] An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0400] In FIG. 20, the second device 1802 transmits a signal (for sensing) (2021).

[0401] The first device 1201 receives a signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the "(arrival) direction of the first device 1201 and the second device 1802" (2001). Note that the sensing processing has already been explained in other embodiments, so explanation will be omitted here.

[0402] The first device 1201 selects a base station to request an estimation of the direction of arrival of the second device 1802 based on the estimated value of the "direction of arrival of the first device 1201 and the second device 1802", information on the "distance of base station #1 between the first device 1201 and 1202_1", information on the "distance of base station #2 between the first device 1201 and 1202_2", and information on the "distance of base station #3 between the first device 1201 and 1202_3" (2002).

[0403] 20, it is assumed that the first device 1201 selects base station #2 1202_2 in FIG. 12 as the base station to request estimation of the (arrival) direction of the second device 1802. However, when the base station to request estimation of the (arrival) direction of the second device 1802 is determined (in advance), it is not necessary to perform "selection 2002 of base station for sensing of the second device 1802 (sensing the second device)."

[0404] The first device 1201 transmits information of a request for "estimation of the (arrival) direction of the second device 1802" to the base station #2 of 1202_2 (2003). Also, the first device 1201 transmits information of "the (arrival) direction of the first device 1201 and the second device 1802" to the base station #2 of 1202_2 (2003).

[0405] The base station #2 of 1202_2 receives the information of the request to "estimate the (arrival) direction of the second device 1802" and responds "whether or not to accept this request" (2011). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0406] The first device 1201 receives the response information to this request (2004).

[0407] The second device 1802 transmits a signal (for sensing) (2022).

[0408] Base station #2 of 1202_2 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the "(arrival) direction of base station #2 of 1202_2 and the second device 1802" (2012).

[0409] The base station #2 of 1202_2 obtains information on the "(arrival) direction of the base station #2 of 1202_2 and the second device 1802," and performs triangulation using the "distance between the first device 1201 and the base station #2 of 1202_2," the "(arrival) direction of the first device 1201 and the second device 1802," and the "(arrival) direction of the base station #2 of 1202_2 and the second device 1802," to estimate, for example, the position of the second device 1802 (2013).

[0410] It should be noted that the base station #2 of 1202_2 has obtained information on the "distance between the first device 1201 and the base station #2 of 1202_2" at some stage.

[0411] The base station #2 of 1202_2 transmits information about the estimation result of "the position of the second device 1802" to the first device 1201 (2014).

[0412] In addition, if there is no need to share information regarding the estimation result of the "position of the second device 1802" with the first device 1201, base station #2 of 1202_2 does not need to transmit information regarding the estimation result of the "position of the second device 1802" to the first device 1201.

[0413] As described above, by implementing the above, it is possible to realize the triangulation based on the (arrival) direction described in the first embodiment, thereby obtaining the effect of being able to identify the position of the second device 1802.

[0414] An example of base station selection will be described. In the above description, in Fig. 19, the first device 1201 "performs (1901) sensing of the second device 1802 (sensing the second device)" before "selecting (1902) a base station for sensing of the second device 1802." Similarly, in Fig. 20, the first device 1201 "performs (2001) sensing of the second device 1802 (sensing the second device)" before "selecting (2002) a base station for sensing of the second device 1802 (sensing the second device)."

[0415] By doing so, it is possible to reduce estimation errors due to sensing. The reason for this has already been explained, so further explanation will be omitted.

[0416] By carrying out the above-described process, highly accurate triangulation can be carried out, which has the effect of enabling each device to grasp the position of the target, etc.

[0417] In addition, if the first device 1201 and the base station "have knowledge of their position on the map (or location information) in advance," or if the first device 1201 and the base station "can know their position on the map (or location information), for example, by a location estimation system such as GPS," then each device will be able to know the target's position on the map (or location information).

[0418] 19 and 20, when first device 1201 "transmits request information of second device 1802" to the base station, this may be done by wireless communication or by wired communication.

[0419] In the above description, the second device transmits a signal for sensing, and this signal may be called a reference signal, a reference symbol, a pilot symbol, a pilot signal, or a preamble, although the names are not limited to these examples.

[0420] An example of the minutiae in the above example can be written as follows:

[0421] The first device transmits and receives radio waves to measure a first distance, etc., and the second device transmits and receives radio waves to measure a second distance, etc., and measures the position of the target using the first distance, etc. and the second distance, etc. For this reason, there are two transmitting devices and two receiving devices, and the acquired information on the first distance, etc. and the second distance, etc. is shared between the first device and the second device.

[0422] The second device includes a receiving device for obtaining the first distance information etc. obtained by the first device.

[0423] The first device includes a receiving device for obtaining the second distance information obtained by the second device.

[0424] The first device and the second device estimate the position of the target using the first range information and the second range information.

[0425] It should be noted that one or more devices other than the second device may estimate the range of the target.

[0426] The one or more devices may estimate the distance to the target, generate a plurality of distance information, and transmit the information to a second device, which may generate a first distance information from the plurality of distance information and estimate the position of the target using the first distance information and the second distance information.

[0427] The above describes an example of the sensing operation of each device in Fig. 12 and Fig. 18. Below, a description will be given of an example of the configuration of the first device 1201, the base station #1 of 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 in Fig. 12 and Fig. 18.

[0428] 21A and 21B are diagrams showing configuration examples of the base station #1 of the first device 1201, 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3.

[0429] Signal generating section 2102 receives control signal 2100 as input, generates a signal based on the information in control signal 2100, and outputs the signal. Specific examples (first and second examples) will be described.

[0430] First example: For example, when the control signal 2100 indicates that a modulated signal for communication is to be transmitted, the signal generating unit 2102 performs processing such as error correction coding, modulation (mapping), and processing based on a transmission method on the data 2101, and transmits the modulated signal as radio waves using at least one antenna port from antenna port 2105_1 to antenna port 2105_N, where N is an integer equal to or greater than 1.

[0431] When the control signal 2100 indicates that "a modulated signal for communication and a signal for sensing are to be transmitted," the signal generating unit 2102 performs processing on the data 2101, such as error correction coding, modulation (mapping), and processing based on the transmission method, and transmits the modulated signal as radio waves using at least one antenna port from antenna port 2105_1 to antenna port 2105_N, and also generates a signal for sensing and transmits it as radio waves from antenna port 2106.

[0432] When the control signal 2100 indicates that a sensing signal is to be transmitted, the signal generator 2102 generates a sensing signal and transmits it from the antenna port 2106 as a radio wave.

[0433] When a sensing signal is transmitted from antenna port 2106 , the sensing signal is reflected at target 2110 , and the reflected wave arrives at antenna port 2112 .

[0434] 18, the sensing signal transmitted by the second device 1802 arrives at the antenna port 2112. For example, as shown in FIG. 21B, the sensing signal transmitted by the second device 2120 (corresponding to the second device 1802) arrives at the antenna port 2112.

[0435] For example, when the control signal 2100 indicates that "demodulation for communication is to be performed," a modulated signal is received using at least one of the antenna ports 2111_1 to 211_M, and the signal processing unit 2115 receives the modulated signal as input, performs processing such as demodulation, and outputs received data 2116. Note that M is an integer of 1 or greater.

[0436] When the control signal 2100 indicates that "demodulation for communication is performed and processing for sensing is also performed," the modulated signal is received using at least one of the antenna ports from antenna ports 2111_1 to 2111_M, and the signal processing unit 2115 receives the modulated signal as input, performs processing such as demodulation, and outputs received data 2116, and also receives the signal received at antenna port 2112 as input, performs processing for sensing, and outputs 2117, for example, distance information of the target.

[0437] When the control signal 2100 indicates that "sensing processing is to be performed," the signal processing unit 2115 receives the signal received at the antenna port 2112 as input, performs sensing processing, and outputs, for example, target distance information 2117.

[0438] In the above example, antenna ports 2105_1 to 2105_N are transmit antenna ports for communication, antenna port 2106 is a transmit antenna port for sensing, antenna ports 2111_1 to 2111_M are receive antenna ports for communication, and antenna port 2112 is a receive antenna port for sensing.

[0439] FIG. 22 is a diagram showing an example of a state when the first device 1201, the base station #1 of 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 are performing a sensing operation.

[0440] As shown in (A) of Figure 22, the period in which the devices of the first device 1201, base station #1 of 1201_1, base station #2 of 1202_2, and base station #3 of 1202_3 having the configuration of Figure 21A transmit sensing signals is assumed to be signal transmission period 2201 existing between time v1 and time v2.

[0441] The first device 1201 having the configuration of Figure 21A, base station #1 of 1201_1, base station #2 of 1202_2, and base station #3 of 1202_3 receive the signal of the signal transmission section 2201 existing between time v1 and time v2, and perform signal processing to sense the target.

[0442] Therefore, the first device 1201 having the configuration of Figure 21, base station #1 of 1201_1, base station #2 of 1202_2, and base station #3 of 1202_3 will perform sensing-related receiving operations in the section of receiving-related operation 2202 that exists between time v1 and time v2, as shown in (B) of Figure 22.

[0443] That is, when performing sensing, the devices of the first device 1201, the base station #1 of 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 may have a time period during which they perform both signal transmission operation and signal reception-related operation. As a result, if a device configuration is provided with separate antenna ports for communication and sensing, it may be possible to improve communication performance and sensing performance.

[0444] Note that an antenna port may be a logical antenna (antenna group) consisting of one or more physical antennas. In other words, an antenna port does not necessarily refer to a single physical antenna, but may also refer to an array antenna consisting of multiple antennas.

[0445] For example, it is sometimes not specified how many physical antennas an antenna port is made up of, but is specified as the smallest unit by which a terminal station can transmit a reference signal.

[0446] In addition, an antenna port may be defined as a unit or a minimum unit for multiplying a weighting of a precoding vector or a precoding matrix. Note that the above description of antenna ports applies to the entire specification.

[0447] Furthermore, at least one antenna may be shared by antenna ports. For example, there may be a transmitting antenna, and this transmitting antenna may be used by multiple transmitting antenna ports. For example, there may be a receiving antenna, and this receiving antenna may be used by multiple receiving antenna ports. For example, there may be an antenna, and this antenna may be used by multiple antenna ports. Note that the above description regarding antenna ports applies to the entire specification.

[0448] Second example: The first and second modes are defined as follows:

[0449] First mode (i.e., the mode corresponding to the first release of the standard): The first mode is a mode compatible with the first communication method.

[0450] Second mode (e.g., mode corresponding to the second release of the standard): The second mode is a mode that supports the second communication method and also supports sensing.

[0451] Three cases are described below.

[0452] Case 1: 21A and 21B, for example, when control signal 2100 indicates "transmit a first mode modulated signal," signal generation unit 2102 performs processing such as error correction coding, modulation (mapping), and processing based on a transmission method on data 2101, and transmits the first mode modulated signal as radio waves using at least one antenna port from antenna port 2105_1 to antenna port 2105_N, where N is an integer equal to or greater than 1.

[0453] When the control signal 2100 indicates that a second mode modulated signal and / or a sensing signal is to be transmitted, the signal generating unit 2102 performs processing such as error correction coding, modulation (mapping), and processing based on a transmission method on the data 2101, and transmits the second mode modulated signal as radio waves using the antenna port 2106. And / or, the signal generating unit 2102 generates a sensing signal and transmits it as radio waves from the antenna port 2106.

[0454] When the control signal 2100 indicates that a modulated signal in a first mode is to be transmitted and a modulated signal and / or a sensing signal in a second mode is to be transmitted, the control signal generating unit 2102 performs the following two operations.

[0455] (1) The signal generation unit 2102 performs processing such as error correction coding, modulation (mapping), and processing based on a transmission method on the data 2101, and transmits the modulated signal in the first mode as radio waves using at least one antenna port from the antenna port 2105_1 to the antenna port 2105_N, where N is an integer equal to or greater than 1.

[0456] (2) The signal generation unit 2102 performs processing such as error correction coding, modulation (mapping), and processing based on the transmission method on the data 2101, and transmits the modulated signal in the second mode as radio waves using the antenna port 2106. And / or, the signal generation unit 2102 generates a signal for sensing and transmits it as radio waves from the antenna port 2106.

[0457] 21A and 21B, for example, when control signal 2100 indicates "perform first mode demodulation," a modulated signal is received using at least one of antenna ports 2111_1 to 2111_M, and signal processing unit 2115 receives this modulated signal, performs processing such as demodulation, and outputs first mode received data 2116. Note that M is an integer equal to or greater than 1.

[0458] When the control signal 2100 indicates that "second mode processing is to be performed," the signal processing unit 2115 receives a signal received at the antenna port 2112 as input, performs sensing processing, and outputs, for example, target distance information 2117. And / or, the signal processing unit 2115 receives a modulated signal using the antenna port 2112, receives this modulated signal as input, performs processing such as demodulation, and outputs second mode received data 2116.

[0459] When the control signal 2100 indicates that "first mode demodulation is performed and second mode processing is performed," the following two operations are performed.

[0460] (3) A modulated signal is received using at least one of the antenna ports 2111_1 to 2111_M, and the signal processing unit 2115 receives the modulated signal, performs processing such as demodulation, and outputs received data 2116 in the first mode.

[0461] (4) The signal processing unit 2115 receives a signal received at the antenna port 2112, performs sensing processing, and outputs, for example, target distance information 2117. And / or, the signal processing unit 2115 receives a modulated signal using the antenna port 2112, receives this modulated signal as input, performs processing such as demodulation, and outputs second mode received data 2116.

[0462] In the above example, antenna ports 2105_1 to 2105_N are transmit antenna ports for the first mode, antenna port 2106 is a transmit antenna port for the second mode, antenna ports 2111_1 to 2111_M are receive antenna ports for the first mode, and antenna port 2112 is a receive antenna port for the second mode.

[0463] Case 2: 21A and 21B, for example, when control signal 2100 indicates at least "transmit a first mode modulated signal," signal generation unit 2102 performs processing such as error correction coding, modulation (mapping), and processing based on a transmission method on data 2101, and transmits the first mode modulated signal as radio waves using at least one antenna port from antenna port 2105_1 to antenna port 2105_(N-1), where N is an integer equal to or greater than 2.

[0464] When the control signal 2100 indicates that "at least a 'communication modulated signal' in the second mode is to be transmitted," the signal generating unit 2102 performs processing on the data 2101, such as error correction coding, modulation (mapping), and processing based on the transmission method, and transmits the second mode modulated signal as radio waves using the antenna port 2105_N.

[0465] When the control signal 2100 indicates that "at least a 'sensing signal' in the second mode is to be transmitted," the signal generating unit 2102 generates a sensing signal and transmits it as a radio wave from the antenna port 2106.

[0466] 21A and 21B, for example, when control signal 2100 indicates that at least "first mode demodulation is performed," a modulated signal is received using at least one of antenna ports 2111_1 to 2111_(M-1), and signal processing unit 2115 receives this modulated signal, performs processing such as demodulation, and outputs first mode received data 2116. Note that M is an integer equal to or greater than 2.

[0467] When the control signal 2100 indicates at least that "second mode demodulation is performed," the modulated signal is received using the antenna port 2111_M, and the signal processing unit 2115 receives the modulated signal, performs processing such as demodulation, and outputs second mode received data 2116.

[0468] When the control signal 2100 indicates at least that "processing for sensing in the second mode is to be performed," the signal processing unit 2115 receives the signal received at the antenna port 2112 as input, performs processing for sensing, and outputs, for example, target distance information 2117.

[0469] In the above example, antenna ports 2105_1 to 2105_(N-1) are transmit antenna ports for the first mode, antenna port 2105_N is a transmit antenna port for communication in the second mode, and antenna port 2106 is a transmit antenna port for sensing in the second mode.

[0470] Also, antenna ports 2111_1 to 2111_(M-1) are receiving antenna ports for the first mode, antenna port 2111_M is a receiving antenna port for communication in the second mode, and antenna port 2112 is a receiving antenna port for sensing in the second mode.

[0471] Case 3: 21A and 21B, for example, when control signal 2100 indicates at least "transmit a modulated signal in the first mode," signal generation unit 2102 performs processing such as error correction coding, modulation (mapping), and processing based on a transmission method on data 2101, and transmits the modulated signal in the first mode as radio waves using at least one antenna port from antenna port 2105_1 to antenna port 2105_N, where N is an integer equal to or greater than 1.

[0472] When the control signal 2100 indicates that "at least a 'communication modulated signal' in the second mode is to be transmitted," the signal generating unit 2102 performs processing on the data 2101, such as error correction coding, modulation (mapping), and processing based on the transmission method, and transmits the second mode modulated signal as radio waves using at least one antenna port from antenna port 2105_1 to antenna port 2105_N.

[0473] When the control signal 2100 indicates that "at least a 'sensing signal' in the second mode is to be transmitted," the signal generating unit 2102 generates a sensing signal and transmits it as a radio wave from the antenna port 2106.

[0474] 21A and 21B, for example, when control signal 2100 indicates that at least "first mode demodulation is performed," a modulated signal is received using at least one of antenna ports 2111_1 to 2111_M, and signal processing unit 2115 receives this modulated signal, performs processing such as demodulation, and outputs first mode received data 2116. Note that M is an integer equal to or greater than 1.

[0475] When the control signal 2100 indicates at least "perform demodulation in the second mode," the modulated signal is received using at least one of the antenna ports 2111_1 to 2111_M, and the signal processing unit 2115 receives the modulated signal, performs processing such as demodulation, and outputs received data 2116 in the second mode.

[0476] When the control signal 2100 indicates at least that "processing for sensing in the second mode is to be performed," the signal processing unit 2115 receives the signal received at the antenna port 2112 as input, performs processing for sensing, and outputs, for example, target distance information 2117.

[0477] In the above example, antenna ports 2105_1 to 2105_N are transmit antenna ports for the first mode and transmit antenna ports for communication in the second mode, and antenna port 2106 is a transmit antenna port for sensing in the second mode.

[0478] Moreover, antenna ports 2111_1 to 2111_M are receiving antenna ports for the first mode and receiving antenna ports for communication in the second mode, and antenna port 2112 is a receiving antenna port for sensing in the second mode.

[0479] As described above, by selectively using the antenna port used during communication and the antenna port used during sensing, it is possible to obtain the effect of achieving both high-quality communication and highly accurate sensing.

[0480] As described above, the configurations of the base station #1 of the first device 1201, 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 have been shown in Figs. 21A and 21B, and the method of using antenna ports has been described. The configurations of the base station #1 of the first device 1201, 1201_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 and the method of using antenna ports can, of course, be applied to embodiments other than this embodiment.

[0481] In this embodiment, when there are two devices (named device #A and device #B), device #A or device #B transmits radio waves, and when device #A or device #B estimates the "distance between device #A and device #B," device #A or device #B estimates the direction of arrival, and this estimated value of the direction of arrival can be used to estimate the position of the target with even greater accuracy.

[0482] Similarly, when device #A transmits radio waves and device #A estimates the "distance between device #A and the target," device #A may estimate the direction of arrival and use this estimated value of the direction of arrival to further estimate the position of the target with high accuracy.

[0483] Furthermore, when device #A or device #B transmits radio waves and device #A or device #B estimates the direction of arrival, device #A or device #B may estimate the "distance between device #A and device #B" and use this estimated value of the "distance between device #A and device #B" to estimate the target's position with even greater accuracy.

[0484] When device #A transmits radio waves and estimates the direction of arrival of the radio waves obtained, for example, by reflection from a target, device #A can estimate the "distance between device #A and the target" and use this "distance between device #A and the target" to further estimate the position of the target with high accuracy.

[0485] 14, 15A, 15B, 15C, 15D, 15E, 15F, and 16 are shown as examples of the operation flow of the first device and the base station, but these are merely examples, and the order of the operations may be different from the order shown in the figures. Also, while FIGS. 19 and 20 are shown as examples of the operation flow of the first device, the second device, and the base station, these are merely examples, and the order of the operations may be different from the order shown in the figures.

[0486] (Third embodiment) In this embodiment, an example different from the second embodiment will be described.

[0487] FIG. 12 is a diagram showing an example of a "sensing system" or a "sensing and communication system" according to this embodiment.

[0488] In FIG. 12, a base station #1 of 1202_1, a base station #2 of 1202_2, and a base station #3 of 1202_3 communicate with the terminal.

[0489] The first device 1201 is, for example, a terminal, and communicates with a base station #1 of 1202_1 and / or a base station #2 of 1202_2 and / or a base station #3 of 1202_3.

[0490] A target (object) 1203 is an object whose position is estimated by sensing.

[0491] In this embodiment, as an example, a method of performing "triangulation described in the first embodiment between base station #1 of first devices 1201 and 1202_1," "triangulation described in the first embodiment between base station #2 of first devices 1201 and 1202_2," and "triangulation described in the first embodiment between base station #3 of first devices 1201 and 1202_3" will be described.

[0492] The first device 1201 is assumed to be a device having a function of performing the sensing described in the first embodiment. The first device 1201 also has a communication function and communicates with, for example, a base station #1 of 1202_1, a base station #2 of 1202_2, and a base station #3 of 1202_3.

[0493] Here, it is assumed that the first device 1201 performs sensing in order to perform triangulation. At this time, the first device 1201 performs sensing with any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 to realize triangulation. However, it is assumed that there are base stations that do not support sensing due to factors such as the size of the base station and the time of installation.

[0494] Therefore, it is assumed that base stations such as base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 transmit control information including information 1301 on sensing capabilities as shown in FIG.

[0495] It is assumed that the base station transmits the control information including the sensing capability information 1301 using, for example, the PBCH, PDSCH, or PDCCH. The channel for transmitting this control information is not limited to the above example.

[0496] As shown in FIG. 13, information 1301 regarding sensing capabilities includes at least one of "information 1311 regarding whether sensing is possible or not," "information 1312 regarding whether sensing requests from terminals can be implemented or not," and "information 1313 regarding whether sensing requests from terminals can be accepted or not."

[0497] Specific examples of "information 1311 regarding whether sensing is possible or not," "information 1312 regarding whether sensing requests from terminals can be performed or not," and "information 1313 regarding whether sensing requests from terminals can be received or not" are as follows:

[0498] "Information about whether sensing is possible or not 1311": This information is used to notify, for example, terminals, relays, other base stations, etc., whether the base station is capable of performing sensing.

[0499] Therefore, when at least the information "sensing can be performed" is included as "information 1311 regarding sensing availability / unavailability", the base station is deemed to have a sensing function. Also, this base station is deemed to have a communication function. Note that the specific configuration has already been explained in the first embodiment, so explanation will be omitted.

[0500] "Information 1312 on whether sensing requests from terminals can be performed" This information is used, for example, to notify the terminal, when the base station receives a sensing request from the terminal (a request from the terminal that the base station perform sensing), of information on whether or not sensing can be performed.

[0501] Although the information 1312 is named "information on whether a sensing request from a terminal can be performed" here, the information 1312 on whether a sensing request from a terminal can be performed may also be "information on whether a sensing request from a device other than a terminal, for example, a repeater or another base station, can be performed." Details of the "sensing request" will be explained later.

[0502] "Information 1313 on whether sensing requests from the terminal can be accepted": This information is used, for example, to notify the terminal, when the base station receives a sensing request from the terminal (a request from the terminal that the base station perform sensing), of information on whether or not to accept sensing from the terminal.

[0503] Therefore, even if a base station receives a sensing request from a terminal, there are modes in which the base station will "accept" the request and modes in which the base station will not "accept" the request.

[0504] Although the information 1313 is named "information on whether a sensing request can be received from a terminal" here, the information 1313 on whether a sensing request can be received from a terminal may also be "information on whether a sensing request can be received from a device other than a terminal, for example, a repeater or another base station." Details of the "sensing request" will be explained later.

[0505] By doing this, terminals, repeaters, other base stations, etc. can know the base station's sensing and the status of sensing requests, thereby achieving the effect of enabling appropriate "control of sensing and communication with the base station."

[0506] In the above description, the device that transmits the information 1301 regarding sensing capabilities in Figure 13 is described as a base station, but this is merely an example, and the information 1301 regarding sensing capabilities may also be transmitted by a communication device such as a repeater, terminal, or access point.

[0507] 13, the device that transmits information 1301 related to sensing capabilities transmits "information 1312 regarding whether a sensing request from a terminal can be implemented" and "information 1313 regarding whether a sensing request from a terminal can be accepted" which are described as "sensing request from a terminal...", but the sensing request may also be from a communication device other than a terminal, such as a base station, a repeater, or an access point. Therefore, 1312 can also be implemented as "information regarding whether a sensing request from a communication device can be implemented" and 1313 as "information regarding whether a sensing request from a communication device can be accepted".

[0508] Next, the operation of the base station #2 of the first devices 1201 and 1202_2 in FIG. 12 will be described as an example.

[0509] The first device 1201 may be a terminal capable of communicating with a base station, or the first device 1201 may be a base station. In the following description, the first device 1201 is assumed to be a terminal, but the first device 1201 can be implemented in the same way even if it is a base station. However, when the first device 1201 is a base station, a supplementary explanation will be provided if a special operation occurs. Furthermore, the first device 1201 in FIG. 12 may be a repeater, and the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 may also be repeaters.

[0510] This embodiment deals with triangulation. Specific examples of triangulation methods are described in the first embodiment, and the first and second methods are triangulation methods based on obtaining distance information by performing sensing.

[0511] On the other hand, the third and fourth methods are triangulation methods based on obtaining information on the (arrival) direction (although distance may also be obtained) by performing sensing.

[0512] Hereinafter, direction-based triangulation will be described using the third and fourth methods as examples with reference to Fig. 12. Note that this embodiment is a modified example of the third and fourth methods.

[0513] For direction-based triangulation: An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0514] Assume that the first device 1201 obtains information 1301 regarding sensing capabilities in FIG. 13 transmitted by base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3, and acquires the sensing support status of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0515] In the following, as an example, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing, and when a sensing request is made from a terminal, it is assumed that base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are all capable of performing sensing operations in response to the request to perform sensing.

[0516] In this example, as shown in FIG. 23A, the first device 1201 transmits a sensing signal, which hits the target 1203, and the base station #2 of 1202_2 receives the sensing signal, thereby performing, for example, position estimation.

[0517] In FIG. 23B, it is assumed that the first device 1201 has at least obtained information on the "distance between the first device 1201 and the base station #2 of 1202_2" before "target (object) position estimation 2305".

[0518] The method for obtaining information on the "distance between first device 1201 and base station" has already been explained using Figures 15A, 15B, 15C, 15D, 15E, and 15F, so the explanation will be omitted.

[0519] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may obtain the "distance between the first device 1201 and the base station" in advance.

[0520] Alternatively, the first device 1201 and the base station may acquire their locations using a location estimation system such as GPS. The base station may then transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the base station. The first device 1201 may then transmit its own location information to the base station, and the base station may calculate the "distance between the first device 1201 and the base station" from its own location information and the location information of the first device 1201.

[0521] An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0522] The first device 1201 in FIG. 12 and FIG. 23A transmits information of a request for "estimating the (arrival) direction of the target 1203" to the base station #2 1202_2 (2301).

[0523] The base station #2 of 1202_2 receives the information of the request for "estimating the (arrival) direction of the target 1203" and responds "whether or not to accept this request" (2311). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0524] The first device 1201 receives the response information to this request (2303).

[0525] The first device 1201 transmits a sensing signal (2304). Details of the method for transmitting the sensing signal from the first device 1201 will be explained later.

[0526] The base station #2 of 1202_2 receives the sensing signal transmitted by the first device 1201 and estimates, for example, the (received) direction of arrival (2312).

[0527] The base station #2 of 1202_2 transmits (2313) the (received) arrival direction estimation result and feedback information to the first device 1201. Note that a specific operation example will be described later.

[0528] The first device 1201 performs, for example, triangulation using information such as "(received) arrival direction estimation result and feedback information" and "distance between the first device 1201 and the base station #2 of 1202_2" transmitted by the base station #2 of 1202_2, and obtains an estimation result of "position of the target (object) 1203" in Fig. 12 and Fig. 23A (2305). Note that a specific operation example will be described later.

[0529] The first device 1201 transmits information about the estimation result of the "position of the target (object) 1203" to the base station #2 1202_2 (2306).

[0530] In addition, if there is no need to share information regarding the estimation result of the "position of target 1203" with base station #2 of 1202_2, first device 1201 does not need to transmit information regarding the estimation result of the "position of target 1203" to base station #2 of 1202_2.

[0531] As described above, by implementing this, it is possible to realize the triangulation based on the (arrival) direction described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0532] Next, an example of the operation of 2304, 2312, 2313, and 2305 in FIG. 23B will be described.

[0533] In Figure 23A, base station #2 of 1202_2 receives the sensing signal transmitted by first device 1201 and performs direction (arrival) estimation, thereby being able to estimate the angle formed by "the line segment formed by base station #2 of 1202_2 and first device 1201" and "the line segment formed by base station #2 of 1202_2 and target 1203" in Figure 23B.

[0534] As an example, if it is possible to estimate the angle formed by "the line segment formed between the first device 1201 and the base station #2 of 1202_2" and "the line segment formed between the first device 1201 and the target 1203", triangulation can be realized. Below, a method for estimating the angle formed by "the line segment formed between the first device 1201 and the base station #2 of 1202_2" and "the line segment formed between the first device 1201 and the target 1203" will be described.

[0535] FIG. 24 is a diagram showing an example of the configuration of first device 1201 (and base station #2 of 1202_2) in FIG. 12 and FIG. 23A. In FIG. 24, components that operate in the same manner as in FIG. 21 are given the same numbers, and descriptions thereof will be omitted. Note that the description will be given assuming that first device 1201 has the configuration in FIG. 24 as an example.

[0536] First device 1201 is assumed to be equipped with transmitting antennas 2402_1 to 2402_L as shown in Fig. 24, where L is an integer equal to or greater than 1.

[0537] FIG. 25 is a diagram showing an example of a configuration related to a transmitting antenna 2402_i (i is an integer between 1 and L).

[0538] 25, the transmitting antenna 2402_i is assumed to be configured with four antennas, for example, antennas 2504_1, 2504_2, 2504_3, and 2405_4. Although an example in which the transmitting antenna 2402_i is configured with four antennas is shown here, the number of antennas is not limited to this example as long as the transmitting antenna 2402_i is configured with two or more antennas.

[0539] Processing unit 2502 receives signal 2501 (corresponding to signal 2401_i in FIG. 24) and control signal 2500 (corresponding to control signal 2100 in FIG. 24). When control signal 2500 indicates that a sensing signal is to be transmitted, processing unit 2502 performs transmission directivity control processing on signal 2501 and outputs signal 2503_i after transmission directivity control processing, where i is an integer between 1 and 4. Then, signal 2503_i after transmission directivity control processing is output as a radio wave from antenna 2504_i.

[0540] A specific example of the configuration of the sensing signal transmitted by first device 1201 will be described.

[0541] FIG. 26 is a diagram showing an example of a frame 2601 of a sensing signal transmitted by the first device 1201. In FIG.

[0542] The sensing signal frame 2601 is assumed to be composed of, for example, "sensing signal 2611_1 transmitted using the first antenna," "sensing signal 2611_2 transmitted using the second antenna," ..., "sensing signal 2611_L transmitted using the Lth antenna."

[0543] The "sensing signal 2611_1 transmitted using the first antenna" is a signal transmitted from the transmitting antenna 2402_1 of the first device 1201.

[0544] The “sensing signal 2611_L transmitted using the L-th antenna” is a signal transmitted from the transmitting antenna 2402_L of the first device 1201.

[0545] That is, "sensing signal 2611_i transmitted using the i-th antenna" is a signal transmitted from transmitting antenna 2402_i of first device 1201. Note that i is an integer between 1 and L inclusive.

[0546] FIG. 27 is a diagram showing an example of the configuration of the "sensing signal 2611_i transmitted using the i-th antenna" in FIG.

[0547] 27, "sensing signal 2611_i transmitted using the ith antenna" is composed of "sensing signal 2701_1 transmitted using the ith antenna and a first parameter," "sensing signal 2701_2 transmitted using the ith antenna and a second parameter," ..., "sensing signal 2701_z transmitted using the ith antenna and a zth parameter." Note that z is "an integer equal to or greater than 1" or "an integer equal to or greater than 2."

[0548] The processing unit 2502 in FIG. 25 of the transmitting antenna 2402_i in FIG. 24 of the first device 1201 performs transmission directivity control using the first parameter, and generates "a sensing signal 2701_1 transmitted from the i-th antenna using the first parameter." The "sensing signal 2701_1 transmitted from the i-th antenna using the first parameter" is transmitted using antennas 2504_1 to 2504_4 in FIG. 25. The "sensing signal 2701_1 transmitted from the i-th antenna using the first parameter" is composed of four signals: signals 2503_1, 2503_2, 2503_3, and 2503_4.

[0549] The processing unit 2502 in FIG. 25 of the transmitting antenna 2402_i in FIG. 24 of the first device 1201 performs transmission directivity control using the second parameter, and generates "a sensing signal 2701_2 transmitted using the i-th antenna and the second parameter." The "sensing signal 2701_2 transmitted using the i-th antenna and the second parameter" is transmitted using antennas 2504_1 to 2504_4 in FIG. 25. The "sensing signal 2701_2 transmitted using the i-th antenna and the second parameter" is composed of four signals, 2503_1, 2503_2, 2503_3, and 2503_4.

[0550] Processing unit 2502 in FIG. 25 of transmitting antenna 2402_i in FIG. 24 of first device 1201 controls transmission directivity using the z-th parameter, and generates "sensing signal 2701_z transmitted using the i-th antenna and the z-th parameter." "Sensing signal 2701_z transmitted using the i-th antenna and the z-th parameter" is transmitted using antennas 2504_1 to 2504_4 in FIG. 25. "Sensing signal 2701_z transmitted using the i-th antenna and the z-th parameter" is composed of four signals: signals 2503_1, 2503_2, 2503_3, and 2503_4.

[0551] Fig. 28 is a diagram showing an example of the configuration of "sensing signal 2701_j transmitted using the ith antenna and the jth parameter" in Fig. 27. Note that j is an integer between 1 and z.

[0552] As shown in Fig. 28, "sensing signal 2701_j transmitted using the ith antenna and the jth parameter" includes, for example, "antenna information 2801" and "parameter information 2802." Although not shown in Fig. 28, "sensing signal 2701_j transmitted using the ith antenna and the jth parameter" includes a signal for performing sensing.

[0553] The "antenna information 2801" includes information (such as an antenna ID) that can identify the use of the "i-th antenna." Therefore, the base station #2 of 1202_2 that can receive the "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter" can obtain information about the antenna that the first device 1201 used when transmitting the sensing signal.

[0554] Furthermore, "parameter information 2802" includes information (such as parameter ID (identification)) that can identify the parameters used for transmission directivity control. Therefore, base station #2 of 1202_2 that can receive "sensing signal 2701_j transmitted using the ith antenna and the jth parameter" can obtain information on the parameters of transmission directivity control that were used when first device 1201 transmitted the sensing signal.

[0555] In addition, the base station #2 of the first devices 1201 and 1202_2 may transmit a reference signal 2899 (for sensing) in Fig. 28 together with the above information. The reference signal 2899 is transmitted using the ith antenna and the jth parameter.

[0556] 23B, base station #2 of 1202_2 can receive any one of "sensing signal 2701_j transmitted using the ith antenna and the jth parameter" in sensing frame 2601 transmitted by first device 1201. Then, base station #2 of 1202_2 regards "antenna information 2801" and "parameter information 2802" of "sensing signal 2701_j transmitted using the ith antenna and the jth parameter" that it was able to receive as feedback information, and transmits this feedback information to first device 1201.

[0557] Base station #2 of 1202_2 obtains this feedback information and can determine the transmission directivity, i.e., direction, of the signal that base station #2 of 1202_2 was able to receive; in other words, it can estimate the angle formed by the "line segment formed by first device 1201 and base station #2 of 1202_2" and the "line segment formed by first device 1201 and target (object) 1203" in Figure 23A.

[0558] Therefore, base station #2 of 1202_2 has obtained the angle formed by the ``line segment formed by base station #2 of 1202_2 and the first device 1201'' and the ``line segment formed by base station #2 of 1202_2 and target 1203'' in Figure 23A, the angle formed by the ``line segment formed by the first device 1201 and base station #2 of 1202_2'' and the ``line segment formed by the first device 1201 and target (object) 1203'' and the ``distance between the first device 1201 and base station #2 of 1202_2 ...'', and can estimate the position of target (object) 1203.

[0559] In FIG. 28, "antenna information 2801" and "parameter information 2802" are described separately, but the information may be generated without making a distinction.

[0560] For example, the ID is assigned as follows: "first antenna, first parameter" is ID♭1, "first antenna, second parameter" is ID♭2, "second antenna, first parameter" is ID♭3, "second antenna, second parameter" is ID♭4, and so on.

[0561] For example, the first device 1201 transmits the "signal for sensing transmitted using the first antenna and the first parameter" so that the "signal for sensing transmitted using the first antenna and the first parameter" includes information of ID♭1.

[0562] The first device 1201 transmits the "signal for sensing transmitted using the first antenna and the second parameter" so that the "signal for sensing transmitted using the first antenna and the second parameter" includes information of ID♭2.

[0563] The first device 1201 transmits the "signal for sensing transmitted using the second antenna and the first parameter" so that the "signal for sensing transmitted using the second antenna and the first parameter" includes information of ID♭3.

[0564] The first device 1201 transmits the "signal for sensing transmitted using the second antenna and the second parameter" so that the "signal for sensing transmitted using the second antenna and the second parameter" includes information of ID♭4.

[0565] Then, base station #2 of 1202_2 uses the ID information (e.g., ID♭1, ID♭2, ...) of the "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter" that it was able to receive as feedback information, and transmits this feedback information to the first device 1201.

[0566] The first device 1201 obtains this feedback information and can determine the transmission directivity, i.e., direction, of the signal that base station #2 of 1202_2 was able to receive, i.e., can estimate the angle formed by the "line segment formed by the first device 1201 and base station #2 of 1202_2" and the "line segment formed by the first device 1201 and target (object) 1203."

[0567] Therefore, base station #2 of 1202_2 has obtained the angle formed by the line segment formed by base station #2 of 1202_2 and the first device 1201 and the line segment formed by base station #2 of 1202_2 and target 1203 in Figure 23A, the angle formed by the line segment formed by the first device 1201 and base station #2 of 1202_2 and the line segment formed by the first device 1201 and target (object) 1203, and the distance between first device 1201 and base station #2 of 1202_2, and therefore can estimate the position of target (object) 1203.

[0568] Another example of the operations of 2304, 2312, 2313, and 2305 in FIG. 23B will be described.

[0569] Base station #2 of 1202_2 receives the sensing signal transmitted by the first device 1201 and performs direction (arrival) estimation, thereby estimating the angle formed by "the line segment formed by base station #2 of 1202_2 and the first device 1201" and "the line segment formed by base station #2 of 1202_2 and the target 1203" in Figure 23A.

[0570] Furthermore, in Figure 23A, triangulation can be performed by estimating the sum of the "line segment formed by the first device 1201 and the target (object) 1203" and the "line segment formed by the target (object) 1203 and base station #2 1202_2."

[0571] Therefore, as shown in 2304 of FIG. 23B, the first device 1201 transmits a sensing signal, and the base station #2 of 1202_2 receives this sensing signal (2312), estimates the sum of the "line segment formed by the first device 1201 and the target (object) 1203" and the "line segment formed by the target (object) 1203 and the base station #2 of 1202_2," and the base station #2 of 1202_2 transmits information on this estimated value to the first device 1201. In addition, the base station #2 of 1202_2 transmits the estimation result of the reception arrival direction to the first device 1201. Note that the method of transmitting the sensing signal transmitted by the first device 1201 has been described using FIGS. 24, 25, 26, 27, and 28, and therefore description thereof will be omitted.

[0572] Then, the first device 1201 can estimate the position of the target (object) 1203 from the "distance between the first device 1201 and base station #2 of 1202_2," "the sum of the "line segment formed by the first device 1201 and the target (object) 1203" and the "line segment formed by the target (object) 1203 and base station #2 of 1202_2," and "the angle formed by the "line segment formed by base station #2 of 1202_2 and the first device 1201" and the "line segment formed by base station #2 of 1202_2 and the target 1203."

[0573] By implementing the above, triangulation can be realized, thereby obtaining the effect of being able to identify the position of the target.

[0574] In this embodiment, when there are two devices (named device #A and device #B), device #A or device #B transmits radio waves, and when device #A or device #B estimates the "distance between device #A and device #B," device #A or device #B estimates the direction of arrival, and this estimated value of the direction of arrival can be used to estimate the position of the target with even greater accuracy.

[0575] Similarly, when device #A transmits radio waves and device #A estimates the "distance between device #A and the target," device #A may estimate the direction of arrival and use this estimated value of the direction of arrival to further estimate the position of the target with high accuracy.

[0576] Furthermore, when device #A or device #B transmits radio waves and device #A or device #B estimates the direction of arrival, device #A or device #B may estimate the "distance between device #A and device #B" and use this estimated value of the "distance between device #A and device #B" to estimate the target's position with even greater accuracy.

[0577] When device #A transmits radio waves and estimates the direction of arrival of the radio waves obtained, for example, by reflection from a target, device #A can estimate the "distance between device #A and the target" and use this "distance between device #A and the target" to further estimate the position of the target with high accuracy.

[0578] Note that Figures 15A, 15B, 15C, 15D, 15E, 15F, and 23B are shown as examples of the operation flow of the first device and the base station, but these are merely examples, and the order of operations may be different from the order shown in the figures.

[0579] Also, similarly to the second embodiment, in the operational flow of FIG. 23B, first device 1201 may change the base station to which sensing is requested in order to improve the accuracy of target position estimation.

[0580] For example, if base station #2 of 1202_2 performs "transmission 2313 of arrival direction estimation result and feedback information" and first device 1201 receives it and determines that there is a possibility that target position estimation cannot be obtained with high accuracy, as described in the second embodiment, first device 1201 may change the base station to which sensing is requested.

[0581] Furthermore, if the first device 1201 estimates the position of the target (2305) and determines that the target position estimate has not been obtained with high accuracy, the first device 1201 may request sensing from another base station.

[0582] (Fourth embodiment) In this embodiment, an example different from the second embodiment will be described.

[0583] Fig. 29 is a diagram showing an example of a "sensing system" or a "sensing and communication system" according to this embodiment. In Fig. 29, components that operate in the same manner as in Fig. 12 are given the same numbers.

[0584] In FIG. 29, a third device 2903 communicates with a first device 1201 using a third frequency (band).

[0585] The 4_1 device 2904_1, the 4_2 device 2904_2, ..., the 4_Q device 2904_Q communicate using a fourth frequency (band), where Q is an integer equal to or greater than 1.

[0586] For example, the third frequency (band) may be FR (Frequency Range) 1 and / or FR2, and the fourth frequency (band) may be a frequency of 52.6 GHz or higher. However, FR1 may be a "frequency between 450 MHz and 6 GHz or lower," and FR2 may be a "frequency between 24.25 GHz and 52.6 GHz." As another example, the fourth frequency (band) may be a frequency higher than the third frequency (band). As yet another example, the third frequency (band) may be FR1, and the fourth frequency (band) may be FR2.

[0587] Also, the third device 2903 communicates with a 4_1 device 2904_1, a 4_2 device 2904_2, ..., a 4_Q device 2904_Q. This communication may be wireless communication or wired communication.

[0588] In "the 4_1 device 2904_1, the 4_2 device 2904_2, ..., the 4_Q device 2904_Q," communication may be possible between these two devices. Note that this communication may be wireless communication or wired communication.

[0589] A target (object) 1203 is an object whose position is estimated by sensing.

[0590] In this embodiment, as an example, the following methods are described: "triangulation described in the first embodiment between the first device 1201 and the 4_1 device 2904_1," "triangulation described in the first embodiment between the first device 1201 and the 4_2 device 2904_2," and... "triangulation described in the first embodiment between the first device 1201 and the 4_Q device 2904_Q."

[0591] Here, the first device 1201 performs sensing in order to perform triangulation. At this time, the first device 1201 performs sensing with one of "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" to realize triangulation. However, it is assumed that there may be some 4_i devices of 2904_i that do not support sensing due to factors such as the size and installation date of the 4_i devices of 2904_i. Note that i is an integer between 1 and Q.

[0592] Therefore, "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" transmit control information including information 3001 on sensing capabilities as shown in Fig. 30. For example, "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" transmit control information including information 3001 on sensing capabilities using, for example, the PBCH, the PDSCH, or the PDCCH.

[0593] The channel for transmitting this control information is not limited to the above example. In addition, "the 4_1 device 2904_1, the 4_2 device 2904_2, ..., the 4_Q device 2904_Q" may transmit the information 3001 regarding the sensing capability to the first device 1201 or the third device 2903.

[0594] Fig. 30 is a diagram illustrating an example of information related to sensing capabilities. As shown in Fig. 30, information 3001 related to sensing capabilities includes at least one of "information 3011 regarding whether sensing is possible or not," "information 3012 regarding whether a sensing request from the first device 1201 can be performed or not," and "information 3013 regarding whether a sensing request from the first device 1201 can be received or not."

[0595] Specific examples of "information 3011 regarding whether sensing is possible / impossible," "information 3012 regarding whether a sensing request from the first device 1201 can be implemented / performed," and "information 3013 regarding whether a sensing request from the first device 1201 can be accepted / received" are as follows:

[0596] "Information about whether sensing is possible or not 3011": This information is used to notify, for example, the first device 1201, a repeater, other 4_x devices, the third device 2903, etc., whether the 4_ith device 2904_i is capable of performing sensing. Therefore, when at least the information that "sensing can be performed" is included as "information 3011 regarding sensing availability / unavailability," the 4_i device of 2904_i is deemed to have a sensing function. Also, the 4_i device of 2904_i is deemed to have a communication function. Note that the specific configuration has already been explained in the first embodiment, so explanation will be omitted.

[0597] "Information 3012 regarding whether a sensing request from the first device 1201 can be performed": This information is used to notify, for example, the first device 1201, the third device 2903, etc., of information on whether sensing can be performed when the fourth_i device 2904_i receives a sensing request from the first device 1201 (a terminal request that the first device 1201 perform sensing).

[0598] Although the information 3012 is named "information on whether a sensing request from the first device 1201 can be performed" here, the information 3012 on whether a sensing request from the first device 1201 can be performed may also be "information on whether a sensing request from a device other than the first device 1201, for example, a repeater, a third device 2903, or another base station can be performed." The "sensing request" will be described in detail later.

[0599] "Information 3013 regarding whether a sensing request from the first device 1201 can be accepted": This information is used, for example, to notify the first device 1201, etc., of information on whether or not to accept sensing from the first device 1201 when the 4_i device of 2904_i receives a sensing request from the first device 1201 (a terminal request that the first device 1201 perform sensing).

[0600] Therefore, even if the 4_i device 2904_i receives a sensing request from the first device 1201, there are modes in which the 4_i device "accepts" and "does not accept" the request.

[0601] Although the information 3013 is named "information on whether a sensing request can be received from the first device 1201" here, the information 3013 on whether a sensing request can be received from the first device 1201" may also be "information on whether a sensing request can be received from a device other than the first device 1201, for example, a repeater, the third device 2903, or another base station." Details of the "sensing request" will be explained later.

[0602] By doing as described above, the first device 1201, the repeater, the third device 2903, other base stations, etc. can know the sensing status of the base station and the status of the sensing request, thereby achieving the effect of being able to perform appropriate "control regarding sensing and communication with the fourth_i device of 2904_i".

[0603] In the above description, the device that transmits information 3001 regarding sensing capabilities in Figure 30 is described as the 4th_ith device 2904_i, but this is merely an example, and information 3001 regarding sensing capabilities may also be transmitted by a communication device such as a repeater, terminal, access point, or third device 2903.

[0604] 30, the device that transmits information 3001 related to sensing capability can transmit information 3001 related to sensing capability. In addition, although "information 3012 related to whether a sensing request from the first device 1201 can be performed" and "information 3013 related to whether a sensing request from the first device 1201 can be accepted" are transmitted by the device that transmits information 3001 related to sensing capability, it is written as "sensing request from the first device 1201...", but the sensing request may be from a communication device other than the first device 1201, such as a base station, a repeater, an access point, or the third device 2903. Therefore, 3012 can also be implemented as "information related to whether a sensing request from a communication device can be performed" and 3013 as "information related to whether a sensing request from a communication device can be accepted".

[0605] Next, sensing by the first device 1201 and the 4_1 device 2904_1 in FIG. 29 will be described.

[0606] The first device 1201 may be a terminal capable of communicating with the third device 2903 and the 4_i device of 2904_i, or the first device 1201 may be a base station (or an access point, a repeater, etc.). The first device 1201 may be the 4_xth device of 2904_x (where x is, for example, a natural number). The third device 2903 may be a base station, a terminal, a repeater, an access point, etc. The 4_ith device of 2904_i may be a base station, a terminal, a repeater, an access point, etc.

[0607] In the following explanation, first device 1201 is assumed to be a terminal, but the same implementation is possible even if first device 1201 is a base station, an access point, or a repeater. However, if special operations occur when first device 1201 is a base station, supplementary explanations will be provided.

[0608] This embodiment deals with triangulation. Specific examples of triangulation methods are described in the first embodiment, and the first and second methods are triangulation methods based on obtaining distance information by performing sensing.

[0609] On the other hand, the third and fourth methods are triangulation methods based on obtaining information on the (arrival) direction (although distance may also be obtained) by performing sensing.

[0610] Hereinafter, the explanation of Figure 29 will be divided into distance-based triangulation using the first and second methods as examples, and direction-based triangulation using the third and fourth methods as examples.

[0611] For distance-based triangulation: An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0612] The first device 1201 obtains information 3001 regarding the sensing capabilities of Figure 30 transmitted by "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" and acquires the sensing support status of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q."

[0613] As another method, "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" may transmit information 3001 regarding the sensing capabilities of Fig. 30 to the third device 2903, and the third device 2903 may transmit control information including information regarding the sensing capabilities of each of the devices "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" using the third frequency. This allows the first device 1201 to know the sensing support status of "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q".

[0614] In the following, as an example, it is assumed that "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" are all capable of performing sensing, and when a sensing request is made from a terminal such as the first device 1201, it is assumed that "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" are all capable of performing sensing operations in response to the request to perform sensing.

[0615] Fig. 31 is a diagram showing an example of a procedure for sensing in the example system of Fig. 29. In Fig. 31, it is assumed that the first device 1201 has at least information on "the distance between the first device 1201 and the fourth_1 device 2904_1" before "estimating the position of the target (object) 3104".

[0616] Also, in FIG. 31, it is assumed that the first device 1201 has obtained information on the "distance between the first device 1201 and the 4_ith device of 2904_i" (i is an integer greater than or equal to 1 and less than or equal to Q) before "selecting 3102 the 4_ith device of 2904_i for sensing the target (sensing the target)."

[0617] Before explaining Figure 31, we will explain how to obtain information on the "distance between the first device 1201 and the 4_1 device 2904_1" using Figures 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H.

[0618] 32A, first, the 4_i-th device of 2904_i transmits a signal (3201). Then, the first device 1201 receives this signal and estimates the "distance between the first device 1201 and the 4_1-th device of 2904_1" (3202). Note that the detailed method of distance estimation has been explained in the first embodiment, so explanation will be omitted here.

[0619] 32B, first, the first device 1201 transmits a signal to the 4_i device of 2904_i (3211). Then, the first device 1201 receives this signal and estimates the "distance between the first device 1201 and the 4_1 device of 2904_1" (3212). Note that the detailed method of distance estimation has been explained in the first embodiment, so explanation will be omitted here.

[0620] As another method, in FIG. 32C, first, the first device 1201 transmits a signal to the 4_ith device of 2904_i (3221). Then, the 4_ith device of 2904_i receives this signal and estimates the "distance between the first device 1201 and the 4_ith device of 2904_i" (3222). The 4_ith device of 2904_i transmits a modulated signal including information on the "distance between the first device 1201 and the 4_ith device of 2904_i" to the first device 1201 (3223). The first device 1201 receives the modulated signal including information on the "distance between the first device 1201 and the 4_ith device of 2904_i" and obtains information on the "distance between the first device 1201 and the 4_ith device of 2904_i" (3224).

[0621] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the "distance between the first device 1201 and the 4_i device of 2904_i" may be obtained in advance.

[0622] The first device 1201 and the 4_ith device of 2904_i may acquire their locations using a location estimation system such as GPS. Then, the 4_ith device of 2904_i may transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the 4_ith device of 2904_i. Then, the first device 1201 may transmit its own location information to the 4_ith device of 2904_i, and the 4_ith device of 2904_i may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the first device 1201.

[0623] 32D, first, the first device 1201 transmits a signal to the 4_ith device of 2904_i (3231). Then, the 4_ith device of 2904_i receives this signal and estimates the "distance between the first device 1201 and the 4_ith device of 2904_i" (3232). Note that the detailed method of distance estimation has been explained in the first embodiment, so explanation will be omitted here.

[0624] As another method, in Fig. 32E, first, the 4_ith device 2904_i transmits a signal to the first device 1201 (3241). Then, the 4_ith device 2904_i receives this signal and estimates the "distance between the first device 1201 and the 4_ith device 2904_i" (3242). Note that the detailed method of distance estimation has been explained in the first embodiment, so explanation will be omitted here.

[0625] As another method, in FIG. 32F, first, the 4_ith device of 2904_i transmits a signal to the first device 1201 (3251). Then, the first device 1201 receives this signal and estimates the "distance between the first device 1201 and the 4_ith device of 2904_i" (3252). The first device 1201 transmits a modulated signal including information on the "distance between the first device 1201 and the 4_ith device of 2904_i" to the 4_ith device of 2904_i (3253). The 4_ith device of 2904_i receives the modulated signal including information on the "distance between the first device 1201 and the 4_ith device of 2904_i" and obtains information on the "distance between the first device 1201 and the 4_ith device of 2904_i" (3254).

[0626] As another method, in FIG. 32G, first, the first device 1201 transmits a signal to the 4_ith device of 2904_i (3261). Then, the 4_ith device of 2904_i receives this signal and estimates the "distance between the first device 1201 and the 4_ith device of 2904_i" (3262). The 4_ith device of 2904_i transmits a modulated signal including information on the "distance between the first device 1201 and the 4_ith device of 2904_i" to the third device 2903 (3263). The third device 2903 obtains information on the "distance between the first device 1201 and the 4_ith device of 2904_i" (3264), and the third device 2903 transmits a modulated signal including the information on the "distance between the first device 1201 and the 4_ith device of 2904_i" to the first device 1201 (3265), and the first device 1201 obtains information on the "distance between the first device 1201 and the 4_ith device of 2904_i" (3266).

[0627] As another method, in Fig. 32H, first, the 4_i device of 2904_i transmits a signal to the first device 1201 (3271). Then, the 4_i device of 2904_i receives this signal and estimates the "distance between the first device 1201 and the 4_i device of 2904_i" (3272). Note that the detailed method of distance estimation has been explained in the first embodiment, so explanation will be omitted. The 4_i device of 2904_i transmits a modulated signal including information on the "distance between the first device 1201 and the 4_i device of 2904_i" to the third device 2903 (3273). The third device 2903 obtains information on the "distance between the first device 1201 and the 4_ith device of 2904_i" (3274), and the third device 2903 transmits a modulated signal including the information on the "distance between the first device 1201 and the 4_ith device of 2904_i" to the first device 1201 (3275), and the first device 1201 obtains information on the "distance between the first device 1201 and the 4_ith device of 2904_i" (3276).

[0628] An example of the method for obtaining the information of "the distance between the first device 1201 and the 4_1 device 2904_1" has been described above with reference to Figs. 32A to 32H.

[0629] An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0630] In FIG. 31, first, the first device 1201 performs sensing on the target (object) 1203 in FIG. 29, and obtains an estimated value of the "distance between the first device 1201 and the target 1203" (3101).

[0631] The first device 1201 selects the 4_ith device of 2904_i to request an estimate of the distance to the target 1203 based on the estimated value of the "distance between the first device 1201 and the target 1203" and the information of the "distance between the first device 1201 and the 4_ith device of 2904_i" (3102).

[0632] 31, it is assumed that the first device 1201 selects the 4_1 device of 2904_1 in FIG. 29 as the 4_i device of 2904_i to be requested to estimate the distance to the target 1203. However, when the 4_i device of 2904_i to be requested to estimate the distance to the target 1203 is determined (in advance), it is not necessary to perform "selection 3102 of the 4_i device of 2904_i for sensing the target (sensing the target)."

[0633] The first device 1201 transmits information requesting "estimation of distance to target 1203" to the third device 2903 (3103).

[0634] The third device 2903 receives the information of the request for "estimating the distance to the target 1203" and transmits the information of the request for "estimating the distance to the target 1203" to the fourth_1 device 2904_1 (3121).

[0635] The 4_1 device 2904_1 receives the information of the request to "estimate the distance to the target 1203" and responds "whether or not to accept this request" (3111). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0636] The third device 2903 receives the response information to this request, and then transmits the response information to the first device 1201 (3122).

[0637] The 4_1 device of 2904_1 transmits a signal to perform sensing and obtains an estimate of the "distance between the 4_1 device of 2904_1 and the target 1203" (3112).

[0638] The 4_1 device of 2904_1 transmits information on the "distance between the 4_1 device of 2904_1 and the target 1203" to the third device 2903 (3113).

[0639] The third device 2903 receives the information of "the distance between the 4_1 device of 2904_1 and the target 1203" and transmits the information of "the distance between the 4_1 device of 2904_1 and the target 1203" to the first device 1201 (3123).

[0640] The first device 1201 obtains information on the "distance between the 4_1 device of 2904_1 and the target 1203," and performs triangulation using the "distance between the first device 1201 and the 4_i device of 2904_i," "distance between the first device 1201 and the target 1203," and "distance between the 4_1 device of 2904_1 and the target 1203," to estimate, for example, the position of the target 1203 (3104).

[0641] The first device 1201 transmits the "position of the target 1203" information to the third device 2903 (3105).

[0642] The third device 2903 receives the "position of the target 1203" information and transmits the "position of the target 1203" information to the fourth_1 device 2904_1 (3124).

[0643] If there is no need to share the “position of the target 1203” information with the fourth_1 device 2904_1, the first device 1201 does not need to transmit the “position of the target 1203” information to the third device 2903.

[0644] By implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0645] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0646] Next, an example of a procedure for sensing that is different from that in FIG. 31 will be described using FIG. 33. FIG. 33 is a diagram showing another example of a procedure for sensing. In FIG. 33, parts that operate in the same way as in FIG. 31 are given the same numbers. In FIG. 33, differences from FIG. 31 will be described. The differences in FIG. 33 from FIG. 31 are as follows.

[0647] "In Figure 31, the first device 1201 selects (3102) the 4_ith device of 2904_i for sensing the target 1203 (sensing the target)," whereas "in Figure 33, the third device 2903 selects (3399) the 4_ith device of 2904_i for sensing the target 1203 (sensing the target) by the first device 1201."

[0648] 33 , the first device 1201 transmits (3103) information requesting "estimation of distance to target 1203" to the third device 2903. At this time, the first device 1201 may transmit information on the "distance to target 1203" to the third device 2903.

[0649] Then, the third device 2903, the first device 1201, selects the 4_ith device of 2904_i that will perform the "estimation of the distance to the target 1203" based on information on the "distance to the target 1203" and the sensing capability status of the 4_ith device of 2904_i (information 3001 regarding sensing capability in Figure 30) (3399).

[0650] In this case, it is assumed that the device that performs sensing is the 4_1 device of 2904_1. However, when the 4_i device of 2904_i to be requested to estimate the distance to the target 1203 is determined (in advance), it is not necessary to perform "selection 3399 of the 4_i device of 2904_i for sensing the target (sensing the target)."

[0651] The operations from 3399 onwards in FIG. 33 have already been explained using FIG. 31, so the explanation will be omitted.

[0652] By implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0653] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0654] Next, another example of using distance-based triangulation using the first and second methods will be described with reference to FIG.

[0655] Fig. 34 is a diagram showing another example of a procedure for sensing. Assume that the first device 1201 receives information 3001 on sensing capabilities in Fig. 30 transmitted by "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" and acquires the sensing support status of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q."

[0656] As another method, "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" may transmit information 3001 regarding the sensing capabilities of Fig. 30 to the third device 2903, and the third device 2903 may transmit control information including information regarding the sensing capabilities of each of the devices "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" using the third frequency. This allows the first device 1201 to obtain the sensing support status of "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q".

[0657] In the following, as an example, it is assumed that any of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" can perform sensing, and when a sensing request is made from a terminal such as the first device 1201, it is assumed that any of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" can perform sensing operations in response to the request to perform sensing.

[0658] 34, it is assumed that the first device 1201 has at least obtained information on the "distance between the first device 1201 and the 4_1 device of 2904_1" before "estimating the position of the target (object) 3413." And in FIG. 34, it is assumed that the first device 1201 has obtained information on the "distance between the first device 1201 and the 4_i device of 2904_i" (i is an integer between 1 and Q) before "selecting the 4_i device of 2904_i for sensing the target (sensing the target) 3402."

[0659] The method for obtaining the information on the "distance between the first device 1201 and the 4_1 device 2904_1" at this time has already been explained using Figures 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the explanation will be omitted.

[0660] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the "distance between the first device 1201 and the 4_i device of 2904_i" may be obtained in advance.

[0661] Furthermore, the first device 1201 and the 4_i device of 2904_i may acquire their locations using a location estimation system such as GPS. Then, the 4_i device of 2904_i may transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the 4_i device of 2904_i" from its own location information and the location information of the 4_i device of 2904_i. Then, the first device 1201 may transmit its own location information to the 4_i device of 2904_i, and the 4_i device of 2904_i may calculate the "distance between the first device 1201 and the 4_i device of 2904_i" from its own location information and the location information of the first device 1201.

[0662] An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0663] In FIG. 34, first, the first device 1201 performs sensing on the target (object) 1203 in FIG. 29, and obtains an estimated value of the "distance between the first device 1201 and the target 1203" (3401).

[0664] The first device 1201 selects the 4_ith device of 2904_i to request an estimate of the distance to the target 1203 based on the estimated value of the "distance between the first device 1201 and the target 1203" and the information of the "distance between the first device 1201 and the 4_ith device of 2904_i" (3402).

[0665] 34, it is assumed that the first device 1201 selects the 4_1 device of 2904_1 in Fig. 29 as the 4_i device of 2904_i to be requested to estimate the distance to the target 1203. However, when the 4_i device of 2904_i to be requested to estimate the distance to the target 1203 is determined (in advance), it is not necessary to perform "selection 3402 of the 4_i device of 2904_i for sensing the target (sensing the target)".

[0666] The first device 1201 transmits information requesting "estimation of distance to target 1203" to the third device 2903. The first device 1201 also transmits information on the estimated value of "the distance between the first device 1201 and the target 1203" to the third device 2903 (3403).

[0667] The third device 2903 receives information on the request to "estimate the distance to the target 1203" and information on the estimated value of the "distance between the first device 1201 and the target 1203," and transmits the information on the request to "estimate the distance to the target 1203" and information on the estimated value of the "distance between the first device 1201 and the target 1203" to the fourth_1 device 2904_1 (3421).

[0668] The 4_1 device 2904_1 receives the information of the request to "estimate the distance to the target 1203" and responds "whether to accept this request" (3411). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0669] The third device 2903 receives the response information to this request, and then transmits the response information to the first device 1201 (3422).

[0670] The 4_1 device of 2904_1 transmits a signal to perform sensing and obtains an estimate of the "distance between the 4_1 device of 2904_1 and the target 1203" (3412).

[0671] The 4_1 device of 2904_1 performs triangulation using the "distance between the first device 1201 and the 4_i device of 2904_i," "distance between the first device 1201 and the target 1203," and "distance between the 4_1 device of 2904_1 and the target 1203," and estimates, for example, the position of the target 1203 (3413).

[0672] The 4_1 device 2904_1 transmits the "position of the target 1203" information to the third device 2903 (3414).

[0673] The third device 2903 receives the "position of the target 1203" information and transmits the "position of the target 1203" information to the first device 1201 (3423).

[0674] If there is no need to share the “position of the target 1203” information with the first device 1201, the 4_1 device 2904_1 does not need to transmit the “position of the target 1203” information to the third device 2903.

[0675] By implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0676] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0677] Next, an embodiment different from that of FIG. 34 will be described using FIG. 35. FIG. 35 is a diagram showing another example of a procedure for sensing. In FIG. 35, parts that operate in the same way as in FIG. 34 are given the same numbers. In FIG. 35, differences from FIG. 34 will be described. The differences in FIG. 35 from FIG. 34 are as follows.

[0678] "In Figure 34, the first device 1201 selects (3402) the 4_ith device of 2904_i for sensing the target 1203 (sensing the target)," whereas "in Figure 35, the third device 2903 selects (3599) the 4_ith device of 2904_i for sensing the target 1203 (sensing the target) by the first device 1201."

[0679] 35 , the first device 1201 transmits (3403) information requesting "estimation of distance to target 1203" to the third device 2903. At this time, the first device 1201 may transmit information on the "distance to target 1203" to the third device 2903.

[0680] Then, the third device 2903, the first device 1201, selects the 4_ith device of 2904_i that will perform the "estimation of the distance to the target 1203" based on information on the "distance to the target 1203" and the sensing capability status of the 4_ith device of 2904_i (information 3001 regarding sensing capability in Figure 30) (3599).

[0681] It is assumed here that the device that performs sensing is the 4_1 device of 2904_1. However, when the 4_i device of 2904_i to be requested to estimate the distance to the target 1203 is determined (in advance), it is not necessary to perform "selection 3599 of the 4_i device of 2904_i for sensing the target (sensing the target)."

[0682] The operations from 3599 onwards in FIG. 35 have already been explained using FIG. 34, so the explanation will be omitted.

[0683] By implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0684] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0685] For direction-based triangulation: An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0686] The first device 1201 obtains information 3001 regarding the sensing capabilities of Figure 30 transmitted by "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" and acquires the sensing support status of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q."

[0687] As another method, "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" may transmit information 3001 regarding the sensing capabilities of Fig. 30 to the third device 2903, and the third device 2903 may transmit control information including information regarding the sensing capabilities of each of the devices "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" using the third frequency. This allows the first device 1201 to obtain the sensing support status of "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q".

[0688] In the following, as an example, it is assumed that any of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" can perform sensing, and when a sensing request is made from a terminal such as the first device 1201, it is assumed that any of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" can perform sensing operations in response to the request to perform sensing.

[0689] 31, it is assumed that the first device 1201 has obtained at least information on "the distance between the first device 1201 and the 4_1 device of 2904_1" before "estimating the position of the target (object) 3104." In FIG. 31, it is assumed that the first device 1201 has obtained information on "the distance between the first device 1201 and the 4_i device of 2904_i" (i is an integer between 1 and Q) before "selecting the 4_i device of 2904_i for sensing the target (sensing the target) 1402."

[0690] The method for obtaining the information on the "distance between the first device 1201 and the 4_1 device 2904_1" has already been explained using Figures 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the explanation will be omitted.

[0691] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the "distance between the first device 1201 and the 4_i device of 2904_i" may be obtained in advance.

[0692] Furthermore, the first device 1201 and the 4_ith device of 2904_i may acquire their locations using a location estimation system such as GPS. Then, the 4_ith device of 2904_i may transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the 4_ith device of 2904_i. Then, the first device 1201 may transmit its own location information to the 4_ith device of 2904_i, and the 4_ith device of 2904_i may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the first device 1201.

[0693] An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0694] In FIG. 31, first, the first device 1201 performs sensing on the target (object) 1203 in FIG. 29, and obtains an estimated value of the "(arrival) direction of the first device 1201 and the target 1203" (3101).

[0695] The first device 1201 selects the 4_ith device of 2904_i to request an estimate of the (arrival) direction of the target 1203 based on the estimated value of the "(arrival) direction of the first device 1201 and the target 1203" and the information of the "distance between the first device 1201 and the 4_ith device of 2904_i" (3102).

[0696] 31, it is assumed that the first device 1201 selects the 4_1 device of 2904_1 in FIG. 29 as the 4_i device of 2904_i to be requested to estimate the (arrival) direction of the target 1203. However, when the 4_i device of 2904_i to be requested to estimate the (arrival) direction of the target 1203 is determined (in advance), it is not necessary to perform "selection 3102 of the 4_i device of 2904_i to (sensing the target) sense the target."

[0697] Then, the first device 1201 transmits information requesting "estimation of the (arrival) direction of the target 1203" to the third device 2903 (3103).

[0698] The third device 2903 receives the information of the request for "estimating the (arrival) direction of the target 1203" and transmits the information of the request for "estimating the (arrival) direction of the target 1203" to the fourth_1 device 2904_1 (3121).

[0699] The 4_1 device 2904_1 receives information on the request for "estimating the (arrival) direction of the target 1203" and responds "whether to accept this request" (3111). Note that in this example, the explanation will be given assuming that the request is accepted.

[0700] The third device 2903 receives the response information to this request, and then transmits the response information to the first device 1201 (3122).

[0701] The 4_1 device of 2904_1 transmits a signal to perform sensing, and obtains an estimate of the "(arrival) direction of the 4_1 device of 2904_1 and the target 1203" (3112).

[0702] The 4_1 device of 2904_1 transmits information on the "(arrival) direction of the 4_1 device of 2904_1 and the target 1203" to the third device 2903 (3113).

[0703] The third device 2903 receives the information of "the (arrival) direction of the 4_1 device of 2904_1 and the target 1203" and transmits the information of "the (arrival) direction of the 4_1 device of 2904_1 and the target 1203" to the first device 1201 (3123).

[0704] The first device 1201 obtains information on the "(arrival) direction of the 4_1 device of 2904_1 and the target 1203," and performs triangulation using the "distance between the first device 1201 and the 4_i device of 2904_i," "(arrival) direction of the first device 1201 and the target 1203," and "(arrival) direction of the 4_1 device of 2904_1 and the target 1203," to estimate, for example, the position of the target 1203 (3104).

[0705] The first device 1201 transmits the "position of the target 1203" information to the third device 2903 (3105).

[0706] The third device 2903 receives the "position of the target 1203" information and transmits the "position of the target 1203" information to the fourth_1 device 2904_1 (3124).

[0707] If there is no need to share the “position of the target 1203” information with the fourth_1 device 2904_1, the first device 1201 does not need to transmit the “position of the target 1203” information to the third device 2903.

[0708] By implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0709] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0710] Next, an embodiment different from that shown in FIG. 31 will be described with reference to FIG. 33. In FIG. 33, components that operate in the same manner as those shown in FIG. 31 are given the same numbers. Differences between FIG. 33 and FIG. 31 will be described. The differences between FIG. 33 and FIG. 31 are as follows:

[0711] "In Figure 31, the first device 1201 selects (3102) the 4_ith device of 2904_i for sensing the target 1203 (sensing the target)," whereas "in Figure 33, the third device 2903 selects (3399) the 4_ith device of 2904_i for sensing the target 1203 (sensing the target) by the first device 1201."

[0712] 33 , the first device 1201 transmits (3103) information requesting "estimation of the (arrival) direction of the target 1203" to the third device 2903. At this time, the first device 1201 may transmit information on the "(arrival) direction of the target 1203" to the third device 2903.

[0713] Then, the third device 2903, the first device 1201, selects the 4_ith device of 2904_i that will perform "estimation of the (arrival) direction of the target 1203" based on information on the "(arrival) direction of the target 1203", the sensing support status of the 4_ith device of 2904_i (information 3001 on sensing capability in FIG. 30), etc. (3399). Note that here, it is assumed that the device that performs sensing is the 4_1st device of 2904_1.

[0714] The operations from 3399 onwards in FIG. 33 have already been explained using FIG. 31, so the explanation will be omitted.

[0715] By implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0716] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0717] Next, another example of using direction-based triangulation, taking the third and fourth methods as examples, will be described with reference to FIG.

[0718] The first device 1201 obtains information 3001 regarding the sensing capabilities of Figure 30 transmitted by "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" and acquires the sensing support status of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q."

[0719] As another method, "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" may transmit information 3001 regarding the sensing capabilities of Fig. 30 to the third device 2903, and the third device 2903 may transmit control information including information regarding the sensing capabilities of each of the devices "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" using the third frequency. This allows the first device 1201 to obtain the sensing support status of "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q".

[0720] In the following, as an example, it is assumed that "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" are all capable of performing sensing, and when a sensing request is made from a terminal such as the first device 1201, it is assumed that "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" are all capable of performing sensing operations in response to the request to perform sensing.

[0721] In addition, in FIG. 34, it is assumed that the first device 1201 has obtained at least information on "the distance between the first device 1201 and the fourth_1 device 2904_1" before "estimating the position of the target (object) 3413."

[0722] In FIG. 34, it is assumed that the first device 1201 has obtained information on the "distance between the first device 1201 and the 4_ith device of 2904_i" (where i is an integer greater than or equal to 1 and less than or equal to Q) before "selecting 3402 the 4_ith device of 2904_i for sensing the target (sensing the target)."

[0723] The method for obtaining the information on the "distance between the first device 1201 and the 4_1 device 2904_1" has already been explained using Figures 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the explanation will be omitted.

[0724] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the "distance between the first device 1201 and the 4_i device of 2904_i" may be obtained in advance.

[0725] Furthermore, the first device 1201 and the 4_ith device of 2904_i may acquire their locations using a location estimation system such as GPS. Then, the 4_ith device of 2904_i may transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the 4_ith device of 2904_i. Then, the first device 1201 may transmit its own location information to the 4_ith device of 2904_i, and the 4_ith device of 2904_i may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the first device 1201.

[0726] An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0727] In FIG. 34, first, the first device 1201 performs sensing on the target (object) 1203 in FIG. 29, and obtains an estimated value of the "(arrival) direction of the first device 1201 and the target 1203" (3401).

[0728] The first device 1201 selects the 4_ith device of 2904_i to request an estimate of the (arrival) direction of the target 1203 based on the estimated value of the "(arrival) direction of the first device 1201 and the target 1203" and the information of the "distance between the first device 1201 and the 4_ith device of 2904_i" (3402).

[0729] 34, it is assumed that the first device 1201 selects the 4_1 device of 2904_1 in FIG. 29 as the 4_i device of 2904_i to be requested to estimate the (arrival) direction of the target 1203. However, when the 4_i device of 2904_i to be requested to estimate the (arrival) direction of the target 1203 is determined (in advance), it is not necessary to perform "selection 3402 of the 4_i device of 2904_i to (sensing the target) sense the target."

[0730] The first device 1201 transmits information requesting "estimation of the (arrival) direction of the target 1203" to the third device 2903. The first device 1201 also transmits information on the estimated value of the "(arrival) direction of the first device 1201 and the target 1203" to the third device 2903 (3403).

[0731] The third device 2903 receives information on the request for "estimating the (arrival) direction of the target 1203" and information on the estimated value of the "(arrival) direction of the first device 1201 and the target 1203", and transmits the information on the request for "estimating the (arrival) direction of the target 1203" and information on the estimated value of the "(arrival) direction of the first device 1201 and the target 1203" to the fourth_1 device 2904_1 (3421).

[0732] The 4_1 device 2904_1 receives information on the request for "estimating the (arrival) direction of the target 1203" and responds "whether to accept this request" (3411). Note that in this example, the explanation will be given assuming that the request is accepted.

[0733] The third device 2903 receives the response information to this request, and then transmits the response information to the first device 1201 (3422).

[0734] The 4_1 device of 2904_1 transmits a signal to perform sensing, and obtains an estimate of the "(arrival) direction of the 4_1 device of 2904_1 and the target 1203" (3412).

[0735] The 4_1 device of 2904_1 performs triangulation using the "distance between the first device 1201 and the 4_i device of 2904_i," "the (arrival) direction between the first device 1201 and the target 1203," and "the (arrival) direction between the 4_1 device of 2904_1 and the target 1203," and estimates, for example, the position of the target 1203 (3413).

[0736] The 4_1 device 2904_1 transmits the "position of the target 1203" information to the third device 2903 (3414).

[0737] The third device 2903 receives the "position of the target 1203" information and transmits the "position of the target 1203" information to the first device 1201 (3423).

[0738] If there is no need to share the “position of the target 1203” information with the first device 1201, the 4_1 device 2904_1 does not need to transmit the “position of the target 1203” information to the third device 2903.

[0739] As described above, by implementing this, it is possible to realize the triangulation based on the (arrival) direction described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0740] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0741] Next, an embodiment different from that of FIG. 34 will be described using FIG. 35. In FIG. 35, parts that operate in the same way as in FIG. 34 are given the same numbers. In FIG. 35, differences from FIG. 34 will be described. The differences in FIG. 35 from FIG. 34 are as follows.

[0742] "In Figure 34, the first device 1201 selects (3402) the 4_ith device of 2904_i for sensing the target 1203 (sensing the target)," whereas "in Figure 35, the third device 2903 selects (3599) the 4_ith device of 2904_i for sensing the target 1203 (sensing the target) by the first device 1201."

[0743] 35 , the first device 1201 transmits (3403) information requesting "estimation of the (arrival) direction of the target 1203" to the third device 2903. At this time, the first device 1201 may transmit information on the "(arrival) direction of the target 1203" to the third device 2903.

[0744] Then, the third device 2903, the first device 1201, selects the 4_ith device of 2904_i that will perform the "estimation of the (arrival) direction of the target 1203" based on information on the "(arrival) direction of the target 1203" and the sensing capability status of the 4_ith device of 2904_i (information 3001 on sensing capability in Figure 30), etc. (3599).

[0745] It is assumed here that the device that performs sensing is the 4_1 device of 2904_1. However, when the 4_i device of 2904_i to be requested to estimate the (arrival) direction of the target 1203 is determined (in advance), it is not necessary to perform "selection 3599 of the 4_i device of 2904_i (to sense the target)."

[0746] The operations from 3599 onwards in FIG. 35 have already been explained using FIG. 34, so the explanation will be omitted.

[0747] As described above, by implementing this, it is possible to realize the triangulation based on the (arrival) direction described in the first embodiment, thereby obtaining the effect of being able to identify the position of the target.

[0748] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0749] An example of base station selection will be described. In the above description, in Fig. 31, the first device 1201 "performs target sensing (sensing the target) (3101)" before "selecting the 4_ith device 2904_i of target sensing (sensing the target) (3102)."

[0750] Similarly, in FIG. 33, the first device 1201 “performs sensing of the target (sensing the target) (3101)” before the third device 2903 “selects the fourth_ith device 2904_i for sensing the target (sensing the target) (3399).”

[0751] Also, in FIG. 34, the first device 1201 "performs target sensing (sensing the target) (3401)" before "selecting the 4_ith device (sensing the target) 2904_i (3402) for sensing the target."

[0752] Then, in FIG. 35, before the third device 2903 "selects (3599) the 4_ith device 2904_i for sensing the target (sensing the target)", the first device 1201 "performs sensing of the target (sensing the target) (3401)".

[0753] In this case, the 4_ith device of 2904_i can be selected based on the shape of the triangle formed by "the first device 1201, the target 1203, and the 4_ith device of 2904_i" in FIG. 29, but this point has been explained in detail in the second embodiment, so the explanation will be omitted.

[0754] By doing so, it may be possible to reduce estimation errors due to sensing.

[0755] By implementing the above, highly accurate triangulation can be performed, and therefore, it is possible to obtain the effect that each device can grasp the position of the target, etc. Note that if the first device 1201 and the base station "previously grasp the position on the map (or position information)," or if the first device 1201 and the base station "can grasp the position on the map (or position information) by using a position estimation system such as GPS, for example," each device will be able to grasp the position on the map (or position information).

[0756] In the above description, for example, a base station, a terminal, or a repeater transmits a signal to sense a target (object), and this signal may be called a reference signal, a reference symbol, a pilot symbol, a pilot signal, or a preamble. However, the names are not limited to these examples.

[0757] Furthermore, in the above description, each operation has been explained using Fig. 29 to Fig. 35, etc. Fig. 29 has been used as an example of a "sensing system" or a "sensing and communication system." In Fig. 29, an example has been explained in which the 4_i devices of the first devices 1201 and 2904_i perform sensing using the fourth frequency, but either of the 4_i devices of the first devices 1201 and 2904_i may perform sensing using another frequency.

[0758] Next, an embodiment different from the above will be described, in which the target transmits radio waves.

[0759] Fig. 36 is a diagram showing an example of the "sensing system" or "sensing and communication system" in this example. In Fig. 36, components that operate in the same manner as in Fig. 12, Fig. 18, and Fig. 29 are given the same numbers.

[0760] In FIG. 36, a second device 1802 is an object whose position is estimated by sensing.

[0761] In this embodiment, as an example, a method of performing "triangulation explained in the first embodiment between the first device 1201 and the 4_i device 2904_i" will be described.

[0762] The first device 1201 is assumed to be a device having a function of performing the sensing described in the first embodiment. The first device 1201 is assumed to perform sensing using a fourth frequency (band).

[0763] The first device 1201 has a communication function, and for example, the first device 1201 communicates with the third device 2903 using a third frequency (band).

[0764] The first device 1201 may communicate with the 4th_ith device 2904_i using a fourth frequency (band).

[0765] The second device 1802 is assumed to be a device capable of transmitting radio waves of, for example, the fourth frequency (band).

[0766] The 4_i device of 2904_i is assumed to be a device having the function of performing the sensing described in the first embodiment. Note that the 4_i device of 2904_i is assumed to perform sensing using the fourth frequency (band).

[0767] Furthermore, the 4_ith device of 2904_i may have a communication function and may be able to communicate using a fourth frequency (band).

[0768] The third device 2903 communicates with a 4_1 device 2904_1, a 4_2 device 2904_2, ..., a 4_Q device 2904_Q. The communication at this time may be wireless communication or wired communication.

[0769] In "the 4_1 device 2904_1, the 4_2 device 2904_2, ..., the 4_Q device 2904_Q," communication may be possible between these two devices. Note that this communication may be wireless communication or wired communication.

[0770] Here, it is assumed that the first device 1201 performs sensing in order to perform triangulation. At this time, the first device 1201 performs sensing with the 4_i-th device of 2904_i to realize triangulation. However, it is assumed that there may be a 4_x-th device of 2904_x that does not support sensing due to factors such as the size of the 4_i-th device of 2904_i and the time of installation.

[0771] Therefore, the 4_i-th device of 2904_i is assumed to transmit control information including sensing capability information 3001 as shown in Fig. 30. For example, the control information including sensing capability information 3001 is assumed to be transmitted by the base station using the PBCH, PDSCH, or PDCCH. Note that the channel for transmitting this control information is not limited to the above example.

[0772] As shown in Figure 30, information 3001 regarding sensing capabilities includes at least one of "information 3011 regarding whether sensing is possible," "information 3012 regarding whether a sensing request from the first device 1201 can be implemented," and "information 3013 regarding whether a sensing request from the first device 1201 can be accepted."

[0773] Specific examples of "information 3011 regarding whether sensing is possible / impossible," "information 3012 regarding whether a sensing request from the first device 1201 can be implemented / performed," and "information 3013 regarding whether a sensing request from the first device 1201 can be accepted / received" are as follows:

[0774] "Information about whether sensing is possible or not 3011": This information is used to notify, for example, the first device 1201, a repeater, other 4_x devices, the third device 2903, etc., whether the 4_ith device 2904_i is capable of performing sensing.

[0775] Therefore, when at least the information that "sensing can be performed" is included as "information 3011 regarding sensing availability / unavailability," the 4_i device of 2904_i is deemed to have a sensing function. Also, the 4_i device of 2904_i is deemed to have a communication function. Note that the specific configuration has already been explained in the first embodiment, so explanation will be omitted.

[0776] "Information 3012 regarding whether a sensing request from the first device 1201 can be performed": This information is used to notify, for example, the first device 1201, the third device 2903, etc., of information on whether or not sensing can be performed when the fourth_ith device 2904_i receives a sensing request from the first device 1201.

[0777] Although the information 3012 is named "information on whether a sensing request from the first device 1201 can be performed" here, the information 3012 on whether a sensing request from the first device 1201 can be performed may also be "information on whether a sensing request from a device other than the first device 1201, for example, a repeater, a third device 2903, or another base station can be performed." The "sensing request" will be described in detail later.

[0778] "Information 3013 regarding whether a sensing request from the first device 1201 can be accepted": This information is used, for example, to notify the first device 1201, when the 4_i device 2904_i receives a sensing request from the first device 1201, of whether or not to accept sensing from the first device 1201.

[0779] Therefore, even if the 4_i device 2904_i receives a sensing request from the first device 1201, there are modes in which the 4_i device "accepts" and "does not accept" the request.

[0780] Although the information 3013 is named "information on whether a sensing request can be received from the first device 1201" here, the information 3013 on whether a sensing request can be received from the first device 1201" may also be "information on whether a sensing request can be received from a device other than the first device 1201, for example, a repeater, the third device 2903, or another base station." Details of the "sensing request" will be explained later.

[0781] By doing as described above, the first device 1201, the repeater, the third device 2903, other base stations, etc. can know the sensing status of the base station and the status of the sensing request, thereby achieving the effect of being able to perform appropriate "control regarding sensing and communication with the fourth_i device of 2904_i".

[0782] In the above description, the device that transmits information 3001 regarding sensing capabilities in Figure 30 is described as the 4th_ith device 2904_i, but this is merely an example, and information 3001 regarding sensing capabilities may also be transmitted by a communication device such as a repeater, terminal, access point, or third device 2903.

[0783] 30, the device that transmits information 3001 related to sensing capability can transmit information 3001 related to sensing capability. In addition, although "information 3012 related to whether a sensing request from the first device 1201 can be performed" and "information 3013 related to whether a sensing request from the first device 1201 can be accepted" are transmitted by the device that transmits information 3001 related to sensing capability, it is written as "sensing request from the first device 1201...", but the sensing request may be from a communication device other than the first device 1201, such as a base station, a repeater, an access point, or the third device 2903. Therefore, 3012 can also be implemented as "information related to whether a sensing request from a communication device can be performed" and 3013 as "information related to whether a sensing request from a communication device can be accepted".

[0784] Next, sensing by the first device 1201, the second device 1802, and the 4_1 device 2904_1 in FIG. 36 will be described.

[0785] The first device 1201 may be a terminal capable of communicating with the third device 2903 and the 4_i device of 2904_i, or the first device 1201 may be a base station (or an access point, a repeater, etc.). The first device 1201 may be the 4_x device of 2904_x (where x is, for example, a natural number). The third device 2903 may be a base station, a terminal, a repeater, an access point, etc. The 4_i device of 2904_i may be a base station, a terminal, a repeater, an access point, etc.

[0786] In the following explanation, first device 1201 is assumed to be a terminal, but the same implementation is possible even if first device 1201 is a base station, access point, or repeater. However, if special operations occur when first device 1201 is a base station, supplementary explanations will be provided.

[0787] This embodiment deals with triangulation. Specific examples of triangulation methods are described in the first embodiment, and the first and second methods are triangulation methods based on obtaining distance information by performing sensing.

[0788] On the other hand, the third and fourth methods are triangulation methods based on obtaining information on the (arrival) direction (although distance may also be obtained) by performing sensing.

[0789] In the following, FIG. 12 will be explained separately for distance-based triangulation using the first and second methods as examples, and direction-based triangulation using the third and fourth methods as examples.

[0790] For distance-based triangulation: An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0791] The first device 1201 obtains information 3001 regarding the sensing capabilities of Figure 30 transmitted by "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" and becomes aware of the sensing capability status of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q."

[0792] Alternatively, "the 4_1 device at 2904_1, the 4_2 device at 2904_2, ..., the 4_Q device at 2904_Q" may transmit information 3001 regarding the sensing capabilities of Fig. 30 to the third device 2903, and the third device 2903 may transmit control information including information regarding the sensing capabilities of each of the "4_1 device at 2904_1, the 4_2 device at 2904_2, ..., the 4_Q device at 2904_Q" using the third frequency. This allows the first device 1201 to know the sensing support status of "the 4_1 device at 2904_1, the 4_2 device at 2904_2, ..., the 4_Q device at 2904_Q."

[0793] In the following, as an example, it is assumed that "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" are all capable of performing sensing, and when a sensing request is made from a terminal such as the first device 1201, it is assumed that "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" are all capable of performing sensing operations in response to the request to perform sensing.

[0794] Fig. 37 is a diagram showing an example of a procedure for sensing in the example system of Fig. 36. In Fig. 37, it is assumed that the first device 1201 has obtained at least information on "the distance between the first device 1201 and the 4_1 device of 2904_1" before "estimating the position of the second device 3704." In Fig. 37, it is assumed that the first device 1201 has obtained information on "the distance between the first device 1201 and the 4_i device of 2904_i" (i is an integer between 1 and Q) before "selecting the 4_i device of 2904_i (sensing the second device) for sensing the second device 3702."

[0795] The method for obtaining the information on "the distance between the first device 1201 and the fourth_1 device 2904_1" has already been explained using Figures 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the explanation will be omitted here.

[0796] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the "distance between the first device 1201 and the 4_i device of 2904_i" may be obtained in advance.

[0797] The first device 1201 and the 4_ith device of 2904_i may acquire their locations using a location estimation system such as GPS. Then, the 4_ith device of 2904_i may transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the 4_ith device of 2904_i. Then, the first device 1201 may transmit its own location information to the 4_ith device of 2904_i, and the 4_ith device of 2904_i may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the first device 1201.

[0798] An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0799] In FIG. 37, the second device 1802 transmits a signal (for sensing) (3731).

[0800] The first device 1201 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the distance between the first device 1201 and the second device 1802 (3701). Note that the sensing processing has already been described in other embodiments, so a description thereof will be omitted.

[0801] The first device 1201 selects the 4_ith device of 2904_i to request an estimate of the distance to the target 1203 based on the estimated value of the "distance between the first device 1201 and the second device 1802" and the information of the "distance between the first device 1201 and the 4_ith device of 2904_i" (3702).

[0802] 37, it is assumed that the first device 1201 selects the 4_1 device of 2904_1 in Fig. 36 as the 4_i device of 2904_i to be requested to estimate the distance to the second device 1802. However, when the 4_i device of 2904_i to be requested to estimate the distance to the second device 1802 has been decided (in advance), it is not necessary to perform "selection 3702 of the 4_i device of 2904_i for sensing the second device 1802 (sensing the second device)".

[0803] The first device 1201 transmits (3703) information requesting "estimation of distance to the second device 1802" to the third device 2903.

[0804] The third device 2903 receives the information of the request for "estimating the distance to the second device 1802" and transmits the information of the request for "estimating the distance to the second device 1802" to the 4_1 device 2904_1 (3721).

[0805] The 4_1 device 2904_1 receives the information of the request to "estimate the distance to the second device 1802" and responds "whether to accept this request" (3711). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0806] The third device 2903 receives the response information to this request, and then transmits the response information to the first device 1201 (3722).

[0807] The second device 1802 transmits a signal (for sensing) (3732).

[0808] The 4_1 device of 2904_1 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the "distance between the 4_1 device of 2904_1 and the second device 1802" (3712). Note that the sensing processing has already been described in other embodiments, so its description will be omitted.

[0809] The 4_1 device of 2904_1 transmits information on "the distance between the 4_1 device of 2904_1 and the second device 1802" to the third device 2903 (3713).

[0810] The third device 2903 receives the information "the distance between the 4_1 device of 2904_1 and the second device 1802" and transmits the information "the distance between the 4_1 device of 2904_1 and the second device 1802" to the first device 1201 (3723).

[0811] The first device 1201 obtains information on the "distance between the 4_1 device of 2904_1 and the second device 1802," and performs triangulation using the "distance between the first device 1201 and the 4_i device of 2904_i," "distance between the first device 1201 and the second device 1802," and "distance between the 4_1 device of 2904_1 and the second device 1802," to estimate, for example, the position of the second device 1802 (3704).

[0812] The first device 1201 transmits the "position of the second device 1802" information to the third device 2903 (3705).

[0813] The third device 2903 receives the "position of the second device 1802" information and transmits the "position of the second device 1802" information to the fourth_1 device 2904_1 (3724).

[0814] If there is no need to share the “position of the second device 1802” information with the 4_1 device 2904_1, the first device 1201 does not need to transmit the “position of the second device 1802” information to the third device 2903.

[0815] As described above, by implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the second device 1802.

[0816] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0817] Next, an example of a procedure for sensing that is different from that shown in FIG. 37 will be described with reference to FIG.

[0818] Figure 38 is a diagram showing another example of a procedure for sensing. In Figure 38, parts that operate in the same way as in Figure 37 are given the same numbers. Differences between Figure 38 and Figure 37 will be explained below. The differences between Figure 38 and Figure 37 are as follows.

[0819] "In Figure 37, the first device 1201 selects (3102) the 4_ith device of 2904_i for sensing the second device 1802 (sensing the second device)," whereas "in Figure 38, the third device 2903 selects (3399) the 4_ith device of 2904_i for sensing the second device 1802 (sensing the second device) for sensing the first device 1201."

[0820] 38 , the first device 1201 transmits (3703) information requesting "estimation of distance to the second device 1802" to the third device 2903. At this time, the first device 1201 may transmit information on the "distance to the second device 1802" to the third device 2903.

[0821] Then, the third device 2903, the first device 1201, selects the 4_ith device of 2904_i that will perform the "estimation of the distance to the second device 1802" based on information on the "distance to the second device 1802" and the sensing capability status of the 4_ith device of 2904_i (information 3001 regarding sensing capability in Figure 30) (3899).

[0822] It is assumed here that the device that performs sensing is the 4_1 device of 2904_1. However, when the 4_i device of 2904_i to be requested to estimate the distance to the second device 1802 is determined (in advance), it is not necessary to perform "selection 3899 of the 4_i device of 2904_i for sensing the second device 1802 (sensing the second device)."

[0823] The operations from 3899 onwards in FIG. 38 have already been explained using FIG. 37, so the explanation will be omitted.

[0824] As described above, by implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the second device 1802.

[0825] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0826] Next, another example of distance-based triangulation using the first and second methods will be described with reference to FIG.

[0827] Fig. 39 is a diagram showing another example of a procedure for sensing. Assume that the first device 1201 receives information 3001 on sensing capabilities in Fig. 30 transmitted by "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" and acquires the sensing support status of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q."

[0828] As another method, "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" may transmit information 3001 regarding the sensing capabilities of Fig. 30 to the third device 2903, and the third device 2903 may transmit control information including information regarding the sensing capabilities of each of the devices "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" using the third frequency. This allows the first device 1201 to obtain the sensing support status of "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q".

[0829] In the following, as an example, it is assumed that all of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" are capable of performing sensing, and when a sensing request is made from a terminal such as the first device 1201, it is assumed that all of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" are capable of performing sensing operations in response to the sensing request.

[0830] In addition, in FIG. 39, it is assumed that the first device 1201 has obtained at least information on "the distance between the first device 1201 and the fourth_1 device 2904_1" before "estimating 3913 the position of the second device 1802."

[0831] In FIG. 39, it is assumed that the first device 1201 has obtained information on the "distance between the first device 1201 and the 4_ith device 2904_i" (where i is an integer greater than or equal to 1 and less than or equal to Q) before "selecting 3902 the 4_ith device 2904_i (sensing the second device) for sensing the second device 1802."

[0832] The method for obtaining the information on "the distance between the first device 1201 and the fourth_1 device 2904_1" has already been explained using Figures 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the explanation will be omitted here.

[0833] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the "distance between the first device 1201 and the 4_i device of 2904_i" may be obtained in advance.

[0834] Furthermore, the first device 1201 and the 4_ith device of 2904_i may acquire their locations using a location estimation system such as GPS. Then, the 4_ith device of 2904_i may transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the 4_ith device of 2904_i. Then, the first device 1201 may transmit its own location information to the 4_ith device of 2904_i, and the 4_ith device of 2904_i may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the first device 1201.

[0835] An example will be described in which distance-based triangulation is used, taking the first and second methods described in the first embodiment as examples.

[0836] In FIG. 39, the second device 1802 transmits a signal (for sensing) (3931).

[0837] The first device 1201 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimate of the "distance between the first device 1201 and the second device 1802" (3901). Note that the sensing processing has already been described in other embodiments, so a description thereof will be omitted.

[0838] The first device 1201 selects the 4_ith device 2904_i to request an estimate of the distance to the second device 1802 based on the estimated value of the "distance between the first device 1201 and the second device 1802" and the information of the "distance between the first device 1201 and the 4_ith device 2904_i" (3902).

[0839] 39, it is assumed that the first device 1201 selects the 4_1 device 2904_1 in FIG. 36 as the 4_i device 2904_i to be requested to estimate the distance to the second device 1802. However, when the 4_i device 2904_i to be requested to estimate the distance to the second device 1802 has been decided (in advance), it is not necessary to perform "selection 3902 of the 4_i device 2904_i (sensing the second device) for sensing the second device 1802."

[0840] The first device 1201 transmits (3903) information requesting "estimation of distance to the second device 1802" to the third device 2903.

[0841] The first device 1201 transmits information on the "distance between the first device 1201 and the second device 1802" to the third device 2903 (3903).

[0842] The third device 2903 receives the information of the request for "estimation of distance to the second device 1802" and the information of "the distance between the first device 1201 and the second device 1802", and transmits this information to the 4_1 device 2904_1 (3921).

[0843] The 4_1 device 2904_1 receives the information of the request to "estimate the distance to the second device 1802" and responds "whether to accept this request" (3911). Note that in this example, the explanation will be given assuming that the request is "accepted."

[0844] The third device 2903 receives the response information to this request, and then transmits the response information to the first device 1201 (3922).

[0845] The second device 1802 transmits a signal (for sensing) (3932).

[0846] The 4_1 device of 2904_1 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimated value of "the distance between the 4_1 device of 2904_1 and the second device 1802" (3912). Note that the sensing processing has already been explained in other embodiments, so explanation will be omitted.

[0847] The 4_1 device of 2904_1 performs triangulation using the "distance between the first device 1201 and the 4_i device of 2904_i," "distance between the first device 1201 and the second device 1802," and "distance between the 4_1 device of 2904_1 and the second device 1802," and estimates, for example, the position of the second device 1802 (3913).

[0848] The 4_1 device 2904_1 transmits the "position of the second device 1802" information to the third device 2903 (3914).

[0849] The third device 2903 receives the "position of the second device 1802" information and transmits the "position of the second device 1802" information to the first device 1201 (3923).

[0850] If there is no need to share the “position of the second device 1802 ” information with the first device 1201 , the 4_1 device 2904_1 does not need to transmit the “position of the second device 1802 ” information to the third device 2903 .

[0851] As described above, by implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the second device 1802.

[0852] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0853] Next, an embodiment different from that of FIG. 39 will be described using FIG. 40. FIG. 40 is a diagram showing another example of a procedure for sensing. In FIG. 40, parts that operate in the same way as in FIG. 39 are given the same numbers. In FIG. 40, differences from FIG. 39 will be described. The differences in FIG. 40 from FIG. 39 are as follows.

[0854] "In Figure 39, the first device 1201 selects (3902) the 4_ith device of 2904_i (sensing the second device) for sensing the second device 1802," whereas "in Figure 40, the first device 1201 selects (4099) the 4_ith device of 2904_i (sensing the second device) for sensing the second device 1802 by the third device 2903."

[0855] 40 , the first device 1201 transmits (3903) information requesting "estimation of distance to the second device 1802" to the third device 2903. At this time, the first device 1201 may transmit information on the "distance to the second device 1802" to the third device 2903.

[0856] Then, the third device 2903, the first device 1201, selects the 4_ith device of 2904_i that will perform the "estimation of the distance to the second device 1802" based on information on the "distance to the second device 1802" and the sensing capability status of the 4_ith device of 2904_i (information 3001 regarding sensing capability in Figure 30) (4099).

[0857] It is assumed here that the device that performs sensing is the 4_1 device of 2904_1. However, when the 4_i device of 2904_i to be requested to estimate the distance to the second device 1802 is determined (in advance), it is not necessary to perform "selecting the 4_i device of 2904_i (sensing the second device) for sensing the second device 1802" 4099.

[0858] The operations from 4099 onwards in FIG. 40 have already been explained using FIG. 39, so the explanation will be omitted.

[0859] As described above, by implementing the above, it is possible to realize the distance-based triangulation described in the first embodiment, thereby obtaining the effect of being able to identify the position of the second device 1802.

[0860] Furthermore, the first device 1201 can transmit information properly by communicating with the 4_1 device 2904_1 via the third device 2903, and the 4_1 device 2904_1 performs sensing, thereby achieving the effect of enabling highly accurate sensing. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0861] For direction-based triangulation: An example will be described in which direction-based triangulation is used, taking the third and fourth methods described in the first embodiment as examples.

[0862] The first device 1201 obtains information 3001 regarding the sensing capabilities of Figure 30 transmitted by "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" and acquires the sensing support status of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q."

[0863] As another method, "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" may transmit information 3001 regarding the sensing capabilities of Fig. 30 to the third device 2903, and the third device 2903 may transmit control information including information regarding the sensing capabilities of each of the devices "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q" using the third frequency. This allows the first device 1201 to obtain the sensing support status of "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ..., the 4_Q device of 2904_Q".

[0864] In the following, as an example, it is assumed that any of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" can perform sensing, and when a sensing request is made from a terminal such as the first device 1201, it is assumed that any of "4_1 device 2904_1, 4_2 device 2904_2, ..., 4_Q device 2904_Q" can perform sensing operations in response to the sensing request.

[0865] 37, it is assumed that the first device 1201 has obtained at least information on the "distance between the first device 1201 and the 4_1 device of 2904_1" before "estimating the position of the second device 3704." And, it is assumed that the first device 1201 has obtained information on the "distance between the first device 1201 and the 4_i device of 2904_i" (i is an integer between 1 and Q) before "selecting the 4_i device of 2904_i (sensing the second device) 3702 for sensing the second device."

[0866] The method for obtaining the information on "the distance between the first device 1201 and the fourth_1 device 2904_1" has already been explained using Figures 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the explanation will be omitted here.

[0867] Alternatively, when the first device 1201 is a base station or a fixedly installed terminal, the "distance between the first device 1201 and the 4_i device of 2904_i" may be obtained in advance.

[0868] Furthermore, the first device 1201 and the 4_ith device of 2904_i may acquire their locations using a location estimation system such as GPS. Then, the 4_ith device of 2904_i may transmit its own location information to the first device 1201, and the first device 1201 may calculate the "distance between the first device 1201 and the 4_ith device of 2904_i" from its own location information and the location information of the 4_ith device of 2904_i. Then, the first device 1201 may transmit its own location information to the 4_ith device of 2904_i, and the 4_ith device of 2904_i may calculate the "distance between the firs...

Claims

1. A communication device, a receiving unit that receives request information requesting sensing of a target; a transmitter that transmits result information indicating a sensing result obtained by sensing the target in response to the request information to the first communication device; a state of the target is determined based on the sensing result indicated by the result information and the sensing result of the target sensed by the first communication device; Communication equipment.

2. At least one of the location of the target, the presence or absence of the target, the target's outer shape, and the target's movement is determined. The communication device according to claim 1 .

3. the transmitting unit transmits the result information after transmitting a response to the request information. The communication device according to claim 1 .

4. The receiving unit receives a determination result of the position of the target. The communication device according to claim 1 .

5. The transmission unit transmits capability information regarding sensing capability. The communication device according to claim 1 .

6. Sensing of the target is performed using an antenna port different from an antenna port used for data communication. The communication device according to claim 1 .

7. the receiving unit receives the request information from the first communication device via a second communication device; the transmitting unit transmits the result information via the second communication device. The communication device according to claim 1 .

8. a frequency used for communication with the first communication device is higher than a frequency used for communication with the second communication device; The communication device according to claim 7.

9. A sensing method in a communication device, comprising: receiving request information for requesting sensing of a target; transmitting result information indicating a sensing result to the first communication device that sensed the target in response to the request information; a state of the target is determined based on the sensing result indicated by the result information and the sensing result of the target sensed by the first communication device; Sensing method.

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