Method for transmitting / receiving data in wireless communication system, and apparatus performing same

Abstract

A method by which a first device transmits a message in a wireless communication system, according to at least one of various embodiments, may comprise: collecting information about objects in the vicinity of the first device; detecting at least one object predicted to collide with the first device on the basis of the physical movement of the first device and the objects; and transmitting a message including information about the at least one object on the basis of the predicted collision with the at least one object, wherein the message may include information indicating to which collision type, from among a plurality of collision types, the predicted collision between the first device and the at least one object belongs.

Description

Method for transmitting and receiving data 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 data 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 is to transmit and receive data more accurately and efficiently in wireless communication systems.

[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 first device in a wireless communication system according to one aspect comprises: collecting information about objects in the vicinity of the first device; detecting at least one object predicted to collide with the first device based on physical movement of the objects and the first device; and transmitting a message including information about the at least one object based on the predicted collision with the at least one object, wherein the message may include information indicating which of a plurality of collision types the predicted collision between the first device and the at least one object belongs to.

[0007] The above message may include information about actions that are expected to be performed to avoid the predicted collision.

[0008] The message may include at least one of i) information about the time and location at which the collision is predicted to occur, ii) accuracy of the prediction of the collision, iii) information about the at least one object predicted to collide with the first device, and iv) information about the first device.

[0009]

[0010] The above message may be transmitted with a higher priority than other messages for transmitting information about the collected surrounding objects.

[0011] The above multiple crash types may include at least one of i) a frontal collision, ii) a blind spot collision, iii) a collision while changing lanes, iv) a collision while crossing an intersection, v) a collision with an out-of-control vehicle, vi) a collision with a pedestrian or a two-wheeled vehicle, and vii) a collision with an obstacle.

[0012] The actions that are expected to be performed to avoid the predicted collision may include at least one of deceleration, acceleration, maintaining current speed and direction, sudden stop, stopping and waiting, reversing, lane change, left turn, and right turn.

[0013] According to another aspect, a computer-readable recording medium having recorded thereon a program for performing the above-described message transmission method may be provided.

[0014] In another aspect, a first device for transmitting a message in a wireless communication system includes a memory for storing instructions; and a processor for performing operations by executing the instructions, wherein the operations performed by the processor include: collecting information about objects in the vicinity of the first device; detecting at least one object predicted to collide with the first device based on physical movement of the objects and the first device; and transmitting a message including information about the at least one object based on the predicted collision with the at least one object, wherein the message may include information indicating which of a plurality of collision types the predicted collision between the first device and the at least one object belongs to.

[0015] The above first device may further include a transceiver.

[0016] The above first device may be a vehicle or a terminal.

[0017] In another aspect, a method for a second device to receive a message in a wireless communication system may include: receiving a message including information about a predicted collision of each of a plurality of transmitting devices, each of which includes a first transmitting device and a second transmitting device; determining whether a first message received from the first transmitting device and a second message received from the second transmitting device are related to the same prediction of a collision; and combining and processing the first message and the second message based on the determination that the first message and the second message are related to the same prediction of a collision.

[0018] The second device may process the first message and the second message individually based on a determination that the first message and the second message relate to predictions of different collisions.

[0019] The first message and the second message may each include information indicating which collision type among a plurality of collision types the predicted collision belongs to.

[0020] The first message and the second message may each include information about actions that are expected to be performed to avoid the predicted collision.

[0021] The processing of the first message and the second message may be performed with a higher priority than other messages containing sensing information.

[0022] In another aspect, a second device for receiving a message in a wireless communication system includes a memory storing instructions; and a processor for performing operations by executing the instructions, wherein the operations performed by the processor may include: receiving a message including information about a predicted collision of each of a plurality of transmitting devices, including a first transmitting device and a second transmitting device, from each of the plurality of transmitting devices; determining whether a first message received from the first transmitting device and a second message received from the second transmitting device are related to the same prediction of a collision; and combining and processing the first message and the second message based on the determination that the first message and the second message are related to the same prediction of a collision.

[0023] According to one embodiment of the present disclosure, data transmission and reception in a wireless communication system can be performed more accurately and efficiently.

[0024] 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.

[0025] Figure 1 is a diagram for explaining V2X communication.

[0026] Figure 2 shows a radio protocol architecture for SL communication.

[0027] Figure 3 shows a terminal performing V2X or SL communication.

[0028] Figure 4 illustrates a case where vehicles cross an intersection.

[0029] Figure 5 illustrates an example of collision detection between vehicles at an intersection.

[0030] Figure 6 illustrates an example of ENM transmission and reception for an intersection collision event.

[0031] Figure 7 illustrates an example of transmitting a collision event between a pedestrian and a vehicle via ENM.

[0032] Figure 8 illustrates an example of an ENM transmission operation.

[0033] Figures 9 and 10 each illustrate an example of an ENM receiving operation.

[0034] Figure 10 is a drawing for explaining a processing method when multiple ENMs are received for the same event.

[0035] Figure 11 is an example of a queue when sending and receiving messages in an existing system.

[0036] Figure 12 is an example of a queue when sending and receiving messages when priority is applied to ENM.

[0037] FIG. 13 illustrates a flowchart of a method for a first device to transmit a message according to one embodiment.

[0038] FIG. 14 illustrates a flowchart of a method for a second device to receive a message according to one embodiment.

[0039] Figure 15 illustrates a communication system applicable to the present disclosure.

[0040] Figure 16 illustrates a wireless device applicable to the present disclosure.

[0041] Figure 17 illustrates another example of a wireless device applicable to the present disclosure.

[0042] Figure 18 illustrates a vehicle or autonomous vehicle applicable to the present disclosure.

[0043] 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.

[0044] 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.

[0045] Figure 1 is a diagram for comparing and explaining V2X communication based on RAT before NR and V2X communication based on NR.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] Figure 3 shows a terminal performing V2X or SL communication.

[0056] 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).

[0057] 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.

[0058] 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.

[0059] 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.

[0060] Transmission and reception of hazardous situation events in V2X communication

[0061] In V2X communication and services, various information is transmitted through various message formats defined in the standard, and objects (vehicles, pedestrians, infrastructure, servers) that receive this information recognize and make judgments about the situation.

[0062] For example, the SAE standard document J2735 (V2X Communications Message Set Dictionary) defines the format and content of messages used in V2X. Such V2X messages include BSM (Basic Safety Message), PSM (Personal Safety Message), SDSM (Sensor Data Sharing Message), and RSA (Roadside Alert Message). When there are many V2X devices in the vicinity, BSM transmission congestion occurs, so control is necessary. In other words, as the number of devices broadcasting BSM increases, the number of BSM messages to be processed on the receiving side increases, and received BSM messages are typically processed sequentially. The BSM message is divided into Part I and Part II. Part I includes information such as the location, direction, and speed of the transmitting device, and Part II can include an Event Flag, vehicle path information, path prediction information, external light status, etc. Among these, the Event Flag can be used to notify safety-related events (ABS brake operation, Stability Control, Hard brake) of the transmitting device. In the case of Event Flag, it mainly contains information that needs to be processed urgently, but during the transmission process, there is no way to check whether the BSM includes the Event Flag or whether it is simply a periodic BSM message.

[0063] V2X services may include safety services, where devices predict collisions between vehicles or between vehicles and pedestrians based on location information, and warn or help users of the predicted collisions avoid them. To predict collisions in such V2X safety services, devices receive information periodically transmitted by surrounding devices (e.g., the transmitting device's location, speed, and direction), and calculate their own location, distance, and direction to predict collisions with the transmitting device. The devices may also perform collision avoidance actions based on the collision prediction results.

[0064] However, the current V2X standards, including the SAE standard, do not define V2X messages for transmitting information about the risk of collision / accident predicted by the device. In other words, there is no way for a device to inform the surroundings of whether it has predicted a collision, which object it has predicted a collision with, when the collision will occur, where the collision will occur, and what actions are expected to avoid the collision. If a device predicts a collision and makes an abrupt stop or turns to avoid the collision, there is a possibility that it will cause an accident with a third device.

[0065] Furthermore, the current SAE standard does not allow for setting transmission priorities for messages such as those for conveying location information. For messages that require urgent processing, such as those indicating a potential collision, the sender must transmit them with a high priority, and the Road Side Unit (RSU) or server along the message transmission path must also process them with a high priority. Furthermore, the device receiving these messages needs to filter them in the reception queue or buffer to process them more quickly than conventional V2X messages. However, the current V2X standards, including the SAE standard, do not support a method for setting such priorities.

[0066] Accordingly, in this specification, when a situation occurs in which a collision is predicted between devices (e.g., between vehicles or between a vehicle and a VRU / pedestrian) in V2X communication and service, a method is proposed in which a device that has predicted a collision transmits a message containing collision prediction event information to another device, so that other devices (e.g., vehicles, pedestrians, infrastructure, and / or servers, etc.) can recognize this. The collision prediction event information may include not only geographical information such as the location and speed of the device that has recognized the collision prediction, but also detailed information about the collision, such as information about the collision target and / or the predicted collision time / location. In addition, the message may include information about actions expected to be taken by the device that has predicted a collision to avoid the collision. The message containing the collision prediction event information is defined as a separate type and is transmitted and received with a higher priority than existing V2X messages (e.g., BSM, PSM, SDSM) that are transmitted periodically or one-time, so that surrounding devices can comprehensively judge the expected behavior of target objects / devices and recognize and respond to collision accidents more quickly.

[0067] In other words, by newly defining a message that conveys an event, we can distinguish between event messages and prioritize their transmission, transmission, and reception. On the sending side, they can be transmitted with priority over other general messages such as BSM, SDSM, and PSM, and if the V2X system includes a server or network, they can be processed with priority over other general messages on the network. On the receiving side, they can also respond immediately to events by prioritizing them over other general messages.

[0068] For newly defined event messages, similar to BSM, information about the V2X object transmitting the event is included. This information includes information such as the object's location, speed, direction, acceleration, vehicle gear, wheel angle, brake presence, and vehicle size. In addition to this information, information about the target device of the event is also included. For example, if there is a V2X target device that is predicted to collide, information such as the speed, direction, and acceleration of the predicted target of the collision is included. It also includes information about the event itself. The event type includes information such as whether it is a collision event, a frontal collision, or an intersection collision, and information calculated by the event transmitting device, such as the time of event occurrence, predicted collision time, and predicted collision point, is also included. In addition, the operation of the transmitting device to avoid the event is also separately included. For example, to avoid a collision, the transmitting V2X device typically stops suddenly or changes direction. If the device transmitting the event is planning to stop suddenly or change direction, including that information allows other vehicles to respond appropriately to the event.

[0069] 1. Message Composition

[0070] The event message defined in this specification is conveniently referred to as an Event Notification Message (ENM). An ENM may, for example, contain the following format and content:

[0071] Table 1 represents ENM and newly defined Data Field / Data Element in ASN.1 format.

[0072] EventNotificationMessage ::= SEQUENCE {msgCnt MsgCount OPTIONAL,id TemporaryID OPTIONAL,timestamp MinuteOftheYear OPTIONAL,-- Event Sender InformationsenderInfo SenderInfo,-- Event Target InformationtargetInfo TargetInfo,-- Event InformationeventInfo EventInfo,-- expected behaviorexpectBehavior BehaviorInfo,...}

[0073] (1) Event creator information (SenderInfo Data Field)

[0074] ENM can include information about the device that predicted the event. In the case of the existing technology, BSM, the sender is defined only as a vehicle, but the entity that predicts and generates the event proposed in this disclosure is not limited to a vehicle. In other words, not only vehicles, but also pedestrians, two-wheeled vehicles, and roadside units, etc., V2X entities that can detect and determine collisions or dangerous events can generate and broadcast this ENM. SenderInfo is a data field that expresses information about the object that detected the collision or dangerous event.

[0075] Sender Information (SenderInfo) indicating information about the event creator (sender) in Table 1 may include at least one of the following (a) to (i).

[0076] (a) DeviceType - Defines the type of event sender - vehicle, pedestrian, motorcycle, RSU, etc.

[0077] DE_DeviceType is a DE that expresses the type of object that detected a collision, and can be defined in ASN.1 as shown in Table 2 below. In other words, it is a device that detected a collision. If DeviceType is a vehicle, the vehicle extension below can be added, and if DeviceType is not a vehicle but a VRU, the VRU extension can be added to include additional information.

[0078] DeviceType ::= ENUMERATED{unknown (0),vehicle (1),pedestrian (2),bicycle (3),RSU (4),...}

[0079] (b) Temporary ID - A temporary identifier to distinguish the event creator.

[0080] (c) DDateTime - The time when the event creator generated the message by measuring the position and velocity below.

[0081] (d) Position3D - Sender's location information (latitude, longitude, altitude)

[0082] (e) PositionalAccuracy - Accuracy of location information

[0083] (f) Speed ​​- Movement speed

[0084] (g) Heading - direction of movement

[0085] (h) Vehicle extension (optional) - If the device type is vehicle, it can include the following additional information:

[0086] - TransmissionState (optional) - Vehicle gear state

[0087] - SteeringWheelAngle (optional) - Vehicle steering wheel and wheel angle

[0088] - AccelerationSet4Way (optional) - acceleration (4-way)

[0089] - BrakeSystemStatus (optional) - Whether the brakes are working

[0090] - VehicleSize (optional) - vehicle size

[0091] - VehicleEventFlags (optional) - Vehicle event occurrence flag

[0092] - PathHistory (optional) - movement path

[0093] - PathPrediction (optional) - predicted movement path

[0094] - ExteriorLights (optional) - Exterior lighting status

[0095] (i) VRU extension (optional) - If the event generating device is not a vehicle, it may include additional information such as:

[0096] - PathHistory (optional) - object movement path

[0097] - PathPrediction (optional) - predicted movement path of an object

[0098] - PropelledInformation (optional) - Definition of the device's propulsion type.

[0099] - PersonalDeviceUsageState (optional) - Current state of the personal device

[0100] - PersonalCrossingRequest (optional) - Information about whether a pedestrian wants to cross the road.

[0101] - PersonalCrossingInProgress (optional), - Information on whether the pedestrian is crossing the road

[0102] - NumberOfParticipantsInCluster (optional) - The number of cluster participants when a pedestrian forms a cluster.

[0103] - PersonalClusterRadius (optional) - The radius of the cluster when pedestrians form a cluster.

[0104] - PublicSafetyEventResponderWorkerType (optional) - Type information if the person is a public safety worker.

[0105] - PublicSafetyAndRoadWorkerActivity (optional), - Current activity information of public safety workers

[0106] - PublicSafetyDirectingTrafficSubType (optional), - Subtype information on the current behavior of public safety workers

[0107] - PersonalAssistive (optional), - Special requests from the person involved in the sent message

[0108] - UserSizeAndBehaviour (optional) - Contains the size and behavior characteristics of the user who sent the data.

[0109] - Attachment (optional) - Specify any items the user is carrying (stroller, cart, wheelchair, etc.)

[0110] - AttachmentRadius (optional) - Displays the radius of the item you are carrying.

[0111] - AnimalType (optional) - Indicates the type of animal

[0112] (2) Event target information (TargetInfo Data Field)

[0113] ENM contains information on the target of a collision or risk event. In the case of the existing technology, SDSM, the object that generates and transmits SDSM transmits the detected sensor information without judging the risk relationship or collision prediction with itself. In contrast, TargetInfo within ENM contains only those detected objects that are directly in a collision or risk relationship with the event generating object (sender). In other words, the device receiving this ENM can receive information on the Sender and information on remote objects located around the Sender that are in a collision or risk relationship with the Sender. Of course, from the perspective of the entity receiving this ENM, neither the Sender nor the Target may be related to the recipient's safety threat. However, since the message contains information on two objects that are expected to be at risk on the road, such as collisions or traffic accidents, it can be considered more important data than other simple location information.

[0114] Target Information (TargetInfo) indicating information about the event occurrence target in Table 1 may include at least one of the following (a) to (i).

[0115] (a) ObjectType - Event target object type (e.g., vehicle, pedestrian, bicycle, obstacle, etc.) Defines the type for the collision or hazard event target. If the collision target is a vehicle, a vehicle extension as shown in Table 3 below can be added. If the target is not a vehicle but a VRU, a VRU extension can be added. If the collision target is an obstacle, an obstacle extension can be included as additional information. For this ObjectType, it includes the information confirmed by the object (sender) that detected the collision through V2X or a sensor.

[0116] ObjectType ::= ENUMERATED{unknown (0),vehicle (1),pedestrian (2),bicycle (3),obstacle (4),...}

[0117] (b) DDateTime - The time at which the position and velocity of the object where the event occurred were measured.

[0118] (c) Position3D - Position of the object where the event occurred

[0119] (d) PositionalAccuracy - Positional accuracy of the object where the event occurred

[0120] (e) Speed ​​- The movement speed of the object that triggered the event

[0121] (f) Heading - The direction in which the event occurred.

[0122] (g) vehicle extension (optional) - additional information if the event target object is a vehicle

[0123] - TransmissionState (optional) - Vehicle gear state

[0124] - SteeringWheelAngle (optional) - Vehicle steering wheel and wheel angle

[0125] - AccelerationSet4Way (optional) - acceleration (4-way)

[0126] - BrakeSystemStatus (optional) - Whether the brakes are working

[0127] - VehicleSize (optional) - vehicle size

[0128] - VehicleEventFlags (optional) - Vehicle event occurrence flag

[0129] - PathHistory (optional) - movement path

[0130] - PathPrediction (optional) - predicted movement path

[0131] - ExteriorLights (optional) - Exterior lighting status

[0132] (h) VRU extension (optional) - Displayed if the event target object is a pedestrian.

[0133] - PropelledInformation (optional) - Definition of the device's propulsion type.

[0134] - PersonalDeviceUsageState (optional) - Current state of the personal device

[0135] - Attachment (optional) - Specify any items the user is carrying (stroller, cart, wheelchair, etc.)

[0136] - AttachmentRadius (optional) - Items carried by the user

[0137] (i) obstacle extension (optional) - Displayed if the event target object is an obstacle.

[0138] - obstacleSize - Displays the size of the obstacle as a combination of width, height, and height.

[0139]

[0140] (3) Event Information (EventInfo Data Field)

[0141] Event information is information about the event itself that occurred, and may include the basis on which the Sender generating the event message judged the event and predicted information.

[0142] Event Information (EventInfo) representing information about an occurrence event in Table 1 may include at least one of the following (a) to (e).

[0143] (a) EventType - Defines the type of event that occurred.

[0144] For example, EventType information can be structured as shown in Table 4.

[0145] EventType ::= ENUMERATED{Reserved (0),FCW (1),BSW (2),LCW (3),IMA (4),CLW (5),VRU Crash(6),Obstacle(7),others (8),...}

[0146] - Forward Crash Warning

[0147] - Blind Spot Warning - Blind Spot Vehicle Collision

[0148] - Lane Change Warning - Collision when changing lanes

[0149] - Intersection Crash - Crash while crossing an intersection

[0150] - Control Loss Warning - Collision with a vehicle that cannot be controlled by ABS, SCA, etc.

[0151] - VRU Crash - Pedestrian, motorcycle collision

[0152] - Obstacle Warning - Obstacle collision

[0153] (b) EventAccuracy (optional) - Indicates the accuracy of the event occurrence prediction.

[0154] - The accuracy of the collision determination can be expressed by the Sender that determined the collision. For example, accuracy can be expressed as EventAccuracy ::= INTEGER (0..255), but is not limited thereto.

[0155] (c) DetectionSource (optional) - The method by which the event target object was detected (BSM, SDSM, RSA, RSM, Camera, LiDAR, radar, etc.) Add information about the method or source by which the object (sender) that predicted the collision detected the target. A device that receives an ENM containing this information can check how the device that generated / transmitted the event determined that it was an event. Table 5 shows an example of the configuration of DetectionSource information.

[0156] DetectionSource ::= ENUMERATED{unknown (0),BSM (1),PSM (2),SDSM (3),RSA (4),RSM (5),Camera (6),LiDAR (7),RADAR (8),Other (9),...}

[0157] (d) EvenLocation - Displays information about the calculated collision prediction location.

[0158] - EventPosition - Information about where the event occurred

[0159] - EventRadius - Indicates the range in which an event occurs.

[0160] Table 6 shows an example of EvenLocation information configuration.

[0161] EventLocation ::= SEQUENCE{position EventPosition,radius EventRadius OPTIONAL...}EventPosition ::= SEQUENCE {lat Latitude,long Longitude,elevation Elevation OPTIONAL,캜}EventRadius :: = INTEGER(0..100) - units of meters

[0162] (e) Time to Event - Displays the expected time of occurrence of the event.

[0163] - DDateTime - Display in absolute time format

[0164] - TimeOffset(optional) - The expected event time is expressed as an offset from the message creation time.

[0165] Table 7 shows an example of the configuration of Time to Event information.

[0166] TimeToEvent ::= SEQUENCE {eventTime DDateTime,eventOffset TimeOffset OPTIONAL,캜}DDateTime ::= SEQUENCE {year DYear OPTIONAL,month DMonth OPTIONAL,day DDay OPTIONAL,hour DHour OPTIONAL,minute DMinute OPTIONAL,second DSecond OPTIONAL,offset DOffset OPTIONAL -- time zone}TimeOffset ::= INTEGER (1..65535)

[0167] (4) Expected behavior information (BehaviorInfo Data Field)

[0168] In Table 1, BehaviorInfo, which represents expected behavior information, contains information about the subsequent actions taken by the event creator (Sender) in the event of a collision or other hazardous event. This allows the receiver to prepare and respond more quickly by having the entity that will take action provide information in advance, rather than detecting and responding to actions after they occur in existing V2X systems. For example, if a preceding vehicle detects a forward collision event and suddenly slows down, the preceding vehicle determines the event and calculates the subsequent actions before actually slowing down. Previously, the preceding vehicle would check for decelerating preceding vehicles or their brakes before determining the deceleration and responding. However, in the present invention, if the preceding vehicle detects a forward collision event before decelerating and transmits a message to surrounding vehicles indicating a sudden deceleration in response, the following vehicles receiving the message can preemptively slow down or change lanes, thereby reducing collisions and accidents. This allows autonomous vehicles, which can perceive their environment and adjust speed and direction, to provide faster and more accurate information to surrounding vehicles.

[0169] BehaviorInfo may contain at least one of the following (a) to (d):

[0170] (a) BehaviorType - Defines the action to be taken by the Event creator (Bitmap)

[0171] Table 8 shows an example of the BehaviorType information configuration.

[0172] BehaviorType ::= ENUMERATED{Unknown (0),Deceleration (1),Acceleration (2),Keep the current track (3),Hard break(4),Stop and Stay (5),Backward move(6),Change lane to left (7),Change lane to right (8),Turn left (9),Turn right (10),...}

[0173] - Unknown - Unconfirmed

[0174] - Deceleration - Deceleration

[0175] - Acceleration - Acceleration

[0176] - Keep the current track - Maintain current speed and direction

[0177] - Hard break - sudden stop

[0178] - Stop and Stay - Stop and stay

[0179] - Backward move - Backward move

[0180] - Change lane to left - Move to the left lane

[0181] - Change lane to right - Move to the right lane

[0182] - Turn left - Turn left

[0183] - Turn right - Turn right

[0184] (b) Time to behavior (optional) - Time to perform the above behavior

[0185] Table 9 shows an example of the Time to behavior information configuration.

[0186] TimeToBehavior ::= SEQUENCE {behaviorTime DDateTime,behaviorOffset TimeOffset OPTIONAL,캜}DDateTime ::= SEQUENCE {year DYear OPTIONAL,month DMonth OPTIONAL,day DDay OPTIONAL,hour DHour OPTIONAL,minute DMinute OPTIONAL,second DScond OPTIONAL,offset DOffset OPTIONAL -- time zone}TimeOffset ::= INTEGER (1..65535)

[0187] - DDateTime - Displayed in absolute time format - TimeOffset (optional) - Displays the expected action time in offset format from the message creation time

[0188] (c) PathHistory (optional) - movement path

[0189] (d) PathPrediction (optional) - predicted movement path

[0190] 2. ENM transmission and reception scenario

[0191] A scenario for ENM transmission and reception is described. The application of the present disclosure is not limited to the embodiments below and can be applied to various V2X scenarios.

[0192] (1) Risk of collision between vehicles at an intersection

[0193] Intersections are typically a frequent source of collisions and accidents due to vehicles traveling in different directions. Especially when vehicles are traveling in different directions, obstacles or shadow areas can make it difficult for sensors like cameras, LiDAR, and radar to detect objects.

[0194] Figure 4 illustrates a case where three vehicles (V1, V2, and V3) are crossing an intersection. Referring to Figure 4, V1 is a following vehicle of V2 and supports V2X. V1 is assumed to act as an ENM receiver. V2 is a preceding vehicle of V1 and predicts a collision with V3 and supports V2X. V2 is assumed to act as an ENM transmitter. V3 is a vehicle intersecting V2 and may or may not support V2X.

[0195] Figure 5 illustrates the process by which a V2 vehicle detects a V3 vehicle crossing the intersection. Referring to Figure 5, V2 detects the location, speed, and direction of V3 through in-vehicle sensors, calculates them with its current driving conditions, and detects a collision. However, in addition to this embodiment, V2 can detect V3 through any method, such as V2X messages, infrastructure, or CCTV, and is not limited to the method of the embodiment.

[0196] Fig. 6 illustrates an example of ENM transmission and reception for an intersection collision event. Fig. 6(a) illustrates notifying the surroundings of a collision event through ENM, and Fig. 6(b) illustrates the vehicle's response after receiving ENM. When a collision is predicted, a V2 vehicle can notify the driver or autonomous driving device of the result of the collision prediction, and at the same time, generate ENM based on the information of the event and notify other V2X vehicles located nearby. Transmission of ENM can vary depending on the V2X system, such as direct communication between vehicles, notification via roadside unit (RSU), notification via server, etc., and the present disclosure is not limited to the transmission path of ENM. ENM can be configured, for example, as shown in Table 10, and is transmitted to V1.

[0197] V2 anticipated a collision, and as indicated in the ENM, V2 and V3 were at risk of colliding at the predicted collision location and time within the intersection. V2 avoided the collision by braking before the event occurred as indicated in the ENM, and V1, which had received the ENM including the time and location in advance, was able to avoid rear-end V2 due to V2's sudden action and change lanes before V2's sudden stop.

[0198] EventNotificationMessage ::= SEQUENCE {msgCnt MsgCount OPTIONAL,id TemporaryID OPTIONAL,timestamp MinuteOftheTheYear OPTIONAL,senderInfo SenderInfo, -- V2's InformationtargetInfo TargetInfo, -- V3's InformationeventInfo EventInfo, -- Event InformationexpectBehavior BehaviorInfo, -- V2's behavior}SenderInfo {# V2's type, position, speed, heading 쪋.DeviceType = 1 ,# V2 is VehicleDDateTime = "Event creation date / time"Position3D = "V2's current position"PositionalAccuracy = "V2's positional accuracy"Speed ​​= V2's speedHeading = V2's headingVehicle extension {TransmissionState = "Drive" #Driving forwardSteeringWheelAngle = "0 degrees"AccelerationSet4Way = "Acceleration (4-way) information"BrakeSystemStatus = "No brakes"VehicleSize (optional) = "Vehicle size of V2"VehicleEventFlags = "None"PathHistory = "V2's movement path"PathPrediction = noneExteriorLights none}TargetInfo {# Information about V3ObjectType = 1 #V3 is a vehicleDDateTime = V3's detection time (if detected via message, use the time in the message)Position3D = V3's positionPositionalAccuracy = V3's positional accuracySpeed ​​= V3 speedHeading = V3 headingvehicle extension {# If detected via message, include information in messageTransmissionState = V3 gear positionSteeringWheelAngle = V3 vehicle steering wheel,Wheel angleAccelerationSet4Way = Acceleration (4-way)BrakeSystemStatus = V3 brake appliedVehicleSize = Vehicle sizeVehicleEventFlags = Vehicle event occurrence flagPathHistory = Movement pathPathPrediction = Expected movement pathExteriorLights = Exterior light status}}EventInfo {#Display details about the eventEventType = "Intersection Crash"EventAccuracy = "Event judgment accuracy"DetectionSource = "6" #Detect the event through the cameraEvenLocation {EventPosition = "Expected collision location" #Location where the detected event will occurEventRadius = "20" # 20m radius from EventPosition}Time to Event {DDateTime = "Expected occurrence time" #Expected collision occurrence timeTimeOffset = "5000ms" # Expected event occurrence time - Event transmission time (ex 5 sec)}}BehaviorInfo {BehaviorType = "4" # V2 will make an emergency stop to avoid the eventTime to behavior {DDateTime = "Action Expected Time" # Expected time when V2 vehicle will perform sudden stopTimeOffset = "3000" #Action Expected Time - Event occurrence time (e.g. sudden stop expected 3 seconds after event transmission)}PathHistory = "V2 vehicle's movement path"PathPrediction = "V2 vehicle's expected subsequent path"},

[0199] (2) Risk of collision between pedestrians crossing the road and vehicles

[0200] Figure 7 illustrates an embodiment of a case where a pedestrian appears in front of a vehicle driving on a road. In this case, V1, V2, and P1 all support V2X services. As shown in Figure 7 (a), V2 is driving behind V1, and P1 is moving from the sidewalk to the road. V1 and V2 periodically transmit BSM messages, and P1 transmits periodic PSM messages. As shown in Figure 7 (b), V1 receives P1's PSM and predicts a collision risk. At the same time, V2 periodically receives V1's BSM and P1's PSM, but V1 and P1 do not pose a danger to V2. In other words, V2 continues to drive without detecting any danger. As shown in Figure 7 (c), V1, which is expected to collide, generates and transmits ENM. At this time, SenderInfo includes its own information, TargetInfo includes information about P1 that transmitted the PSM, and EventInfo includes information about the point and time at which the collision event was detected. BehaviorInfo includes methods or actions for V1 to avoid this risk. In the embodiment, V1 plans to avoid a collision by moving to the right in the lane. This ENM is broadcast to the surroundings, and V2 receives this message. As shown in Fig. 7 (d), V2, which received this, predicts that V1 will collide with P1, and includes the predicted time, location, and expected action of V1. V2 interprets this and anticipates that V1 will move rapidly in front of it, and decelerates in advance. As shown in Fig. 7 (e), V1 performs the action included in the ENM, and V2, which follows, can anticipate and respond to V1's sudden action.

[0201] 3. ENM transmission / reception operation

[0202] This section describes the device's behavior when transmitting and receiving ENM. Depending on the situation, the device can perform either transmitting or receiving operations, and in some cases, both operations can be performed simultaneously. For convenience, transmitting and receiving operations are described separately.

[0203] (1) ENM transmission operation

[0204] Devices that detect collisions or hazardous events can generate and transmit ENMs. However, methods and algorithms for detecting collisions or hazardous events can vary, and to avoid obscuring the point of the explanation, detailed discussion of these methods and algorithms will be omitted.

[0205] Figure 8 illustrates the operation of a device that detects a collision or dangerous event and transmits ENM.

[0206] Referring to FIG. 8, the device performs a wireless connection and device setup process (501). This connection and setup process may include V2X setup, network connection, GPS reception preparation, and current time setup.

[0207] The device determines its current location and / or route (502). Methods for determining location may include GPS or GNSS, commonly used in vehicles or smartphones. Additionally, if the device is currently moving, it can calculate its current and projected route, as well as its current status, such as speed and direction.

[0208] The device can recognize / monitor the surrounding situation (503). For example, the device can receive information such as location / speed of surrounding devices through V2X communication, and for this purpose, V2X messages such as BSM and PSM can be used. In addition, the device can receive messages such as RSA and RSM through devices such as RSU, or receive sensor information collected by devices equipped with sensors (LiDAR, RADAR, Camera) in the surroundings through SDSM. In addition, if the device transmitting ENM is equipped with a sensor, it can recognize the surroundings by recognizing objects such as vehicles, pedestrians, and obstacles in the surroundings through the sensor.

[0209] The device can currently determine / predict the occurrence of a collision or risk event (504). Based on information acquired through V2X technology or sensor technology, the device can determine whether a collision or risk will occur (e.g., whether the probability of occurrence is above a threshold), and if so, where and when it will occur.

[0210] If the occurrence of a collision or risk event is anticipated / determined, the device may process or update information regarding the target of the event previously determined in step 504 (506). For example, the device may collect / process data necessary for configuring the ENM described above, such as the type and location of the collision target.

[0211] If the device sending the ENM is a vehicle, it must be verified whether the vehicle is autonomous or has a safety-assistive device. Such autonomous driving or driving assistance devices calculate and infer collision avoidance strategies and anticipated actions in the event of a collision or hazard (508). For example, the device may anticipate that the vehicle will slow down or steer to avoid a collision.

[0212] If the device that wants to transmit ENM is a general driver or pedestrian, the device can determine whether the driver or pedestrian has changed in speed, direction, etc., and make inferences about expected behavior (509).

[0213] Information about such expected behaviors can be included in the BehaviorInfo of the ENM described above. The device can construct and transmit an ENM message in the format described above (510) based on information about the event generation object, event target information, event information, and / or collision avoidance behavior collected previously. The transmission method and channel may vary depending on the V2X system, but it may be desirable to broadcast the ENM so that all other nearby V2X devices can receive it.

[0214] After transmitting the ENM, the device can return to step 502 to continuously update its location. This is because, assuming that the object is moving, the probability of a collision or other hazardous event may increase or decrease as it moves. In addition, through step 503, the device can re-detect the surroundings, including the location, speed, and direction of the event target device. The device then determines whether the event is persistent, such as whether the risk of a collision risk event is increasing or decreasing, through step 504. If the ENM sender or the surroundings change and the event is no longer persistent, the device deactivates the event through step 505. After returning to step 502, the device can detect its location and surroundings to determine if any future events occur.

[0215] (2) ENM reception operation

[0216] Figure 9 shows the operation of a device receiving ENM.

[0217] Referring to FIG. 9, the device performs a wireless connection and device setup process (601). This connection and setup process may include V2X setup, network connection, GPS reception preparation, and current time setup.

[0218] The device determines its current location and / or route (602). Methods for determining location may include GPS or GNSS, commonly used in vehicles or smartphones. Additionally, if the device is currently moving, it can calculate its current and projected route, as well as its current status, such as speed and direction.

[0219] The device monitors / waits for the reception of ENM messages (603). The method of transmitting and receiving messages may vary depending on the V2X system, and is not limited to a specific method in this specification.

[0220] If an ENM is received, the device interprets / decodes the message (604). The device can interpret the input information according to the message format described in the previous section.

[0221] The device can determine whether an event included in the received ENM affects itself (605). (i) First, the device determines whether there is an influence based on the current location, speed, and direction between the message sender and receiver based on the information in SenderInfo in the message. (ii) Second, the device determines whether there is an influence based on the current location, speed, and direction between the collision target and the receiver based on the information in TargetInfo in the message. (iii) Third, the device determines whether there is an influence based on the current location, speed, and direction between the expected location where a collision will occur and the receiver based on the EventInfo.

[0222] If the ENM event has no impact on the device, the device may return to step 602 to re-establish its position and wait for another ENM message.

[0223] (i), (ii), and (iii) If any of the three judgments have an impact on the device, the device can determine / decide on a response measure by checking the expected behavior of the ENM transmitting device in BehaviorInfo (606). For example, if the receiving device is an autonomous vehicle or a vehicle equipped with a driver assistance system, the device can adjust the vehicle's speed or direction based on the BehaviorInfo information.

[0224] Additionally, the device can notify the driver that an event in the current ENM poses a risk to the recipient (607).

[0225] The device can then reconfirm its position and path (608) and determine additional collisions or hazards by receiving sensors or other V2X messages (609). If the risk of collision persists (610, Yes), the device can signal that the risk of collision persists (607).

[0226] If there are no additional conflicts or hazards, the device may clear the conflict / hazard situation (611) and return to step 602.

[0227] Meanwhile, steps 609 and 610 may not be performed solely upon receipt of an ENM, but rather may be continuously performed by the device to assess its own risk. Figure 9 illustrates that steps 609 and 610 may additionally be performed when an ENM event has an impact.

[0228] In this way, devices receiving ENM can identify surrounding devices at risk of collision and continuously monitor them. Because the Sender and Target devices included in ENM require more careful monitoring than device information transmitted through existing BSM, PSM, and SDSM, devices receiving ENM can continuously monitor whether the Sender and Target, or the location and time of the Event, are affecting their driving path.

[0229] (3) Processing when receiving multiple ENMs

[0230] ENMs are generated and transmitted by the device that detects the event. For example, in a situation where a collision between two devices is predicted, each device that predicted this can transmit an ENM for the same event. The ENM receiving device can receive both ENMs or only one of them. In the case of receiving only one of them, the operation can be as described in the previous section. When receiving ENMs from different transmitting devices, the information contained in each ENM, such as SenderInfo, TargetInfo, EventInfo, and BehaviorInfo, may differ. This is because the object, time, and location included in each piece of information are different at the time of generation from the event generating device. The time at which the receiving device receives each ENM also differs depending on the time of generation of the two events. If the receiving device determines that it has received multiple ENMs from different transmitting devices for the same event, the receiving device can compare the ENM information and select one of the values ​​to use, or combine the two values ​​to determine an action or operation after receiving the event.

[0231] Figure 10 is a drawing for explaining a processing method when multiple ENMs are received for the same event.

[0232] Referring to Figure 10, the receiving device performs a wireless connection and device setup process (701). The receiving device determines its current location and / or route (702). The receiving device monitors the reception of ENM messages (703). The receiving device can interpret / decode the ENM messages (704). The receiving device can interpret the input information according to the message format described in the previous section.

[0233] The receiving device can store information about the received ENM in the message list (705). When the receiving device receives an ENM, it can store the contents of the corresponding event for all ENMs until the event is canceled.

[0234] For example, the time until an event is canceled can be calculated as current time > DDateTime + EventOffset or current time Event Time. That is, the receiving device can determine that the event is canceled if the current time of the most recently received ENM message is greater than the Event creation time (DDateTime) + eventOffset value included in the ENM message, or if eventTime is greater than the current time.

[0235] The receiving device can compare the stored event message list with at least a portion of the content of the newly received ENM message to determine whether they are the same event (706). For example, the receiving device can compare the time, location, DeviceType, and Temporary ID of the SenderInfo of the newly received message with the time, location, DeviceType, and Temporary ID of the TargetInfo of the ENM message stored in the existing list to determine whether they are the same sending device. Conversely, the receiving device can compare the information in the TargetInfo of the newly received message with the SenderInfo of the ENM message stored in the existing list to determine whether they are the same sending device.

[0236] If the two event messages are the same transmitting device, the receiving device can perform a comparison and combination process (707).

[0237] For example, a receiving device may perform an operation to compare and combine two event messages based on at least some of the following criteria:

[0238] - TimeToEvent value (ETTE) in EventInfo: The hourly rate at which the Event occurred

[0239] - Event Accuracy value in EventInfo: Accuracy when measuring events

[0240] - EventType (Etype) in EventInfo: Risk level according to event type (for example, risk level can be defined in the system in the order of VRU Crash > IMA > BSW, LCW, CLW, etc.)

[0241] - Event Distance (E distance ): Current location and distance from Event Location

[0242] - DDateTime value in SenderInfo (S time ): Prioritize recent messages

[0243] - PositionalAccuracy(S) in SenderInfo accuracy ): Location accuracy of the event generating device

[0244] - PositionalAccuracy(T) in TargetInfor accuracy ): Location accuracy of Event Target

[0245] - DeviceType (S) in SenderInfo type ): V2X device type of the event generating device

[0246] - DeviceType(T) in TargetInfor type ): V2X device type of Event Target device

[0247] - Speed(S) in SenderInfo speed ): Speed ​​of the event generating device

[0248] - Speed(T) in TargetInfor speed ): Speed ​​of Event Target

[0249] - Whether BehaviorInfo is included (B present ): Whether to include Sender's behavior information

[0250] The above criteria represent the criteria for comparison / selection when multiple ENMs are received for the same EVnet, and the application or weighting of each criterion may vary depending on the system settings.

[0251] For example, the formula ENM Select Criteria=α*ρ is a formula that indicates which criteria to use / select ENM by applying weights. Here, α is a matrix representing the above criteria, and ρ is a matrix representing the weights for each criterion, which can be expressed as in mathematical formula 1.

[0252]

[0253] Here, α is a matrix representing the above Criteria, and ρ is a matrix representing the weight for each Criteria.

[0254] These α and ρ can be values ​​determined / set in the V2X system. In one example, if a system selects ENM based only on the time of event occurrence when ENM overlaps, p0 = 1, and p1 to p nUntil then, it will have a value of 0. Another example is when selecting an ENM based on whether it displays the distance to the expected location of the generated Event and the Type, speed, and Behavior of the Sender, p3, p7, p9, p 11 Each of them can have a value of 0.25, and the remaining weights can be set to 0. In this way, when receiving duplicate ENMs of the same Event, the information within the ENMs can be compared based on a standard, and the necessary information can be selected. This is an operation in one possible embodiment of the receiving device, and the application of the present disclosure is not limited thereto.

[0255] (4) Priority processing when transmitting and receiving ENM

[0256] ENM messages are generated when a collision is predicted, and their importance is relatively higher than other messages. In V2X systems, where numerous messages are generated, transmitted, and received, messages related to accidents or life, such as collision warnings, must be given higher priority.

[0257] Figure 11 illustrates an example of a queue when sending and receiving messages in an existing system. Referring to Figure 11, in the existing system, the priorities of messages such as BSM, PSM, and SDSM are unclear. Furthermore, even if a message contains vehicle event information due to a Vehicle Event Flag attached to the BSM, it is processed without distinction of priority from other messages.

[0258] In Fig. 11, the TX Queue of the V2X (Message Sender) is filled with messages that have already been generated and need to be transmitted. In this state, if the Sender needs to transmit a vehicle status event such as sudden braking or an emergency situation, all previously generated and waiting messages (1, 2, 3, 4) are processed and the BSM (with Vehicle Event Tag) is transmitted from the transceiver. Similarly, in the V2X (Message Receiver), if there are messages that have already been received and are waiting to be processed, the messages that need to be processed are given priority and then the BSM (with Vehicle Event Tag) message is processed. Even when a message is transmitted through a server such as RSU or V2N2N, if there are existing messages in the RX Queue for message processing on the server and in the TX Queue for transmission after processing, all existing messages are processed before the urgent message is processed. This is basically because the message type or urgency is not considered. If this causes a delay in sending and receiving messages, it may be difficult to respond to danger because urgent and important messages cannot be processed in time.

[0259] Fig. 12 illustrates an embodiment in which the ENM message proposed in this specification is transmitted by defining priorities according to the type of message. In Fig. 12, unlike Fig. 11, the V2X device / V2X server / RSU has multiple message queues rather than a single queue. In Fig. 12, a high priority queue, P high , P is the low priority queue low Although it is expressed by dividing into two, the present disclosure is not limited thereto and can be applied to cases where there are two or more queues and various priority policies of the queues.

[0260] In the case of the V2X Message Sender, there are five messages, including BSM and SDSM, waiting to be transmitted in the transmission message queue. The number of messages in the queue varies depending on the environment, settings, and device performance. At this time, if the V2X message sender device detects a collision event through a specific message or a vehicle sensor, it generates an ENM message and attempts to transmit it as described above. Since the ENM message is a message with high urgency and priority for transmission, P low P not queue high It is entered into the queue. If P low Even if there are messages waiting to be transmitted in the queue, the V2X device will not transmit P high Messages in the queue are sent with priority. That is, ENMs are sent with priority over existing waiting BSMs or BSM (with Vehicle Event Tag) messages, allowing collision events to be transmitted to the surroundings more quickly.

[0261] In the embodiment, the receiving device also has two receive queues with different priorities. The two queues are related to the priority of receiving and processing messages. Similarly, when an ENM message is received, the received ENM message is P high ENMs are queued. Therefore, ENMs are processed with priority over other messages, allowing the receiving device to quickly respond to collision predictions from surrounding vehicles.

[0262] The V2X Server / RSU receives V2X messages and, as necessary, processes, creates, and transmits them. This V2X Server / RSU also has a queue for receiving and transmitting messages, and sometimes receives messages, processes them, and retransmits the processed messages. When receiving messages, just like the V2X Message Receiver, messages with higher urgency or priority, such as ENM or RSA, are entered into a high-priority queue according to priority. The message type can be used to distinguish messages, and this can be confirmed through the Message Type in the message header even without fully interpreting the message. Received messages are prioritized by the process based on their urgency or priority. When transmitting a processed message to another device, the message is entered into a transmission queue, just like the V2X Message Sender. At this time, the queue can also be distinguished based on the urgency or priority of the message, so that messages can be transmitted with priority.

[0263] FIG. 13 illustrates a flowchart of a method for a first device to transmit a message according to one embodiment.

[0264] The first device can collect information about objects surrounding the first device (A05). For example, the first device can sense objects surrounding the first device through at least one sensor and / or identify objects surrounding the first device through messages such as BSM and PSM.

[0265] The first device can detect at least one object that is predicted to collide with the first device based on physical movement of the objects and the first device (A10).

[0266] The first device may transmit a message including information about the at least one object based on a predicted collision with the at least one object (A15).

[0267] The message may include information indicating which of a plurality of collision types the predicted collision between the first device and the at least one object belongs to.

[0268] The above message may include information about actions that are expected to be performed to avoid the predicted collision.

[0269] The message may include at least one of i) information about the time and location at which the collision is predicted to occur, ii) accuracy of the prediction of the collision, iii) information about the at least one object predicted to collide with the first device, and iv) information about the first device.

[0270] The above message may be transmitted with a higher priority than other messages for transmitting information about the collected surrounding objects.

[0271] The above multiple crash types may include at least one of i) a frontal collision, ii) a blind spot collision, iii) a collision while changing lanes, iv) a collision while crossing an intersection, v) a collision with an out-of-control vehicle, vi) a collision with a pedestrian or a two-wheeled vehicle, and vii) a collision with an obstacle.

[0272] The actions that are expected to be performed to avoid the predicted collision may include at least one of deceleration, acceleration, maintaining current speed and direction, sudden stop, stopping and waiting, reversing, lane change, left turn, and right turn.

[0273] FIG. 14 illustrates a flowchart of a method for a second device to receive a message according to one embodiment.

[0274] The second device can receive a message from each of a plurality of transmitting devices, including the first transmitting device and the second transmitting device, including information about the predicted collision of each transmitting device (B05).

[0275] The second device can determine whether the first message received from the first transmitting device and the second message received from the second transmitting device are related to the prediction of the same collision (B10).

[0276] The second device may combine and process the first message and the second message based on a determination that the first message and the second message are related to the prediction of the same collision (B15).

[0277] The second device may process the first message and the second message individually based on a determination that the first message and the second message are related to prediction of different collisions (B20).

[0278] The first message and the second message may each include information indicating which collision type among a plurality of collision types the predicted collision belongs to.

[0279] The first message and the second message may each include information about actions that are expected to be performed to avoid the predicted collision.

[0280] The processing of the first message and the second message may be performed with a higher priority than other messages containing sensing information.

[0281] 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.

[0282] 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.

[0283] Figure 15 illustrates a communication system applicable to this embodiment.

[0284] Referring to FIG. 15, 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.

[0285] 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).

[0286] 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.

[0287] Figure 16 illustrates a wireless device applicable to the present disclosure.

[0288] Referring to FIG. 16, 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.

[0289] 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.

[0290] 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. 15 to 27.

[0291] 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.

[0292] 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.

[0293] 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.

[0294] 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.

[0295] 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.

[0296] 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.

[0297] Figure 17 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 (see Figure 27).

[0298] Referring to FIG. 17, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 16 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 additional elements (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. 17. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 16. 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).

[0299] 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. 15, 100a), a vehicle (Fig. 15, 100b-1, 100b-2), an XR device (Fig. 15, 100c), a portable device (Fig. 15, 100d), a home appliance (Fig. 15, 100e), an IoT device (Fig. 15, 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. 15, 400), a base station (Fig. 15, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0300] In FIG. 17, 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 a set of one or more processors. 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.

[0301] Figure 18 illustrates a vehicle or autonomous vehicle applicable to this embodiment. The vehicle or autonomous vehicle may be implemented as a mobile robot, a car, a train, a manned or unmanned aerial vehicle (AV), a ship, etc.

[0302] Referring to FIG. 18, 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. 16, respectively.

[0303] 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.

[0304] 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.

[0305] 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.

[0306] 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.

[0307] 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).

[0308] 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.

[0309] 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.

[0310] 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.

[0311] 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 transmitting a message by a first device in a wireless communication system, Collect information about objects around the first device; Detecting at least one object predicted to collide with the first device based on physical movement of the objects and the first device; and comprising transmitting a message including information about the at least one object based on a predicted collision with the at least one object; A method wherein the message includes information indicating which of a plurality of collision types the predicted collision between the first device and the at least one object belongs to.

2. In paragraph 1, A method wherein the above message includes information about actions that are expected to be performed to avoid the predicted collision.

3. In paragraph 1, A method according to claim 1, wherein the message comprises at least one of: i) information about the time and location at which the collision is predicted to occur; ii) accuracy of the prediction of the collision; iii) information about the at least one object predicted to collide with the first device; and iv) information about the first device.

4. In paragraph 1, A method wherein the above message is transmitted with a higher priority than other messages for transmitting information about the collected surrounding objects.

5. In paragraph 1, A method wherein the above multiple collision types include at least one of i) a forward collision, ii) a blind spot collision, iii) a collision while changing lanes, iv) a collision while crossing an intersection, v) a collision with an uncontrolled vehicle, vi) a collision with a pedestrian or a two-wheeled vehicle, and vii) a collision with an obstacle.

6. In paragraph 2, A method wherein the actions that are expected to be performed to avoid the predicted collision include at least one of deceleration, acceleration, maintaining current speed and direction, sudden stop, stopping and waiting, reversing, lane change, left turn, and right turn.

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

8. In a method for a second device to receive a message in a wireless communication system, Receiving a message from each of a plurality of transmitting devices, including a first transmitting device and a second transmitting device, including information about a predicted collision of each transmitting device; Determining whether the first message received from the first transmitting device and the second message received from the second transmitting device are related to the prediction of the same collision; and A method comprising combining and processing the first message and the second message based on a determination that the first message and the second message are related to prediction of the same collision.

9. In paragraph 8, A method wherein the second device individually processes the first message and the second message based on a determination that the first message and the second message are related to prediction of different collisions.

10. In paragraph 8, A method wherein the first message and the second message each include information indicating which collision type among a plurality of collision types the predicted collision belongs to.

11. In paragraph 8, A method wherein the first message and the second message each include information about actions that are expected to be performed to avoid a predicted collision.

12. In paragraph 1, A method in which the processing of the first message and the second message is performed with a higher priority than other messages containing sensing information.

13. In a first device for transmitting a message in a wireless communication system, memory for storing commands; and A processor that performs operations by executing the above instructions, The operations performed by the above processor are: Collect information about objects around the first device; Detecting at least one object predicted to collide with the first device based on physical movement of the objects and the first device; and comprising transmitting a message including information about the at least one object based on a predicted collision with the at least one object; A first device, wherein the message includes information indicating which of a plurality of collision types a predicted collision between the first device and the at least one object belongs to.

14. In paragraph 13, Including a transmitter and receiver, The first device is a vehicle or a terminal.

15. In a second device receiving a message in a wireless communication system, memory for storing commands; and A processor that performs operations by executing the above instructions, The operations performed by the above processor are: Receiving a message from each of a plurality of transmitting devices, including a first transmitting device and a second transmitting device, including information about a predicted collision of each transmitting device; Determining whether the first message received from the first transmitting device and the second message received from the second transmitting device are related to the prediction of the same collision; and A second device comprising processing the first message and the second message in combination based on a determination that the first message and the second message are related to prediction of the same collision.

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