Communication device and sensing method

Abstract

A communication device according to the present invention comprising: a transmission unit that transmits request information requesting sensing of a target; a reception unit that receives result information indicating a sensing result, from a first communication device that has sensed the target according to the request information; and a control unit that determines a state of the target on the basis of the sensing result indicated in the result information and a sensing result of the target that has been sensed by the communication device.

Description

Technical Field

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

Background Art

[0002] Non-Patent Documents 1 and 2 disclose the use of a pulse signal for sensing an object. Non-Patent Document 3 discloses sensing of an object based on a frequency modulated continuous wave (FMCW) method and a phase modulated continuous wave (PMCW) method. Further, Non-Patent Document 4 discloses the use of an OFDM (Orthogonal Frequency Division Multiplexing) signal for sensing an object.

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Non-Patent Document 2

Non-Patent Document 3

[0004] In the discussion of the fifth-generation mobile communication system, the discussion on position estimation is underway, and in the IEEE (Institute of Electrical and Electronics Engineers), the discussion on object sensing in a wireless LAN (Local Area Network) is also underway.

[0005] However, the methods 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 an embodiment of the present disclosure is a communication device, including a transmission unit that transmits request information for requesting sensing of a target, a reception unit that receives result information indicating a sensing result from a first communication device that senses the target in response to the request information, and a control unit that determines a state of the target based on the sensing result indicated by the result information and the sensing result of the target sensed by the communication device itself.

[0008] A sensing method according to an embodiment of the present disclosure is a sensing method in a communication device, which includes transmitting request information for requesting sensing of a target, receiving result information indicating a sensing result from a first communication device that senses the target according to the request information, and determining a state of the target based on the sensing result indicated by the result information and a sensing result of the target sensed by the communication device itself.

[0009] Note that these general or specific aspects may be implemented in a system, apparatus, method, integrated circuit, computer program, or recording medium, or may be implemented in any combination of a system, apparatus, method, integrated circuit, computer program, and recording medium.

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

[0011] Further advantages and effects in an embodiment of the present disclosure will be apparent from the specification and drawings. Such advantages and / or effects are provided by some embodiments and features described in the specification and drawings respectively, but it is not necessary that all of them are provided to obtain one or more identical features.

Brief Description of the Drawings

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Mode for Carrying Out the Invention

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

[0014] Note that the accompanying drawings and the following description are provided for 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] In the following, sensing may include estimation of the position of an object, detection of an object, grasping of the outer shape of an object, estimation of the movement of an object, and estimation of the gesture of an object. The object to be sensed may be referred to as the target object. Also, the object to be sensed may include living organisms such as humans and animals. Naturally, the object to be sensed may not be a living organism.

[0016] The position estimation of an object mainly aims to estimate the position of the object. The position estimation of the object may include both the detection of the object and the movement of the object. The position of the object may be estimated using triangulation with radio waves, light, ultrasonic waves, etc. The movement of the object may be detected using the Doppler frequency. Also, the estimation of the gesture of the object may be performed. Note that the above description is an example and is not limited thereto.

[0017] The detection of an object mainly aims to detect the object. The detection of the object may include identifying the object. The object may be detected using reflection and reflected wave detection of radio waves, light, ultrasonic waves, etc. The detection of the object may or may not include the position estimation of the object. Note that the above description is an example and is not limited thereto.

[0018] The grasping of the outer shape of an object mainly aims to detect the outer shape of the object. The grasping of the outer shape of the object may include, for example, identifying the object. Also, the grasping of the outer shape of the object may include, for example, changes or movements of the outer shape of the object. The outer shape of the object may be grasped using signals of pulse spectrum diffusion or signals having a certain band. The grasping of the outer shape of the object may or may not include the position estimation of the object. Also, the estimation of the gesture of the object may be performed. Note that the above description is an example and is not limited thereto.

[0019] The position estimation of the object, the detection of the object, the grasping of the outer shape of the object, the estimation of the movement of the object, and the estimation of the gesture of the object may be paraphrased as the estimation of the state of the object. In other words, the state of the object may include at least one of the position of the object, the detection (presence or absence) of the object, the outer shape of the object, the movement of the object, and the gesture of the object. Also, the gesture of the object may be included in the movement of the object.

[0020] In the present disclosure, the terminal may be provided with a communication function. The terminal may be provided with a function of sensing an object. The terminal may be provided with both a communication function and a function of sensing an object. The AP or the base station may be provided with a function of sensing an object, or may not be provided with a function of sensing an object. The AP or the base station is provided with at least a function of communicating with the terminal. The terminal may 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 having a sensing function (capability), for example, a device that performs sensing, a device that performs communication and sensing, the sensing method may be any of the methods described in this specification.

[0022] FIG. 1 is a diagram showing an example of the configuration of a device X100 that transmits a sensing signal, receives the sensing signal reflected from surrounding objects and returns, and performs sensing. The device X100 transmits a sensing signal, receives the sensing signal reflected from surrounding objects and returns, and performs sensing of the object.

[0023] The transmission device X101 generates transmission signals X102_1 to X102_M. The transmission signals X102_1 to X102_M are sensing signals. The transmission device X101 transmits each of the generated transmission signals X102_1 to X102_M through antennas X103_1 to X103_M. Here, the number of antennas used for transmission is M, and M is an integer of 1 or more, or an integer of 2 or more.

[0024] The transmission device X101 may perform directivity control of the sensing signal, for example, by multiplying the same sensing signal by coefficients determined for each antenna to generate transmission signals X102_1 to X102_M and transmitting them from antennas X103_1 to X103_M. Further, the transmission device X101 may generate transmission signals X102_1 to X102_M by multiplying and synthesizing each of a plurality of sensing signals by coefficients determined for each sensing signal and each antenna, and transmit them from antennas X103_1 to X103_M. Thereby, directivity control can be performed for each sensing signal.

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

[0026] Note that the transmission device X101 may transmit the transmission signal without performing directivity control. For example, the transmission device X101 may output each of a plurality of sensing signals as the transmission signal of the corresponding antenna as it is and transmit them from antennas X103_1 to X103_M.

[0027] In the above description, the case where the number of sensing signals and antennas is plural has been described, but the number of sensing signals generated by the transmission device X101 and the number of antennas for transmitting the sensing signals may be 1.

[0028] The sensing signals transmitted from antenna 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 for receiving the sensing signals is N, and N is an integer of 1 or more, or an integer of 2 or more. 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] The 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, filter processing to extract only components of the frequency band or channels within the frequency band in which the sensing signal was transmitted on the received signals X105_1 to X105_N, frequency conversion processing to convert from the radio frequency band to the intermediate frequency band (IF) and / or the frequency band of the baseband signal, and weighted synthesis processing on the N received signals, and outputs an estimated signal X107.

[0030] The coefficients used in the weighted synthesis processing 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, device X100 can perform reception directivity control. The coefficients may be estimated in advance, or may be estimated using the received signals X105_1 to X105_N such that the amplitude or signal-to-noise ratio (CNR) of the sensing signal component after weighted synthesis is greater than when other coefficients are used, or exceeds a predetermined threshold value.

[0031] Also, the receiving device X106 may use a plurality of sets of N coefficients corresponding to the received signals X105_1 to X105_N to simultaneously acquire directivity signals corresponding to each set of coefficients. Note that the receiving device X106 may not 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 transmission device X101, the reception device X106, and the estimation unit X108, and gives instructions for performing sensing, instructions for the sensing range, and control of the sensing timing to the transmission device X101, the reception device X106, and the estimation unit X108.

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

[0035] In FIG. 1, the case where the signal generated by the device X100 is transmitted by M antennas and the signal received by N antennas is signal-processed by the reception device X106 is taken as an example for explanation. However, the configuration of the device for implementing the sensing method described in the present disclosure is not limited to this.

[0036] For example, a plurality of transmission antenna units for transmitting signals may each be composed of a plurality of antenna units including a plurality of antennas. Here, the plurality of antenna units may have the same directivity and directivity control function, or the range in which the directivity can be controlled may be different between the antenna units. At this time, one transmission device X101 may select an antenna unit to be used for transmitting the sensing signal from among the plurality of antenna units, or the same sensing signal may be transmitted simultaneously from the plurality of antenna units.

[0037] Further, the transmission device X101 may switch between transmitting one sensing signal from one antenna unit or transmitting simultaneously from a plurality of antenna units. Also, the device X100 may include a plurality of transmission devices X101, or may include a transmission device X101 for each antenna unit.

[0038] Similarly, a plurality of receiving antenna units that receive signals may each be composed of a plurality of antenna units including a plurality of antennas. Here, the plurality of 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 be different between the antenna units. Also, the plurality of antenna units may be installed such that they have the same directivity control capabilities such as the directivity control range and directivity control accuracy, but different spatial regions where directivity can be controlled. At this time, one receiving device X106 may select an antenna unit that acquires a received signal from among the plurality of antenna units, or may simultaneously signal-process the signals received from the plurality of antenna units.

[0039] Further, the receiving device X106 may switch between signal-processing only the received signal received from one antenna unit or simultaneously signal-processing the received signals received by the plurality of antenna units. Also, the device X100 may include a plurality of receiving devices X106, or may include a receiving device X106 for each antenna unit.

[0040] Also, instead of separately providing a plurality of antennas for transmission and a plurality of antennas for reception, the device X100 may include a plurality of antennas that can be used for both signal transmission and reception. In this case, the device X100 may select and switch for each antenna whether to use it for transmission or reception, or may switch temporally whether to use the plurality of antennas for transmission or reception.

[0041] Also, the device X100 may include a transceiver antenna unit that can be commonly used for both signal transmission and reception. Here, the transceiver antenna unit includes a plurality of antenna units, and it is possible to switch for each antenna unit whether to use it for transmission or reception. The device X100 may include a selection unit that selects and switches between the antenna unit used for transmitting the signal generated by the transmission device X101 and the antenna unit used for receiving the signal signal-processed by the receiving device X106.

[0042] When simultaneously transmitting sensing signals using a plurality of antenna units, the directivity of the signals transmitted from each antenna unit may be the same or different. When device X100 transmits sensing signals with the same directivity from a plurality of antenna units, it may be possible to increase the distance that the sensing signals reach, or to increase the distance to the reflection position where the reflected sensing signals can be received.

[0043] Note that the number of antennas constituting the antenna units described above does not have to be the same among the antenna units, and the number of antennas may be different among the antenna units.

[0044] Next, an example will be given to explain the estimation process performed by the estimation unit X108.

[0045] The estimation unit X108 estimates, for example, the distance between the device X100 and the object that reflected the sensing signal. The estimation of the distance between the device X100 and the object that reflected the sensing signal can be derived, for example, by detecting the delay time of the reception time with respect to the transmission time of the sensing signal 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, that is, the direction of the object that reflected the sensing signal, using, for example, a direction of arrival estimation method such as the MUSIC (Multiple Signal Classification) method. In addition to the distance between the device X100 and the object, the estimation unit X108 can estimate the position of the object that reflected the transmitted signal by estimating the direction.

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

[0048] The position of the object may be represented in a polar coordinate system or a three-dimensional orthogonal coordinate system. The origin of the coordinate system may be, for example, any position within the device X100, and the coordinate axes of the coordinate system may be in any direction.

[0049] In addition, when a device including the device X100 includes a plurality of wireless sensors or other distance sensors having the same or different configurations from the device X100 in addition to the device X100, the origin and coordinate axes of the coordinate system of the data acquired by each sensor may be common among the sensors or may be unique for each sensor. The estimation unit X108 may output the position information represented in the above-described unique coordinate system as it is, or may convert it into a common coordinate system within the device and output it. The coordinate system after conversion may be a device-specific coordinate system or a common coordinate system with other devices such as the same coordinate system as the three-dimensional map data used by the device.

[0050] Further, the estimation unit X108 may estimate the distance to the object that reflected the signal in each of a plurality of directions, and acquire the three-dimensional coordinates of the plurality of estimated reflection positions as a point cloud. Note that the format of the data of the plurality of ranging 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 distance image or other format. When using the format of a distance image, the position (coordinates) in the two-dimensional plane of the distance 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 the sample value of the pixel.

[0051] Furthermore, the estimation unit X108 may perform recognition processing such as estimating the shape of an object using the above point cloud data or distance image data. For example, the estimation unit X108 extracts "one or more points at adjacent positions where the distance is within a predetermined range", or a plurality of points or image regions as being the same object, and can estimate the shape of the object based on the positional relationship of the one or more points or the shape of the image regions. The estimation unit X108 may perform recognition processing such as identifying the sensed object using the estimation result of the object shape. In this case, the estimation unit X108 performs, for example, identification of whether a person or an animal is within the sensing range, or identification of the type of the 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 the number of vehicles within the sensing range as recognition processing, or may estimate the position or posture of the face of the detected person. As recognition processing different from the above recognition processing, the estimation unit X108 may perform processing such as face authentication to determine whether the shape of the face of the detected person matches a pre-registered person or which person it is.

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

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

[0055] The estimation of the speed of the moving object described above may be derived by comparing the frequency of the transmitted sensing signal with the frequency of the received reflected signal and estimating the frequency change due to the Doppler effect received 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] The device X100 may transmit, as a sensing signal, for example, a pulse signal disclosed in Non-Patent Document 1 or Non-Patent Document 2. The device X100 transmits a 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 of the reception time of the reflected signal with respect to the transmission time of the pulse signal.

[0058] As a different example of the sensing signal, the device X100 may use a signal of the FMCW method or the PMCW method described in Non-Patent Document 3. The FMCW signal is a signal obtained by converting a Chirp signal whose frequency 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 with a mixer. As a result, since the superimposed signal becomes an intermediate frequency signal having a frequency corresponding to the flight time of the received signal, the distance to the object that reflected the FMCW signal is measured by detecting the frequency components included 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 modulation signal having a predetermined frequency into a signal in the frequency band used for sensing. In this case, the estimation unit X108 can estimate the distance to the object that reflected the sensing signal based on, for example, the difference between the phase of the modulation component of the signal transmitted from the transmitting device X101 and the phase of the modulation component of the signal received by the receiving device X106.

[0060] Further, the estimation unit X108 may detect the frequency variation received due to the Doppler effect until the sensing signal is reflected and received by comparing the frequency of the transmitted modulation signal with the frequency of the received modulation signal, and estimate the moving speed and direction of the moving object. Note that the modulation signal may include a plurality of frequency components. For example, multi-carrier transmission including a plurality of frequency components as the modulation signal described in Non-Patent Document 4, for example, an OFDM signal may be used.

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

[0062] As described above, the apparatus X100 may simultaneously transmit a plurality of sensing signals using a plurality of antennas, or may simultaneously transmit a plurality of sensing signals using a plurality of antenna units each including a plurality of antennas.

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

[0064] For example, the estimation unit X108 estimates the state of the transmission path from the received reflected signal, and performs recognition processing based on the comparison between the temporal change of the estimated transmission path state and the average value or feature amount of the transmission path state estimated in the past, so as to determine whether an object exists in the sensing range or detect the presence or absence of movement of the object. Further, the estimation unit X108 may detect the presence or absence of rainfall from the attenuation state of the received signal.

[0065] Also, here, an example of using the reflected wave of the transmitted sensing signal for sensing has been described. However, performing sensing using the sensing signal is not limited to the apparatus that transmitted the sensing signal.

[0066] For example, the receiving device X106 of device X100 receives a sensing signal transmitted from another device, and the estimating unit X108 may determine based on the received signal that another device is within the range where the sensing signal reaches, or estimate the direction of another device. Further, the distance to another device may be estimated based on the signal strength of the received sensing signal.

[0067] Also, the receiving device X106 of device X100 may transmit a sensing signal so that it can be used by another device for sensing. The sensing signal transmitted at this time may be a sensing signal transmitted for sensing using reflected waves in device X100, or a sensing signal may be periodically transmitted for sensing in another device. Further, when device X100 receives a sensing signal transmitted from another device, it may transmit a sensing signal in the direction in which the received signal is received using the transmitting device X101. Note that the sensing signal transmitted to another device may be transmitted without performing directivity control. Also, a sensing signal may be generated by the method described in this specification.

[0068] Also, in FIG. 1, the device X100 that performs sensing shows an example of receiving signals reflected by object #1 and object #2. However, signals obtained by reflecting from object #1 and object #2 and further reflecting from other objects or substances may be used to detect objects, estimate the distance and position to the objects, etc.

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

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

[0071] Device X200 is different from device X100 in that it performs sensing using a modulation signal for sensing and / or a modulation signal for communication. Here, for example, device X200 transmits a signal, and the communication partner terminal estimates the position, size, distance from an object (e.g., object #1 in FIG. 2), etc. by detecting changes in the signal transmitted by device X200. Note that when device X200 transmits a modulation signal for communication, data communication with the terminal is also possible. Below, the case of performing sensing using a modulation signal for communication will be described.

[0072] Transmitting device X201 receives a control signal X109 and transmission data X210, and performs error correction coding, modulation, pre-coding, multiplexing, etc. to generate communication transmission signals X202_1 to X202_M. Device X200 transmits each of the transmission signals X202_1 to X202_M from antennas X103_1 to X103_M.

[0073] Regarding the number of transmission signals and antennas used for transmission, it is the same as the description regarding FIG. 1, and it may be 2 or more, or it may be 1. Compared with the description regarding FIG. 1, the transmission signal in the description regarding FIG. 1 contains a component of the sensing signal, while the transmission signal in FIG. 2 contains a component of the signal obtained by modulating the transmission data. However, the point that the transmitting device X201 can perform directivity control by the coefficient used in the weighting synthesis process for generating the transmission signal is the same as that of the transmitting device X101. Also, similar to device X100, device X200 may be provided with only one antenna unit including a plurality of antennas, or may be provided with a plurality of antenna units.

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

[0075] When the transmission device X201 performs directivity control for sensing in the terminal, the transmission device X201 transmits a signal using a coefficient specified from the terminal. The signal transmitted here may include a signal component modulated using transmission data, 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 known value on the terminal side such as a preamble or a reference signal. Also, the transmission device X201 may perform different directivity control between the case of transmitting a signal including a signal component modulated using transmission data and the case of transmitting a signal that does not include a signal component modulated using transmission data.

[0076] Note that the terminal will obtain data (perform communication) by receiving the modulated signal transmitted by the device X200, and will also perform sensing.

[0077] Also, when the terminal transmits a signal, the device X200 that is the communication partner may estimate the position, size, distance from the object (for example, the object #1 in FIG. 2), type, material, etc. of the object (for example, the object #1 in FIG. 2) by detecting changes in the signal transmitted by the terminal. Note that when the terminal is transmitting a modulated signal for communication, data communication with the device X200 is also possible.

[0078] For example, device X200 receives the modulated signals transmitted by the terminal using antennas X104_1 to X104_N. The receiving device X206 inputs the control signal X109 and the received signals X205_1 to X205_N, and performs demodulation processing, error correction decoding processing, etc. to obtain the received data. Also, the receiving device X206 outputs the transmission path characteristics obtained in the receiving process as an estimation signal X207.

[0079] The coefficients used in the weighted synthesis processing for the N received signals can be set for each of the received signals X105_1 to X105_N, and the directivity control of reception can be performed by changing the values of the coefficients. The coefficients may be estimated in advance, or coefficients may be estimated using the received signals X105_1 to X105_N such that the amplitude or the signal-to-noise ratio (CNR) of the sensing signal component after weighted synthesis is larger than when other coefficients are used, or exceeds a predetermined threshold value. Also, the receiving device X206 may use a plurality of sets of N coefficients corresponding to the received signals X105_1 to X105_N to simultaneously obtain the directivity signals corresponding to each set of coefficients.

[0080] The estimation unit X208 takes the control signal X109 and the estimation signal X207 as inputs, and performs estimation processing using the estimation signal X207. The estimation unit X208, for example, estimates the surrounding environment such as whether there is an object around based on the transmission path characteristics included in the estimation signal X207. Also, the estimation unit X208 may detect the movement of an object, the approach of an object, etc. based on the temporal change of the transmission path characteristics.

[0081] The estimation unit X208 may estimate the arrival direction of the received signal, that is, the direction of the object that reflected the sensing signal, using an arrival direction estimation method such as the MUSIC method. The estimation unit X208 may perform triangulation and estimate the position of the object using, for example, arrival direction estimation such as the MUSIC method, information on the antenna positions (for example, the positions of the transmission device and the receiving device), the direction information of the transmission directivity control, etc. The estimation unit X208 may detect the object, the movement of the object, the material of the object, etc. using the received signal.

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

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

[0084] In addition, the estimation unit X208 may use information such as the frequency band used for communication or the channel number within the frequency band. The estimation unit X208 may also use the address of the communication device that transmitted the received communication signal or the address of the communication device that is the destination of the signal. By using information regarding the received communication signal such as the frequency band and the address of the communication device in this way, it is possible to compare communication signals for which conditions such as the position of the communication device that transmitted the signal and the directivity used at the time of signal transmission are the same or similar, and there is a possibility that the estimation accuracy will be improved.

[0085] In the above description, the case where sensing is performed using a communication signal transmitted by a communication partner has been described. In FIG. 2, the device X200 is shown with a configuration different from that of the transmission device X201, which is a configuration for performing transmission processing, the antennas X103_1 to X103_M, the reception device X206, which is a configuration for performing reception processing, and the antennas X104_1 to X104_N, but the configuration of the device X200 is not limited to this.

[0086] For example, the transmission device X201 and the reception device X206 may be realized as one component, or a plurality of antennas may be commonly used for transmission and reception. Also, similar to the description of FIG. 1, the plurality of antennas for transmission in the device X200 may be composed of a plurality of antenna units, and the plurality of antennas for reception may be composed of a plurality of antenna units. Further, the plurality of antennas for transmission and the plurality of antennas for reception in the device X200 may be composed of a common transmission / reception antenna unit.

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

[0088] The sensing method using the communication signal can also be used for the same purpose as the example of transmitting the sensing signal to other devices described with reference to FIG. 1. That is, the device X200 may use the communication signal transmitted from another device such as a terminal, not for sensing the surrounding environment from the transmission path characteristics of the signal, but for determining that another device is within the range where the communication signal can reach or for estimating the direction of another device.

[0089] Note that when the device X200 receives a communication modulation signal transmitted by, for example, a terminal that is a communication partner, it may perform only the demodulation operation without performing the 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 device X300 that performs communication and sensing. Among the configurations shown in FIG. 3, the configurations having the same functions as those shown in FIGS. 1 and 2 are given the same reference numerals, and detailed descriptions of those configurations are omitted.

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

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

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

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

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

[0097] In FIG. 3, device X300 is shown with a different configuration including a transmission device X301 that executes transmission processing, antennas X103_1 to X103_M, a receiving device X306 that executes reception processing, and antennas X104_1 to X104_N, but the configuration of device X300 is not limited to this. For example, the transmission device X301 and the receiving device X306 may be realized as one component, or one or more or a plurality of antennas may be commonly used for both transmission and reception.

[0098] Device X300 may include a transmission device for sensing separately from the transmission device for communication. In this case, the same one or more or a plurality of antennas may be switched and used for both the transmission device for communication and the transmission device for sensing, or one or more or a plurality of different antennas for communication and sensing may be provided.

[0099] Note that the transmission device X301 for communication and sensing signals may switch between transmitting sensing signals and transmitting modulated signals for communication based on the mode information included in the control signal X309 and transmit them from the antenna. That is, there may be a mode for transmitting sensing signals and a mode for transmitting modulated signals for communication. Further, the transmission device X301 for communication and sensing may transmit a combined signal of the sensing signal and the modulated signal for communication.

[0100] The device X300 may include a receiving device for sensing separately from the receiving device for communication. At this time, the same one or more or a plurality of antennas may be switched between the receiving device for communication and the receiving device for sensing, or one or more or a plurality of antennas different for communication and sensing may be provided.

[0101] Further, the device X300 may separately include a transmitting device for communication, a transmitting device for sensing, a receiving device for communication, and a receiving device for sensing. Further, the device X300 may include a transceiver for communication and a transceiver for sensing. Further, the device X300 may include a transceiver for communication, a transmitting device for sensing, and a receiving device for sensing.

[0102] Further, in FIG. 3, similar to the descriptions of FIGS. 1 and 2, one or more or a plurality of antennas for transmission may be composed of one or more or a plurality of antenna units, and one or more or a plurality of antennas for reception may be composed of one or more or a plurality of antenna units. Further, one or more or a plurality of antennas for transmission and one or more or a plurality of antennas for reception may be composed of a common transceiver 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, it has the configuration of the device X200 in FIG. 2 or the device X300 in FIG. 3.

[0104] The terminal may or may not have a communication function. For example, the terminal #4 in FIG. 4 has a function of sensing an object and may not have a communication function. Therefore, a terminal having a communication function (the terminals #1, #2, and #3 in FIG. 3) has the configuration of the device X200 in FIG. 2 or the device X300 in FIG. 3. A terminal not having a communication function (the terminal #4 in FIG. 3) has the configuration of the device X100 in FIG. 1.

[0105] Hereinafter, an example in which a modulation signal for communication and a signal for sensing exist in the same frequency band will be described.

[0106] FIG. 5 is a diagram showing a configuration example 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, for example, a symbol for a communication partner to perform signal detection, time synchronization, frequency synchronization, channel estimation, frequency offset estimation, etc.

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

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

[0109] The frame configuration of the data transmission frame is not limited to this example. The data transmission frame may include symbols other than those shown in FIG. 5.

[0110] FIGS. 6A and 6B are diagrams showing configuration examples 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 of the first example in FIG. 6A is composed of sensing reference symbols. However, other symbols may also be included in the sensing frame.

[0112] Using the sensing reference symbols in FIG. 6A, the base station and the terminal will perform sensing processing. The base station and the terminal may transmit the sensing reference symbols continuously in time. Although referred to as sensing reference symbols, they may be signals such as unmodulated signals and carrier waves. This is the same in FIG. 6B.

[0113] The sensing frame of the second example in FIG. 6B is composed of, for example, a preamble, a control information symbol, and a sensing reference symbol. However, 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 becomes, for example, a symbol for a communication partner to perform signal detection, time synchronization, frequency synchronization, channel estimation, frequency offset estimation, etc. It is assumed that the base station and the terminal equipped with a communication function can also detect this preamble. For example, the configuration of the preamble may be the same as the preamble in FIG. 5 (or may not be the same).

[0116] By doing so, the base station and the terminal with a communication function can know the existence of the sensing frame, so that the effect of reducing the interference between the sensing frame and the communication frame can be obtained.

[0117] The control information symbol in FIG. 6B becomes a symbol including information on the sensing reference symbol. The control information symbol may include other information.

[0118] Examples of the information on the sensing reference symbol are as follows. · The type of the sensing reference signal. For example, it is assumed that it can be specified from a plurality of signal types. · The frequency band of the sensing reference signal. For example, it is assumed that it can be specified from a plurality of frequency bands. · The time domain of the sensing reference signal. For example, it is assumed that it can be specified from a plurality of time intervals.

[0119] The base station and the terminal equipped with the sensing function can set the desired sensing accuracy by specifying the information on the sensing reference symbol in the control information symbol. However, the information of the control information symbol is not limited to these.

[0120] Using the sensing reference symbol in FIG. 6B, the base station and the terminal perform the sensing process. The base station and the terminal may transmit the sensing reference symbol continuously in time.

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

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

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

[0124] FIG. 8 is a diagram showing another example of the frame state on the time axis of a certain frequency band. As shown in FIG. 8, for example, the base station may switch and transmit a frame in which a data transmission frame, a sensing frame, a data transmission symbol, and a sensing signal exist. The terminal may also switch and transmit a frame in which a data transmission frame, a sensing frame, a data transmission symbol, and a sensing signal exist.

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

[0126] Note that in the above description, as an example, the case where part of 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 the same has been described, but this 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. At this time, the temporal timing at which the base station transmits a signal and the temporal timing at which the terminal transmits a signal are not limited to the above example as long as the signals of each other do not interfere with each other, and they may be the same or different.

[0127] Another example of signal transmission by the base station in FIG. 4 will be described. FIG. 9 is a diagram showing an example of the state with the horizontal axis being time and the vertical axis being frequency when the base station transmits a signal. Note that the base station transmits a signal using a multi-carrier transmission method such as OFDM (Orthogonal Frequency Division Multiplexing) as an example.

[0128] In FIG. 9, the "Resource 901 for Terminal #1" indicates the resource transmitted by the base station to Terminal #1 in FIG. 4. The "Resource 902 for Terminal #2" indicates the resource transmitted by the base station to Terminal #2 in FIG. 4. The "Resource 903 for Terminal #3" indicates the resource transmitted by the base station to Terminal #3 in FIG. 4. The "Sensing Resource 904" indicates the resource transmitted by the base station in FIG. 4 for sensing. In FIG. 9, it is assumed that the "Resource 901 for Terminal #1", the "Resource 902 for Terminal #2", the "Resource 903 for Terminal #3", and the "Sensing Resource 904" exist at time T1.

[0129] The "Resource 911 for Terminal #1" indicates the resource transmitted by the base station to Terminal #1 in FIG. 4. The "Resource 912 for Terminal #2" indicates the resource transmitted by the base station to Terminal #2 in FIG. 4. The "Resource 913 for Terminal #3" indicates the resource transmitted by the base station to Terminal #3 in FIG. 4. The "Sensing Resource 914" indicates the resource transmitted by the base station in FIG. 4 for sensing. In FIG. 9, it is assumed that the "Resource 911 for Terminal #1", the "Resource 912 for Terminal #2", the "Resource 913 for Terminal #3", and the "Sensing Resource 914" exist at time T2.

[0130] Thus, it is assumed that the resource for the terminal and the resource for sensing can have their frequency allocations changed over time. Note that the allocation method in terms of time and frequency for the resource for the terminal and the resource for sensing is not limited to the example in FIG. 9.

[0131] The "Resource 901 for Terminal #1" and the "Resource 911 for Terminal #1" may contain data for Terminal #1 in FIG. 4 or may contain a sensing signal. Also, these resources may contain control information or may contain a reference signal that enables time synchronization, frequency synchronization, frequency offset estimation, and phase noise estimation, etc. Further, these resources may contain signals other than those described above.

[0132] The "Resources 902 for Terminal #2" and "Resources 912 for Terminal #2" may include the data for Terminal #2 in FIG. 4, or may include sensing signals. Further, these resources may include control information, and may also include reference signals that enable time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, etc. Also, these resources may include signals other than those described above.

[0133] The "Resources 903 for Terminal #3" and "Resources 913 for Terminal #3" may include the data for Terminal #3 in FIG. 4, or may include sensing signals. Further, these resources may include control information, and may also include reference signals that enable time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, etc. Also, these resources may include signals other than those described above.

[0134] The "Sensing Resources 904" and "Sensing Resources 914" will 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, etc. Also, these resources may include signals other than those described above.

[0135] An example when the terminals #1, #2, #3, and #4 in FIG. 4 are transmitting signals will be described. FIG. 10 shows an example of the state with the horizontal axis being time and the vertical axis being frequency when the terminals #1, #2, #3, and #4 in FIG. 4 are transmitting signals. Note that the terminals #1, #2, #3, and #4 transmit signals using a multi-carrier transmission method such as OFDM, for example. For example, Terminal #1 will transmit the "Resources 1001 for Terminal #1 Signal Transmission" and the "Resources 1011 for Terminal #1 Signal Transmission".

[0136] In FIG. 10, the "Resource 1001 for Terminal #1 Signal Transmission" indicates the resource that Terminal #1 in FIG. 4 transmits to the base station. The "Resource 1002 for Terminal #2 Signal Transmission" indicates the resource that Terminal #2 in FIG. 4 transmits to the base station. The "Resource 1003 for Terminal #3 Signal Transmission" indicates the resource that Terminal #3 in FIG. 4 transmits to the base station. The "Resource 1004 for Terminal #4 Signal Transmission" indicates the resource that Terminal #4 in FIG. 4 transmits to the base station. In FIG. 10, it is assumed that the "Resource 1001 for Terminal #1 Signal Transmission", the "Resource 1002 for Terminal #2 Signal Transmission", the "Resource 1003 for Terminal #3 Signal Transmission", and the "Resource 1004 for Terminal #4 Signal Transmission" exist at time t1.

[0137] The "Resource 1011 for Terminal #1 Signal Transmission" indicates the resource that Terminal #1 in FIG. 4 transmits to the base station. The "Resource 1012 for Terminal #2 Signal Transmission" indicates the resource that Terminal #2 in FIG. 4 transmits to the base station. The "Resource 1013 for Terminal #3 Signal Transmission" indicates the resource that Terminal #3 in FIG. 4 transmits to the base station. The "Resource 1004 for Terminal #4 Signal Transmission" indicates the resource that Terminal #4 in FIG. 4 transmits to the base station. In FIG. 10, it is assumed that the "Resource 1011 for Terminal #1 Signal Transmission", the "Resource 1012 for Terminal #2 Signal Transmission", the "Resource 1013 for Terminal #3 Signal Transmission", and the "Resource 1014 for Terminal #4 Signal Transmission" exist at time t2.

[0138] Thus, it is assumed that the frequency allocation of the resource for terminal signal transmission can be changed over time. Note that the allocation method of the resource for terminal signal transmission in terms of time and frequency is not limited to the example in FIG. 10.

[0139] "Terminal #1 Signal Transmission Resource 1001" and "Terminal #1 Signal Transmission Resource 1011" may contain data addressed to the base station in Fig. 4 or may contain sensing signals. Further, these resources may contain control information and may also contain reference signals enabling time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, etc. Also, these resources may contain signals other than those described above.

[0140] "Terminal #2 Signal Transmission Resource 1002" and "Terminal #2 Signal Transmission Resource 1012" may contain data addressed to the base station in Fig. 4 or may contain sensing signals. Further, these resources may contain control information and may also contain reference signals enabling time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, etc. Also, these resources may contain signals other than those described above.

[0141] "Terminal #3 Signal Transmission Resource 1003" and "Terminal #3 Signal Transmission Resource 1013" may contain data addressed to the base station in Fig. 4 or may contain sensing signals. Further, these resources may contain control information and may also contain reference signals enabling time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, etc. Also, these resources may contain signals other than those described above.

[0142] "Terminal #4 Signal Transmission Resource 1004" and "Terminal #4 Signal Transmission Resource 1014" may contain data addressed to the base station in Fig. 4 or may contain sensing signals. Further, these resources may contain control information and may also contain reference signals enabling time synchronization, frequency synchronization, frequency offset estimation, phase noise estimation, etc. Also, these resources may contain signals other than those described above.

[0143] In addition, in this specification, signals for sensing such as a sensing frame and sensing resources include signals that can realize sensing. As an example of a "signal that can realize sensing", a pilot symbol, a pilot signal, a reference symbol, a reference signal, a preamble, a midamble, a known signal, and a known symbol can be applied, but it is not limited to this example. Also, data may be transmitted by a "signal that can realize sensing".

[0144] In the above, triangulation has been described. Hereinafter, a method of triangulation different from the above will be described.

[0145] First method: Triangulation can be realized by performing Processing A, Processing B, Processing C, and Processing D described below.

[0146] Processing A: FIG. 11 is a diagram showing an example of a system configuration for explaining an example of triangulation. In FIG. 11, the first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by the 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] Also, as another method, the second device 1102 transmits a signal using, for example, radio waves. The first device 1101 obtains this signal to acquire the "distance between the first device 1101 and the second device 1102".

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

[0149] Processing B: The first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by the 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 the information on 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 the information on 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 acquire the information on the "distance between the first device 1101 and the second device 1102", the information on the "distance between the first device 1101 and the target (object) 1103", and the information on the "distance between the second device 6602 and the target (object) 1103" through Process A, Process B, and Process C, and perform triangulation using these pieces of information to acquire (calculate) the position of the target (object) 1103.

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

[0153] Process E: In FIG. 11, assume that the first device 1101 and / or the second device 1102 hold the information on the "distance between the first device 1101 and the second device 1102" at the time of installation.

[0154] Process F: The first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by the 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 the information on 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 the information on 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 obtain the information on the "distance between the first device 1101 and the second device 1102", the information on the "distance between the first device 1101 and the target (object) 1103", and the information on the "distance between the second device 1102 and the target (object) 1103" through Process E, Process F, and Process G, and perform triangulation using these pieces of information to acquire (calculate) the position of the target (object) 1103. Note that the first device 1101 and the second device 1102 may form one device.

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

[0158] Process XA: In FIG. 11, the first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by the 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] As another method, the second device 1102 transmits a signal using, for example, radio waves. The first device 1101 can obtain the "distance between the first device 1101 and the second device 1102" by receiving this signal.

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

[0161] Process XB: The first device 1101 transmits a signal using, for example, radio waves. This signal is reflected by the target (object) 1103, and the first device 1101 can obtain the "(arrival) direction of the first device 1101 and the target (object) 1103" by receiving the reflected signal. Note that the first device 1101 may share with the second device 1102 the information on the "(arrival) direction of the first device 1101 and the target (object) 1103". Note that by obtaining the "(arrival) direction between the second device 1102 and the target (object) 1103", for example, the line segment formed by the first device 1101 and the second device 1102 is defined as the first line segment, the line segment formed by the first device 1101 and the target (object) 1103 is defined as the second line segment, and an estimated value of the "angle formed by the first line segment and the second line segment" can be obtained.

[0162] Process 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 can obtain the "(arrival) direction of the second device 1102 and the target (object) 1103" by receiving the reflected signal. Note that the second device 1102 may share with the first device 1101 the information on the "(arrival) direction of the second device 1102 and the target (object) 1103". Note that by obtaining the "(arrival) direction between the first device 1101 and the target (object) 1103", for example, the line segment formed by the first device 1101 and the second device 1102 is defined as the first line segment, the line segment formed by the second device 1102 and the target (object) 1103 is defined as the third line segment, and an estimated value of the "angle formed by the first line segment and the third line segment" can be obtained.

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

[0164] The fourth method: Triangulation can be realized by performing processing XE, processing XF, processing XG, and processing XH, which will be described below.

[0165] Processing XE: In FIG. 11, assume that the first device 1101 and / or the second device 1102 hold 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 the target (object) 1103, and the first device 1101 obtains the reflected signal to acquire "the (arrival) direction of the first device 1101 and the target (object) 1103". Note that the first device 1101 may share the information on "the (arrival) direction of the first device 1101 and the target (object) 1103" with the second device 1102. Note that the first device 1101 can obtain, for example, an estimated value of "the angle formed by the line segment composed of the first device 1101 and the second device 1102 as the first line segment" and "the line segment composed of the first device 1101 and the target (object) 1103 as the second line segment" by obtaining "the (arrival) direction of the second device 1102 and the target (object) 1103".

[0167] Processing XG: 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 between the second device 1102 and the target (object) 1103". Note that the second device 1102 may share the information on the "(arrival) direction between the second device 1102 and the target (object) 1103" with the first device 1101. Note that by obtaining the "(arrival) direction between the first device 1101 and the target (object) 1103", the second device 1102, for example, sets the line segment formed by the first device 1101 and the second device 1102 as the first line segment, sets the line segment formed by the second device 1102 and the target (object) 1103 as the third line segment, and can obtain an estimated value 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 obtain 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 processing XE, processing XF, and processing XG, and can perform triangulation using this information to acquire the position of the target (object) 1103. Note that the first device 1101 and the second device 1102 may form one device.

[0169] As described above, in this embodiment, the sensing method related to the present invention has been described. The present invention to be described hereinafter can perform high-precision "sensing such as position estimation, object detection, and distance estimation" by using, for example, 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" in the present embodiment.

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

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

[0174] The target (object) 1203 is an object for which position estimation is performed by sensing.

[0175] In the present 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] It is assumed that the first device 1201 is a device having a function of performing sensing described in the first embodiment. Also, the first device 1201 has a communication function and communicates with, for example, base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

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

[0178] Therefore, base stations such as base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 shall transmit control information including information 1301 regarding sensing capabilities as shown in the following Figure 13.

[0179] Note that the control information including information 1301 regarding sensing capabilities shall be transmitted by the base station using, for example, PBCH (Physical Broadcast Channel), PDSCH (Physical Downlink Shared Channel), and PDCCH (Physical Downlink Control Channel). The channel for transmitting this control information is not limited to the above example.

[0180] Figure 13 is a diagram for explaining an example of information regarding sensing capabilities. As shown in Figure 13, the information 1301 regarding sensing capabilities shall include at least one of "information 1311 regarding sensing ability / enability", "information 1312 regarding the feasibility of implementing a sensing request from a terminal", and "information 1313 regarding the acceptance ability of a sensing request from a terminal".

[0181] Specific examples of "information 1311 regarding sensing ability / enability", "information 1312 regarding the feasibility of implementing a sensing request from a terminal", and "information 1313 regarding the acceptance ability of a sensing request from a terminal" are as follows.

[0182] "Information 1311 regarding sensing ability / enability": This information is used, for example, to notify terminals, repeaters, other base stations, etc. whether the base station is capable of performing sensing.

[0183] Therefore, at least when the information 1311 regarding "sensing possible / impossible" includes the information that "sensing can be performed", the base station that transmits the information 1311 shall be assumed to have a sensing function. Also, this base station shall be assumed to have a communication function. Note that since the specific configuration has already been described in the first embodiment, the description thereof will be omitted.

[0184] "Information 1312 regarding the feasibility of performing sensing in response to a sensing request from a terminal": This information is used, for example, to notify a terminal or the like of the information regarding "whether sensing can be performed" when the base station receives a sensing request (a request from the terminal for the base station to perform sensing) from the terminal.

[0185] Here, it is named "Information 1312 regarding the feasibility of performing sensing in response to a sensing request from a terminal", but the "Information 1312 regarding the feasibility of performing sensing in response to a sensing request from a terminal" may be "information regarding the feasibility of performing sensing in response to a sensing request from a device other than the terminal, for example, a repeater or another base station". Also, the details of the "sensing request" will be described later.

[0186] "Information 1313 regarding the feasibility of receiving a sensing request from a terminal": This information is used, for example, to notify a terminal or the like of the information regarding "whether to receive a sensing request from the terminal" when the base station receives a sensing request (a request from the terminal for the base station to perform sensing) from the terminal.

[0187] Therefore, even when there is a sensing request from the terminal, there are modes of "accepting" and "not accepting" for the base station.

[0188] Here, it is named "information 1313 regarding whether it is possible or not to receive a sensing request from a terminal". However, "information 1313 regarding whether it is possible or not to receive a sensing request from a terminal" may be "information regarding whether it is possible or not to receive a sensing request from a device other than the terminal, for example, a repeater or another base station". Also, the details of the "sensing request" will be described later.

[0189] By doing the above, devices such as terminals, repeaters, and other base stations can know the sensing of the base station and the state regarding the sensing request, so that the effect of being able to perform suitable "control regarding sensing and communication with the base station" can be obtained.

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

[0191] Also, in the "information 1312 regarding whether it is possible or not to execute a sensing request from a terminal" and the "information 1313 regarding whether it is possible or not to receive a sensing request from a terminal" transmitted by the device that transmits the information 1301 regarding the sensing ability in FIG. 13, it is described as "a sensing request from a terminal...". However, it may be a sensing request from a communication device other than the terminal, for example, a base station, a repeater, or an access point. Therefore, 1312 can also be "information regarding whether it is possible or not to execute a sensing request from a communication device", and 1313 can also be "information regarding whether it is possible or not to receive a sensing request from a communication device".

[0192] Next, the operations of the first device 1201 and the base station #2 of 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 will be described as a terminal, but the same implementation is possible even if the first device 1201 is a base station. However, when the first device 1201 is a base station and special operations occur, supplementary explanations will be provided. 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 also be repeaters.

[0194] In this embodiment, triangulation is handled. Examples of specific methods of triangulation are described in the first embodiment. The first method and the second method are triangulations based on obtaining distance information by performing sensing.

[0195] On the other hand, the third method and the fourth method are triangulations based on obtaining information on the (arrival) direction (although distance may also be obtained) by performing sensing.

[0196] Hereinafter, FIG. 12 will be described by dividing it into triangulation based on distance with the first method and the second method as examples, and triangulation based on direction with the third method and the fourth method as examples.

[0197] In the case of triangulation based on distance: An example when using triangulation based on distance with the first method and the second method described in the first embodiment as examples will be described.

[0198] The first device 1201 obtains the information 1301 regarding the sensing capabilities shown 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 correspondence status of the sensing of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Hereinafter, as an example, it is assumed that any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform sensing, and when there is a sensing request from the terminal, any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform the sensing operation in response to the sensing execution request.

[0199] FIG. 14 is a diagram showing an example of a procedure for sensing in the system example of FIG. 12. In FIG. 14, it is assumed that the first device 1201 has obtained at least the 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".

[0200] Also, in FIG. 14, it is assumed that the first device 1201 has obtained the information on the "distance between the first device 1201 and the base station #1 of 1202_1", the information on the "distance between the first device 1201 and the base station #2 of 1202_2", and the information on the "distance between the first device 1201 and the base station #3 of 1202_3" before "selecting a base station for sensing the target (sensing the target) 1402".

[0201] Before the description of FIG. 14, the method of obtaining the information on the "distance between the first device 1201 and the base station" will be described with reference to FIGS. 15A, 15B, 15C, 15D, 15E, and 15F. In this example, the base station is the base station #1 of 1202_1, or the base station #2 of 1202_2, or the base station #3 of 1202_3.

[0202] In Fig. 15A, first, the base station 1501 transmits a signal (1501). Then, by receiving this signal, the first device 1201 estimates the "distance between the first device 1201 and the base station" (1502). Note that since the detailed method of distance estimation has been described in the first embodiment, the description is omitted.

[0203] As another method, in Fig. 15B, first, the first device 1201 transmits a signal to the base station (1511). Then, the first device 1201 receives this signal and estimates the "distance between the first device 1201 and the base station" (1512). Note that since the detailed method of distance estimation has been described in the first embodiment, the description is omitted.

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

[0205] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may have previously obtained the "distance between the first device 1201 and the base station".

[0206] The first device 1201 and the base station may obtain their positions through a positioning system such as GPS (Global Positioning System, Global Positioning Satellite). Then, the base station transmits its 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 base station's position information. Also, the first device 1201 may transmit its 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 first device 1201's position information.

[0207] As another method, in FIG. 15D, first, the first device 1201 transmits a signal to the base station (1531). The base station receives this signal and estimates the "distance between the first device 1201 and the base station" (1532). Since the detailed method of distance estimation has been described in the first embodiment, the description is omitted here.

[0208] As another method, in FIG. 15E, first, the base station transmits a signal to the first device 1201 (1541). The base station receives this signal and estimates the "distance between the first device 1201 and the base station" (1542). Since the detailed method of distance estimation has been described in the first embodiment, the description is 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 the information of the "distance between the first device 1201 and the base station" to the base station (1553). The base station receives the modulated signal including the information of the "distance between the first device 1201 and the base station" and obtains the information of the "distance between the first device 1201 and the base station" (1554).

[0210] The above describes examples of methods for obtaining the information of the "distance between the first device 1201 and the base station" with reference to FIGS. 15A to 15F.

[0211] An example of using triangulation based on distance, taking the first method and the second method described in the first embodiment as examples, will be described.

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

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

[0214] In the example of FIG. 14, it is assumed that the first device 1201 selects base station #2 of 1202_2 in FIG. 12 as the base station to which to request the estimation of the distance to the target 1203. However, when the base station to which to request the estimation of the distance to the target 1203 is determined (in advance), "selection of the base station for sensing the target (sensing the target) 1402" may not be performed.

[0215] Also, the first device 1201 may broadcast the information for requesting sensing. The first device 1201 may select a base station for sensing the target from among the base stations that have returned responses to the request. For example, as described with reference to FIG. 17, the first device 1201 may select a base station for sensing the target so that the first device 1201, the base station, and the target form an obtuse triangle. Note that the example of the broadcast channel is as described in this specification.

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

[0217] Upon receiving the information on the request to "perform distance estimation from the target 1203", the base station #2 of 1202_2 responds as to "whether to accept this request" (1411). Here, for the sake of explanation, the example assumes "accepting the request".

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

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

[0220] The base station #2 of 1202_2 transmits the 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 the information on "the distance between the base station #2 of 1202_2 and the target 1203", and performs triangulation using "the distance between the first device 1201 and the base station #2 of 1202_2", "the distance between the first device 1201 and the target 1203", and "the distance between the base station #2 of 1202_2 and the target 1203", for example, to estimate the position of the target 1203 (1405).

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

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

[0224] As described above, by implementing, it is possible to realize the triangulation based on the distance described in the first embodiment, and thereby obtain the effect that the position of the target can be specified.

[0225] Next, another example when using triangulation based on distance taking the first method and the second method as examples will be described with reference to FIG. 16.

[0226] FIG. 16 is a diagram showing another example of a sensing procedure. Assume that the first device 1201 obtains the information 1301 regarding the sensing ability 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 correspondence 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] Hereinafter, as an example, assume that any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform sensing, and when there is a sensing request from the terminal, any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform the sensing operation in response to the sensing implementation request.

[0228] In FIG. 16, assume that the base station #2 of 1202_2 obtains at least the information of "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the target (object) 1613". Also, the first device 1201 may obtain at least the information of "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] And in FIG. 16, it is assumed that the base station #2 of 1202_2 obtains 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 the base station for target sensing (sensing the target) 1602". Also, in FIG. 16, the first device 1201 may obtain at least information on the "distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the target (object) 1613".

[0230] Note that the method for obtaining information on the "distance between the first device 1201 and the base station" has already been described with reference to FIGS. 15A, 15B, 15C, 15D, 15E, and 15F, so the description is omitted.

[0231] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may have previously obtained the "distance between the first device 1201 and the base station".

[0232] Also, the first device 1201 and the base station may obtain their positions by, for example, a position estimation system such as GPS. Then, the base station may transmit its own position information to the first device 1201, and the first device 1201 may obtain the "distance between the first device 1201 and the base station" from its own position information and the position information of the base station. And the first device 1201 may transmit its own position information to the base station, and the base station may obtain 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.

[0233] An example will be described when using triangulation based on distance, taking the first method and the second method 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] Based on the estimated value of "the distance between the first device 1201 and the target 1203", the information of "the distance between the first device 1201 and base station #1 of 1202_1", the information of "the distance between the first device 1201 and base station #2 of 1202_2", and the information of "the distance between the first device 1201 and base station #3 of 1202_3", the first device 1201 selects a base station to which to request the estimation of the distance to the target 1203 (1602).

[0236] In the example of FIG. 16, it is assumed that the first device 1201 selects base station #2 of 1202_2 in FIG. 12 as the base station to which to request the estimation of the distance to the target 1203. However, when the base station to which to request the estimation of the distance to the target 1203 is determined (in advance), the "selection of a base station for target sensing (sensing the target) 1602" may not be performed.

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

[0238] Base station #2 of 1202_2 receives the information of the request for "the estimation of the distance to the target 1203" and responds as to "whether to receive this request" (1611). Here, the example is described as "receiving the request".

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

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

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

[0242] Note that the base station #2 of 1202_2 must have 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 on the estimated result of "the position of the target 1203" to the first device 1201 (1614).

[0244] Note that if there is no need to share information on the estimated result of "the position of the target 1203" between the first device 1201 and the base station #2 of 1202_2, the base station #2 of 1202_2 does not have to transmit information on the estimated result of "the position of the target 1203" to the first device 1201.

[0245] As described above, by implementing, triangulation based on the distance described in the first embodiment can be realized, and thereby the effect of being able to specify the position of the target can be obtained.

[0246] In the case of triangulation based on direction: An example of using triangulation based on direction, taking the third method and the fourth method described in the first embodiment as examples, will be described.

[0247] The first device 1201 obtains the information 1301 regarding the 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 it is assumed that the first device 1201 has acquired the corresponding status of sensing for base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0248] Hereinafter, as an example, it is assumed that any of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can perform sensing. When there is a sensing request from a terminal, it is assumed that any of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can perform the sensing operation in response to the sensing request.

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

[0250] And in FIG. 14, it is assumed that before the first device 1201 "selects a base station for sensing the target (sensing the target) 1402", the first device 1201 has obtained the information on "the distance between the first device 1201 and base station #1 of 1202_1", the information on "the distance between the first device 1201 and base station #2 of 1202_2", and the information on "the distance between the first device 1201 and base station #3 of 1202_3".

[0251] Note that the method for obtaining the information on "the distance between the first device 1201 and the base station" has already been described with reference to FIGS. 15A, 15B, 15C, 15D, 15E, and 15F, so the description is omitted.

[0252] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may have previously obtained "the distance between the first device 1201 and the base station".

[0253] Further, the first device 1201 and the base station may obtain their positions by means of a positioning system such as GPS. Then, the base station transmits its 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. Further, the first device 1201 may transmit its 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.

[0254] An example will be described when triangulation based on the directions exemplified by the third method and the fourth method described in the first embodiment is used.

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

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

[0257] In the example of FIG. 14, it is assumed that the first device 1201 selects base station #2 of 1202_2 in FIG. 12 as the base station to which to request an estimation of the (arrival) direction to the target 1203. However, when the base station to which to request an estimation of the (arrival) direction to the target 1203 is determined (in advance), the "selection of a base station for target sensing (sensing the target) 1402" may not be performed.

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

[0259] The base station #2 of 1202_2 receives the information of the request for "estimation of the (arrival) direction with Target 1203" and makes a response on "whether to receive this request" (1411). Here, the example is described as "receiving the request".

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

[0261] The base station #2 of 1202_2 transmits a signal to perform sensing and obtains an estimated value of the (arrival) direction between the base station #2 of 1202_2 and Target 1203 (1412).

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

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

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

[0265] Note that when the first device 1201 does not need to share the "position information of Target 1203" with the base station #2 of 1202_2, it may not transmit the "position information of Target 1203" to the base station #2 of 1202_2.

[0266] As described above, by implementing the triangulation based on the (arrival) direction described in the first embodiment, the effect of being able to identify the position of the target can be obtained.

[0267] Next, another example when triangulation based on a direction exemplified by the third method and the fourth method is used will be described with reference to FIG. 16.

[0268] It is assumed that the first device 1201 obtains the information 1301 regarding the 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 corresponding situation of the sensing of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3.

[0269] Hereinafter, as an example, it is assumed that any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform sensing, and when a sensing request is received from the terminal, any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform the sensing operation in response to the sensing execution request.

[0270] In FIG. 16, it is assumed that the base station #2 of 1202_2 obtains at least the 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". Also, the first device 1201 may obtain at least the 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] And in FIG. 16, before the base station #2 of 1202_2 "selects the base station for target sensing 1602", it is assumed to have 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". Also in FIG. 16, before the first device 1201 "estimates the position of the target (object) 1613", it may have obtained at least information on "the distance between the first device 1201 and the base station #2 of 1202_2".

[0272] Note that the method of obtaining information on "the distance between the first device 1201 and the base station" has already been described with reference to FIGS. 15A, 15B, 15C, 15D, 15E, and 15F, so the description is omitted.

[0273] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may have previously obtained "the distance between the first device 1201 and the base station".

[0274] Also, the first device 1201 and the base station may obtain their positions by, for example, a position estimation system such as GPS. Then, the base station may transmit its own position information to the first device 1201, and the first device 1201 may calculate "the distance between the first device 1201 and the base station" from its own position information and the base station's position information. And the first device 1201 may transmit its own position information to the base station, and the base station may calculate "the distance between the first device 1201 and the base station" from its own position information and the first device 1201's position information.

[0275] An example when using triangulation based on the directions exemplified by the third method and the fourth method described in the first embodiment will be described.

[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 direction (arrival) of the first device 1201 and the target 1203" (1601).

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

[0278] In the example of FIG. 16, it is assumed that the first device 1201 selects base station #2 of 1202_2 in FIG. 12 as the base station to which to request an estimation of the (arrival) direction to the target 1203. However, when the base station to which to request an estimation of the (arrival) direction to the target 1203 is determined in advance, "selection 1602 of a base station for target sensing (sensing the target)" may not be performed.

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

[0280] Base station #2 of 1202_2 receives the information on the request for the estimation of the (arrival) direction to the target 1203 and gives a response as to whether or not to receive this request (1611). Here, the example is described as "receiving the request".

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

[0282] Base station #2 of 1202_2 transmits a signal to perform sensing and obtains an estimated value of the (arrival) direction between base station #2 of 1202_2 and the target 1203 (1612).

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

[0284] Note that the base station #2 of 1202_2 will obtain 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 regarding the estimated result of the "position of the target 1203" to the first device 1201 (1614).

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

[0287] As described above, by implementing this, triangulation based on the (arrival) direction described in the first embodiment can be realized, and thus the effect of being able to specify the position of the target can be obtained.

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

[0289] FIG. 17 is a diagram for explaining an example of base station selection. In FIG. 17, those that operate in the same manner as in FIG. 12 are given the same numbers and the description thereof is omitted.

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

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

[0292] At this time, the second triangle 1702 is an obtuse triangle and the third triangle 1703 is an acute triangle. At this time, if an estimation error occurs in the sensing in the state of the acute triangle, the estimation error in position estimation or the like may increase. Considering this point, the second triangle 1702 may be more suitable for sensing.

[0293] Therefore, in FIG. 14, before the first device 1201 "selects (1402) the base station for sensing the target (sensing the target)", by "performing sensing of the target (sensing the target) (1401)" and performing base station selection, the state of the triangle can be selected, so there is a possibility of reducing the estimation error due to sensing.

[0294] Similarly, in FIG. 16, before the first device 1201 "selects (1602) the base station for sensing the target (sensing the target)", by "performing sensing of the target (1601)" and performing base station selection, the state of the triangle can be selected, so there is a possibility of reducing the estimation error due to sensing.

[0295] By implementing as described above, high-precision triangulation can be performed, and thus the effect that each device can grasp the position of the target and the like can be obtained.

[0296] In addition, when the first device 1201 and the base station "previously know the position (or position information) on the map", or when the first device 1201 and the base station "can know the position (or position information) on the map by a position estimation system such as GPS, for example", each device can know the position (or position information) of the target on the map.

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

[0298] Also, in the above description, in order to sense the target (object), for example, the base station, the terminal, and the repeater transmit a signal, and this signal may be called a reference signal, a reference symbol, a pilot symbol, a pilot signal, or a preamble. However, the naming method is not limited to this example.

[0299] Next, an embodiment different from FIGS. 12, 14, and 16 will be described. An embodiment in the case where the target is transmitting radio waves will be described.

[0300] FIG. 18 is a diagram showing an example of the "sensing system" or the "sensing and communication system" in the example here. In FIG. 18, those that operate in the same manner as in FIG. 12 are given the same numbers and the description thereof is omitted since it has already been described.

[0301] In FIG. 18, the second device 1802 is an object for which position estimation is performed by sensing.

[0302] In this embodiment, as an example, a method for performing "triangulation described in the first embodiment at base stations #1 of the first devices 1201 and 1202_1", "triangulation described in the first embodiment at base stations #2 of the first devices 1201 and 1202_2", and "triangulation described in the first embodiment at base stations #3 of the first devices 1201 and 1202_3" will be described.

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

[0304] It is assumed that the second device 1802 in FIG. 18 is 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 one of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3, and triangulation will be realized. However, it is assumed that there are also base stations that do not support sensing due to factors such as the scale of the base station and the installation time.

[0306] Therefore, base stations such as base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 are assumed to transmit control information including information 1301 regarding sensing capabilities as shown in FIG. 13.

[0307] Note that the control information including the information 1301 regarding sensing capabilities is transmitted by the base station using, for example, PBCH, PDSCH, and PDCCH. The channel for transmitting this control information is not limited to the above example.

[0308] As shown in FIG. 13, the information 1301 regarding the sensing ability shall include at least one of "information 1311 regarding whether sensing is possible or not", "information 1312 regarding whether it is possible to execute a sensing request from a terminal", and "information 1313 regarding whether it is possible to receive a sensing request from a terminal".

[0309] Specific examples of "information 1311 regarding whether sensing is possible or not", "information 1312 regarding whether it is possible to execute a sensing request from a terminal", and "information 1313 regarding whether it is possible to receive a sensing request from a terminal" are as follows.

[0310] "Information 1311 regarding whether sensing is possible or not": This information is used, for example, to notify a terminal, a repeater, another base station, etc. of "whether the base station can perform sensing".

[0311] Therefore, at least when the information 1311 includes the information "sensing can be performed" as the "information 1311 regarding whether sensing is possible or not", the base station that transmits the information 1311 shall be assumed to have a sensing function. Also, this base station shall be assumed to have a communication function. Note that the specific configuration has already been described in the first embodiment, so the description is omitted.

[0312] "Information 1312 regarding whether it is possible to execute a sensing request from a terminal": This information is used, for example, to notify a terminal, etc. of "whether it is possible to perform sensing" when the base station receives a sensing request from the terminal.

[0313] Here, it is named "information 1312 regarding the feasibility of performing sensing in response to a sensing request from a terminal". However, "information 1312 regarding the feasibility of performing sensing in response to a sensing request from a terminal" may be "information regarding the feasibility of performing sensing in response to a sensing request from a device other than the terminal, such as a repeater or another base station". Also, the details of the "sensing request" will be described later.

[0314] "Information 1313 regarding the ability to receive a sensing request from a terminal": This information is used by the base station to notify, for example, the terminal, etc., of the information on "whether to receive a sensing request from the terminal" when there is a sensing request from the terminal.

[0315] Therefore, even when there is a sensing request from the terminal, there are modes of "accept" and "not accept" for the base station.

[0316] Here, it is named "information 1313 regarding the ability to receive a sensing request from a terminal". However, "information 1313 regarding the ability to receive a sensing request from a terminal" may be "information regarding the ability to receive a sensing request from a device other than the terminal, such as a repeater or another base station". Also, the details of the "sensing request" will be described later.

[0317] By doing the above, the terminal, repeater, other base stations, etc. can know the state of the base station's sensing and the state regarding the sensing request, so that the effect of being able to perform suitable "control regarding sensing and communication with the base station" can be obtained.

[0318] Next, the operations of the base station #2 of the first device 1201, the second device 1802, and 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 will be described as a terminal, but the same implementation is possible even if the first device 1201 is a base station. However, if a special operation occurs when the first device 1201 is a base station, supplementary explanation will be provided. 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 also be repeaters.

[0320] In this embodiment, triangulation is handled. Examples of specific methods of triangulation are described in the first embodiment, and the first method and the second method are triangulations based on obtaining distance information by performing sensing.

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

[0322] Hereinafter, FIG. 12 will be described by dividing it into triangulation based on distance with the first method and the second method as examples, and triangulation based on direction with the third method and the fourth method as examples.

[0323] Case of triangulation based on distance: An example will be described when triangulation based on distance with the first method and the second method described in the first embodiment is used.

[0324] The first device 1201 obtains the information 1301 regarding the 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 correspondence status of sensing for the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3. Hereinafter, as an example, it is assumed that any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform sensing, and when there is a sensing request from a terminal, any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform the sensing operation in response to the sensing execution request.

[0325] FIG. 19 is a diagram showing an example of a procedure for sensing in the system example of FIG. 18. In FIG. 19, it is assumed that the first device 1201 has obtained at least the 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".

[0326] Also, in FIG. 19, it is assumed that the first device 1201 has obtained the information on "the distance between the first device 1201 and the base station #1 of 1202_1", the information on "the distance between the first device 1201 and the base station #2 of 1202_2", and the information on "the distance between the first device 1201 and the base station #3 of 1202_3" before "selecting the base station for sensing the second device (sensing the second device) 1902".

[0327] Note that the method for obtaining the information on "the distance between the first device 1201 and the base station" has already been described with reference to FIGS. 15A, 15B, 15C, 15D, 15E, and 15F, so the description is omitted.

[0328] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may have previously acquired "the distance between the first device 1201 and the base station".

[0329] Further, the first device 1201 and the base station may obtain their positions by a position estimation system such as GPS. Then, the base station transmits its own position information to the first device 1201, and the first device 1201 may obtain the "distance between the first device 1201 and the base station" from its own position information and the position information of the base station. Then, the first device 1201 transmits its own position information to the base station, and the base station may obtain 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.

[0330] An example when using triangulation based on distance, taking the first method and the second method described in the first embodiment as examples, will be described.

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

[0332] The first device 1201 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimated value 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 the description is omitted.

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

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

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

[0336] The base station #2 of 1202_2 receives the information on the request for "estimation of the distance to the second device 1802" and gives a response on "whether to accept this request" (1911). Here, for the sake of explanation, the example assumes "accepting the request".

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

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

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

[0340] The base station #2 of 1202_2 transmits the 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 the information on "the distance between 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 distance between the first device 1201 and the second device 1802", and "the distance between the base station #2 of 1202_2 and the second device 1802", for example, to estimate the position of the second device 1802 (1905).

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

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

[0344] As described above, by implementing the above, the triangulation based on the distance described in the first embodiment can be realized, and thereby, the effect of being able to specify the position of the second device 1802 can be obtained.

[0345] Next, another example when using triangulation based on distance with the first method and the second method as examples will be described with reference to FIG. 20.

[0346] FIG. 20 is a diagram showing another example of a procedure for sensing in the system example of FIG. 18. It is assumed that the first device 1201 obtains the information 1301 regarding the 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 correspondence 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] Hereinafter, as an example, it is assumed that any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform sensing, and when there is a sensing request from a terminal, any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform a sensing operation in response to the sensing implementation request.

[0348] In FIG. 20, it is assumed that the base station #2 of 1202_2 obtains at least the information of "the distance between the first device 1201 and the base station #2 of 1202_2" before "estimating the position of the second device 2013". Also, the first device 1201 may obtain at least the information of "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] And in FIG. 20, before the base station #2 of 1202_2 "selects the base station for sensing (sensing the second device) 2002", it is assumed to have obtained the information on "the distance between the first device 1201 and the base station #1 of 1202_1", the information on "the distance between the first device 1201 and the base station #2 of 1202_2", and the information on "the distance between the first device 1201 and the base station #3 of 1202_3". Also in FIG. 20, before the first device 1201 "estimates the position of the second device 2013", it may have obtained at least the information on "the distance between the first device 1201 and the base station #2 of 1202_2".

[0350] Note that the method for obtaining the information on "the distance between the first device 1201 and the base station" has already been described with reference to FIGS. 15A, 15B, 15C, 15D, 15E, and 15F, so the description is omitted.

[0351] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may have obtained in advance "the distance between the first device 1201 and the base station".

[0352] Also, the first device 1201 and the base station may obtain their positions by, for example, a position estimation system such as GPS. Then, the base station may transmit its own position information to the first device 1201, and the first device 1201 may obtain "the distance between the first device 1201 and the base station" from its own position information and the position information of the base station. And the first device 1201 may transmit its own position information to the base station, and the base station may obtain "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.

[0353] An example when using triangulation based on distance with the first method and the second method described in the first embodiment as examples will be described.

[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 processing for sensing, and obtains an estimated value of "the distance between the first device 1201 and the second device 1802" (2001). Note that since the processing for sensing has already been described in other embodiments, the description is omitted.

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

[0357] In the example of FIG. 20, it is assumed that the first device 1201 selects base station #2 of 1202_2 in FIG. 12 as the base station to which to request the estimation of the distance from the second device 1802. However, when the base station to which to request the estimation of the distance from the second device 1802 is determined (in advance), "selecting a base station for sensing the second device (for sensing the second device 1802) 2002" may not be performed.

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

[0359] Base station #2 of 1202_2 receives the information on the request for "estimating the distance from the second device 1802" and gives a response on "whether to receive this request" (2011). Here, the example is described as "receiving the request".

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

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

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

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

[0364] Note that the base station #2 of 1202_2 obtains 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 on the estimated result of "the position of the second device 1802" to the first device 1201 (2014).

[0366] Note that if there is no need to share information on the estimated result of "the position of the second device 1802" between the first device 1201 and the base station #2 of 1202_2, the base station #2 of 1202_2 does not have to transmit information on the estimated result of "the position of the second device 1802" to the first device 1201.

[0367] As described above, by implementing, triangulation based on the distance described in the first embodiment can be realized, and thereby the effect of being able to specify the position of the second device 1802 can be obtained.

[0368] In the case of triangulation based on direction: An example when triangulation based on direction using the third method and the fourth method described in the first embodiment is taken as an example will be described.

[0369] The first device 1201 obtains the information 1301 regarding the 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 it is assumed that the first device 1201 has acquired the corresponding status of the sensing of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3.

[0370] Hereinafter, as an example, it is assumed that any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform sensing. When there is a sensing request from a terminal, it is assumed that any of the base station #1 of 1202_1, the base station #2 of 1202_2, and the base station #3 of 1202_3 can perform the sensing operation in response to the sensing request.

[0371] In FIG. 19, it is assumed that the first device 1201 has obtained at least the 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] And in FIG. 19, it is assumed that the first device 1201 has obtained the information on the "distance between the first device 1201 and the base station #1 of 1202_1", the information on the "distance between the first device 1201 and the base station #2 of 1202_2", and the information on the "distance between the first device 1201 and the base station #3 of 1202_3" before "selecting the base station for sensing (sensing the second device) of the second device 1902".

[0373] Note that the method for obtaining the information on the "distance between the first device 1201 and the base station" has already been described with reference to FIGS. 15A, 15B, 15C, 15D, 15E, and 15F, so the description is omitted.

[0374] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may have previously acquired the "distance between the first device 1201 and the base station".

[0375] Further, the first device 1201 and the base station may obtain their positions by a position estimation system such as GPS. Then, the base station transmits its position information to the first device 1201, and the first device 1201 may obtain the "distance between the first device 1201 and the base station" from its own position information and the position information of the base station. Then, the first device 1201 transmits its own position information to the base station, and the base station may obtain 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.

[0376] An example will be described when triangulation based on the directions exemplified by the third method and the fourth method described in the first embodiment is used.

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

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

[0379] The first device 1201 selects a base station that requests an estimation of the (arrival) direction with the second device 1802 based on the estimated value of the "(arrival) direction between the first device 1201 and the second device 1802" and the information on the "distance between the first device 1201 and base station #1 of 1202_1", the information on the "distance between the first device 1201 and base station #2 of 1202_2", and the information on the "distance between the first device 1201 and base station #3 of 1202_3" (1902).

[0380] In the example of FIG. 19, it is assumed that the first device 1201 selects the base station #2 of 1202_2 in FIG. 18 as the base station that requests the estimation of the (arrival) direction with the second device 1802. However, when the base station that requests the estimation of the (arrival) direction with the second device 1802 is determined in advance, "selection of the base station for sensing the second device (for sensing the second device 1802) 1402" may not be performed.

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

[0382] The base station #2 of 1202_2 receives the information of the request for "estimation of the (arrival) direction with the second device 1802" and gives a response of "whether to receive this request" (1911). Here, the example is described as "receiving the request".

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

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

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

[0386] The base station #2 of 1202_2 transmits the information of the (arrival) direction between 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 "direction (arrival) of base station #2 of 1202_2 and the second device 1802", and performs triangulation using the "distance between the first device 1201 and base station #2 of 1202_2", the "direction (arrival) of the first device 1201 and the second device 1802", and the "direction (arrival) of base station #2 of 1202_2 and the second device 1802", for example, to estimate the position of the second device 1802 (1905).

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

[0389] Note that if it is not necessary to share the information on the "position of the second device 1802" with base station #2 of 1202_2, the first device 1201 does not have to transmit the information on the "position of the second device 1802" to base station #2 of 1202_2.

[0390] As described above, by implementing, triangulation based on the (arrival) direction described in the first embodiment can be realized, and thereby the effect of being able to specify the position of the second device 1802 can be obtained.

[0391] Next, another example when triangulation based on the direction taking the third method and the fourth method as examples is described with reference to FIG. 20.

[0392] It is assumed that the first device 1201 obtains the information 1301 regarding the 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 correspondence status of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0393] Hereinafter, as an example, it is assumed that any of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can perform sensing. When there is a sensing request from a terminal, it is assumed that any of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can perform a sensing operation in response to the sensing request.

[0394] In FIG. 20, it is assumed that base station #2 of 1202_2 obtains at least information on the "distance between the first device 1201 and base station #2 of 1202_2" before "estimating the position of the second device 2013". Also, the first device 1201 may obtain at least information on the "distance between the first device 1201 and base station #2 of 1202_2" before "estimating the position of the second device 2013".

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

[0396] Note that the method for obtaining information on the "distance between the first device 1201 and the base station" has already been described with reference to FIGS. 15A, 15B, 15C, 15D, 15E, and 15F, so the description is omitted.

[0397] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may have previously obtained the "distance between the first device 1201 and the base station".

[0398] In addition, the first device 1201, i.e., the base station, knows its position by means of a position estimation system such as GPS. Then, the base station transmits its own position information to the first device 1201, and the first device 1201 may obtain the "distance between the first device 1201 and the base station" from its own position information and the position information of the base station. Further, the first device 1201 may transmit its own position information to the base station, and the base station may obtain 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.

[0399] An example will be described when triangulation based on the direction exemplified by the third method and the fourth method described in the first embodiment is used.

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

[0401] The first device 1201 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimated value of the "(arrival) direction between the first device 1201 and the second device 1802" (2001). Note that the sensing processing has already been described in other embodiments, so the description thereof will be omitted.

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

[0403] In the example of FIG. 20, it is assumed that the first device 1201 selects base station #2 of 1202_2 in FIG. 12 as the base station that requests an estimation of the (arrival) direction with the second device 1802. However, when the base station that requests an estimation of the (arrival) direction with the second device 1802 is determined in advance, the "selection of the base station for sensing the second device 2002 for sensing the second device 1802" may not be performed.

[0404] The first device 1201 transmits information on the request for "estimation of the (arrival) direction with the second device 1802" to the base station #2 of 1202_2 (2003). Also, the first device 1201 transmits information on "the (arrival) direction between 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 on the request for "estimation of the (arrival) direction with the second device 1802" and gives a response on "whether to receive this request" (2011). Here, for the sake of explanation, the example is given as "receiving the request".

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

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

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

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

[0410] Note that the base station #2 of 1202_2 will obtain the 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 on the estimation result of "the position of the second device 1802" to the first device 1201 (2014).

[0412] In addition, when it is not necessary to share information regarding the estimated result of the "position of the second device 1802" between the first device 1201 and the base station #2 of 1202_2, the base station #2 of 1202_2 does not have to transmit information regarding the estimated result of the "position of the second device 1802" to the first device 1201.

[0413] As described above, by implementing this, triangulation based on the (arrival) direction described in the first embodiment can be realized, and as a result, the effect of being able to specify the position of the second device 1802 can be obtained.

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

[0415] By doing so, there is a possibility of reducing the estimation error due to sensing. The reason for this has already been explained, so the explanation will be omitted.

[0416] By implementing as described above, high-precision triangulation can be performed, and as a result, the effect that each device can grasp the position of the target and the like can be obtained.

[0417] In addition, when the first device 1201 and the base station "previously grasp the position (or position information) on the map", or when the first device 1201 and the base station "can grasp the position (or position information) on the map by a position estimation system such as GPS, for example", each device can grasp the position (or position information) of the target on the map.

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

[0419] Note that in the above, the second device transmits a signal for sensing, and this signal may be referred to as a reference signal, a reference symbol, a pilot symbol, a pilot signal, or a preamble. However, the naming is not limited to this example.

[0420] Examples of the characteristic points of the above example can be described as follows.

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

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

[0425] Note that one or more devices different from the second device may estimate the distance of the target.

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

[0427] In the above, the operation examples of the sensing of each device in FIGS. 12 and 18 have been described. Hereinafter, the configuration examples of the devices of base station #1 of the first devices 1201 and 1201_1, base station #2 of 1202_2, and base station #3 of 1202_3 in FIGS. 12 and 18 will be described.

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

[0429] The signal generation unit 2102 takes the control signal 2100 as an input, generates a signal based on the information of the control signal 2100, and outputs it. Specific examples (the first example and the second example) will be described.

[0430] The first example: For example, when the control signal 2100 indicates "transmit a modulation signal for communication", the signal generation unit 2102 performs processes such as error correction coding, modulation (mapping), and processing based on the transmission method on the data 2101, and uses at least one antenna port from the antenna port 2105_1 to the antenna port 2105_N to transmit the modulation signal as a radio wave. Note that N is an integer of 1 or more.

[0431] When the control signal 2100 indicates "transmitting a modulation signal for communication and a signal for sensing", the signal generation unit 2102 performs processes such as error correction encoding, modulation (mapping), and processes based on the transmission method on the data 2101, and uses at least one antenna port from the antenna port 2105_1 to the antenna port 2105_N to transmit the modulation signal as radio waves, and generates a signal for sensing and transmits it as radio waves from the antenna port 2106.

[0432] When the control signal 2100 indicates "transmitting a signal for sensing", the signal generation unit 2102 generates a signal for sensing and transmits it as radio waves from the antenna port 2106.

[0433] When the signal for sensing is being transmitted from the antenna port 2106, at the target 2110, the signal for sensing is, for example, reflected, and the reflected wave reaches the antenna port 2112.

[0434] In the case of FIG. 18, the signal for sensing transmitted by the second device 1802 reaches the antenna port 2112. For example, as in FIG. 21B, the signal for sensing transmitted by the second device 2120 (corresponding to the second device 1802) reaches the antenna port 2112.

[0435] For example, when the control signal 2100 indicates "performing demodulation for communication", the modulation signal is received using at least one antenna port from the antenna port 2111_1 to the antenna port 211_M, and the signal processing unit 2115 uses this modulation signal as an input and performs processes such as demodulation and outputs the received data 2116. Note that M is an integer of 1 or more.

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

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

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

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

[0440] As shown in FIG. 22(A), it is assumed that the signal transmission section 2201, which exists between time v1 and time v2, is the section in which the apparatuses of base station #1 of the first apparatuses 1201 and 1201_1, base station #2 of 1202_2, and base station #3 of 1202_3 having the configuration of FIG. 21A transmit sensing signals.

[0441] The devices of the first apparatuses 1201 and 1201_1 (base station #1), base station #2 of 1202_2, and base station #3 of 1202_3, which have the configuration of FIG. 21A, receive the signals in the signal transmission section 2201 that exists between time v1 and time v2, and perform signal processing, thereby performing target sensing.

[0442] Therefore, the devices of the first apparatuses 1201 and 1201_1 (base station #1), base station #2 of 1202_2, and base station #3 of 1202_3, which have the configuration of FIG. 21, perform reception operations related to sensing in the section of reception-related operations 2202 that exists between time v1 and time v2, as shown in FIG. 22(B).

[0443] That is, when performing sensing, there may be a time interval in which the devices of the first apparatuses 1201 and 1201_1 (base station #1), base station #2 of 1202_2, and base station #3 of 1202_3 perform the processing of both the operations in the signal transmission section and the reception-related operations. Thus, in a device configuration that separately includes an antenna port for communication and an antenna port for sensing, there is a possibility of improving communication performance and sensing performance.

[0444] Note that the antenna port may be a logical antenna (antenna group) composed of one or a plurality of physical antennas. That is, the antenna port does not necessarily refer to one physical antenna, and may refer to an array antenna or the like composed of a plurality of antennas.

[0445] For example, it is not specified how many physical antennas the antenna port is composed of, and it may be specified as the minimum unit capable of transmitting a reference signal by a terminal station.

[0446] Also, an antenna port may be defined as a unit that multiplies a precoding vector, or weights of a precoding matrix, or a minimum unit. Note that the above content regarding the antenna port is relevant to the entire specification.

[0447] Also, at least one antenna may be shared among antenna ports. For example, there may be a transmitting antenna, and this transmitting antenna may be used for a plurality of transmitting antenna ports. And, for example, there may be a receiving antenna, and this receiving antenna may be used for a plurality of receiving antenna ports. Also, for example, there may be an antenna, and this antenna may be used for a plurality of antenna ports. Note that the above content regarding the antenna port is relevant to the entire specification.

[0448] Second example: Define the first mode and the second mode as follows.

[0449] First mode (for example, a mode corresponding to the first release standard): The first mode is assumed to be a mode corresponding to the first communication method.

[0450] Second mode (for example, a mode corresponding to the second release standard): The second mode is assumed to be a mode corresponding to the second communication method and also corresponding to sensing.

[0451] Hereinafter, three cases will be described.

[0452] Case 1: In FIGS. 21A and 21B, for example, when the control signal 2100 indicates "transmit the modulation signal in the first mode", the signal generation unit 2102 performs processes such as error correction encoding, modulation (mapping), and processing based on the transmission method on the data 2101, and uses at least one antenna port from the antenna port 2105_1 to the antenna port 2105_N to transmit the modulation signal in the first mode as radio waves. Here, N is assumed to be an integer of 1 or more.

[0453] When the control signal 2100 indicates "transmit the'modulation signal and / or sensing signal' in the second mode", the signal generation unit 2102 performs processes such as error correction encoding, modulation (mapping), and processing based on the transmission method on the data 2101, and uses the antenna port 2106 to transmit the modulation signal in the second mode as radio waves. And / or, the signal generation unit 2102 generates a sensing signal and transmits it as radio waves from the antenna port 2106.

[0454] When the control signal 2100 indicates "transmit the modulation signal in the first mode and transmit the'modulation signal and / or sensing signal' in the second mode", the control signal generation unit 2102 will perform the following two operations.

[0455] (1) The signal generation unit 2102 performs processes such as error correction encoding, modulation (mapping), and processing based on the transmission method on the data 2101, and uses at least one antenna port from the antenna port 2105_1 to the antenna port 2105_N to transmit the modulation signal in the first mode as radio waves. Here, N is assumed to be an integer of 1 or more.

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

[0457] Also, in FIGS. 21A and 21B, for example, when the control signal 2100 indicates "perform demodulation in the first mode", the modulation signal is received using at least one of the antenna ports from the antenna port 2111_1 to 2111_M. The signal processing unit 2115 takes this modulation signal as an input and performs processes such as demodulation, and outputs the received data 2116 in the first mode. Note that M is an integer of 1 or more.

[0458] When the control signal 2100 indicates "perform processing in the second mode", the signal processing unit 2115 takes the signal received at the antenna port 2112 as an input and performs sensing processing, and outputs, for example, the target distance information 2117. And / or, the signal processing unit 2115 receives the modulation signal using the antenna port 2112, takes this modulation signal as an input, and performs processes such as demodulation, and outputs the received data 2116 in the second mode.

[0459] When the control signal 2100 indicates "perform demodulation in the first mode and perform processing in the second mode", the following two operations will be implemented.

[0460] (3) The modulation signal is received using at least one of the antenna ports from the antenna port 2111_1 to 2111_M. The signal processing unit 2115 takes this modulation signal as an input and performs processes such as demodulation, and outputs the received data 2116 in the first mode.

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

[0462] In the above example, the antenna ports 2105_1 to 2105_N are the transmission antenna ports in the first mode, and the antenna port 2106 is the transmission antenna port in the second mode. Also, the antenna ports 2111_1 to 2111_M are the reception antenna ports in the first mode, and the antenna port 2112 is the reception antenna port in the second mode.

[0463] Case 2: In FIGS. 21A and 21B, for example, when the control signal 2100 indicates at least "transmit the modulation signal in the first mode", 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 uses at least one of the antenna ports from the antenna port 2105_1 to the antenna port 2105_(N - 1) to transmit the modulation signal in the first mode as a radio wave. Here, N is assumed to be an integer of 2 or more.

[0464] When the control signal 2100 indicates "transmit at least the'modulation signal for communication' in the second mode", 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 uses the antenna port 2105_N to transmit the modulation signal in the second mode as a radio wave.

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

[0466] Also, in FIGS. 21A and 21B, for example, when the control signal 2100 indicates at least "perform demodulation in the first mode", a modulation signal is received using at least one of the antenna ports from antenna port 2111_1 to 2111_(M-1), and the signal processing unit 2115 uses this modulation signal as an input, performs processing such as demodulation, and outputs received data 2116 in the first mode. Note that M is an integer of 2 or more.

[0467] When the control signal 2100 indicates at least "perform demodulation in the second mode", a modulation signal is received using antenna port 2111_M, and the signal processing unit 2115 uses this modulation signal as an input, performs processing such as demodulation, and outputs received data 2116 in the second mode.

[0468] When the control signal 2100 indicates at least "perform processing for sensing in the second mode", the signal processing unit 2115 uses the signal received at antenna port 2112 as an 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 transmission antenna ports in the first mode, antenna port 2105_N is a transmission antenna port for communication in the second mode, and antenna port 2106 is a transmission antenna port for sensing in the second mode.

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

[0471] Case 3: In FIGS. 21A and 21B, for example, when the control signal 2100 indicates at least "transmitting a modulation signal in the first mode", the signal generation unit 2102 performs processes such as error correction encoding, modulation (mapping), and processes based on the transmission method on the data 2101, and uses at least one antenna port from the antenna port 2105_1 to the antenna port 2105_N to transmit the modulation signal in the first mode as radio waves. Here, N is assumed to be an integer of 1 or more.

[0472] When the control signal 2100 indicates "transmitting at least the'modulation signal for communication' in the second mode", the signal generation unit 2102 performs processes such as error correction encoding, modulation (mapping), and processes based on the transmission method on the data 2101, and uses at least one antenna port from the antenna port 2105_1 to the antenna port 2105_N to transmit the modulation signal in the second mode as radio waves.

[0473] When the control signal 2100 indicates "transmitting at least the'sensing signal' in the second mode", the signal generation unit 2102 generates a sensing signal and transmits it as radio waves from the antenna port 2106.

[0474] Also, in FIGS. 21A and 21B, for example, when the control signal 2100 indicates at least "performing demodulation in the first mode", a modulation signal is received using at least one antenna port from the antenna ports 2111_1 to 2111_M, and the signal processing unit 2115 takes this modulation signal as an input and performs processes such as demodulation, and outputs the received data 2116 in the first mode. Here, M is assumed to be an integer of 1 or more.

[0475] When the control signal 2100 indicates at least "performing demodulation in the second mode", a modulation signal is received using at least one of the antenna ports from antenna port 2111_1 to 2111_M. The signal processing unit 2115 uses this modulation signal as an input, performs processing such as demodulation, and outputs reception data 2116 in the second mode.

[0476] When the control signal 2100 indicates at least "performing processing for sensing in the second mode", the signal processing unit 2115 uses the signal received at antenna port 2112 as an 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 transmission antenna ports in the first mode and transmission antenna ports for communication in the second mode, and antenna port 2106 is a transmission antenna port for sensing in the second mode.

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

[0479] As described above, by properly using the antenna ports used during communication and the antenna ports used during sensing, it is possible to obtain the effect that high-quality communication and high-precision sensing can be achieved simultaneously.

[0480] As described above, as the configurations of the apparatuses of base stations #1 of the first apparatuses 1201 and 1201_1, base station #2 of 1202_2, and base station #3 of 1202_3, FIGS. 21A and 21B are shown and the usage method of the antenna ports is described. The configurations of the apparatuses of base stations #1 of the first apparatuses 1201 and 1201_1, base station #2 of 1202_2, and base station #3 of 1202_3, and the usage method of the antenna ports are, of course, applicable to embodiments other than this embodiment.

[0481] And in this embodiment, when there are two devices (named device #A and device #B), when device #A or device #B transmits radio waves and device #A or device #B estimates the "distance between device #A and device #B", device #A or device #B may estimate the direction of arrival and use the estimated value of this direction of arrival to further perform high-precision target position estimation.

[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 the estimated value of this direction of arrival to further perform high-precision target position estimation.

[0483] Also, 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 the estimated value of this "distance between device #A and device #B" to further perform high-precision target position estimation.

[0484] When device #A transmits radio waves and device A estimates the direction of arrival of the radio waves obtained, for example, by reflection from the target, device #A may estimate the "distance between device #A and the target" and use this "distance between device #A and the target" to further perform high-precision target position estimation.

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

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

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

[0490] The target (object) 1203 is an object for which position estimation is performed by sensing.

[0491] In the present embodiment, as an example, "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", "triangulation described in the first embodiment between the first device 1201 and base station #3 of 1202_3" will be described.

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

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

[0494] Therefore, base stations such as base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 shall transmit control information including information 1301 regarding sensing capabilities as shown in FIG. 13.

[0495] Note that the control information including information 1301 regarding sensing capabilities shall be transmitted by the base station using, for example, PBCH, PDSCH, and PDCCH. Note that the channel for transmitting this control information is not limited to the above example.

[0496] As shown in FIG. 13, the information 1301 regarding sensing capabilities shall include at least one of "information 1311 regarding sensing ability / enability", "information 1312 regarding feasibility of implementing a sensing request from a terminal", and "information 1313 regarding receptivity of a sensing request from a terminal".

[0497] Specific examples of "information 1311 regarding sensing ability / enability", "information 1312 regarding feasibility of implementing a sensing request from a terminal", and "information 1313 regarding receptivity of a sensing request from a terminal" shall be as follows.

[0498] "Information 1311 regarding sensing ability / enability": This information is used, for example, to notify a terminal, a repeater, another base station, etc. whether the base station is capable of performing sensing.

[0499] Therefore, at least when the information "the base station is capable of performing sensing" is included as "information 1311 regarding sensing ability / enability", the base station shall be considered to have a sensing function. Also, this base station shall be considered to have a communication function. Note that the specific configuration has already been described in the first embodiment, so the description is omitted.

[0500] "Information 1312 on the Feasibility / Infeasibility of Implementing a Sensing Request from a Terminal" This information is used, for example, by a base station to notify a terminal or the like of information on "whether or not it is possible to perform sensing" when the base station receives a sensing request (a request from the terminal for the base station to perform sensing) from the terminal.

[0501] Here, it is named "Information 1312 on the Feasibility / Infeasibility of Implementing a Sensing Request from a Terminal", but "Information 1312 on the Feasibility / Infeasibility of Implementing a Sensing Request from a Terminal" may be "information on the feasibility / infeasibility of implementing a sensing request from a device other than the terminal, for example, a repeater or another base station". Also, the details of the "sensing request" will be described later.

[0502] "Information 1313 on the Acceptability / Unacceptability of Receiving a Sensing Request from a Terminal" This information is used, for example, by a base station to notify a terminal or the like of information on "whether or not to accept a sensing request from the terminal" when the base station receives a sensing request (a request from the terminal for the base station to perform sensing) from the terminal.

[0503] Therefore, even when there is a sensing request from the terminal, there are modes of "accepting" and "not accepting" for the base station.

[0504] Here, it is named "Information 1313 on the Acceptability / Unacceptability of Receiving a Sensing Request from a Terminal", but "Information 1313 on the Acceptability / Unacceptability of Receiving a Sensing Request from a Terminal" may be "information on the acceptability / unacceptability of receiving a sensing request from a device other than the terminal, for example, a repeater or another base station". Also, the details of the "sensing request" will be described later.

[0505] By doing the above, the terminal, the repeater, other base stations, etc. can know the sensing of the base station and the state regarding the request for sensing, so that the effect that suitable "control related to sensing and communication with the base station" can be performed can be obtained.

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

[0507] Also, in the "information 1312 regarding whether it is possible / impossible to execute a sensing request from a terminal" and the "information 1313 regarding whether it is possible / impossible to receive a sensing request from a terminal" transmitted by the device that transmits the information 1301 regarding the sensing ability in FIG. 13, it is described as "a sensing request from a terminal...", but it may be a sensing request from a communication device other than a terminal, for example, a base station, a repeater, or an access point. Therefore, 1312 can also be implemented as "information regarding whether it is possible / impossible to execute a sensing request from a communication device", and 1313 can also be implemented as "information regarding whether it is possible / impossible to receive a sensing request from a communication device".

[0508] Next, the operations of the first device 1201 and the base station #2 of 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 will be described as a terminal, but it can be similarly implemented even if the first device 1201 is a base station. However, when a special operation occurs when the first device 1201 is a base station, a supplementary explanation will be provided. 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 also be repeaters.

[0510] In this embodiment, triangulation is handled. Examples of specific methods of triangulation were described in the first embodiment. In the first method and the second method, triangulation is based on obtaining distance information by performing sensing.

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

[0512] Hereinafter, with reference to FIG. 12, triangulation based on the direction exemplified by the third method and the fourth method will be described. Note that this embodiment is a modification of the third method and the fourth method.

[0513] In the case of triangulation based on direction: An example will be described when using triangulation based on the direction exemplified by the third method and the fourth method described in the first embodiment.

[0514] The first device 1201 obtains information 1301 regarding the 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 correspondence status of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3.

[0515] Hereinafter, as an example, it is assumed that any of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can perform sensing, and when a sensing request is received from a terminal, any of base station #1 of 1202_1, base station #2 of 1202_2, and base station #3 of 1202_3 can perform a sensing operation in response to the sensing request.

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

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

[0518] Note that the method for obtaining the information on "the distance between the first device 1201 and the base station" has already been described with reference to FIGS. 15A, 15B, 15C, 15D, 15E, and 15F, so the description is omitted.

[0519] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the base station may have previously obtained "the distance between the first device 1201 and the base station".

[0520] Further, the first device 1201 and the base station may obtain their positions by a position estimation system such as GPS. Then, the base station may transmit its own position information to the first device 1201, and the first device 1201 may obtain "the distance between the first device 1201 and the base station" from its own position information and the position information of the base station. Alternatively, the first device 1201 may transmit its own position information to the base station, and the base station may obtain "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.

[0521] An example of using triangulation based on the directions exemplified by the third method and the fourth method described in the first embodiment will be described.

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

[0523] Base station #2 of 1202_2 receives the information on the request for "estimation of the (arrival) direction to the target 1203" and makes a response as to "whether or not to receive this request" (2311). Here, for the sake of description, the example assumes "receiving the request".

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

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

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

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

[0528] The first device 1201 uses information such as the "(received) arrival direction estimation result and feedback information" and "the distance between the first device 1201 and the base station #2 of 1202_2" transmitted by the base station #2 of 1202_2, and for example, performs triangulation to obtain the estimation result of the "position of the target (object) 1203" in FIGS. 12 and 23A (2305). Specific operation examples will be described later.

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

[0530] If it is not necessary to share information regarding the base station #2 of 1202_2 and the estimation result of the "position of target 1203", the first device 1201 does not have to transmit information regarding the estimation result of the "position of target 1203" to the base station #2 of 1202_2.

[0531] As described above, by implementing, triangulation based on the (arrival) direction described in the first embodiment can be realized, and thereby, the effect of being able to specify the position of the target can be obtained.

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

[0533] In FIG. 23A, the base station #2 of 1202_2 receives the sensing signal transmitted by the first device 1201 and performs (incoming) direction estimation, thereby estimating the angle formed by the line segment formed by the base station #2 of 1202_2 and the first device 1201 and the line segment formed by the base station #2 of 1202_2 and the target 1203 in FIG. 23B.

[0534] As an example, if the angle formed by the line segment formed by the first device 1201 and the base station #2 of 1202_2 and the line segment formed by the first device 1201 and the target 1203 can be estimated, triangulation can be realized. Hereinafter, a method for estimating the angle formed by the line segment formed by the first device 1201 and the base station #2 of 1202_2 and the line segment formed by the first device 1201 and the target 1203 will be described.

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

[0536] As shown in FIG. 24, the first device 1201 is assumed to include transmission antennas 2402_1 to 2402_L. Note that L is an integer of 1 or more.

[0537] FIG. 25 is a diagram showing a configuration example related to the transmission antenna 2402_i (i is an integer from 1 to L).

[0538] As shown in FIG. 25, assume that the transmission antenna 2402_i is composed of four antennas, such as antennas 2504_1, 2504_2, 2504_3, and 2405_4. However, here, although an example where the transmission antenna 2402_i is composed of four antennas is shown, if it is composed of two or more antennas, the number of antennas is not limited to this example.

[0539] The processing unit 2502 takes as inputs a signal 2501 (corresponding to the signal 2401_i in FIG. 24) and a control signal 2500 (corresponding to the control signal 2100 in FIG. 24). When the control signal 2500 indicates "transmit a sensing signal", the processing unit 2502 performs transmission directivity control processing on the signal 2501 and outputs the signal 2503_i after the transmission directivity control processing. Here, i is an integer from 1 to 4. Then, the signal 2503_i after the transmission directivity control processing is output as a radio wave from the antenna 2504_i.

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

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

[0542] The frame 2601 of the sensing signal 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 L-th antenna".

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

[0545] That is, the "sensing signal 2611_i transmitted using the i-th antenna" is a signal transmitted from the transmission antenna 2402_i of the first device 1201. Here, i is an integer from 1 to L.

[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. 26.

[0547] As shown in FIG. 27, the "sensing signal 2611_i transmitted using the i-th antenna" is assumed to be composed of the "sensing signal 2701_1 transmitted using the i-th antenna and the first parameter", the "sensing signal 2701_2 transmitted using the i-th antenna and the second parameter",..., and the "sensing signal 2701_z transmitted using the i-th antenna and the z-th parameter". Here, z is an integer of "1 or more" or "2 or more".

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

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

[0550] In the transmission antenna 2402_i of FIG. 24 of the first device 1201, the processing unit 2502 of FIG. 25 performs transmission directivity control using a z-th parameter and generates a sensing signal 2701_z for transmission using the i-th antenna and the z-th parameter. The sensing signal 2701_z for transmission using the i-th antenna and the z-th parameter is transmitted using the antennas 2504_1 to 2504_4 of FIG. 25. Note that the sensing signal 2701_z for transmission using the i-th antenna and the z-th parameter is composed of four signals, namely, signals 2503_1, 2503_2, 2503_3, and 2503_4.

[0551] FIG. 28 is a diagram showing a configuration example of the sensing signal 2701_j for transmission using the i-th antenna and the j-th parameter in FIG. 27. Note that j is an integer from 1 to z.

[0552] As shown in FIG. 28, the sensing signal 2701_j for transmission using the i-th antenna and the j-th parameter includes, for example, "antenna information 2801" and "parameter information 2802". Note that although not shown in FIG. 28, the sensing signal 2701_j for transmission using the i-th antenna and the j-th parameter includes a signal for performing sensing.

[0553] "Antenna information 2801" shall be assumed to include information that can identify the use of the "i-th antenna" (for example, information such as an antenna ID (identification)). Therefore, base station #2 of 1202_2 that has received the "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter" can obtain the antenna information used by the first device 1201 when transmitting the sensing signal.

[0554] Also, "parameter information 2802" shall be assumed to include information that can identify the parameters used for transmission directivity control (information such as a parameter ID (identification)). Therefore, base station #2 of 1202_2 that has received the "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter" can obtain the parameter information of the transmission directivity control used by the first device 1201 when transmitting the sensing signal.

[0555] Note that the first device 1201 and base station #2 of 1202_2 may transmit the reference signal 2899 (for sensing) in FIG. 28 in addition to the above information. Note that the reference signal 2899 will be transmitted using the i-th antenna and the j-th parameter.

[0556] In 2304 and 2312 of FIG. 23B, base station #2 of 1202_2 can receive any one of the "sensing signals 2701_j transmitted using the i-th antenna and the j-th parameter" in the sensing frame 2601 transmitted by the first device 1201. Then, base station #2 of 1202_2 uses the "antenna information 2801" and "parameter information 2802" of the "sensing signal 2701_j transmitted using the i-th antenna and the j-th parameter" that it has received as feedback information, and transmits this feedback information to the first device 1201.

[0557] The base station #2 of 1202_2 obtains this feedback information and can know the transmission directivity of the signal that the base station #2 of 1202_2 can receive, that is, the direction. That is, it can estimate the angle formed by the "line segment formed by the first device 1201 and the base station #2 of 1202_2" and the "line segment formed by the first device 1201 and the target (object) 1203" in FIG. 23A.

[0558] Therefore, since the base station #2 of 1202_2 has obtained the angle formed by the "line segment formed by the base station #2 of 1202_2 and the first device 1201" and the "line segment formed by the base station #2 of 1202_2 and the target 1203", the angle formed by the "line segment formed by the first device 1201 and the base station #2 of 1202_2" and the "line segment formed by the first device 1201 and the target (object) 1203", and the distance between the first device 1201 and the base station #2 of 1202_2, it is possible to estimate the position of the target (object) 1203.

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

[0560] For example, in the case of "the first antenna, the first parameter", it is designated as ID♭1, in the case of "the first antenna, the second parameter", it is designated as ID♭2, in the case of "the second antenna, the first parameter", it is designated as ID♭3, in the case of "the second antenna, the second parameter", it is designated as ID♭4, ···, and IDs are assigned.

[0561] And, for example, for the "sensing signal transmitted using the first antenna and the first parameter", the first device 1201 transmits it so as to include the information of ID♭1.

[0562] For the "signal for sensing transmitted using the first antenna and the second parameter", the first device 1201 transmits the "signal for sensing transmitted using the first antenna and the second parameter" so as to include the information of ID♭2.

[0563] For the "signal for sensing transmitted using the second antenna and the first parameter", the first device 1201 transmits the "signal for sensing transmitted using the second antenna and the first parameter" so as to include the information of ID♭3.

[0564] For the "signal for sensing transmitted using the second antenna and the second parameter", the first device 1201 transmits the "signal for sensing transmitted using the second antenna and the second parameter" so as to include the information of ID♭4.

[0565] Then, the 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 has received as feedback information, and transmits this feedback information to the first device 1201.

[0566] The first device 1201 obtains this feedback information and can know the transmission directivity, that is, the direction, of the signal received by the base station #2 of 1202_2, that is, it can estimate the angle formed by the "line segment formed by the first device 1201 and the base station #2 of 1202_2" and the "line segment formed by the first device 1201 and the target (object) 1203".

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

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

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

[0570] Furthermore, in FIG. 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 the base station #2 of 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 the information of this estimated value to the first device 1201. Further, the base station #2 of 1202_2 transmits the estimated result of the received arrival direction to the first device 1201. Note that since the transmission method of the sensing signal transmitted by the first device 1201 is described with reference to FIGS. 24, 25, 26, 27, and 28, the description is 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 the base station #2 of 1202_2", "the sum of the line segment formed by the first device 1201 and the target (object) 1203" and "the line segment formed by the target (object) 1203 and the base station #2 of 1202_2", and "the angle formed by the line segment formed by the base station #2 of 1202_2 and the first device 1201" and "the line segment formed by the base station #2 of 1202_2 and the target 1203".

[0573] As described above, by implementing this, triangulation can be realized, and thereby the effect of being able to specify the position of the target can be obtained.

[0574] Note that in this embodiment, when there are two devices (named device #A and device #B), when device #A or device #B transmits radio waves and device #A or device #B estimates "the distance between device #A and device #B", device #A or device #B may estimate the arrival direction and use the estimated value of this arrival direction to perform more accurate target position estimation.

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

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

[0577] When device #A transmits radio waves and estimates the direction of arrival of the radio waves obtained, for example, by reflection from the target, device #A may 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 higher accuracy.

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

[0579] Also, similar to the second embodiment, in the operation flow of FIG. 23B, the first device 1201 may change the base station that requests sensing for the purpose of improving the accuracy of target position estimation.

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

[0581] Also, when the first device 1201 performs target position estimation (2305) and determines that the target position estimation is not obtained with high accuracy, the first device 1201 may request another base station to perform sensing.

[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" in this embodiment. In FIG. 29, components that operate in the same manner as those in FIG. 12 are assigned the same numbers.

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

[0585] The fourth - 1 device 2904_1, the fourth - 2 device 2904_2, ···, the fourth - Q device 2904_Q communicate using a fourth frequency (band). Note that Q is an integer of 1 or more.

[0586] For example, there is a method in which the third frequency (band) is set as FR (Frequency Range) 1 and / or FR2, and the fourth frequency (band) is set as a frequency of 52.6 GHz or higher. However, FR1 is a frequency from 450 MHz to 6 GHz or lower, and FR2 is a frequency from 24.25 GHz to 52.6 GHz. Also, 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 set as FR1 and the fourth frequency (band) may be set as FR2.

[0587] Also, the third device 2903 is assumed to communicate with the fourth - 1 device 2904_1, the fourth - 2 device 2904_2, ···, the fourth - Q device 2904_Q. The communication at this time may be wireless communication or wired communication.

[0588] In the case of "the 4_1 device of 2904_1, the 4_2 device of 2904_2, ···, the 4_Q device of 2904_Q", communication may be possible between any two of these devices. At this time, the communication may be wireless communication or wired communication.

[0589] The target (object) 1203 is an object for which position estimation is performed by sensing.

[0590] In this embodiment, as an example, a method of performing "triangulation described in the first embodiment between the first device 1201 and the 4_1 device of 2904_1", "triangulation described in the first embodiment between the first device 1201 and the 4_2 device of 2904_2", ···, "triangulation described in the first embodiment between the first device 1201 and the 4_Q device of 2904_Q" will be described.

[0591] 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 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 a 4_i device of 2904_i that does not support sensing due to factors such as the scale of the 4_i device of 2904_i and the installation time. Here, i is an integer from 1 to Q.

[0592] Therefore, the "4_1 device of 2904_1, the 4_2 device of 2904_2, ···, the 4_Q device of 2904_Q" is assumed to transmit control information including information 3001 regarding sensing ability 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" is assumed to transmit control information including information 3001 regarding sensing ability using, for example, PBCH, PDSCH, and PDCCH.

[0593] The channel for transmitting this control information is not limited to the above example. Also, the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q" may transmit the information 3001 regarding the sensing ability to the 1st device 1201 or to the 3rd device 2903.

[0594] FIG. 30 is a diagram for explaining an example of information regarding the sensing ability. As shown in FIG. 30, the information 3001 regarding the sensing ability shall include at least one of "information 3011 regarding sensing possible / impossible", "information 3012 regarding implementable / unimplementable for a sensing request from the 1st device 1201", and "information 3013 regarding receivable / unreceivable for a sensing request from the 1st device 1201".

[0595] The following shall be specific examples of "information 3011 regarding sensing possible / impossible", "information 3012 regarding implementable / unimplementable for a sensing request from the 1st device 1201", and "information 3013 regarding receivable / unreceivable for a sensing request from the 1st device 1201".

[0596] "Information 3011 regarding sensing possible / impossible": This information is used to notify, for example, the 1st device 1201, a repeater, other 4th_x devices, the 3rd device 2903, etc. whether the 4th_i device of 2904_i is capable of performing sensing. Therefore, at least when the information "sensing is possible" is included as the "information 3011 regarding sensing possible / impossible", the 4th_i device of 2904_i shall be assumed to have a sensing function. Also, the 4th_i device of 2904_i shall be assumed to have a communication function. Regarding the specific configuration, since it has already been described in the first embodiment, the description is omitted.

[0597] "Information 3012 regarding implementable / unimplementable for a sensing request from the 1st device 1201": This information is used to notify information such as "whether it is possible to perform sensing" to, for example, the first device 1201, the third device 2903, etc. when the fourth device of 2904_i receives a sensing request from the first device 1201 (a terminal request for the first device 1201 to perform sensing).

[0598] Here, it is named "information 3012 regarding the feasibility / infeasibility of performing sensing in response to a sensing request from the first device 1201", but "information 3012 regarding the feasibility / infeasibility of performing sensing in response to a sensing request from the first device 1201" may also be "information regarding the feasibility / infeasibility of performing sensing in response to a sensing request from a device other than the first device 1201, such as a repeater, the third device 2903, or another base station". Also, the details of the "sensing request" will be described later.

[0599] "Information 3013 regarding the feasibility / infeasibility of receiving a sensing request from the first device 1201": This information is used to notify information such as "whether to receive a sensing request from the first device 1201" to, for example, the first device 1201 when the fourth device of 2904_i receives a sensing request from the first device 1201 (a terminal request for the first device 1201 to perform sensing).

[0600] Therefore, even if there is a sensing request from the first device 1201, there are modes of "accept" and "not accept" for the fourth device of 2904_i.

[0601] Here, it is named "information 3013 regarding the feasibility / infeasibility of receiving a sensing request from the first device 1201", but "information 3013 regarding the feasibility / infeasibility of receiving a sensing request from the first device 1201" may also be "information regarding the feasibility / infeasibility of receiving a sensing request from a device other than the first device 1201, such as a repeater, the third device 2903, or another base station". Also, the details of the "sensing request" will be described later.

[0602] By doing the above, the first device 1201, the repeater, the third device 2903, other base stations, etc. can know the sensing of the base station and the state regarding the request for sensing, so that it is possible to obtain the effect that suitable "control related to sensing and communication with the fourth-i device of 2904_i" can be performed.

[0603] Note that in the above description, the device that transmits the information 3001 related to the sensing ability in FIG. 30 is described as the fourth-i device of 2904_i, but this is merely an example, and the information 3001 related to the sensing ability may be transmitted by communication devices such as a repeater, a terminal, an access point, and the third device 2903.

[0604] Also, in the "information 3012 regarding the feasibility / infeasibility of implementing a sensing request from the first device 1201" and the "information 3013 regarding the possibility / impossibility of receiving a sensing request from the first device 1201" transmitted by the device that transmits the information 3001 related to the sensing ability in FIG. 30, it is described as "a sensing request from the first device 1201...", but it may be a sensing request from a communication device other than the first device 1201, for example, a base station, a repeater, an access point, the third device 2903, etc. Therefore, 3012 may be "information regarding the feasibility / infeasibility of implementing a sensing request from a communication device", and 3013 may also be implemented as "information regarding the possibility / impossibility of receiving a sensing request from a communication device".

[0605] Next, the sensing by the first device 1201 and the fourth-1 device of 2904_1 in FIG. 29 will be described.

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

[0607] In the following description, the first device 1201 will be described as a terminal, but the same can be implemented even if the first device 1201 is a base station, an access point, or a repeater. However, when a special operation occurs when the first device 1201 is a base station, a supplementary explanation will be given.

[0608] In this embodiment, triangulation is handled. Examples of specific methods of triangulation are described in the first embodiment, and the first method and the second method are triangulations based on obtaining distance information by performing sensing.

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

[0610] Hereinafter, with reference to FIG. 29, the description will be divided into triangulation based on distance with the first method and the second method as examples, and triangulation based on direction with the third method and the fourth method as examples.

[0611] Case of triangulation based on distance: An example of using triangulation based on distance with the first method and the second method described in the first embodiment will be described.

[0612] The first device 1201 obtains the information 3001 regarding the sensing capabilities in FIG. 30 transmitted by the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q", and acquires the corresponding status of the sensing of the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q".

[0613] As another method, the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q" transmits the information 3001 regarding the sensing capabilities in FIG. 30 to the third device 2903, and the third device 2903 may transmit control information including the information regarding the sensing capabilities of each device of the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q" using the third frequency. Thereby, the first device 1201 will know the corresponding status of the sensing of the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q".

[0614] Hereinafter, as an example, it is assumed that all of the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q" are capable of performing sensing, and when there is a sensing request from, for example, a terminal such as the first device 1201, all of the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q" are capable of performing the sensing operation in response to the sensing request.

[0615] FIG. 31 is a diagram showing an example of a procedure for sensing in the system example of FIG. 29. In FIG. 31, it is assumed that the first device 1201 has obtained at least the information on the "distance between the first device 1201 and the fourth 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 obtains information on "the distance between the first device 1201 and the fourth-i device of 2904_i" (where i is an integer from 1 to Q) before "selecting 3102 the fourth-i device of 2904_i for target sensing (sensing the target)".

[0617] Before the description of FIG. 31, a method for obtaining information on "the distance between the first device 1201 and the fourth-1 device of 2904_1" will be described with reference to FIGS. 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H.

[0618] In FIG. 32A, first, the fourth-i device of 2904_i transmits a signal (3201). Then, by receiving this signal, the first device 1201 estimates "the distance between the first device 1201 and the fourth-1 device of 2904_1" (3202). Note that the detailed method of distance estimation has been described in the first embodiment, so the description is omitted.

[0619] As another method, in FIG. 32B, first, the first device 1201 transmits a signal to the fourth-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 fourth-1 device of 2904_1" (3212). Note that the detailed method of distance estimation has been described in the first embodiment, so the description is omitted.

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

[0621] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the fourth device of 2904_i may have previously obtained "the distance between the first device 1201 and the fourth device of 2904_i".

[0622] The first device 1201 and the fourth device of 2904_i may obtain their positions by a position estimation system such as GPS, for example. Then, the fourth device of 2904_i transmits its own position information to the first device 1201, and the first device 1201 may obtain "the distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the fourth device of 2904_i. Also, the first device 1201 may transmit its own position information to the fourth device of 2904_i, and the fourth device of 2904_i may obtain "the distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the first device 1201.

[0623] As another method, in FIG. 32D, first, the first device 1201 transmits a signal to the fourth device of 2904_i (3231). Then, the fourth device of 2904_i receives this signal and estimates "the distance between the first device 1201 and the fourth device of 2904_i" (3232). Note that the detailed method of distance estimation has been described in the first embodiment, so the description is omitted.

[0624] As another method, in FIG. 32E, first, the fourth device of 2904_i transmits a signal to the first device 1201 (3241). Then, the fourth device of 2904_i receives this signal and estimates the "distance between the first device 1201 and the fourth device of 2904_i" (3242). Since the detailed method of distance estimation has been described in the first embodiment, the description is omitted.

[0625] As another method, in FIG. 32F, first, the fourth 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 fourth 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 fourth device of 2904_i" to the fourth device of 2904_i (3253). The fourth device of 2904_i receives the modulated signal including information on the "distance between the first device 1201 and the fourth device of 2904_i" and obtains information on the "distance between the first device 1201 and the fourth device of 2904_i" (3254).

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

[0627] As another method, in FIG. 32H, first, the fourth device of 2904_i transmits a signal to the first device 1201 (3271). Then, the fourth device of 2904_i receives this signal and estimates the "distance between the first device 1201 and the fourth device of 2904_i" (3272). Since the detailed method of distance estimation has been described in the first embodiment, the description is omitted here. The fourth device of 2904_i transmits a modulated signal including the information of the "distance between the first device 1201 and the fourth device of 2904_i" to the third device 2903 (3273). The third device 2903 obtains the information of the "distance between the first device 1201 and the fourth device of 2904_i" (3274), and the third device 2903 transmits a modulated signal including the information of the "distance between the first device 1201 and the fourth device of 2904_i" to the first device 1201 (3275), and the first device 1201 obtains the information of the "distance between the first device 1201 and the fourth device of 2904_i" (3276).

[0628] As described above, with reference to FIGS. 32A to 32H, an example of a method for obtaining the information of the "distance between the first device 1201 and the fourth device of 2904_1" has been described.

[0629] An example when using triangulation based on the distance taking the first method and the second method described in the first embodiment as examples will be described.

[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] 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 fourth device of 2904_i", the first device 1201 selects the fourth device of 2904_i that requests the estimation of the distance to the target 1203 (3102).

[0632] In the example of FIG. 31, it is assumed that the first device 1201 selects the fourth - first device of 2904_1 in FIG. 29 as the fourth - i device of 2904_i that requests the estimation of the distance to the target 1203. However, when the fourth - i device of 2904_i that requests the estimation of the distance to the target 1203 is (pre - determined), the "selection 3102 of the fourth - i device of 2904_i for target sensing (sensing the target)" may not be performed.

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

[0634] The third device 2903 receives the information of the request for "estimation of the distance to the target 1203", and transmits (3121) the information of the request for "estimation of the distance to the target 1203" to the fourth - first device of 2904_1.

[0635] The fourth - first device of 2904_1 receives the information of the request for "estimation of the distance to the target 1203" and makes a response (3111) as to "whether to accept this request". Here, the example is described assuming "accept the request".

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

[0637] The fourth - first device of 2904_1 transmits a signal to perform sensing and obtains an estimated value of "the distance between the fourth - first device of 2904_1 and the target 1203" (3112).

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

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

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

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

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

[0643] If it is not necessary for the fourth device 2904_1 to share the information on "the position of the target 1203", the first device 1201 may not transmit the information on "the position of the target 1203" to the third device 2903.

[0644] As described above, by implementing this, triangulation based on the distance described in the first embodiment can be realized, and thereby the effect of being able to specify the position of the target can be obtained.

[0645] In addition, the first device 1201 can transmit information appropriately by communicating with the fourth device 2904_1 via the third device 2903, and by the fourth device 2904_1 performing sensing, the effect of being able to perform high-precision sensing can be obtained. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0646] Next, with reference to FIG. 33, a procedure example for sensing different from that in FIG. 31 will be described. FIG. 33 is a diagram showing another procedure example for sensing. In FIG. 33, those that operate in the same manner as in FIG. 31 are given the same numbers. In FIG. 33, the differences from FIG. 31 will be described. The differences from FIG. 31 in FIG. 33 are as follows.

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

[0648] As shown in FIG. 33, the first device 1201 transmits (3103) information on the request for "estimation of the distance to the target 1203" to the third device 2903. At this time, the first device 1201 may also transmit information on "the distance to the target 1203" to the third device 2903.

[0649] Then, based on information such as the information on "the distance to the target 1203" and the correspondence status of sensing of the fourth _i device of 2904_i (the information 3001 on sensing ability in FIG. 30), the third device 2903 selects (3399) the fourth _i device of 2904_i that performs "estimation of the distance to the target 1203".

[0650] Here, it is assumed that the device that performs sensing is the fourth _1 device of 2904_1. However, when the fourth _i device of 2904_i that requests estimation of the distance to the target 1203 is determined (in advance), the selection (3399) of the fourth _i device of 2904_i for "sensing the target (for sensing the target)" may not be performed.

[0651] The operations after 3399 in Fig. 33 have already been described with reference to Fig. 31, so the description will be omitted.

[0652] As described above, by implementing the above, triangulation based on the distance described in the first embodiment can be realized, and thereby the effect of being able to specify the position of the target can be obtained.

[0653] In addition, the first device 1201 can transmit information properly by communicating with the fourth - 1 device of 2904_1 via the third device 2903. Also, by the fourth - 1 device of 2904_1 performing sensing, the effect of being able to perform high - precision sensing can be obtained. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0654] Next, another example when triangulation based on distance using the first method and the second method as examples will be described with reference to Fig. 34.

[0655] Fig. 34 is a diagram showing another procedure example for sensing. It is assumed that the first device 1201 obtains the information 3001 regarding the sensing ability of Fig. 30 transmitted by the "fourth - 1 device of 2904_1, fourth - 2 device of 2904_2, ···, fourth - Q device of 2904_Q" and acquires the corresponding situation of the sensing of the "fourth - 1 device of 2904_1, fourth - 2 device of 2904_2, ···, fourth - Q device of 2904_Q".

[0656] As another method, the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q" may transmit information 3001 regarding the sensing capabilities in FIG. 30 to the 3rd device 2903, and the 3rd device 2903 may transmit control information including information regarding the sensing capabilities of each device of the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q" using the 3rd frequency. Thereby, the 1st device 1201 can obtain the corresponding situation of the sensing of the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q".

[0657] Hereinafter, as an example, it is assumed that any of the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q" can perform sensing. When there is a sensing request from, for example, a terminal such as the 1st device 1201, it is assumed that any of the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q" can perform the sensing operation in response to the sensing request.

[0658] Also, in FIG. 34, it is assumed that the 1st device 1201 has obtained information on at least the "distance between the 1st device 1201 and the 4th_1 device of 2904_1" before "estimating the position of the target (object) 3413". And in FIG. 34, it is assumed that the 1st device 1201 has obtained information on the "distance between the 1st device 1201 and the 4th_i device of 2904_i" (where i is an integer from 1 to Q) before "selecting the 4th_i device of 2904_i for sensing the target (sensing the target) 3402".

[0659] Note that the method for obtaining the information on the "distance between the 1st device 1201 and the 4th_1 device of 2904_1" at this time has already been described with reference to FIGS. 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the description is omitted.

[0660] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the fourth-i device of the first device 1201 and 2904_i may acquire in advance the "distance between the first device 1201 and the fourth-i device of 2904_i".

[0661] In addition, the first device 1201 and the fourth-i device of 2904_i may acquire their positions by, for example, a position estimation system such as GPS. Then, the fourth-i device of 2904_i transmits its own position information to the first device 1201, and the first device 1201 may obtain the "distance between the first device 1201 and the fourth-i device of 2904_i" from its own position information and the position information of the fourth-i device of 2904_i. And the first device 1201 transmits its own position information to the fourth-i device of 2904_i, and the fourth-i device of 2904_i may obtain the "distance between the first device 1201 and the fourth-i device of 2904_i" from its own position information and the position information of the first device 1201.

[0662] An example of using triangulation based on distance will be described, taking the first method and the second method 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 to obtain an estimated value of the "distance between the first device 1201 and the target 1203" (3401).

[0664] Based on the estimated value of the "distance between the first device 1201 and the target 1203" and the information on the "distance between the first device 1201 and the fourth-i device of 2904_i", the first device 1201 selects the fourth-i device of 2904_i that requests an estimation of the distance to the target 1203 (3402).

[0665] In the example of FIG. 34, it is assumed that the first device 1201 selects the fourth - 1 device of 2904_1 in FIG. 29 as the fourth - i device of 2904_i that requests the estimation of the distance to the target 1203. However, when the fourth - i device of 2904_i that requests the estimation of the distance to the target 1203 is (pre - determined), the "selection 3402 of the fourth - i device of 2904_i for (sensing the target) target sensing" may not be performed.

[0666] The first device 1201 transmits the information of the request for "estimating the distance to the target 1203" to the third device 2903. Also, the first device 1201 transmits the information of 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 the information of the request for "estimating the distance to the target 1203" and the information of the estimated value of "the distance between the first device 1201 and the target 1203", and transmits the information of the request for "estimating the distance to the target 1203" and the information of the estimated value of "the distance between the first device 1201 and the target 1203" to the fourth - 1 device of 2904_1 (3421).

[0668] The fourth - 1 device of 2904_1 receives the information of the request for "estimating the distance to the target 1203" and makes a response to "whether to accept this request" (3411). Here, the example is described assuming "accept the request".

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

[0670] The fourth - 1 device of 2904_1 transmits a signal to perform sensing and obtains an estimated value of "the distance between the fourth - 1 device of 2904_1 and the target 1203" (3412).

[0671] The fourth - 1 device of 2904_1 performs triangulation using "the distance between the first device 1201 and the fourth - i device of 2904_i", "the distance between the first device 1201 and the target 1203", and "the distance between the fourth - 1 device of 2904_1 and the target 1203", and estimates the position of the target 1203, for example (3413).

[0672] The fourth - 1 device of 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] Note that when it is not necessary for the first device 1201 to share the "position of the target 1203" information, the fourth - 1 device of 2904_1 does not have to transmit the "position of the target 1203" information to the third device 2903.

[0675] As described above, by implementing this, triangulation based on the distance described in the first embodiment can be realized, and as a result, the effect of being able to specify the position of the target can be obtained.

[0676] Also, the first device 1201 can transmit information properly by communicating with the fourth - 1 device of 2904_1 via the third device 2903. Also, by the fourth - 1 device of 2904_1 performing sensing, the effect of being able to perform high - precision sensing can be obtained. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

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

[0678] In FIG. 34, the first device 1201 selects (3402) the fourth-i device of 2904_i for sensing (sensing the target) of the target 1203, whereas in FIG. 35, the third device 2903 selects (3599) the fourth-i device of 2904_i for sensing (sensing the target) of the target 1203 for the first device 1201.

[0679] As shown in FIG. 35, the first device 1201 transmits (3403) information on the request for "estimation of the distance to the target 1203" to the third device 2903. At this time, the first device 1201 may also transmit information on "the distance to the target 1203" to the third device 2903.

[0680] Then, based on information such as the information on "the distance to the target 1203" and the correspondence status of sensing of the fourth-i device of 2904_i (information 3001 on sensing ability in FIG. 30), the third device 2903 selects (3599) the fourth-i device of 2904_i that performs "estimation of the distance to the target 1203".

[0681] Here, it is assumed that the device that performs sensing is the fourth-1 device of 2904_1. However, when the fourth-i device of 2904_i that requests estimation of the distance to the target 1203 is determined (in advance), the "selection 3599 of the fourth-i device of 2904_i for sensing (sensing the target)" may not be performed.

[0682] Regarding the operations after 3599 in FIG. 35, since they have already been described with reference to FIG. 34, the description is omitted.

[0683] As described above, by implementing, it is possible to realize the triangulation based on the distance described in the first embodiment, and thereby obtain the effect of being able to specify the position of the target.

[0684] In addition, the first device 1201 can transmit information appropriately by communicating with the fourth device 2904_1 via the third device 2903. Also, by having the fourth device 2904_1 perform sensing, an effect can be obtained where high-precision sensing can be performed. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0685] In the case of triangulation based on direction: An example of using triangulation based on direction will be described, taking the third method and the fourth method described in the first embodiment as examples.

[0686] It is assumed that the first device 1201 obtains the information 3001 regarding the sensing capabilities in FIG. 30 transmitted by the "fourth device 2904_1, fourth device 2904_2,..., fourth device 2904_Q" and acquires the corresponding status of the sensing of the "fourth device 2904_1, fourth device 2904_2,..., fourth device 2904_Q".

[0687] As another method, the "fourth device 2904_1, fourth device 2904_2,..., fourth device 2904_Q" may transmit the information 3001 regarding the sensing capabilities in FIG. 30 to the third device 2903, and the third device 2903 may transmit control information including the information regarding the sensing capabilities of each device of the "fourth device 2904_1, fourth device 2904_2,..., fourth device 2904_Q" using the third frequency. Thereby, the first device 1201 can acquire the corresponding status of the sensing of the "fourth device 2904_1, fourth device 2904_2,..., fourth device 2904_Q".

[0688] Hereinafter, as an example, it is assumed that any of the "4_1 devices of 2904_1, 4_2 devices of 2904_2, ···, 4_Q devices of 2904_Q" can perform sensing. When there is a sensing request from, for example, a terminal such as the first device 1201, it is assumed that any of the "4_1 devices of 2904_1, 4_2 devices of 2904_2, ···, 4_Q devices of 2904_Q" can perform the sensing operation in response to the sensing request.

[0689] Also, in FIG. 31, it is assumed that the first device 1201 has obtained at least the 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 the information on the "distance between the first device 1201 and the 4_i device of 2904_i" (where i is an integer from 1 to Q) before "selecting the 4_i device of 2904_i for sensing the target (sensing the target) 1402".

[0690] Note that the method for obtaining the information on the "distance between the first device 1201 and the 4_1 device of 2904_1" has already been described with reference to FIGS. 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the description is omitted.

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

[0692] Further, the fourth device of the first devices 1201 and 2904_i may obtain its position by a position estimation system such as GPS. Then, the fourth device of 2904_i transmits its own position information to the first device 1201, and the first device 1201 may obtain the "distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the fourth device of 2904_i. Then, the first device 1201 transmits its own position information to the fourth device of 2904_i, and the fourth device of 2904_i may obtain the "distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the first device 1201.

[0693] An example of using triangulation based on the direction exemplified by the third method and the fourth method described in the first embodiment will be described.

[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 between the first device 1201 and the target 1203" (3101).

[0695] Based on the estimated value of the "(arrival) direction between the first device 1201 and the target 1203" and the information on the "distance between the first device 1201 and the fourth device of 2904_i", the first device 1201 selects the fourth device of 2904_i that requests an estimation of the (arrival) direction with the target 1203 (3102).

[0696] In the example of FIG. 31, it is assumed that the first device 1201 selects the fourth device of 2904_1 in FIG. 29 as the fourth device of 2904_i that requests an estimation of the (arrival) direction with the target 1203. However, when the fourth device of 2904_i that requests an estimation of the (arrival) direction with the target 1203 is determined (in advance), the "selection 3102 of the fourth device of 2904_i for target sensing (sensing the target)" may not be performed.

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

[0698] Upon receiving the information of the request for "estimation of the (arrival) direction with the target 1203", the third device 2903 transmits (3121) the information of the request for "estimation of the (arrival) direction with the target 1203" to the fourth device 2904_1.

[0699] Upon receiving the information of the request for "estimation of the (arrival) direction with the target 1203", the fourth device 2904_1 makes a response (3111) as to "whether to accept this request". Here, for the sake of explanation, the example is given as "accept the request".

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

[0701] The fourth device 2904_1 transmits a signal for sensing and obtains an estimated value of the "(arrival) direction between the fourth device 2904_1 and the target 1203" (3112).

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

[0703] Upon receiving the information of the "(arrival) direction between the fourth device 2904_1 and the target 1203", the third device 2903 transmits (3123) the information of the "(arrival) direction between the fourth device 2904_1 and the target 1203" to the first device 1201.

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

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

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

[0707] If it is not necessary to share the information on "the position of the target 1203" between the fourth device of 2904_1, the first device 1201 does not have to transmit the information on "the position of the target 1203" to the third device 2903.

[0708] As described above, by implementing this, triangulation based on the distance described in the first embodiment can be realized, and thus the effect of being able to specify the position of the target can be obtained.

[0709] In addition, the first device 1201 can transmit information appropriately by communicating with the fourth device of 2904_1 via the third device 2903, and by the fourth device of 2904_1 performing sensing, the effect of being able to perform high-precision sensing can be obtained. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0710] Next, a different embodiment from FIG. 31 will be described with reference to FIG. 33. In FIG. 33, the same numbers are assigned to those that operate in the same manner as in FIG. 31. In FIG. 33, the differences from FIG. 31 will be described. The differences from FIG. 31 in FIG. 33 are as follows.

[0711] In FIG. 31, the first device 1201 selects (3102) the fourth _i device of 2904_i for sensing (sensing the target) of the target 1203, whereas in FIG. 33, the third device 2903 selects (3399) the fourth _i device of 2904_i for sensing (sensing the target) of the target 1203 on behalf of the first device 1201.

[0712] As shown in FIG. 33, the first device 1201 transmits (3103) information on a request for "estimation of the (arrival) direction with the target 1203" to the third device 2903. At this time, the first device 1201 may also transmit information on "the (arrival) direction with the target 1203" to the third device 2903.

[0713] Then, based on information on "the (arrival) direction with the target 1203", the correspondence status of sensing of the fourth _i device of 2904_i (information 3001 regarding sensing capabilities in FIG. 30), etc., the third device 2903 selects (3399) the fourth _i device of 2904_i that performs "estimation of the (arrival) direction with the target 1203". Here, it is assumed that the device performing sensing is the fourth _1 device of 2904_1.

[0714] Regarding the operations after 3399 in FIG. 33, since they have already been described with reference to FIG. 31, the description is omitted.

[0715] As described above, by implementing, it is possible to realize triangulation based on the distance described in the first embodiment, and thereby obtain the effect of being able to specify the position of the target.

[0716] In addition, the first device 1201 can transmit information properly by communicating with the fourth - 1 device of 2904_1 via the third device 2903. Also, by having the fourth - 1 device of 2904_1 perform sensing, an effect can be obtained where high - precision sensing can be implemented. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0717] Next, another example when using triangulation based on the directions exemplified by the third method and the fourth method will be described with reference to FIG. 34.

[0718] It is assumed that the first device 1201 obtains the information 3001 regarding the sensing capabilities in FIG. 30 transmitted by the "fourth - 1 device of 2904_1, fourth - 2 device of 2904_2, ···, fourth - Q device of 2904_Q" and acquires the corresponding status of the sensing of the "fourth - 1 device of 2904_1, fourth - 2 device of 2904_2, ···, fourth - Q device of 2904_Q".

[0719] As another method, the "fourth - 1 device of 2904_1, fourth - 2 device of 2904_2, ···, fourth - Q device of 2904_Q" may transmit the information 3001 regarding the sensing capabilities in FIG. 30 to the third device 2903, and the third device 2903 may transmit control information including the information regarding the sensing capabilities of each device of the "fourth - 1 device of 2904_1, fourth - 2 device of 2904_2, ···, fourth - Q device of 2904_Q" using the third frequency. Thereby, the first device 1201 can acquire the corresponding status of the sensing of the "fourth - 1 device of 2904_1, fourth - 2 device of 2904_2, ···, fourth - Q device of 2904_Q".

[0720] In the following, as an example, assume that all of "the fourth-1 device of 2904_1, the fourth-2 device of 2904_2, ···, the fourth-Q device of 2904_Q" are capable of performing sensing. When there is a sensing request from, for example, a terminal such as the first device 1201, assume that all of "the fourth-1 device of 2904_1, the fourth-2 device of 2904_2, ···, the fourth-Q device of 2904_Q" are capable of performing the sensing operation in response to the sensing implementation request.

[0721] Also, in FIG. 34, assume that before the first device 1201 "estimates the position of the target (object) 3413", it has obtained at least the information of "the distance between the first device 1201 and the fourth-1 device of 2904_1".

[0722] And in FIG. 34, assume that before the first device 1201 "selects the fourth-i device of 2904_i for sensing the target (sensing the target) 3402", it has obtained the information of "the distance between the first device 1201 and the fourth-i device of 2904_i" (where i is an integer from 1 to Q).

[0723] Note that the method for obtaining the information of "the distance between the first device 1201 and the fourth-1 device of 2904_1" has already been described with reference to FIGS. 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the description is omitted.

[0724] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the fourth-i device of 2904_i may have obtained in advance the "distance between the first device 1201 and the fourth-i device of 2904_i".

[0725] In addition, the fourth device of the first devices 1201 and 2904_i may obtain its position by means of a position estimation system such as GPS, for example. Then, the fourth device of 2904_i transmits its own position information to the first device 1201, and the first device 1201 may obtain the "distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the fourth device of 2904_i. Then, the first device 1201 transmits its own position information to the fourth device of 2904_i, and the fourth device of 2904_i may obtain the "distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the first device 1201.

[0726] An example when triangulation based on the direction exemplified by the third method and the fourth method described in the first embodiment is used will be described.

[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] Based on the estimated value of the (arrival) direction of the "first device 1201 and the target 1203" and the information on the "distance between the first device 1201 and the fourth device of 2904_i", the first device 1201 selects the fourth device of 2904_i that requests an estimation of the (arrival) direction with the target 1203 (3402).

[0729] In the example of FIG. 34, it is assumed that the first device 1201 selects the fourth device of 2904_1 in FIG. 29 as the fourth device of 2904_i that requests an estimation of the (arrival) direction with the target 1203. However, when the fourth device of 2904_i that requests an estimation of the (arrival) direction with the target 1203 is determined (in advance), the "selection 3402 of the fourth device of 2904_i for target sensing (sensing the target)" does not have to be performed.

[0730] The first device 1201 transmits information on the request for "estimation of the (arrival) direction with the target 1203" to the third device 2903. Also, the first device 1201 transmits information on the estimated value of "the (arrival) direction between the first device 1201 and the target 1203" to the third device 2903 (3403).

[0731] The third device 2903 receives the information on the request for "estimation of the (arrival) direction with the target 1203" and the information on the estimated value of "the (arrival) direction between the first device 1201 and the target 1203", and transmits the information on the request for "estimation of the (arrival) direction with the target 1203" and the information on the estimated value of "the (arrival) direction between the first device 1201 and the target 1203" to the fourth - 1 device 2904_1 (3421).

[0732] The fourth - 1 device 2904_1 receives the information on the request for "estimation of the (arrival) direction with the target 1203" and makes a response on "whether to accept this request" (3411). Here, for the sake of explanation, the example is given as "accept the request".

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

[0734] The fourth - 1 device 2904_1 transmits a signal for sensing and obtains the estimated value of "the (arrival) direction between the fourth - 1 device 2904_1 and the target 1203" (3412).

[0735] The fourth - 1 device 2904_1 performs triangulation using "the distance between the first device 1201 and the fourth - i device 2904_i", "the (arrival) direction between the first device 1201 and the target 1203", and "the (arrival) direction between the fourth - 1 device 2904_1 and the target 1203", and estimates the position of the target 1203, for example (3413).

[0736] The fourth - 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 target 1203" information and transmits the "position of target 1203" information to the first device 1201 (3423).

[0738] If it is not necessary to share the "position of target 1203" information with the first device 1201, the fourth - 1 device of 2904_1 does not have to transmit the "position of target 1203" information to the third device 2903.

[0739] As described above, by implementing this, triangulation based on the (arrival) direction described in the first embodiment can be realized, and thereby, the effect of being able to specify the position of the target can be obtained.

[0740] Also, the first device 1201 can transmit information properly by communicating with the fourth - 1 device of 2904_1 via the third device 2903. Also, by the fourth - 1 device of 2904_1 performing sensing, the effect of being able to perform high - precision sensing can be obtained. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0741] Next, a different embodiment from FIG. 34 will be described with reference to FIG. 35. In FIG. 35, the same numbers are assigned to those that operate in the same manner as in FIG. 34. In FIG. 35, the differences from FIG. 34 will be described. The differences from FIG. 34 in FIG. 35 are as follows.

[0742] "In FIG. 34, the first device 1201 selects (3402) the fourth - i device of 2904_i for sensing the target 1203 (sensing the target)", while "in FIG. 35, the third device 2903 selects (3599) the fourth - i device of 2904_i for sensing the target 1203 (sensing the target)".

[0743] As shown in FIG. 35, the first device 1201 transmits (3403) information on a request for "estimation of the (arrival) direction with respect to the target 1203" to the third device 2903. At this time, the first device 1201 may also transmit information on "the (arrival) direction with respect to the target 1203" to the third device 2903.

[0744] Then, based on information such as the information on "the (arrival) direction with respect to the target 1203" and the sensing correspondence status of the fourth _i device of 2904_i (information 3001 regarding the sensing ability in FIG. 30), the third device 2903 selects (3599) the fourth _i device of 2904_i that performs "estimation of the (arrival) direction with respect to the target 1203".

[0745] Here, it is assumed that the device that performs sensing is the fourth _1 device of 2904_1. However, when the fourth _i device of 2904_i that requests the estimation of the (arrival) direction with respect to the target 1203 is determined (in advance), the "selection 3599 of the fourth _i device of 2904_i for target sensing (sensing the target)" may not be performed.

[0746] Regarding the operations after 3599 in FIG. 35, since they have already been described with reference to FIG. 34, the description is omitted.

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

[0748] In addition, the first device 1201 can transmit information properly by communicating with the fourth _1 device of 2904_1 via the third device 2903, and by the fourth _1 device of 2904_1 performing sensing, it is possible to obtain the effect of being able to perform high-precision sensing. 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, before the first device 1201 "selects (3102) the fourth device 2904_i for target sensing (sensing the target)", it "performs target sensing (senses the target) (3101)".

[0750] Similarly, in FIG. 33, before the third device 2903 "selects (3399) the fourth device 2904_i for target sensing (sensing the target)", the first device 1201 "performs target sensing (senses the target) (3101)".

[0751] Also, in FIG. 34, before the first device 1201 "selects (3402) the fourth device 2904_i for target sensing (sensing the target)", it "performs target sensing (senses the target) (3401)".

[0752] And in FIG. 35, before the third device 2903 "selects (3599) the fourth device 2904_i for target sensing (sensing the target)", the first device 1201 "performs target sensing (senses the target) (3401)".

[0753] At this time, in FIG. 29, based on the triangular shape composed of "the first device 1201, the target 1203, and the fourth device 2904_i", the fourth device 2904_i can be selected. However, since a detailed description is given in the second embodiment regarding this point, the description is omitted.

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

[0755] By implementing as described above, high-precision triangulation can be performed, and the effect that each device can grasp the position of the target and the like can be obtained. Note that when the first device 1201, the base station, "has grasped the position (or position information) on the map in advance", or when the first device 1201, the base station, "can grasp the position (or position information) on the map by a position estimation system such as GPS, for example", each device can grasp the position (or position information) of the target on the map.

[0756] Note that in the above, in order to sense the target (object), for example, the base station, the terminal, and the repeater transmit signals, and this signal may be called a reference signal, a reference symbol, a pilot symbol, a pilot signal, or a preamble. However, the naming method is not limited to this example.

[0757] Also, in the above, each operation was described using FIGS. 29 to 35 and the like. And, as an example of the "sensing system" or the "sensing and communication system", FIG. 29 was dealt with. In FIG. 29, the first device 1201 and the fourth _i device of 2904_i were described as an example of performing sensing using the fourth frequency, but any one of the first device 1201 and the fourth _i device of 2904_i may perform sensing using another frequency.

[0758] Next, an embodiment different from the above will be described. An embodiment in the case where the target is transmitting radio waves will be described.

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

[0760] In FIG. 36, the second device 1802 is an object for which position estimation is performed by sensing.

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

[0762] It is assumed that the first device 1201 is a device having a function of performing the sensing described in the first embodiment. Note that the first device 1201 performs sensing using the fourth frequency (band).

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

[0764] Note that the first device 1201 may communicate with the 4_i-th device 2904_i using the fourth frequency (band).

[0765] It is assumed that the second device 1802 is a device capable of transmitting radio waves of the fourth frequency (band).

[0766] It is assumed that the 4_i-th device 2904_i is a device having a function of performing the sensing described in the first embodiment. Note that the 4_i-th device 2904_i performs sensing using the fourth frequency (band).

[0767] Also, the 4_i-th device 2904_i has a communication function and may be able to communicate using the fourth frequency (band).

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

[0769] In the "4_1 device of 2904_1, 4_2 device of 2904_2, ···, 4_Q device of 2904_Q", communication may be possible between two of these devices. At this time, the 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 device of 2904_i to realize triangulation. However, it is assumed that there is also a 4_x device of 2904_x that does not support sensing due to factors such as the scale of the 4_i device of 2904_i and the installation time.

[0771] Therefore, it is assumed that the 4_i device of 2904_i transmits control information including information 3001 regarding sensing ability as shown in FIG. 30. For example, it is assumed that the control information including information 3001 regarding sensing ability is transmitted by the base station using PBCH, PDSCH, and PDCCH. Note that the channel for transmitting this control information is not limited to the above example.

[0772] As shown in FIG. 30, the information 3001 regarding sensing ability includes at least one of "information 3011 regarding sensing availability", "information 3012 regarding the feasibility of performing sensing in response to a sensing request from the first device 1201", and "information 3013 regarding the ability to receive a sensing request from the first device 1201".

[0773] Specific examples of the "information 3011 regarding sensing availability", "information 3012 regarding the feasibility of performing sensing in response to a sensing request from the first device 1201", and "information 3013 regarding the ability to receive a sensing request from the first device 1201" are as follows.

[0774] "Information 3011 regarding sensing availability": This information is used, for example, to notify the first device of 1201, a repeater, other 4_x devices, the 2903rd third device, etc. whether the fourth device of 2904_i can perform sensing.

[0775] Therefore, at least when the information indicating "capable of sensing" is included in the "information 3011 regarding sensing capability / incapability", it is assumed that the fourth device of 2904_i has a sensing function. Also, it is assumed that this fourth device of 2904_i has a communication function. Regarding the specific configuration, since it has already been described in the first embodiment, the description is omitted.

[0776] "Information 3012 regarding the feasibility of performing sensing in response to a sensing request from the first device 1201": This information is used, for example, to notify the first device of 1201, the 2903rd third device, etc. whether it is possible to perform sensing when the fourth device of 2904_i receives a sensing request from the first device 1201.

[0777] Here, it is named "information 3012 regarding the feasibility of performing sensing in response to a sensing request from the first device 1201", but the "information 3012 regarding the feasibility of performing sensing in response to a sensing request from the first device 1201" may be "information regarding the feasibility of performing sensing in response to a sensing request from a device other than the first device 1201, such as a repeater, the 2903rd third device, or other base stations". Also, the details of the "sensing request" will be described later.

[0778] "Information 3013 regarding the feasibility of receiving a sensing request from the first device 1201": This information is used, for example, to notify the first device of 1201 whether to accept the sensing request from the first device 1201 when the fourth device of 2904_i receives a sensing request from the first device 1201.

[0779] Therefore, even when there is a sensing request from the first device 1201, the fourth device of 2904_i will have modes of "accept" and "not accept".

[0780] Here, it is named as "information 3013 regarding the acceptability / unacceptability of receiving a sensing request from the first device 1201". However, "information 3013 regarding the acceptability / unacceptability of receiving a sensing request from the first device 1201" may also be "information regarding the acceptability / unacceptability of receiving a sensing request from devices other than the first device 1201, such as a repeater, the third device 2903, or other base stations". Also, the details of the "sensing request" will be described later.

[0781] By doing the above, the first device 1201, the repeater, the third device 2903, other base stations, etc. can know the sensing of the base station and the state regarding the sensing request, so that the effect of being able to perform suitable "control regarding sensing and communication with the fourth device of 2904_i" can be obtained.

[0782] In the above description, the device that transmits the information 3001 regarding the sensing ability in FIG. 30 is described as the fourth device of 2904_i. However, this is merely an example, and the information 3001 regarding the sensing ability may be transmitted by communication devices such as a repeater, a terminal, an access point, or the third device 2903.

[0783] In addition, in the "information 3012 regarding the feasibility / infeasibility of implementing a sensing request from the first device 1201" and "information 3013 regarding the possibility / impossibility of receiving a sensing request from the first device 1201" transmitted by the device that transmits the information 3001 regarding the sensing ability in FIG. 30, although it is described as "a sensing request from the first device 1201...", it may be a sensing request from a communication device other than the first device 1201, for example, a base station, a repeater, an access point, the third device 2903, etc. Therefore, 3012 can also be implemented as "information regarding the feasibility / infeasibility of implementing a sensing request from a communication device", and 3013 can also be implemented as "information regarding the possibility / impossibility of receiving a sensing request from a communication device".

[0784] Next, the sensing by the first device 1201, the second device 1802, and the fourth - 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 fourth - i devices 2904_i, or the first device 1201 may be a base station (or an access point, a repeater, etc.). And the first device 1201 may be the fourth - x device for 2904_x (where x is, for example, a natural number). Also, the third device 2903 may be a base station, or may be a terminal, a repeater, an access point, etc. The fourth - i devices 2904_i may be a base station, or may be a terminal, a repeater, an access point, etc.

[0786] In the following description, the first device 1201 will be described as a terminal, but the same implementation is possible even if the first device 1201 is a base station, an access point, or a repeater. However, when a special operation occurs when the first device 1201 is a base station, a supplementary explanation will be given.

[0787] In this embodiment, triangulation is handled. Examples of specific methods of triangulation were described in the first embodiment, and in the first method and the second method, triangulation is based on obtaining distance information by performing sensing.

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

[0789] Hereinafter, with reference to FIG. 12, the description will be divided into triangulation based on distance using the first and second methods as examples, and triangulation based on direction using the third and fourth methods as examples.

[0790] In the case of triangulation based on distance: An example will be described when triangulation based on distance using the first and second methods described in the first embodiment is used.

[0791] The first device 1201 obtains the information 3001 regarding the sensing capabilities in FIG. 30 transmitted by the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q" and knows the correspondence status of the sensing of the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q".

[0792] As another method, the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q" may transmit the information 3001 regarding the sensing capabilities in FIG. 30 to the third device 2903, and the third device 2903 may transmit control information including information regarding the sensing capabilities of each device of the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q" using the third frequency. Thereby, the first device 1201 will know the correspondence status of the sensing of the "fourth device 2904_1, fourth device 2904_2, ···, fourth device 2904_Q".

[0793] In the following, as an example, assume that "the fourth - 1 device of 2904_1, the fourth - 2 device of 2904_2, ···, the fourth - Q device of 2904_Q" are all capable of performing sensing. When there is a sensing request from, for example, a terminal such as the first device 1201, assume that "the fourth - 1 device of 2904_1, the fourth - 2 device of 2904_2, ···, the fourth - Q device of 2904_Q" are all capable of performing a sensing operation in response to the sensing request.

[0794] FIG. 37 is a diagram showing an example of a procedure for sensing in the system example of FIG. 36. In FIG. 37, before the first device 1201 "estimates the position of the second device 3704", it is assumed that the first device 1201 has obtained at least the information of "the distance between the first device 1201 and the fourth - 1 device of 2904_1". In FIG. 37, before the first device 1201 "selects the fourth - i device of 2904_i for sensing the second device (sensing the second device) 3702", it is assumed that the first device 1201 has obtained the information of "the distance between the first device 1201 and the fourth - i device of 2904_i" (where i is an integer from 1 to Q).

[0795] Note that the method of obtaining the information of "the distance between the first device 1201 and the fourth - 1 device of 2904_1" has already been described with reference to FIGS. 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the description is omitted here.

[0796] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the first device 1201 and the fourth - i device of 2904_i may have obtained in advance "the distance between the first device 1201 and the fourth - i device of 2904_i".

[0797] The fourth device of the first devices 1201 and 2904_i may obtain its position by a position estimation system such as GPS. Then, the fourth device of 2904_i transmits its own position information to the first device 1201, and the first device 1201 may obtain the "distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the fourth device of 2904_i. Then, the first device 1201 transmits its own position information to the fourth device of 2904_i, and the fourth device of 2904_i may obtain the "distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the first device 1201.

[0798] An example will be described when using triangulation based on the distance, taking the first method and the second method described in the first embodiment as examples.

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

[0800] The first device 1201 receives the signal transmitted by the second device 1802, performs sensing processing, and obtains an estimated value 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 the description is omitted.

[0801] The first device 1201 selects the fourth device of 2904_i that requests an estimation 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 fourth device of 2904_i" (3702).

[0802] In the example of FIG. 37, it is assumed that the first device 1201 selects the fourth device of 2904_1 in FIG. 36 as the fourth device of 2904_i that requests the estimation of the distance to the second device 1802. However, when the fourth device of 2904_i that requests the estimation of the distance to the second device 1802 is (pre-determined), the "selection 3702 of the fourth device of 2904_i for sensing the second device (sensing the second device)" may not be performed.

[0803] The first device 1201 transmits (3703) the information of the request for "estimating the distance to the second device 1802" to the third device 2903.

[0804] Upon receiving the information of the request for "estimating the distance to the second device 1802", the third device 2903 transmits (3721) the information of the request for "estimating the distance to the second device 1802" to the fourth device of 2904_1.

[0805] Upon receiving the information of the request for "estimating the distance to the second device 1802", the fourth device of 2904_1 makes a response to "whether to accept this request" (3711). Here, the example is described as "accepting the request".

[0806] The third device 2903 receives the response information of this request. Then, the third device 2903 transmits (3722) the response information of this request to the first device 1201.

[0807] The second device 1802 transmits (3732) a (sensing) signal.

[0808] The fourth 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 fourth device of 2904_1 and the second device 1802" (3712). Since the sensing processing has already been described in other embodiments, the description is omitted.

[0809] The fourth - 1 device of 2904_1 transmits the information of "the distance between the fourth - 1 device of 2904_1 and the second device 1802" to the third device 2903 (3713).

[0810] The third device 2903 receives the information of "the distance between the fourth - 1 device of 2904_1 and the second device 1802", and transmits the information of "the distance between the fourth - 1 device of 2904_1 and the second device 1802" to the first device 1201 (3723).

[0811] The first device 1201 obtains the information of "the distance between the fourth - 1 device of 2904_1 and the second device 1802", and performs triangulation using "the distance between the first device 1201 and the fourth - i device of 2904_i", "the distance between the first device 1201 and the second device 1802", and "the distance between the fourth - 1 device of 2904_1 and the second device 1802", for example, to estimate the position of the second device 1802 (3704).

[0812] The first device 1201 transmits the information of "the position of the second device 1802" to the third device 2903 (3705).

[0813] The third device 2903 receives the information of "the position of the second device 1802", and transmits the information of "the position of the second device 1802" to the fourth - 1 device of 2904_1 (3724).

[0814] Note that when it is not necessary for the fourth - 1 device of 2904_1 to share the information of "the position of the second device 1802", the first device 1201 may not transmit the information of "the position of the second device 1802" to the third device 2903.

[0815] As described above, by implementing this, triangulation based on the distance described in the first embodiment can be realized, and thereby the effect of being able to specify the position of the second device 1802 can be obtained.

[0816] In addition, the first device 1201 can transmit information appropriately by communicating with the fourth - 1 device of 2904_1 via the third device 2903. Also, by having the fourth - 1 device of 2904_1 perform sensing, the effect of being able to perform highly accurate sensing can be obtained. Note that this effect is due to the relationship between the third frequency and the fourth frequency.

[0817] Next, with reference to FIG. 38, a procedure example for sensing different from that in FIG. 37 will be described.

[0818] FIG. 38 is a diagram showing another procedure example for sensing. In FIG. 38, those that operate in the same manner as in FIG. 37 are given the same numbers. In FIG. 38, the differences from FIG. 37 will be described. The differences from FIG. 37 in FIG. 38 are as follows.

[0819] In FIG. 37, the first device 1201 selects (3102) the fourth - i device of 2904_i for sensing of the second device 1802 (sensing the second device), while in FIG. 38, the third device 2903 selects (3399) the fourth - i device of 2904_i for sensing of the second device 1802 (sensing the second device).

[0820] As shown in FIG. 38, the first device 1201 transmits (3703) information of a request for "estimation of the distance to the second device 1802" to the third device 2903. At this time, the first device 1201 may also transmit information of "the distance to the second device 1802" to the third device 2903.

[0821] Then, based on information such as the information of "the distance to the second device 1802" and the correspondence status of sensing of the fourth - i device of 2904_i (information 3001 regarding sensing ability in FIG. 30) that the first device 1201 has, the third device 2903 selects (3899) the fourth - i device of 2904_i that performs "estimation of the distance to the second device 1802".

[0822] Here, it is assumed that the device for performing sensing is the 4_1 device of 2904_1. However, when the 4_i device of 2904_i that requests the estimation of the distance from the second device 1802 is determined (in advance), the "selection 3899 of the 4_i device of 2904_i for sensing the second device 1802" may not be performed.

[0823] Regarding the operations after 3899 in FIG. 38, since they have already been described with reference to FIG. 37, the description will be omitted.

[0824] As described above, by implementing this, it is possible to realize triangulation based on the distance described in the first embodiment, and thereby obtain the effect of being able to specify the position of the second device 1802.

[0825] In addition, the first device 1201 can transmit information appropriately by communicating with the 4_1 device of 2904_1 via the third device 2903. Also, by having the 4_1 device of 2904_1 perform sensing, it is possible to obtain the effect of being able to perform high-precision sensing. This effect is due to the relationship between the third frequency and the fourth frequency.

[0826] Next, another example when using triangulation based on distance with the first method and the second method as examples will be described with reference to FIG. 39.

[0827] FIG. 39 is a diagram showing another example of a procedure for sensing. The first device 1201 obtains the information 3001 regarding the sensing capabilities in FIG. 30 transmitted by the "4_1 device of 2904_1, 4_2 device of 2904_2,..., 4_Q device of 2904_Q", and it is assumed that the correspondence status of the sensing of the "4_1 device of 2904_1, 4_2 device of 2904_2,..., 4_Q device of 2904_Q" is obtained.

[0828] As another method, the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q" may send information 3001 regarding the sensing capability in FIG. 30 to the 3rd device 2903, and the 3rd device 2903 may transmit control information including information regarding the sensing capabilities of each device in the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q" using the 3rd frequency. Thereby, the 1st device 1201 can obtain the correspondence status of the sensing of the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q".

[0829] Hereinafter, as an example, assume that all of the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q" are capable of performing sensing, and when there is a sensing request from, for example, a terminal such as the 1st device 1201, assume that all of the "4th_1 device of 2904_1, 4th_2 device of 2904_2, ···, 4th_Q device of 2904_Q" are capable of performing a sensing operation in response to the sensing request.

[0830] Also, in FIG. 39, assume that the 1st device 1201 has obtained information on at least the "distance between the 1st device 1201 and the 4th_1 device of 2904_1" before "estimating the position of the 2nd device 1802 3913".

[0831] And in FIG. 39, assume that the 1st device 1201 has obtained information on the "distance between the 1st device 1201 and the 4th_i device of 2904_i" (where i is an integer from 1 to Q) before "selecting the 4th_i device of 2904_i for sensing the 2nd device (sensing the 2nd device) 3902".

[0832] Note that the method for obtaining the information on the "distance between the 1st device 1201 and the 4th_1 device of 2904_1" has already been described with reference to FIGS. 32A, 32B, 32C, 32D, 32E, 32F, 32G, and 32H, so the description is omitted.

[0833] As another method, when the first device 1201 is a base station or a fixedly installed terminal, the fourth device of the first device 1201 and 2904_i may obtain in advance the "distance between the first device 1201 and the fourth device of 2904_i".

[0834] In addition, the first device 1201 and the fourth device of 2904_i may obtain their positions by, for example, a position estimation system such as GPS. Then, the fourth device of 2904_i transmits its own position information to the first device 1201, and the first device 1201 may obtain the "distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the fourth device of 2904_i. And the first device 1201 transmits its own position information to the fourth device of 2904_i, and the fourth device of 2904_i may obtain the "distance between the first device 1201 and the fourth device of 2904_i" from its own position information and the position information of the first device 1201.

[0835] An example of using triangulation based on distance will be described, taking the first method and the second method described in the first embodiment as examples.

[0836] In FIG. 39, the second device 1802 transmits a (sensing) signal (3931).

[0837] The first device 1201 ...

Claims

1. A communication device, a transmission unit that transmits request information for requesting sensing, a reception unit that receives result information indicating a sensing result from a first communication device that transmits a sensing signal in response to the request information and senses the object by receiving the sensing signal reflected by the object, a control unit that determines a state of the object based on the sensing result indicated by the result information and the sensing result of the object sensed by transmitting a sensing signal by the communication device and receiving the sensing signal reflected by the object, and the transmission unit transmits the request information to the first communication device via a second communication device, the reception unit receives the result information via the second communication device, a frequency used for communication with the first communication device is higher than a frequency used for communication with the second communication device, a communication device.

2. the control unit determines at least one of a position of the object, presence or absence of the object, an outer shape of the object, and movement of the object, The communication device according to claim 1.

3. the reception unit receives the result information after receiving a response to the request information from the first communication device, The communication device according to claim 1.

4. the transmission unit transmits a determination result of a position of the object to the first communication device, The communication device according to claim 1.

5. the reception unit receives ability information regarding sensing ability from the first communication device, The communication device according to claim 1.

6. the control unit performs sensing of the object using an antenna port different from an antenna port used for data communication, The communication device according to claim 1.

7. the transmission unit transmits a signal used for the sensing using beamforming, the reception unit receives directivity information regarding directivity of beamforming from the first communication device, the control unit determines a direction of the object based on the directivity information, The communication device according to claim 1.

8. A sensing method in a communication device, comprising: transmitting request information for requesting sensing, transmitting a sensing signal in response to the request information, and receiving result information indicating a sensing result from a first communication device that senses the object by receiving the sensing signal reflected by the object, Based on the sensing result indicated by the result information and the sensing result of the object sensed by the communication device by transmitting a sensing signal and receiving the sensing signal reflected by the object, determine the state of the object, transmit the request information to the first communication device via the second communication device, receive the result information via the second communication device, the frequency used for communication with the first communication device is higher than the frequency used for communication with the second communication device, Sensing method.

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