Method for transmitting and receiving signal in wireless communication system, and apparatus supporting same

Abstract

A method by which an apparatus transmits a message in a wireless communication system, according to at least one of various embodiments, comprises: acquiring information regarding a vehicle through at least one sensor; on the basis of the acquired information regarding the vehicle, determining whether or not at least one of predefined basic safety message (BSM) transmission conditions is satisfied; and on the basis that at least one of the BSM transmission conditions is satisfied, transmitting a BSM including information regarding the location, speed, and direction of the vehicle, wherein, on the basis that the vehicle is a school bus, the BSM transmission conditions include: i) loading onto the school bus; ii) unloading from the school bus; and iii) crossing in front of or behind the school bus, and the BSM may include information regarding at least one condition satisfied from among the BSM transmission conditions.

Description

Method for transmitting and receiving signals in a wireless communication system and device for performing the same

[0001] This specification relates to a wireless communication system, and more specifically, to a method for transmitting and receiving a signal including information on vehicle safety in an intelligent transport system (ITS) and a device for performing the same.

[0002] A wireless communication system is a multiple access system that supports communication with multiple users by sharing available system resources (e.g., bandwidth, transmission power, etc.). Examples of multiple access systems include code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), single carrier frequency division multiple access (SC-FDMA), and multi-carrier frequency division multiple access (MC-FDMA).

[0003] Intelligent Transport Systems (ITS) utilize wireless communication technologies to manage transportation systems more efficiently and improve safety. ITS systems can monitor traffic conditions in real time and collect and process data using CCTV, sensor networks, GPS devices, and wireless communication systems. ITS systems can also support inter-vehicle communication, allowing vehicles to communicate with each other and share information about their surroundings to enhance autonomous driving and traffic safety.

[0004] The technical challenge to be achieved is to transmit and receive safety messages for school buses in a wireless communication system.

[0005] The technical challenges are not limited to those mentioned above, and other technical challenges not mentioned can be derived from the description below.

[0006] A method for transmitting a message by a device in a wireless communication system according to one aspect comprises: obtaining information about a vehicle through at least one sensor; and determining whether at least one of predefined BSM (basic safety message) transmission conditions is satisfied based on the obtained information about the vehicle; and transmitting a BSM including information about a location, a speed, and a direction of the vehicle based on the satisfaction of at least one of the BSM transmission conditions, wherein, based on the vehicle being a school bus, the BSM transmission conditions may include i) loading onto the school bus, ii) unloading from the school bus; and iii) crossing in front or behind the school bus. The BSM may include information about at least one of the BSM transmission conditions being satisfied.

[0007] According to another aspect, a computer-readable recording medium having recorded thereon a program for performing the above-described method may be provided.

[0008] In another aspect, a wireless communication system includes a device, a memory for storing commands; and a processor for performing operations by executing the commands, wherein the operations performed by the processor include: obtaining information about a vehicle through at least one sensor; and determining whether at least one of predefined BSM (basic safety message) transmission conditions is satisfied based on the obtained information about the vehicle; and transmitting a BSM including information about a location, a speed, and a direction of the vehicle based on the satisfaction of at least one of the BSM transmission conditions, wherein based on the vehicle being a school bus, the BSM transmission conditions include i) loading onto the school bus, ii) unloading from the school bus, and iii) crossing in front or behind the school bus, and the BSM may include information about at least one of the BSM transmission conditions being satisfied.

[0009] Whether the above BSM transmission conditions are satisfied can be determined based on information obtained through sensors of the school bus or RSU (road side unit).

[0010] Based on at least two of the above BSM transmission conditions being satisfied, the BSM may include information for each of the at least two conditions that are satisfied.

[0011] The BSM may be transmitted to at least one other vehicle surrounding the school bus. Based on the transmission of the BSM, the at least one other vehicle may be stopped.

[0012] The PPPP (ProSe Per-Packet Priority) of the BSM may be determined based on whether the BSM is involved in at least one of i) boarding the school bus, ii) disembarking from the school bus, and iii) crossing in front or behind the school bus.

[0013] The above BSM transmission conditions may further include that a passenger of the school bus has dropped an object.

[0014] The above device may be a device equipped on the school bus or an RSU (road side unit) around the school bus.

[0015] In another aspect, a method for a device to receive a message in a wireless communication system comprises receiving a basic safety message (BSM) from a vehicle; and obtaining information about a location, a speed, and a direction of the vehicle through the BSM, wherein the vehicle is a school bus, and the BSM may include information about at least one of i) loading onto the school bus, ii) unloading from the school bus, and iii) crossing in front or behind the school bus.

[0016] In another aspect, a wireless communication system includes a device, a memory for storing instructions; and a processor for performing operations by executing the instructions, wherein the operations performed by the processor include: receiving a basic safety message (BSM) from a vehicle; and obtaining information about a location, a speed, and a direction of the vehicle through the BSM, wherein the vehicle is a school bus, and the BSM may include information about at least one of i) loading onto the school bus, ii) unloading from the school bus, and iii) crossing in front or behind the school bus.

[0017] Based on at least two of the above BSM transmission conditions being satisfied, the BSM may include information for each of the at least two conditions that are satisfied.

[0018] The above device may be a vehicle surrounding the school bus. The device may stop based on reception of the BSM.

[0019] The above device may be a device equipped on the school bus or an RSU (road side unit) around the school bus.

[0020] According to one embodiment of the present disclosure, the safety of school buses and passengers can be improved through transmission and reception of BSM messages in a wireless communication system.

[0021] The effects that can be obtained in various embodiments are not limited to the effects mentioned above, and other effects not mentioned can be derived from the description below.

[0022] Figure 1 is a diagram for explaining V2X communication.

[0023] Figure 2 shows a radio protocol architecture for SL communication.

[0024] Figure 3 shows a terminal performing V2X or SL communication.

[0025] Figure 4 illustrates a blind spot where the driver's field of vision is limited.

[0026] Figure 5 illustrates the danger zone around the bus.

[0027] Figure 6 illustrates an example of a BSM message transmission containing school bus related information by a school bus / RSU.

[0028] FIG. 7 is a diagram for explaining BSM message transmission of a school bus according to one embodiment.

[0029] FIG. 8 is a diagram for explaining message transmission of an RSU according to one embodiment.

[0030] Figure 9 illustrates a flowchart of a method for transmitting a BSM message according to a daily example.

[0031] Figure 10 illustrates a flowchart of a method for receiving a BSM message according to a daily example.

[0032] Figure 11 illustrates a communication system applicable to the present disclosure.

[0033] Figure 12 illustrates a wireless device applicable to the present disclosure.

[0034] Figure 13 illustrates another example of a wireless device applicable to the present disclosure.

[0035] Figure 14 illustrates a vehicle or autonomous vehicle applicable to the present disclosure.

[0036] Sidelink (SL) refers to a communication method that establishes a direct link between user equipment (UE), allowing voice or data to be exchanged directly between terminals without going through a base station (BS). SL is being considered as a solution to address the burden on base stations due to rapidly increasing data traffic.

[0037] V2X (vehicle-to-everything) refers to a communication technology that exchanges information with other vehicles, pedestrians, and infrastructure-based objects through wired / wireless communication. V2X can be divided into four types: V2V (vehicle-to-vehicle), V2I (vehicle-to-infrastructure), V2N (vehicle-to-network), and V2P (vehicle-to-pedestrian). V2X communication can be provided through the PC5 interface and / or Uu interface.

[0038] Figure 1 is a diagram for comparing and explaining V2X communication based on RAT before NR and V2X communication based on NR.

[0039] In relation to V2X communication, in RATs prior to NR, methods for providing safety services based on V2X messages such as Basic Safety Message (BSM), Cooperative Awareness Message (CAM), and Decentralized Environmental Notification Message (DENM) were mainly discussed. V2X messages may include location information, dynamic information, attribute information, etc. For example, a terminal may transmit a CAM of a periodic message type and / or a DENM of an event triggered message type to another terminal.

[0040] For example, a CAM may include basic vehicle information such as dynamic vehicle status information, such as direction and speed, static vehicle data, such as dimensions, external lighting conditions, and route history. For example, a terminal may broadcast a CAM, and the latency of the CAM may be less than 100 ms. For example, in the event of an emergency, such as a vehicle breakdown or accident, a terminal may generate a DENM and transmit it to other terminals. For example, all vehicles within the transmission range of the terminal may receive the CAM and / or DENM. In this case, the DENM may have a higher priority than the CAM.

[0041] Since then, various V2X scenarios have been proposed in NR in relation to V2X communications. For example, various V2X scenarios may include vehicle platooning, advanced driving, extended sensors, and remote driving.

[0042] For example, based on vehicle platooning, vehicles can dynamically form groups and move together. For example, to perform platoon operations based on vehicle platooning, vehicles in the group can receive periodic data from the lead vehicle. For example, vehicles in the group can use this periodic data to narrow or widen the gap between vehicles.

[0043] For example, based on improved driving, vehicles can become semi-autonomous or fully automated. For example, each vehicle can adjust its trajectories or maneuvers based on data acquired from local sensors of nearby vehicles and / or nearby logical entities. Furthermore, for example, each vehicle can share driving intentions with nearby vehicles.

[0044] For example, based on extended sensors, raw data, processed data, or live video data acquired through local sensors can be exchanged between vehicles, logical entities, pedestrian terminals, and / or V2X application servers. Thus, for example, a vehicle can perceive its environment better than it can perceive using its own sensors.

[0045] For example, based on remote driving, a remote driver or V2X application can operate or control the remote vehicle for people who cannot drive or for remote vehicles located in hazardous environments. For example, in cases where the route is predictable, such as public transportation, cloud computing-based driving can be utilized to operate or control the remote vehicle. Additionally, access to a cloud-based back-end service platform, for example, can be considered for remote driving.

[0046] Meanwhile, a method to specify service requirements for various V2X scenarios, such as vehicle platooning, enhanced driving, expanded sensors, and remote driving, is being discussed in NR-based V2X communication.

[0047] Figure 2 illustrates a radio protocol architecture for SL communication. Specifically, Figure 2 (a) illustrates a user plane protocol stack of NR, and Figure 2 (b) illustrates a control plane protocol stack of NR.

[0048] Figure 3 shows a terminal performing V2X or SL communication.

[0049] Referring to FIG. 3, the term "terminal" in V2X or SL communications may primarily refer to a user's terminal. However, if a network device, such as a base station, transmits and receives signals according to a communication method between terminals, the base station may also be considered a type of terminal. For example, terminal 1 may be a first device (100), and terminal 2 may be a second device (200).

[0050] For example, terminal 1 can select a resource unit corresponding to a specific resource within a resource pool, which represents a set of resources. Then, terminal 1 can transmit an SL signal using the resource unit. For example, terminal 2, which is a receiving terminal, can be configured with a resource pool in which terminal 1 can transmit a signal, and can detect a signal from terminal 1 within the resource pool.

[0051] Here, if terminal 1 is within the connection range of the base station, the base station can inform terminal 1 of the resource pool. On the other hand, if terminal 1 is outside the connection range of the base station, another terminal can inform terminal 1 of the resource pool, or terminal 1 can use a pre-configured resource pool.

[0052] In general, a resource pool can be composed of multiple resource units, and each terminal can select one or multiple resource units to use for its SL signal transmission.

[0053] Sending and receiving messages related to school bus safety

[0054] To ensure student safety, standardization for V2X Safety Applications for school buses is in progress, and ways to share status information on school buses are being discussed.

[0055] School buses equipped with V2X Safety applications can transmit their status information via messages to BSM and other platforms. To achieve this, a new school bus type is defined in the Vehicle Type field within BSM, and the Special Vehicle Extension area used in BSM can be modified and expanded to include school bus-related status information, allowing the BSM to be configured.

[0056] School bus-related status information to be included in the BSM may include, but is not limited to, the contents set forth in Table 1.

[0057] Slowing down - indicating potential for the bus to stop to load or unload children- Assess need to take into account local traffic)Yellow flashing lights - indicates the bus is preparing to stop to load or unload childrenRed flashing lights - indicates the bus has stopped and children are getting on or off.Extended stop arms - indicates the bus has stopped and children are getting on or off.Door Open / Door Close - possible indicator of children getting on or off- At Bus Stop (designated pick up and drop off zones)- In a school zoneSome entities may want to get the following alerts:Exceeding speed limitsHard braking and accelerationDeviation from approved bus routes (Require access to backend data)Battery level alerts for Electric School Buses

[0058] Meanwhile, if the OBU (on-board unit) or V2X Safety application installed on the school bus does not automatically detect the relevant information, the school bus driver may have to manually input the relevant information into the V2X Safety application to configure the BSM, which may reduce the reliability of the information.

[0059] To address these issues, this specification proposes a BSM configuration and transmission method for school buses. According to the proposed method, when a school bus uses a V2X Safety application to include status information in the BSM and transmit it, more efficient and reliable status information can be provided using a device installed on the school bus, even if the OBU or V2X Safety application installed on the school bus can automatically detect and detect it. In addition, more reliable information can be provided to the BSM by using an additional device that can provide information that the OBU or V2X Safety application cannot automatically detect and detect.

[0060] Transmitting BSM messages based on sensors installed on school buses

[0061] For example, a method is proposed in which school buses are equipped with their own sensors and information recognized by the sensors at designated boarding and disembarking points is included in BSM messages.

[0062] School buses can be equipped with sensors that sense passengers (including adults, students, and children) boarding and disembarking from the bus, both inside and outside, and collect information about them. These sensors can be used to collect detailed information about passengers boarding and disembarking the school bus (e.g., the number of passengers boarding and disembarking, their status, distribution area, and direction of movement).

[0063] When passengers disembark at a school bus drop-off area, school bus information related to the bus may be transmitted as the bus approaches the designated drop-off area and safely stops at the drop-off area while passengers disembark.

[0064] Table 2 is an example of information related to passenger disembarkation that can be transmitted via BSM.

[0065] SchoolbusPassengerGetOffInfo ::= SEQUENCE {GetOffStatus ::= Approaching / PassengerReady / GettingOffNumPassengerToGetOff ::= INTEGERBoundingBoxOfPassengerGettingOff ::= BoundingBox of Passenger clusterTimeRequiredToStop ::= TimeBusStopPosition ::= Position3DBusStopID ::= BusStopIDPassengerCrossing ::= Crossing / Not crossingNumPassengerCrossing ::= INTEGERBoundingBoxOfPassengerCrossing ::= BoundingBox of Passenger cluster...}

[0066] The descriptions for each field in Table 2 are as follows:

[0067] (i) GetOffStatus: This indicates information about the disembarkation of passengers on a school bus. This value can be set to 'Approaching' while the school bus has not yet reached the bus drop-off area, but is moving to slow down and stop within a specified range (e.g., within a 20-meter radius of the designated bus drop-off area). After the school bus has stopped at the designated drop-off area, this value can be set to 'PassengerReady' while passengers get up from their seats and approach the bus door. This value can be set to 'GettingOff' when passengers are ready to disembark, the bus door opens, and disembarkation begins.

[0068] (ii) NumPassengerToGetOff: This refers to the number of passengers to get off the bus detected by sensors inside the bus when GetOffStatus is 'PassengerReady'.

[0069] (iii) BoundingBoxOfPassengerGettingOff: The distribution area of ​​passengers getting off the bus can be represented in the form of a bounding box, similar to a VRU Cluster. The distribution area of ​​school bus passengers getting off the bus can be represented in the following three ways, but is not limited to these.

[0070] - Circle (the center of a circle, radius)

[0071] - Rectangle (the reference point, length, width)

[0072] - Polygon (list of positions which indicate polygon points)

[0073] (iv) TimeRequiredToStop: This refers to the expected time that the bus will remain at the designated school bus drop-off area, based on the number of passengers alighting or disembarking from the school bus, and taking into account the time until no passengers cross the street after disembarking. Additionally, the expected arrival time of the next designated bus drop-off area may also be considered.

[0074] (v) BusStopPosition: This refers to the location where the school bus will be dropped off. If the bus is temporarily dropped off at a location other than the designated drop-off location, the information may be included and transmitted.

[0075] (vi) BusStopID: If a school bus stops at a designated drop-off point, the bus stop ID of the designated drop-off point may be included in the information message for passengers getting off the school bus.

[0076] (vii) Passenger Crossing: Referring to Figure 4, school buses have blind spots where the driver's field of vision is limited. Sensors mounted on the bus can detect whether there are passengers crossing the road in front of the blind spot. Furthermore, after the school bus stops, passengers who have disembarked can be detected crossing the road in front or behind the bus. This information can be included in the school bus passenger disembarkation status message.

[0077] (viii) NumPassengerCrossing: The number of passengers crossing the road after getting off the bus can be detected through sensors installed on the school bus, and this information can be included in the message.

[0078] (ix) BoundingBoxOfPassengerCrossing: The distribution area of ​​passengers crossing the street after getting off the bus can be represented in the form of a bounding box, similar to a VRU Cluster. The distribution area of ​​school bus passengers crossing the street can be represented in three ways, including but not limited to the following.

[0079] - Circle (the center of a circle, radius)

[0080] - Rectangle (the reference point, length, width)

[0081] - Polygon (list of positions which indicate polygon points)

[0082] In addition to or separate from the information related to passenger disembarkation described above, information related to passenger boarding may be provided via BSM messages.

[0083] When passengers waiting at a school bus stop board the bus, the bus can transmit relevant school bus information while the bus approaches the designated stop location, safely stops at the stop, and the passengers board, and before the bus departs after boarding.

[0084] Table 3 is an example of passenger boarding-related information that can be transmitted via BSM.

[0085] SchoolbusPassengerRideInfo ::= SEQUENCE {RideStatus ::= Approaching / ReadyToRide / Riding and SittingNumPassengerToRide ::= INTEGERBoundingBoxOfPassengerToRide ::= BoundingBox of Passenger clusterTimeRequiredToMove ::= TimeBusStopPosition ::= Position3DBusStopID ::= BusStopIDPassengerCrossing ::= Crossing / Not crossingNumPassengerCrossing ::= INTEGERBoundingBoxOfPassengerCrossing ::= BoundingBox of Passenger cluster...}

[0086] The descriptions for each field in Table 3 are as follows.

[0087] (i) RideStatus: This refers to the status information about the boarding behavior of passengers attempting to board a school bus. This value can be set to 'Approaching' while the school bus has not yet reached the bus stop, but has entered a designated area (e.g., within a 20-meter radius of the designated bus stop) and is moving to slow down and stop for waiting passengers. This value can be set to 'ReadyToRide' until the school bus has stopped at the designated bus stop after confirming that the passengers lined up at the bus stop are safe and the bus door opens. This value can be set to 'RidingAndSitting' when passengers lined up at the bus stop begin boarding through the open door, and this value can be maintained as 'RidingAndSitting' until the bus interior sensors confirm that all passengers lined up at the bus stop have boarded and taken their seats.

[0088] (ii) NumPassengerToRide: This refers to the number of passengers who are boarding or have boarded the bus as detected by sensors capable of sensing the inside or outside of the bus.

[0089] (iii) BoundingBoxOfPassengerToRide: The distribution area of ​​passengers waiting at the boarding area or boarding a school bus can be represented in the form of a bounding box, similar to a VRU Cluster. The distribution area of ​​school bus passengers can be represented in three ways, including but not limited to the following.

[0090] - Circle (the center of a circle, radius)

[0091] - Rectangle (the reference point, length, width)

[0092] - Polygon (list of positions which indicate polygon points)

[0093] (iv) TimeRequiredToMove: This refers to the estimated time the bus will remain at the designated stop after boarding, based on the number of passengers who board or are seated on the school bus, ensuring they are safely seated, and before the bus departs for the next stop. Additionally, the estimated arrival time at the designated next stop and the waiting time for late passengers who have booked a seat but have not yet boarded may also be taken into account.

[0094] (v) BusStopPosition: This refers to the location where the school bus will stop for boarding. If boarding is temporarily done at a location other than the designated boarding area, this information may be included and transmitted.

[0095] (vi) BusStopID: If a school bus stops at a designated stop, the bus stop ID of the designated stop may be included in the information message to passengers boarding the school bus.

[0096] (vii) Passenger Crossing: The school bus driver's blind spot can be determined by using sensors installed on the bus to determine whether there are passengers crossing in front of the bus.

[0097] (viii) NumPassengerCrossing: Sensors installed on school buses can detect the number of passengers crossing the road to board the bus.

[0098] (ix) BoundingBoxOfPassengerCrossing: The distribution area of ​​passengers crossing the street to board a bus can be represented in the form of a bounding box, similar to a VRU Cluster. The distribution area of ​​school bus passengers crossing the street can be represented in three ways, including but not limited to the following.

[0099] - Circle (the center of a circle, radius)

[0100] - Rectangle (the reference point, length, width)

[0101] - Polygon (list of positions which indicate polygon points)

[0102] Meanwhile, a danger zone exists around a stopped school bus, as illustrated in Figure 5. This danger zone may include areas at risk of collision with other vehicles, passengers boarding or disembarking, and / or blind spots for the driver. A method is proposed to provide information about situations occurring in such danger zones via BSM messages.

[0103] For example, if a child drops an object in the school bus Danger Zone while the school bus is stopped for boarding and disembarking, this situation can be detected through the school bus's own sensors, and an alert / notification can be given to the driver or school bus assistant riding inside the bus so that they can be notified of this even if the child does not go to the bus driver to report the situation.

[0104] Additionally, in situations like these, the school bus driver must stop the bus while getting off the bus and collecting the child's belongings, thereby alerting other oncoming vehicles. A message containing the school bus stop information can be sent directly from the school bus to other vehicles, or the RSU near the bus stop can transmit the information to nearby vehicles.

[0105] For example, information about the cause of a school bus stop can be transmitted via a BSM message, as shown in Table 4.

[0106] SchoolbusStopReason ::= ENUMERATED {Unavailable (0),GetOff (1),Ride (2),DropAndPick (3),Waiting (4),...}

[0107] The descriptions for each field in Table 4 are as follows.

[0108] (i) Unavailable: When it is difficult to determine the reason why the bus is stopped and therefore information cannot be accurately displayed.

[0109] (ii) GetOff: When a school bus stops to allow passengers to get off.

[0110] (iii) Ride: When a school bus stops for passengers to board the bus.

[0111] (iv) DropAndPick: When an object is dropped from a school bus and the school bus driver stops the bus to pick up the dropped object.

[0112] (v) Waiting: When the school bus is stopped to operate according to the designated schedule or to wait for boarding when the scheduled passenger has not arrived.

[0113] Alternatively, there is a VehicleEventFlag defined in the standard for a vehicle or RSU to notify surrounding vehicles of event information, and items related to school buses can be added to this VehicleEventFlag.

[0114] Referring to Table 5, the eventSchoolbusDropAndPick is added to VehicleEventFlag. eventSchoolbusDropAndPick could mean that an object was dropped from a school bus and the school bus driver stopped the bus to pick it up.

[0115] VehicleEventFlags ::= BIT STRING {eventHazardLights (0),eventStopLineViolation (1), -- Intersection ViolationeventABSactivated (2),eventTractionControlLoss (3),eventStabilityControlactivated (4),eventHazardousMaterials (5),eventReserved1 (6),eventHardBraking (7),eventLightsChanged (8),eventWipersChanged (9),eventFlatTire (10),eventDisabledVehicle (11), -- The DisabledVehicle DF may also be senteventAirBagDeployment (12),eventJackKnife (13) -- Applies to vehicles with trailer(s)eventSchoolbusDropAndPick (14)} (SIZE (15, ...))

[0116] For example, the status information of school bus passengers (SchoolbusPassengerStatus) that can be recognized by the school bus's own sensor can be configured as in Table 6 and transmitted as a BSM message.

[0117] SchoolbusPassengerStatus ::= SEQUENCE {GetOff SchoolbusPassengerGetOffInfoRide SchoolbusPassengerRideInfoDropAndPick SchoolbusDropSthEventInfoWaiting SchoolbusWaitingInfo...}

[0118] In Table 6, SchoolbusPassengerGetOffInfo may be the information defined in Table 2 above, and SchoolbusPassengerRideInfo may be the information defined in Table 3 above.

[0119] For example, referring to Table 7, the school bus information (SchoolbusInfo) transmitted as a BSM message includes SchoolbusPassengerStatus. Unlike Table 6, SchoolbusPassengerStatus in Table 7 more simply divides the status of school bus passengers into boarding / disembarking.

[0120] SchoolbusInfo ::= SEQUENCE {PassengerStatus SchoolbusPassengerStatusPassengerLocation SchoolbusPassengerBoundingBoxCrossingPassengerInfo CrossingPassengerStatus...}SchoolbusPassengerStatus ::= ENUMERATED {Unavailable (0),Ride (1),GetOff (2),}SchoolbusPassengerBoundingBox ::= CHOICE {CircleRectanglePolygon}CrossingPassengerStatus ::= SEQUENCE {CrossingToRide ::= Number, BoundingBoxCrossingAfterGetOff ::= Number, BoundingBox}

[0121] In Table 7, SchoolbusPassengerBoundingBox can be information on the distribution area of ​​passengers getting on and off the bus recognized by its own sensors.

[0122] CrossingPassengerStatus could be information about a passenger crossing the street to board or after getting off a school bus, as detected by the bus's own sensors.

[0123] - CrossingToRide contains information on the number of passengers crossing the street to board a school bus and the distribution area of ​​passengers.

[0124] - CrossingAfterGetOff contains information about the number of passengers crossing the street after getting off a school bus and the distribution area of ​​passengers.

[0125] Message transmission by RSU

[0126] In addition to or separately from the above proposal, it is proposed that an RSU installed at a designated boarding and disembarking location of a school bus transmit school bus-related information in a message.

[0127] Figure 6 illustrates an example of a message transmission including school bus related information by a school bus / RSU.

[0128] School buses can stop at designated stops along a designated route at designated times to board passengers. Referring to Figure 6, sensor-equipped RSUs 1 and 2 are present at designated school bus stops. RSUs 1 and 2 sense passengers (children or parents) waiting for a school bus, compile this information into a message, and transmit it to vehicles and motorcycles approaching the bus stop. This message can notify the presence of passengers waiting to board the school bus near the bus stop, thereby ensuring the safety of passengers at the bus stop. Furthermore, RSUs 1 and 2 can transmit this information to a service provider server equipped with a school bus management system. Therefore, school buses connected to the server can be informed of the status of passengers waiting to board the bus at designated bus stops along a designated route.

[0129] Table 8 shows an example of school bus-related information transmitted by the RSU.

[0130] SchoolbusRelatedInfo ::= SEQUENCE {BusStopPosition ::= Position3DBusStopID ::= BusStopIDNumPeopleWaiting ::= INTEGERBoundingBoxOfPeopleWaiting ::= Bounding box of people...}

[0131] In Table 8, BusStopPosition can provide three-dimensional information about the bus stop location. BusStopID identifies the boarding and alighting area. NumPeopleWaiting indicates the number of passengers detected at the boarding and alighting area. BoundingBoxOfPeopleWaiting can provide information about the distribution area of ​​passengers detected at the boarding and alighting area.

[0132] For example, separately or additionally to the message transmission by the RSU, the school bus may transmit school bus operation information, such as Table 9, to a service provider server including a school bus management system after stopping at a boarding / drop-off area.

[0133] SchoolbusBoardingInfo ::= SEQUENCE {CurrentBusStopPosition ::= Position3DBusStopID ::= BusStopIDNumPassengerOnBoard ::= INTEGERNextBusStopPosition ::= BusStopIDNextBusStopExpectedArrivalTime ::= TimeBusNumber ::= BusID...}

[0134] In Table 9, CurrentBusStopPosition can provide three-dimensional information about the current location of the bus. BusStopID is identification information for the boarding / alighting station. NumPassengerOnBoard indicates the number of passengers on the bus. NextBusStopPosition is identification information for the next boarding / alighting station. NextBusStopExpectedArrivalTime is information about the expected arrival time at the next boarding / alighting station. BusNumber is identification information for the bus. For example, by linking the vehicle number of a school bus, the vehicle's moving location and the expected arrival time at a specific boarding / alighting station can be provided. FIG. 7 is a diagram illustrating BSM message transmission by a school bus according to one embodiment.

[0135] Referring to Fig. 7, if the school bus itself is not equipped with a sensor, school bus safety information can be manually input by the school bus driver or crew (A10), and a BSM message can be generated / transmitted (A25).

[0136] If the school bus itself is equipped with sensors, the school bus can sense the internal or external conditions of the school bus through the sensors (A15).

[0137] The school bus analyzes object information recognized / detected through sensing (A20).

[0138] The school bus can generate and transmit a BSM message for school bus safety based on analysis of object information (A25).

[0139] FIG. 8 is a diagram for explaining message transmission of an RSU according to one embodiment.

[0140] The RSU obtains information about school buses at the boarding and disembarking areas through sensors and generates messages for school bus safety based on this (B05).

[0141] The RSU can send the generated message to a service providing server including a school bus management system (B10).

[0142] Meanwhile, the above explanation assumes that the school bus (or RSU) transmits information about the school bus acquired through sensors as a BSM (basic safety message) message.

[0143] According to existing standards, BSM messages are not intended to transmit information acquired through sensors, but rather to transmit dynamic vehicle information, such as heading, speed, or location. These messages can be periodically updated and broadcast to surrounding vehicles. SDSM messages are messages in a format defined for transmitting information acquired through sensors.

[0144] In this specification, it is proposed that information acquired through sensors for school buses be transmitted through BSM rather than SDSM. One of the reasons for this is that BSM has a higher transmission priority than SDSM, so a method is proposed to include information about school buses in BSM in order to transmit it with high priority / high importance.

[0145] Specifically, the traffic classification related to the priorities defined in the SAE standard is as shown in Table 10 below.

[0146] Traffic TypeSafety ServicesMobility ServicesTraffic FamiliesCritical V2VEssential V2VCriticalV2I - I2VEssential V2I - I2VTransactionalLow PriorityBackgroundTraffic DirectionV2VV2I - I2VV2I - I2VMinimum PPPP2535678Minimum PDB50 ms100 ms100 ms100 ms100 ms100 ms100 msExample MessagesCritical BSM, BSM from Public Safety VehicleBSMRSM, MAP, TIM, SSM / SRM for preemptionSPAT, RTCMTAM, TUM, TUMack, SSM / SRM for priorityRWMTCP, UDP

[0147] The minimum PPPP (ProSe Per-Packet Priority) value indicates the priority assigned to a message, with messages with lower PPPP values ​​having higher priority.

[0148] Minimum PDB (Packet Delay Budget) refers to the allowable delay time for packet transmission.

[0149] As shown in Table 10, Critical BSM and BSM from Public Safety Vehicles have the lowest PPPP value (i.e., the highest priority) and the smallest Minimum PDB value. Therefore, it is desirable to transmit information about school buses in this BSM format.

[0150] Additionally, the messages sent by vehicles sending BSM do not include SDSM. This means that if a school bus driver sends relevant information to BSM, surrounding vehicles or RSUs cannot transmit it to SDSM.

[0151] Therefore, in this specification, it is proposed to transmit information about school buses to BSM rather than SDSM.

[0152] Figure 9 illustrates a flowchart of a method for a device to transmit a BSM message according to a daily example.

[0153] Referring to FIG. 9, the device can obtain information about the vehicle through at least one sensor (C05).

[0154] The device can determine whether at least one of the predefined BSM (basic safety message) transmission conditions is satisfied based on the information about the vehicle acquired above (C10).

[0155] The device can transmit a BSM including information about the position, speed, and direction of the vehicle based on at least one of the above BSM transmission conditions being satisfied (C15).

[0156] Based on the vehicle being a school bus, the BSM transmission conditions may include i) loading onto the school bus, ii) unloading from the school bus, and iii) crossing in front or behind the school bus. The BSM may include information regarding at least one condition that is satisfied among the BSM transmission conditions.

[0157] Whether the above BSM transmission conditions are satisfied can be determined based on information obtained through sensors of the school bus or RSU (road side unit).

[0158] Based on at least two of the above BSM transmission conditions being satisfied, the BSM may include information for each of the at least two conditions that are satisfied.

[0159] The BSM may be transmitted to at least one other vehicle surrounding the school bus. Based on the transmission of the BSM, the at least one other vehicle may be stopped.

[0160] The PPPP (ProSe Per-Packet Priority) of the BSM may be determined based on whether the BSM is involved in at least one of i) boarding the school bus, ii) disembarking from the school bus, and iii) crossing in front or behind the school bus.

[0161] The above BSM transmission conditions may further include that a passenger of the school bus has dropped an object.

[0162] The above device may be a device equipped on the school bus or an RSU (road side unit) around the school bus.

[0163] Figure 10 illustrates a flowchart of a method for a device to receive a BSM message according to a daily example.

[0164] Referring to FIG. 10, the device receives a basic safety message (BSM) from the vehicle (D05).

[0165] The device can obtain information about the location, speed, and direction of the vehicle through the BSM (D10).

[0166] The vehicle is a school bus, and the BSM may include information about at least one of i) loading onto the school bus, ii) unloading from the school bus, and iii) crossing in front or behind the school bus.

[0167] Based on at least two of the above BSM transmission conditions being satisfied, the BSM may include information for each of the at least two conditions that are satisfied.

[0168] The above device may be a vehicle surrounding the school bus. The device may stop based on reception of the BSM.

[0169] The above device may be a device equipped on the school bus or an RSU (road side unit) around the school bus.

[0170] Based on at least two of the above BSM transmission conditions being satisfied, the BSM may include information for each of the at least two conditions that are satisfied.

[0171] Although not limited thereto, the various descriptions, functions, procedures, proposals, methods and / or operational flowcharts of the present disclosure disclosed in this document may be applied to various fields requiring wireless communication / connectivity (e.g., 5G) between devices.

[0172] Hereinafter, more specific examples will be provided with reference to the drawings. In the drawings / descriptions below, the same drawing reference numerals may represent identical or corresponding hardware blocks, software blocks, or functional blocks, unless otherwise described.

[0173] Fig. 11 illustrates a communication system applicable to this embodiment.

[0174] Referring to FIG. 11, a communication system (1) applicable to the present embodiment includes a wireless device, a base station, and a network. Here, the wireless device refers to a device that performs communication using a wireless access technology (e.g., 5G NR (New RAT), LTE (Long Term Evolution)) and may be referred to as a communication / wireless / 5G device. Although not limited thereto, the wireless device may include a robot (100a), a vehicle (100b-1, 100b-2), an XR (eXtended Reality) device (100c), a hand-held device (100d), a home appliance (100e), an IoT (Internet of Things) device (100f), and an AI device / server (400). For example, the vehicle may include a vehicle equipped with a wireless communication function, an autonomous vehicle, a vehicle capable of performing vehicle-to-vehicle communication, etc. Here, the vehicle may include an Unmanned Aerial Vehicle (UAV) (e.g., a drone). XR devices include AR (Augmented Reality) / VR (Virtual Reality) / MR (Mixed Reality) devices, and can be implemented in the form of HMD (Head-Mounted Device), HUD (Head-Up Display) installed in a vehicle, television, smartphone, computer, wearable device, home appliance, digital signage, vehicle, robot, etc. Mobile devices can include smartphone, smart pad, wearable device (e.g., smart watch, smart glass), computer (e.g., laptop, etc.), etc. Home appliances can include TV, refrigerator, washing machine, etc. IoT devices can include sensors, smart meters, etc. For example, base stations and networks can also be implemented as wireless devices, and a specific wireless device (200a) can act as a base station / network node to other wireless devices.

[0175] Wireless devices (100a to 100f) can be connected to a network (300) via a base station (200). Artificial Intelligence (AI) technology can be applied to the wireless devices (100a to 100f), and the wireless devices (100a to 100f) can be connected to an AI server (400) via the network (300). The network (300) can be configured using a 3G network, a 4G (e.g., LTE) network, a 5G (e.g., NR) network, etc. The wireless devices (100a to 100f) can communicate with each other via the base station (200) / network (300), but can also communicate directly (e.g., sidelink communication) without going through the base station / network. For example, vehicles (100b-1, 100b-2) can communicate directly (e.g., V2V (Vehicle to Vehicle) / V2X (Vehicle to Everything) communication). In addition, IoT devices (e.g., sensors) can communicate directly with other IoT devices (e.g., sensors) or other wireless devices (100a to 100f).

[0176] Wireless communication / connection (150a, 150b, 150c) can be established between wireless devices (100a~100f) / base stations (200), and base stations (200) / base stations (200). Here, wireless communication / connection can be achieved through various wireless access technologies (e.g., 5G NR) such as uplink / downlink communication (150a), sidelink communication (150b) (or, D2D communication), and communication between base stations (150c) (e.g., relay, IAB (Integrated Access Backhaul). Through wireless communication / connection (150a, 150b, 150c), wireless devices and base stations / wireless devices, and base stations and base stations can transmit / receive wireless signals to each other. For example, wireless communication / connection (150a, 150b, 150c) can transmit / receive signals through various physical channels. To this end, at least some of various configuration information setting processes for transmitting / receiving wireless signals, various signal processing processes (e.g., channel encoding / decoding, modulation / demodulation, resource mapping / demapping, etc.), and resource allocation processes can be performed based on various proposals of the present disclosure.

[0177] Figure 12 illustrates a wireless device applicable to the present disclosure.

[0178] Referring to FIG. 12, the first wireless device (100) and the second wireless device (200) can transmit and receive wireless signals through various wireless access technologies (e.g., LTE, NR). Here, {the first wireless device (100), the second wireless device (200)} can correspond to {the wireless device (100x), the base station (200)} and / or {the wireless device (100x), the wireless device (100x)} of FIG. 27.

[0179] A first wireless device (100) includes one or more processors (102) and one or more memories (104), and may further include one or more transceivers (106) and / or one or more antennas (108). The processor (102) controls the memories (104) and / or the transceivers (106), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (102) may process information in the memory (104) to generate first information / signal, and then transmit a wireless signal including the first information / signal via the transceiver (106). In addition, the processor (102) may receive a wireless signal including second information / signal via the transceiver (106), and then store information obtained from signal processing of the second information / signal in the memory (104). The memory (104) may be connected to the processor (102) and may store various information related to the operation of the processor (102). For example, the memory (104) may perform some or all of the processes controlled by the processor (102), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (102) and the memory (104) may be part of a communication modem / circuit / chipset designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (106) may be connected to the processor (102) and may transmit and / or receive wireless signals via one or more antennas (108). The transceiver (106) may include a transmitter and / or a receiver. The transceiver (106) may be used interchangeably with an RF (Radio Frequency) unit. In this specification, wireless device may also mean a communication modem / circuit / chipset.

[0180] Specifically, the UE may include a processor (102) and a memory (104) connected to the RF transceiver. The memory (104) may include at least one program capable of performing operations related to the embodiments described in FIGS. 11 to 27.

[0181] Alternatively, a chipset may be configured that includes a processor (102) and a memory (104). In this case, the chipset may include at least one processor and at least one memory operably connected to the at least one processor and, when executed, causing the at least one processor to perform operations.

[0182] The second wireless device (200) includes one or more processors (202), one or more memories (204), and may further include one or more transceivers (206) and / or one or more antennas (208). The processor (202) controls the memories (204) and / or the transceivers (206), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (202) may process information in the memory (204) to generate third information / signals, and then transmit a wireless signal including the third information / signals via the transceivers (206). Furthermore, the processor (202) may receive a wireless signal including fourth information / signals via the transceivers (206), and then store information obtained from signal processing of the fourth information / signals in the memory (204). The memory (204) may be connected to the processor (202) and may store various information related to the operation of the processor (202). For example, the memory (204) may perform some or all of the processes controlled by the processor (202), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (202) and the memory (204) may be part of a communication modem / circuit / chip designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (206) may be connected to the processor (202) and may transmit and / or receive wireless signals via one or more antennas (208). The transceiver (206) may include a transmitter and / or a receiver. The transceiver (206) may be used interchangeably with an RF unit. In this specification, a wireless device may also mean a communication modem / circuit / chip.

[0183] Hereinafter, the hardware elements of the wireless device (100, 200) will be described in more detail. Although not limited thereto, one or more protocol layers may be implemented by one or more processors (102, 202). For example, one or more processors (102, 202) may implement one or more layers (e.g., functional layers such as PHY, MAC, RLC, PDCP, RRC, SDAP). One or more processors (102, 202) may generate one or more Protocol Data Units (PDUs) and / or one or more Service Data Units (SDUs) according to the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. One or more processors (102, 202) may generate messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. One or more processors (102, 202) can generate signals (e.g., baseband signals) including PDUs, SDUs, messages, control information, data or information according to the functions, procedures, proposals and / or methods disclosed herein, and provide the signals to one or more transceivers (106, 206). One or more processors (102, 202) can receive signals (e.g., baseband signals) from one or more transceivers (106, 206) and obtain PDUs, SDUs, messages, control information, data or information according to the descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed herein.

[0184] One or more processors (102, 202) may be referred to as a controller, a microcontroller, a microprocessor, or a microcomputer. One or more processors (102, 202) may be implemented by hardware, firmware, software, or a combination thereof. For example, one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), one or more Digital Signal Processing Devices (DSPDs), one or more Programmable Logic Devices (PLDs), or one or more Field Programmable Gate Arrays (FPGAs) may be included in one or more processors (102, 202). The descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document may be implemented using firmware or software, and the firmware or software may be implemented to include modules, procedures, functions, etc. The descriptions, functions, procedures, suggestions, methods and / or operation flowcharts disclosed in this document may be implemented using firmware or software configured to perform one or more processors (102, 202) or stored in one or more memories (104, 204) and executed by one or more processors (102, 202). The descriptions, functions, procedures, suggestions, methods and / or operation flowcharts disclosed in this document may be implemented using firmware or software in the form of codes, instructions and / or sets of instructions.

[0185] One or more memories (104, 204) may be coupled to one or more processors (102, 202) and may store various forms of data, signals, messages, information, programs, codes, instructions, and / or commands. The one or more memories (104, 204) may be configured as ROM, RAM, EPROM, flash memory, hard drives, registers, cache memory, computer-readable storage media, and / or combinations thereof. The one or more memories (104, 204) may be located internally and / or externally to the one or more processors (102, 202). Additionally, the one or more memories (104, 204) may be coupled to the one or more processors (102, 202) via various technologies, such as wired or wireless connections.

[0186] One or more transceivers (106, 206) can transmit user data, control information, wireless signals / channels, etc., as mentioned in the methods and / or flowcharts of this document, to one or more other devices. One or more transceivers (106, 206) can receive user data, control information, wireless signals / channels, etc., as mentioned in the descriptions, functions, procedures, proposals, methods and / or flowcharts of this document, from one or more other devices. For example, one or more transceivers (106, 206) can be connected to one or more processors (102, 202) and can transmit and receive wireless signals. For example, one or more processors (102, 202) can control one or more transceivers (106, 206) to transmit user data, control information, or wireless signals to one or more other devices. Additionally, one or more processors (102, 202) may control one or more transceivers (106, 206) to receive user data, control information, or wireless signals from one or more other devices. Additionally, one or more transceivers (106, 206) may be coupled to one or more antennas (108, 208), and one or more transceivers (106, 206) may be configured to transmit and receive user data, control information, wireless signals / channels, or the like, as referred to in the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed herein, via one or more antennas (108, 208). In this document, one or more antennas may be multiple physical antennas or multiple logical antennas (e.g., antenna ports). One or more transceivers (106, 206) can convert received user data, control information, wireless signals / channels, etc. from RF band signals to baseband signals in order to process the received user data, control information, wireless signals / channels, etc. using one or more processors (102, 202).One or more transceivers (106, 206) may convert user data, control information, wireless signals / channels, etc. processed by one or more processors (102, 202) from baseband signals to RF band signals. For this purpose, one or more transceivers (106, 206) may include an (analog) oscillator and / or filter.

[0187] Figure 13 illustrates another example of a wireless device applicable to this embodiment. The wireless device may be implemented in various forms depending on the use case / service.

[0188] Referring to FIG. 13, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 12 and may be composed of various elements, components, units / units, and / or modules. For example, the wireless device (100, 200) may include a communication unit (110), a control unit (120), a memory unit (130), and an additional element (140). The communication unit may include a communication circuit (112) and a transceiver(s) (114). For example, the communication circuit (112) may include one or more processors (102, 202) and / or one or more memories (104, 204) of FIG. 13. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 12. The control unit (120) is electrically connected to the communication unit (110), the memory unit (130), and the additional elements (140) and controls the overall operation of the wireless device. For example, the control unit (120) may control the electrical / mechanical operation of the wireless device based on the program / code / command / information stored in the memory unit (130). In addition, the control unit (120) may transmit information stored in the memory unit (130) to an external device (e.g., another communication device) via a wireless / wired interface through the communication unit (110), or store information received from an external device (e.g., another communication device) via a wireless / wired interface in the memory unit (130).

[0189] The additional element (140) may be configured in various ways depending on the type of the wireless device. For example, the additional element (140) may include at least one of a power unit / battery, an input / output unit (I / O unit), a driving unit, and a computing unit. Although not limited thereto, the wireless device may be implemented in the form of a robot (Fig. 11, 100a), a vehicle (Fig. 11, 100b-1, 100b-2), an XR device (Fig. 11, 100c), a portable device (Fig. 11, 100d), a home appliance (Fig. 11, 100e), an IoT device (Fig. 11, 100f), a digital broadcasting terminal, a hologram device, a public safety device, an MTC device, a medical device, a fintech device (or a financial device), a security device, a climate / environmental device, an AI server / device (Fig. 11, 400), a base station (Fig. 11, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0190] In FIG. 13, various elements, components, units / parts, and / or modules within the wireless device (100, 200) may be entirely interconnected via a wired interface, or at least some may be wirelessly connected via a communication unit (110). For example, within the wireless device (100, 200), the control unit (120) and the communication unit (110) may be wired, and the control unit (120) and a first unit (e.g., 130, 140) may be wirelessly connected via the communication unit (110). In addition, each element, component, unit / part, and / or module within the wireless device (100, 200) may further include one or more elements. For example, the control unit (120) may be composed of one or more processor sets. For example, the control unit (120) may be composed of a set of a communication control processor, an application processor, an electronic control unit (ECU), a graphics processing processor, a memory control processor, etc. As another example, the memory unit (130) may be composed of RAM (Random Access Memory), DRAM (Dynamic RAM), ROM (Read Only Memory), flash memory, volatile memory, non-volatile memory, and / or a combination thereof.

[0191] Figure 14 illustrates a vehicle or autonomous vehicle applicable to this embodiment. The vehicle or autonomous vehicle may be implemented as a mobile robot, car, train, manned / unmanned aerial vehicle (AV), ship, etc.

[0192] Referring to FIG. 14, a vehicle or autonomous vehicle (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a driving unit (140a), a power supply unit (140b), a sensor unit (140c), and an autonomous driving unit (140d). The antenna unit (108) may be configured as a part of the communication unit (110). Blocks 110 / 130 / 140a to 140d correspond to blocks 110 / 130 / 140 of FIG. 12, respectively.

[0193] The communication unit (110) can transmit and receive signals (e.g., data, control signals, etc.) with external devices such as other vehicles, base stations (e.g., base stations, road side units, etc.), and servers. The control unit (120) can control elements of the vehicle or autonomous vehicle (100) to perform various operations. The control unit (120) can include an ECU (Electronic Control Unit). The drive unit (140a) can drive the vehicle or autonomous vehicle (100) on the ground. The drive unit (140a) can include an engine, a motor, a power train, wheels, brakes, a steering device, etc. The power supply unit (140b) supplies power to the vehicle or autonomous vehicle (100) and can include a wired / wireless charging circuit, a battery, etc. The sensor unit (140c) can obtain vehicle status, surrounding environment information, user information, etc. The sensor unit (140c) may include an IMU (inertial measurement unit) sensor, a collision sensor, a wheel sensor, a speed sensor, an incline sensor, a weight detection sensor, a heading sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illuminance sensor, a pedal position sensor, etc. The autonomous driving unit (140d) may implement a technology for maintaining a driving lane, a technology for automatically controlling speed such as adaptive cruise control, a technology for automatically driving along a set path, a technology for automatically setting a path and driving when a destination is set, etc.

[0194] For example, the communication unit (110) can receive map data, traffic information data, etc. from an external server. The autonomous driving unit (140d) can generate an autonomous driving route and driving plan based on the acquired data. The control unit (120) can control the drive unit (140a) so that the vehicle or autonomous vehicle (100) moves along the autonomous driving route according to the driving plan (e.g., speed / direction control). During autonomous driving, the communication unit (110) can irregularly / periodically acquire the latest traffic information data from an external server and can acquire surrounding traffic information data from surrounding vehicles. In addition, during autonomous driving, the sensor unit (140c) can acquire vehicle status and surrounding environment information. The autonomous driving unit (140d) can update the autonomous driving route and driving plan based on newly acquired data / information. The communication unit (110) can transmit information regarding the vehicle location, autonomous driving route, driving plan, etc. to the external server. External servers can predict traffic information data in advance using AI technology or other technologies based on information collected from vehicles or autonomous vehicles, and provide the predicted traffic information data to the vehicles or autonomous vehicles.

[0195] Here, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification may include not only LTE, NR, and 6G, but also Narrowband Internet of Things for low-power communication. At this time, for example, NB-IoT technology may be an example of LPWAN (Low Power Wide Area Network) technology, and may be implemented with standards such as LTE Cat NB1 and / or LTE Cat NB2, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification may perform communication based on LTE-M technology. At this time, for example, LTE-M technology may be an example of LPWAN technology, and may be called by various names such as eMTC (enhanced Machine Type Communication). For example, LTE-M technology can be implemented by at least one of various standards such as 1) LTE CAT 0, 2) LTE Cat M1, 3) LTE Cat M2, 4) LTE non-BL (non-Bandwidth Limited), 5) LTE-MTC, 6) LTE Machine Type Communication, and / or 7) LTE M, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification can include at least one of ZigBee, Bluetooth, and Low Power Wide Area Network (LPWAN) considering low-power communication, and is not limited to the above-described names. For example, ZigBee technology can create PAN (personal area networks) related to small / low-power digital communication based on various standards such as IEEE 802.15.4, and can be called by various names.

[0196] The embodiments described above are combinations of components and features of the present disclosure in a predetermined form. Each component or feature should be considered optional unless explicitly stated otherwise. Each component or feature may be implemented without being combined with other components or features. Furthermore, it is also possible to form embodiments of the present disclosure by combining some components and / or features. The order of operations described in the embodiments of the present disclosure may be changed. Some components or features of one embodiment may be included in another embodiment or may be replaced with corresponding components or features of another embodiment. It is self-evident that claims that do not have an explicit citation relationship in the patent claims may be combined to form embodiments or incorporated as new claims through post-application amendments.

[0197] In this document, the embodiments of the present disclosure have been described primarily focusing on the signal transmission and reception relationship between a terminal and a base station. This transmission and reception relationship is equally / similarly extended to signal transmission and reception between a terminal and a relay or a base station and a relay. Certain operations described as being performed by a base station in this document may, in some cases, be performed by its upper node. That is, it is obvious that various operations performed for communication with a terminal in a network composed of multiple network nodes including a base station may be performed by the base station or other network nodes other than the base station. The base station may be replaced by terms such as a fixed station, a Node B, an eNode B (eNB), an access point, etc. The terminal may also be replaced by terms such as a User Equipment (UE), a Mobile Station (MS), or a Mobile Subscriber Station (MSS).

[0198] Embodiments according to the present disclosure may be implemented by various means, for example, hardware, firmware, software, or a combination thereof. In the case of hardware implementation, an embodiment of the present disclosure may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, etc.

[0199] When implemented via firmware or software, one embodiment of the present disclosure may be implemented in the form of a module, procedure, function, or the like that performs the functions or operations described above. The software code may be stored in a memory unit and executed by a processor. The memory unit may be located within or outside the processor and may exchange data with the processor via various known means.

[0200] It will be apparent to those skilled in the art that the present disclosure may be embodied in other specific forms without departing from the technical features described herein. Therefore, the above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the scope of equivalents of the present invention are intended to be included within the scope of the present invention.

[0201] The embodiments of the present disclosure as described above can be applied to various devices of an intelligent transportation system.

Claims

1. In a method for a device to transmit a message in a wireless communication system, Obtain information about the vehicle through at least one sensor; and Based on the information about the acquired vehicle, determining whether at least one of the predefined BSM (basic safety message) transmission conditions is satisfied; and Including transmitting a BSM including information on the position, speed and direction of the vehicle based on at least one of the above BSM transmission conditions being satisfied, Based on the above vehicle being a school bus, the above BSM transmission conditions are: i) Loading onto the above school bus, ii) unloading from the school bus; and iii) including crossing in front or behind the school bus; A method wherein the BSM includes information about at least one condition satisfied among the BSM transmission conditions.

2. In paragraph 1, A method in which whether the above BSM transmission conditions are satisfied is determined based on information obtained through a sensor of the school bus or RSU (road side unit).

3. In paragraph 1, A method wherein the BSM includes information about each of the at least two conditions that are satisfied, based on at least two of the above BSM transmission conditions being satisfied.

4. In paragraph 1, The above BSM is transmitted to at least one other vehicle around the school bus, A method wherein at least one other vehicle is stopped based on the transmission of the BSM.

5. In paragraph 1, A method wherein the PPPP (ProSe Per-Packet Priority) of the BSM is determined based on whether the BSM is involved in at least one of i) boarding the school bus, ii) disembarking from the school bus, and iii) crossing in front or behind the school bus.

6. In paragraph 1, The above BSM transmission conditions further include that a passenger of the school bus drops an object.

7. In paragraph 1, A method wherein the above device is a device equipped on the school bus or an RSU (road side unit) around the school bus.

8. A computer-readable recording medium having recorded thereon a program for performing the method described in paragraph 1.

9. In a method for a device to receive a message in a wireless communication system, Receiving BSM (basic safety message) from the vehicle; and Including obtaining information on the location, speed and direction of the vehicle through the BSM, The above vehicle is a school bus, A method wherein the BSM includes information about at least one of i) loading onto the school bus, ii) unloading from the school bus, and iii) crossing in front or behind the school bus.

10. In paragraph 9, A method wherein the BSM includes information about each of the at least two conditions that are satisfied, based on at least two of the above BSM transmission conditions being satisfied.

11. In paragraph 9, The above device is a vehicle around the above school bus, A method wherein the above device is stopped based on reception of the BSM.

12. In a wireless communication system, in a device, memory for storing commands; and A processor that performs operations by executing the above instructions, The operations performed by the above processor are: Obtain information about the vehicle through at least one sensor; and Based on the information about the acquired vehicle, determining whether at least one of the predefined BSM (basic safety message) transmission conditions is satisfied; and Including transmitting a BSM including information on the position, speed and direction of the vehicle based on at least one of the above BSM transmission conditions being satisfied, Based on the above vehicle being a school bus, the above BSM transmission conditions are: i) Loading onto the above school bus, ii) unloading from the school bus; and iii) including crossing in front or behind the school bus; A device wherein the BSM includes information on at least one condition satisfied among the BSM transmission conditions.

13. In paragraph 12, The above device is a device equipped on the school bus or an RSU (road side unit) around the school bus.

14. In a wireless communication system, in a device, memory for storing commands; and A processor that performs operations by executing the above instructions, The operations performed by the above processor are: Receiving BSM (basic safety message) from the vehicle; and Including obtaining information on the location, speed and direction of the vehicle through the BSM, The above vehicle is a school bus, A device wherein the BSM includes information about at least one of i) loading onto the school bus, ii) unloading from the school bus, and iii) crossing in front or behind the school bus.

15. In paragraph 14, The above device is a vehicle around the above school bus, The above device is a device that stops based on reception of the above BSM.

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