Method and apparatus for performing differential operation on basis of confidence value of information

Abstract

Provided are a method by which a first device performs wireless communication and an apparatus supporting same. The method may comprise the steps of: acquiring configuration information related to a traveling operation that is set for each of a plurality of confidence levels; receiving information from a second device; acquiring a confidence level related to the information; and on the basis that the confidence level related to the information is a first confidence level from among the plurality of confidence levels, performing a first traveling operation that is set for the first confidence level. For example, the confidence level may be acquired on the basis of at least one of a long-term evaluation factor and a short-term evaluation factor.

Description

Method and device for performing differential actions based on trust values ​​of information

[0001] The present disclosure relates to a wireless communication system.

[0002] 5G NR, the successor to LTE (long-term evolution), is a new clean-slate mobile communications system characterized by high performance, low latency, and high availability. 5G NR can utilize all available spectrum resources, from low-frequency bands below 1 GHz, mid-frequency bands between 1 GHz and 10 GHz, and high-frequency (millimeter wave) bands above 24 GHz.

[0003] The 6G (wireless communication) system aims to achieve (i) very high data rates per device, (ii) a very large number of connected devices, (iii) global connectivity, (iv) very low latency, (v) low energy consumption for battery-free Internet of Things (IoT) devices, (vi) ultra-reliable connectivity, and (vii) connected intelligence with machine learning capabilities. The vision of the 6G system can be divided into four aspects: intelligent connectivity, deep connectivity, holographic connectivity, and ubiquitous connectivity, and the 6G system can satisfy the requirements as shown in Table 1 below. For example, Table 1 can represent an example of the requirements of a 6G system.

[0004] Per device peak data rate 1 Tbps E2E latency 1 ms Maximum spectral efficiency 100 bps / Hz Mobility support Up to 1000 km / hr Satellite integration Fully AI Fully autonomous vehicle Fully XR Fully haptic communication Fully

[0005] In one embodiment, a method for a first device to perform wireless communication is provided. The method may include: obtaining configuration information related to a driving operation set for a plurality of reliability levels; receiving information from a second device; obtaining a reliability level related to the information; and performing a first driving operation set for the first reliability level based on the reliability level related to the information being a first reliability level among the plurality of reliability levels. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

[0006] In one embodiment, a first device configured to perform wireless communication is provided. The first device may include at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, when executed by the at least one processor, may cause the first device to: obtain configuration information related to a driving operation set for a plurality of reliability levels; receive information from a second device; obtain a reliability level related to the information; and, based on the reliability level related to the information being a first reliability level among the plurality of reliability levels, perform a first driving operation set for the first reliability level. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

[0007] In one embodiment, a processing device configured to control a first device is provided. The processing device includes at least one processor; and at least one memory connected to the at least one processor and storing instructions, wherein the instructions, when executed by the at least one processor, cause the first device to: obtain setting information related to a driving operation set for a plurality of reliability levels; receive information from a second device; obtain a reliability level related to the information; and perform a first driving operation set for the first reliability level based on the reliability level related to the information being a first reliability level among the plurality of reliability levels. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

[0008] In one embodiment, a non-transitory computer-readable storage medium having recorded thereon commands is provided. The commands, when executed, may cause a first device to: obtain setting information related to a driving operation set for a plurality of reliability levels; receive information from a second device; obtain a reliability level related to the information; and perform a first driving operation set for the first reliability level based on the reliability level related to the information being a first reliability level among the plurality of reliability levels. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

[0009] FIG. 1 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure.

[0010] FIG. 2 illustrates an electromagnetic spectrum according to one embodiment of the present disclosure.

[0011] FIG. 3 illustrates an example of a typical scenario of an NTN based on a transparent payload, according to one embodiment of the present disclosure.

[0012] FIG. 4 illustrates an example of a typical scenario of an NTN based on a regenerative payload, according to one embodiment of the present disclosure.

[0013] Figure 5 shows an example of the use of V2X services according to the accuracy of V2X data exchanged on the road.

[0014] FIG. 6 illustrates a method for an RSU to propagate sensor information on a road with a crosswalk, according to one embodiment of the present disclosure.

[0015] FIG. 7 illustrates a method for an RSU to propagate sensor information on a road with a crosswalk, according to one embodiment of the present disclosure.

[0016] FIG. 8 illustrates a method using MAP and / or SPaT according to one embodiment of the present disclosure.

[0017] FIG. 9 illustrates a method for an RSU to transmit road construction information and / or a method for a vehicle to transmit pothole information, according to one embodiment of the present disclosure.

[0018] FIG. 10 illustrates a method using a maneuver coordination message according to one embodiment of the present disclosure.

[0019] FIG. 11 illustrates a flow chart of a method for differentially performing a service / application / function according to a trust value of data / information, according to one embodiment of the present disclosure.

[0020] FIG. 12 illustrates a method for a first device to perform wireless communication according to one embodiment of the present disclosure.

[0021] FIG. 13 illustrates a method for a second device to perform wireless communication according to one embodiment of the present disclosure.

[0022] Fig. 14 illustrates a communication system (1) according to one embodiment of the present disclosure.

[0023] FIG. 15 illustrates a wireless device according to an embodiment of the present disclosure.

[0024] FIG. 16 illustrates a signal processing circuit for a transmission signal according to one embodiment of the present disclosure.

[0025] FIG. 17 illustrates a wireless device according to one embodiment of the present disclosure.

[0026] FIG. 18 illustrates a mobile device according to one embodiment of the present disclosure.

[0027] FIG. 19 illustrates a vehicle or autonomous vehicle according to one embodiment of the present disclosure.

[0028] As used herein, "A or B" can mean "only A," "only B," or "both A and B." In other words, as used herein, "A or B" can be interpreted as "A and / or B." For example, as used herein, "A, B or C" can mean "only A," "only B," "only C," or "any combination of A, B and C."

[0029] As used herein, a slash ( / ) or a comma can mean "and / or." For example, "A / B" can mean "A and / or B." Accordingly, "A / B" can mean "only A," "only B," or "both A and B." For example, "A, B, C" can mean "A, B, or C."

[0030] In this specification, "at least one of A and B" may mean "only A", "only B" or "both A and B". Additionally, in this specification, the expressions "at least one of A or B" or "at least one of A and / or B" may be interpreted identically to "at least one of A and B".

[0031] Additionally, in this specification, “at least one of A, B and C” can mean “only A,” “only B,” “only C,” or “any combination of A, B and C.” Additionally, “at least one of A, B or C” or “at least one of A, B and / or C” can mean “at least one of A, B and C.”

[0032] Additionally, parentheses used herein may mean "for example." Specifically, when indicated as "control information (PDCCH)", "PDCCH" may be proposed as an example of "control information." In other words, "control information" in this specification is not limited to "PDCCH," and "PDCCH" may be proposed as an example of "control information." Furthermore, even when indicated as "control information (i.e., PDCCH)", "PDCCH" may be proposed as an example of "control information."

[0033] In the following explanation, ‘when, if, in case of’ can be replaced with ‘based on’.

[0034] Technical features individually described in a single drawing in this specification may be implemented individually or simultaneously.

[0035] In this specification, higher layer parameters may be parameters that are set for the terminal, preset, or predefined. For example, a base station or network may transmit higher layer parameters to the terminal. For example, higher layer parameters may be transmitted via radio resource control (RRC) signaling or medium access control (MAC) signaling.

[0036] In this specification, "configured or defined" may be interpreted as being configured or preset to a device through predefined signaling (e.g., SIB, MAC, RRC) from a base station or network. In this specification, "configured or defined" may be interpreted as being preset to a device.

[0037] The technology proposed in this specification can be used in various wireless communication systems such as CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), and SC-FDMA (single carrier frequency division multiple access). CDMA can be implemented with wireless technologies such as UTRA (universal terrestrial radio access) or CDMA2000. TDMA can be implemented with wireless technologies such as GSM (global system for mobile communications) / GPRS (general packet radio service) / EDGE (enhanced data rates for GSM evolution). OFDMA can be implemented with wireless technologies such as IEEE (Institute of Electrical and Electronics Engineers) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802-20, E-UTRA (evolved UTRA), LTE (long term evolution), and 5G NR.

[0038] The technology proposed in this specification can be implemented with 6G wireless technology and applied to various 6G systems. For example, 6G systems can have key factors such as enhanced mobile broadband (eMBB), ultra-reliable low latency communications (URLLC), massive machine-type communication (mMTC), artificial intelligence (AI) integrated communication, tactile internet, high throughput, high network capacity, high energy efficiency, low backhaul and access network congestion, and enhanced data security.

[0039] FIG. 1 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure. The embodiment of FIG. 1 can be combined with various embodiments of the present disclosure.

[0040] New network characteristics in 6G may include:

[0041] - Satellite integrated network

[0042] - Connected Intelligence: Unlike previous generations of wireless communication systems, 6G is revolutionary, upgrading the wireless evolution from "connected objects" to "connected intelligence." AI can be applied at every stage of the communication process (or at every signal processing step, as described below).

[0043] - Seamless integration of wireless information and energy transfer

[0044] - Ubiquitous super 3D connectivity: Access to networks and core network functions of drones and very low Earth orbit satellites will create super 3D connectivity in 6G ubiquitous.

[0045] Some general requirements for the new network characteristics of 6G, such as the above, may be as follows:

[0046] - small cell networks

[0047] - Ultra-dense heterogeneous network

[0048] - High-capacity backhaul

[0049] - Radar technology integrated with mobile technology: High-precision localization (or location-based services) through communications is a key feature of 6G wireless communication systems. Therefore, radar systems will be integrated with 6G networks.

[0050] - Softwarization and virtualization

[0051] Below, the core implementation technologies of the 6G system are described.

[0052] - Artificial Intelligence: Incorporating AI into communications can streamline and improve real-time data transmission. AI can use numerous analytics to determine how complex target tasks should be performed. This means AI can increase efficiency and reduce processing delays. Time-consuming tasks such as handovers, network selection, and resource scheduling can be performed instantly using AI. AI can also play a crucial role in machine-to-machine (M2M), machine-to-human, and human-to-machine communications. Furthermore, AI can facilitate rapid communication in brain-computer interfaces (BCIs). AI-based communication systems can be supported by metamaterials, intelligent structures, intelligent networks, intelligent devices, intelligent cognitive radios, self-sustaining wireless networks, and machine learning.

[0053] - THz communication (terahertz communication): Data rates can be increased by increasing the bandwidth. This can be achieved by utilizing sub-THz communication with a wide bandwidth and applying advanced massive MIMO technology. THz waves, also known as sub-millimeter waves, typically refer to the frequency range between 0.1 THz and 10 THz with corresponding wavelengths ranging from 0.03 mm to 3 mm. The 100 GHz to 300 GHz band (Sub-THz band) is considered a major portion of the THz band for cellular communications. Adding the Sub-THz band to the mmWave band will increase the capacity of 6G cellular communications. Among the defined THz bands, 300 GHz to 3 THz lies in the far infrared (IR) frequency band. While part of the optical band, the 300 GHz to 3 THz band lies at the boundary of the optical band, immediately following the RF band. Therefore, this 300 GHz to 3 THz band exhibits similarities to RF. Figure 2 illustrates the electromagnetic spectrum according to one embodiment of the present disclosure. The embodiment of FIG. 2 can be combined with various embodiments of the present disclosure. Key characteristics of THz communications include (i) widely available bandwidth to support very high data rates, and (ii) high path loss at high frequencies (highly directional antennas are essential). The narrow beamwidth generated by the highly directional antenna reduces interference. The small wavelength of THz signals allows for a much larger number of antenna elements to be integrated into devices and base stations operating in this band. This enables the use of advanced adaptive array technologies to overcome range limitations.

[0054] - Large-scale MIMO technology

[0055] - Hologram beamforming (HBF)

[0056] - Optical wireless technology

[0057] - Free-space optical transmission backhaul network (FSO backhaul network)

[0058] - Quantum communication

[0059] - Cell-free communication

[0060] - Integration of wireless information and power transmission

[0061] - Integration of wireless communication and sensing

[0062] - Integrated access and backhaul network

[0063] - Big data analysis

[0064] - Reconfigurable intelligent surface

[0065] - metaverse

[0066] - Blockchain

[0067] Unmanned aerial vehicles (UAVs): UAVs, or drones, will be a key element in 6G wireless communications. In most cases, high-speed data wireless connectivity can be provided using UAV technology. Base stations (BSs) can be installed on UAVs to provide cellular connectivity. UAVs may offer specific capabilities not found in fixed BS infrastructure, such as easy deployment, robust line-of-sight links, and controlled mobility. During emergencies such as natural disasters, deploying terrestrial communications infrastructure is not economically feasible and sometimes cannot provide services in volatile environments. UAVs can easily handle these situations. UAVs will become a new paradigm in wireless communications. This technology facilitates three fundamental requirements for wireless networks: enhanced mobile broadband (eMBB), URLLC, and mMTC. UAVs can also support various purposes, such as enhancing network connectivity, fire detection, disaster emergency services, security and surveillance, pollution monitoring, parking monitoring, and accident monitoring. Therefore, UAV technology is recognized as one of the most important technologies for 6G communications.

[0068] - Autonomous driving (self-driving): V2X (vehicle to everything), a key element in building autonomous driving infrastructure, can be a technology that allows cars to communicate and share with various elements on the road for autonomous driving, such as vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) wireless communication. Fast transmission speeds and low-latency technologies are essential to maximize autonomous driving performance and ensure high safety. Furthermore, in the future, autonomous driving will go beyond simply providing warnings or guidance messages to drivers and may require active intervention in vehicle operation and direct control of the vehicle in dangerous situations. To this end, the amount of information that needs to be transmitted and received may become enormous, so 6G is expected to maximize autonomous driving with faster transmission speeds and lower latency than 5G.

[0069] - Non-terrestrial networks (NTN): NTN may refer to a network or network segment that uses radio frequency (RF) resources mounted on a satellite (or unmanned aerial system (UAS) platform). FIG. 3 illustrates an example of a typical NTN scenario based on a transparent payload according to an embodiment of the present disclosure. FIG. 4 illustrates an example of a typical NTN scenario based on a regenerative payload according to an embodiment of the present disclosure. The embodiments of FIG. 3 or FIG. 4 may be combined with various embodiments of the present disclosure. Referring to FIG. 3, a satellite (or UAS platform) may create a service link with a UE. The satellite (or UAS platform) may be connected to a gateway via a feeder link. The satellite may be connected to a data network via the gateway. A beam footprint may refer to an area where a signal transmitted by a satellite can be received. Referring to Figure 4, a satellite (or UAS platform) can establish a service link with a UE. A satellite (or UAS platform) connected to a UE can be connected to another satellite (or UAS platform) via an inter-satellite link (ISL). The other satellite (or UAS platform) can be connected to a gateway via a feeder link. Based on the playback payload, a satellite can be connected to a data network through another satellite and the gateway. If an ISL does not exist between a satellite and another satellite, a feeder link between the satellite and the gateway may be required. Figures 3 and 4 are merely examples of NTN scenarios, and NTN can be implemented based on various scenarios.For example, a satellite (or UAS platform) may implement a transparent or regenerative (with onboard processing) payload. For example, a satellite (or UAS platform) may generate multiple beams over a designated service area depending on the field of view of the satellite (or UAS platform). For example, the field of view of the satellite (or UAS platform) may vary depending on the onboard antenna diagram and minimum elevation angle. For example, a transparent payload may include radio frequency filtering, frequency conversion, and amplification. Therefore, the waveform signal repeated by the payload may not be altered. For example, a regenerative payload may include radio frequency filtering, frequency conversion and amplification, demodulation / decoding, switching and / or routing, and coding / modulation. For example, a regenerative payload may be substantially equivalent to equipping the satellite (or UAS platform) with all or part of the base station functionality.

[0070] - Integrated Sensing and Communication (ISAC): Wireless sensing is a technology that uses radio frequencies to determine the instantaneous linear velocity, angle, distance (range), etc. of an object, thereby obtaining information about the characteristics of the environment and / or objects within the environment. Because radio frequency sensing does not require a device to connect to the object through a network, it can provide a service for object positioning without a device. The ability to obtain range, velocity, and angle information from radio frequency signals can enable a wide range of new capabilities, such as various object detection, object recognition (e.g., vehicles, humans, animals, UAVs), and high-precision localization, tracking, and activity recognition. Wireless sensing services can provide information to a variety of industries (e.g., drones, smart homes, V2X, factories, railways, public safety, etc.), enabling applications such as intruder detection, assisted vehicle steering and navigation, trajectory tracking, collision avoidance, traffic management, and health and traffic management. In some cases, wireless sensing can utilize non-3GPP type sensors (e.g., radar, cameras) to further support 3GPP-based sensing. For example, the operation of wireless sensing services, i.e., sensing operations, may depend on the transmission, reflection, and scattering of wireless sensing signals. Therefore, wireless sensing offers an opportunity to enhance existing communication systems from a communications network to a wireless communication and sensing network.

[0071] Meanwhile, with the evolution of communication technology, services utilizing communication technology are being developed in the mobility field, including vehicles, robots, and drones, and driving performance such as remote driving, cooperative driving, and autonomous driving is being improved. In particular, Intelligent Transport System (ITS) services and V2X services are also developing together. To use V2X services, messages are exchanged between road users (e.g., vehicles, pedestrians, two-wheeled vehicles, robots, etc.) or between road users and infrastructure (e.g., RSU, MEC, servers, clouds, etc.), and the data / information required for the service can be utilized from the exchanged messages. For example, road users can include their status information (awareness information) in messages (e.g., Cooperative Awareness Message (CAM), Vulnerable Road User (VRU) Awareness Messages (VAM), Basic Safety Message (BSM), Pedestrian Safety Message (PSM)) and transmit them to surrounding road users or infrastructure. Here, the status information may include the type, size, location, speed, acceleration, direction, path, etc. of the sender. A terminal (e.g., a road user, infrastructure, etc.) that receives a message from a road user can interpret the received message and utilize the status information of the sender to recognize the situation on the road. As another example, the status information of an object (e.g., a road user, an obstacle, etc.) detected by a sensor mounted on the sender (e.g., a camera, radar, lidar, etc.) can be included in a message (e.g., a Collective Perception Message (CPM), a Sensor Data Sharing Message (SDSM)) and transmitted. For example, the information obtained by exchanging a message containing the status information of an object detected by the sender can be utilized to recognize the situation on the road. Based on the information obtained by exchanging the messages described above, the receiver can operate / execute various services / applications / functions.For example, based on the received V2X data / information, a warning and / or emergency braking function for collision avoidance can be activated. As another example, the infrastructure can transmit a message including signal information (Signal Phase And Timing, SPAT) (Signal Phase And Timing Extended Message, SPATEM) and a message including map information (MAP) (MAP Extended Message, MAPEM), and the road user can receive the message. The receiver can utilize the received message to operate its own service / application / function (e.g., signal information display, optimal speed suggestion function utilizing signal information, etc.). In addition, there may be services / applications / functions (e.g., automated valet parking) provided by exchanging messages containing sensor information and control / command information for remote-operated driving (e.g., PCIM (Park Control Infrastructure Message), PCVM (Park Control Vehicle Message)).

[0072] Meanwhile, many ITS services and V2X services / applications / functions are being developed, but the availability, accuracy, quality, and integrity of the data / information exchanged for the services described in the above-described prior art may vary. For example, since all or part of the data / information included in the exchanged V2X messages are measured and configured based on the sender's sensors, the accuracy, quality, and integrity of the information generated by the sender may vary depending on the performance / capability (e.g., availability, accuracy, reliability, resolution, etc.) of various sensors. In addition, for example, false positive and false negative information may exist among the information provided by V2X data. For example, in an ITS service that uses sensors and artificial intelligence technology to recognize information about objects that pose a risk of accidents on the road, false positive information (intentional or unintentional) indicating the presence of an object when in reality it does not exist, or false negative information (intentional or unintentional) judging that an object does not exist when in reality it does exist, may be generated and disseminated. In addition, for example, in terms of functional safety, there may be uncertainty about the accuracy and quality of information depending on the performance of the communication terminal (e.g., hardware, software), and in terms of security, there may be uncertainty about the integrity of data / information, including external cyberattacks (modification). For example, due to factors that may occur during the transmission of the indicated information, the recipient may have difficulty in utilizing the received data / information for their own service / application / function.In other words, the receiver / information user who is the target of the exchanged data / information and interaction may have a trust problem with respect to the sender and / or the V2X message / data / information transmitted by the sender, i.e., a problem may arise regarding the extent to which the receiver can trust the data / information received. This problem is becoming increasingly important in ITS where multiple terminals / nodes / entities / ITS-stations / subsystems interact not only within a single system but also. Furthermore, for example, a problem may arise regarding whether or how the information received from a service / application / function within a terminal / node / entity / ITS-station / subsystem can be utilized. For example, low-reliability data / information (e.g., false positives, false negatives) may lead to incorrect activation or deactivation of driving-related safety features, such as false alarms and missed collision notifications. In particular, for some systems that rely on V2X messages, even if the system is free of communication errors, there is a potential risk if the information derived from the messages is interpreted as incorrect information about the environment.

[0073] Figure 5 shows an example of the use of V2X services according to the accuracy of V2X data exchanged on the road.

[0074] Referring to FIG. 5, for example, an infrastructure (RSU (510)) can transmit a message (CPM, SDSM) containing object information (vehicle A (521)) detected by its own sensor (e.g., camera, radar, lidar, etc.) to surrounding communication terminals (vehicle B (531), Vulnerable Road User (VRU) B (532)). In addition, for example, a road user (VRU A (541), vehicle B (531)) can transmit a message containing its own status information (e.g., CAM, BSM, VAM, PSM) to surrounding communication terminals. At this time, for example, vehicle B (531) can recognize that there is an object (e.g., a vehicle, a pedestrian, a bicycle, etc.) in a nearby location or on a path based on the V2X data / information contained in the received messages (e.g., CPM / SDSM, VAM / PSM), and vehicle B (531) can utilize this information to operate a service / application / function for collision prevention. For example, it can provide a warning (e.g., display, warning sound, vibration, etc.) to the driver of the vehicle to notify him / her of a possibility of collision, or activate an emergency braking function to stop the vehicle to prevent a collision. Or, for example, in the case of an autonomous driving system, it can change the driving path or brake to avoid a collision based on the information. For example, as described above, there may be cases where the trust value (e.g., including accuracy, quality, and integrity) of V2X data / information is low, and referring to FIG. 5, there may be cases where, for various reasons (e.g., low performance of the camera, bad weather, etc.), the camera installed in the RSU (510) incorrectly recognizes the location of vehicle A (521) as vehicle A' (522) (i.e., the actual location is vehicle A (521)) and generates a message (CPM, SDSM) to transmit to vehicle B (531).Also, for example, in the case of VRU A (541), although it is actually located on the sidewalk (i.e., VRU A (541) on the sidewalk), for example, due to an error in GNSS, a message may be generated with the location value of VRU A' (542) on the roadway and transmitted to vehicle B (531). That is, for example, although there is no object (vehicle A (521), VRU A (541)) that actually poses a risk of collision on the driving path of vehicle B (531), there may be a case where information (vehicle A' (522), VRU A' (542)) that an object exists on the path may be received. In this case, for example, vehicle B (531) may receive inaccurate information through a V2X message and operate various services / applications / functions based on this information. For example, referring to FIG. 5, vehicle B (531) may recognize the wrong location of an object (VRU A' (542), vehicle A' (522)) and may incorrectly send a collision warning to the driver or incorrectly activate the emergency braking function. In such a case, for example, the driver may suddenly stop, which may cause a dangerous situation for the driver or passengers, or if the emergency braking of vehicle B (531) is incorrectly activated, another road user (VRU B (532)) driving behind may not anticipate this and may cause an additional dangerous situation in which a collision occurs. For example, assuming a case opposite to the above, if a message containing location information is sent with incorrect location information indicating that a pedestrian is on the sidewalk when in reality the pedestrian is on the road, that is, in FIG. 5, if the pedestrian is actually at the location of VRU A' (542) but the V2X message contains the location value of VRU A (541), the receiver (vehicle B (531)) may know that there is a risk of collision on the driving path, but the received data / information may omit information on objects that pose a risk of collision with the vehicle, and the vehicle receiving the message may not be able to activate services / applications / functions for collision prevention.For example, Vehicle B may fail to warn the driver of a potential collision, and its emergency braking function may not activate, potentially resulting in a collision with a pedestrian (VRU A' (542)). For example, the aforementioned scenario could be more dangerous for autonomous driving systems that operate based on received information, rather than services / applications / functions that warn the driver and then rely on the driver's judgment to take action.

[0075] The technical challenge pointed out in this disclosure is that when multiple entities exchange messages / data / information and utilize the exchanged information to make decisions for the operation of services / applications / functions, especially when the functions are safety-related, the reliability of the information may become an even more important factor, but not only is there still no mutually agreed-upon method for measuring / evaluating the reliability of the information, but there is also a lack of technology on how to utilize the reliability value of the information. This problem may occur between road users or between road users and infrastructure (e.g., RSU, MEC, server, etc.), and many countries, companies, or organizations are conducting research to solve this problem. For example, if the above-mentioned problems are not solved by exchanging messages, the information that can be obtained by exchanging V2X messages may not be utilized for safety-related services / applications / functions, or may be limited.

[0076] In this disclosure, a method for differentially operating a service based on the reliability associated with received information and a device supporting the same are proposed as follows.

[0077] For example, in the present disclosure, the trust level (trust value / level of trust / value of trust / trustworthiness) of V2X data / information can be measured / evaluated, and services / applications / functions can be differentially operated based on the trust value. For example, the differential operation method for the trust level of V2X data / information of the present disclosure is a method of operating a receiver to operate services / applications / functions differently according to the trust value, and may be configured with a step of measuring / evaluating the trust value of each information by the sender and / or the receiver, a step of dividing each trust value of data / information into several levels, setting an operation corresponding to each trust value, and operating according to the setting based on the trust value of the received information. For example, this may mean that when a V2X message is received and a trust value for the obtained data / information is obtained, the service / application / function is operated / executed in various ways according to the set information. For example, if a service / application / function operated on device A is differentially operated depending on the trust value of the transmitter (e.g., device B) or V2X data / information received by the receiver (e.g., device A), then when the trust value of the data / information transmitted by device B is high, device A may omit and / or simplify the reconfirmation operation for the received information (e.g., reconfirmation with a sensor installed in device A, or receiving multiple identical pieces of information) when operating / performing the service / application / function, and / or maximize the performance / operational availability range of the operation / performance related to the service / application / function (e.g., rapid acceleration, deceleration, or direction change).For example, in contrast to the above case, if the trust value of the data / information received by device A is low, device A may perform an operation to reconfirm the information received when operating / performing a service / application / function (e.g., reconfirm with a sensor installed in device A, or receive multiple identical pieces of information), and / or minimize the performance / operational availability range of the operation / performance related to the service / application / function (e.g., limited acceleration, deceleration, and direction change).

[0078] Steps to measure / evaluate the trust value of V2X data / information may be as follows:

[0079] For example, in order to measure / evaluate the trust value of V2X data / information, first, the trust value related to the exchange of V2X data / information can be defined as a value / level / grade that allows the receiver to measure / evaluate and / or detect the availability, accuracy, quality, integrity, etc. of the contents of the information transmitted from another terminal / node / entity / source in the information exchange between a sender (e.g., information provider) and a receiver (e.g., information user). That is, for example, it can be viewed as a measure of whether the information contained in and / or derived from a message is trustworthy for use in a specific service / application / function of the receiver. For example, this may be a value that takes into account various factors that affect the generation of information, such as factors (and / or values) such as performance deficiencies of the system that generates and / or configures the information, situational awareness errors, security vulnerabilities, communication failures, operational errors of external systems, or environmental factors (e.g., surroundings such as weather, climate, magnetic interference). However, for example, the above-mentioned trust value may depend on the sender (e.g., information provider), the information generated by the sender, and the environment of the sender, and may not be affected by the characteristics and environment of the receiver (e.g., information user). For example, trust in V2X data / information may mean trust including additional content of the received V2X data (e.g., information about the intended function, information about the required quality and accuracy, information about the data generation method or the system development, implementation, maintenance, or operation process) in terms of functional safety and safety of the intended functionality.

[0080] For example, although confidence values ​​are typically expressed in the form of a number, probability, likelihood, degree, percentage, or level, they can also be expressed in various other ways. For example, in the embodiment(s) of the present disclosure, the confidence value is described by expressing it as a value between 0 and 1, where "0" may mean low confidence, and "1" may mean maximum confidence.

[0081] For example, the most important consideration in measuring / evaluating the trust value may be the accuracy of the transmitted data / information (e.g., including integrity, accuracy, reliability, etc.). For example, if only a portion of the actual information is transmitted in the data / information, if other / incorrect information is transmitted (either intended or unintended), if there is a false positive or false negative, or if the error in dynamic information (e.g., position, speed, direction, etc.) is large, the trust value of the data / information may be measured / evaluated low. However, for example, since it is very rare to know the exact / actual value of the data / information (e.g., exact position value), and sensor measurement errors (e.g., GNSS errors) exist in most cases, alternative measurement factors that can measure / evaluate the trust value of the data / information may be needed. For example, the performance of a data / information provider to perform a specific function (e.g., sensor capability and availability, communication capability and availability), and / or in the case of AI-based object recognition, the confidence score, average precision (AP), and / or the data / information provider's intention / requirement / expectation of the data / information user to use the data / information can be (as alternative metrics that can measure / evaluate the trust value of the data / information). For example, when an information provider provides information, it may intend / require / expect that the recipient (e.g., information user) will utilize the provided data / information to the fullest extent possible for the service / application / function with high trust / confidence. In addition, for example, the trust value of V2X data / information is fundamentally based on the evaluation of the data / information, but the evaluation of the sender can also be taken into account, and can be calculated by considering not only the raw data of the sensor but also the processed data.For example, factors for evaluating trust values ​​can be categorized into a "long-term valid trust factor," which is based on the sender's characteristics and static information in generating data / information, and a "short-term valid trust factor," which is based on dynamic information in the sender's information generation. For example, at least one of the factors listed below may be included in measuring / evaluating trust values, and a trust value may be calculated through a complex calculation.

[0082] For example, the trust value evaluation factors may be as follows. Meanwhile, the details, terms, or classification criteria(s) related to the trust value evaluation factors below are only examples, and the method proposed in the present disclosure is not limited to the trust value evaluation factors(s) below.

[0083] 1. Long-term valid trust factor

[0084] (1) Performance / specification of devices that generate and transmit information (e.g., sensors, cameras, or communication modules)

[0085] For example, there may be the measurement range, resolution, and / or object recognition success rate of an artificial intelligence learning model and / or the accuracy of a positioning sensor, etc., of a radar. The higher the performance / specifications of the sensor, the higher the reliability of the measured data / information. Conversely, for example, the lower the performance / specifications of the sensor, the lower the reliability of the measured data / information.

[0086] For example, the trust value of data / information can be improved by providing the source of the information (e.g., type of sensor) and / or specifications.

[0087] (2) The level of management, development, production, operation, service, and disposal processes corresponding to the product life cycle of the system / subsystem that generates and / or transmits (the sender's) data / information or the service / application / function that uses (the receiver's) data / information, and / or the development level appropriate to the hazard analysis and risk assessment (HARA) and safety integrity level (SIL) for functional safety.

[0088] For example, in the case of automobiles, if they are developed and implemented in compliance with the international standard for vehicle functional safety (ISO 26262) and the integrity level is determined through risk analysis (e.g., automotive safety integrity level (ASIL)-D), the trust value of data / information can be improved. Conversely, if the integrity level is quality management (QM) (e.g., ASIL-QM), the trust value of data / information can be reduced.

[0089] For example, in the maintenance and / or management of a system, if the system can check, correct and repair the status of the system by itself, the reliability value of the data / information can be improved.

[0090] For example, trust values ​​may decrease depending on the system's level of obsolescence, as performance degradation may occur. Conversely, trust values ​​may increase if a system incorporates the latest technology.

[0091] (3) Error control method and / or certification system and / or cryptographic level of the sender system;

[0092] For example, in transmitting data / information, if a system has a method for checking for errors (e.g., parity check, cyclic redundancy check (CRC), checksum, etc.) and a function for correcting errors (e.g., forward error correction (FEC), backward error correction (BEC), etc.), the reliability value of the data / information may be higher than in a system without such functions.

[0093] For example, for encryption, SHA512 (a cryptographic method that generates a 512-bit hash value) can detect errors or alterations in data / information better than SHA256 (a cryptographic method that generates a 256-bit hash value), and thus can improve the trust value of data / information.

[0094] For example, in the case of a system that applies quantum cryptography that utilizes quantum mechanical properties, the trust value of data / information can be improved compared to existing traditional encryption methods.

[0095] (4) Evaluation of the sender provided by reputation-based system and behavior-based system

[0096] For example, a third-party entity (e.g., a certification authority) can collect information about the sender's reputation and transmit the evaluated value to the recipient. For example, the recipient can then incorporate this value into the trust rating of the data / information transmitted by the sender.

[0097] (5) Sender evaluation in interaction data / metadata

[0098] For example, accumulated interaction data obtained by the receiver providing feedback on the validity and / or reliability of data / information in response to a message sent by the sender can be used to reflect the reliability value of the received data / information.

[0099] 2. Short-term valid trust factor

[0100] (1) Processing level of sensor data

[0101] For example, if the source of the transmitted data / information is raw data acquired from a sensor, and a post-processing process (e.g., Kalman filter, data fusion, noise removal filter, etc.) is added, the reliability value of the data / information may be improved.

[0102] For example, if transmitted data / information is double-confirmed by multiple sensors, the reliability value can be improved. For example, if information recognized by a camera is reconfirmed by radar / LiDAR / ultrasonic sensors, or vice versa, the reliability value of the data / information can be higher than if it was detected by a single sensor.

[0103] For example, when artificial intelligence is applied, the completeness of the artificial intelligence model (e.g., average precision) may be reflected in the trust value of the processed data / information.

[0104] (2) Information about the environment in which the sensor operates

[0105] For example, the sender may reflect in the trust value information based on the environment in which the sensor operates and the corresponding performance information of the sensor (e.g., performance indicators according to the operating environment).

[0106] For example, in the case of a positioning sensor, if there are obstacles that interfere with signal reception (e.g., indoors or between buildings in the case of GNSS) and / or signal sensitivity and / or the number of connected anchors (e.g., satellites in the case of GNSS, or base stations in the case of RF (radio frequency)-based positioning technology), this environmental information may be reflected in the confidence value.

[0107] For example, in the case of LiDAR, cameras, etc., performance (e.g., object recognition) may be affected by measurement conditions (e.g., illumination, rain, fog, radio interference, temperature, humidity, etc.). For example, sensor operating conditions that affect sensor performance can be reflected in the confidence value. For example, data / information measured by a camera in the evening or during rainy weather with low illumination may have a higher confidence value than data / information measured under high illumination and non-rainy conditions.

[0108] For example, if there is a performance degradation due to mobility / motion and / or relativity of the parent body on which the sensor is installed, mobility / motion information (e.g., position, absolute velocity, absolute direction change, or shaking including yawing, rolling, pitching, bouncing, etc.) and / or relativity between the sensor and the measured object (e.g., distance, relative velocity, relative direction change, etc.) may be reflected in the confidence value. For example, data / information recognizing an object by a sensor of a vehicle traveling at low speed may have a higher confidence value than data / information recognizing an object by a sensor of a vehicle traveling at high speed.

[0109] For example, if the sender is aware of the situational awareness information of the sensor's operation, the trust value of the data / information transmitted by the processed sensor data may be higher than the trust value of data / information that is not aware of the surrounding situation.

[0110] (3) Information about the intended function of the data / information;

[0111] For example, if a receiver receives data / information generated by a sender and utilizes it in its own service / application / function, the sender can reflect the receiver's intended usage / requirements / expectations and / or uncertainty of the data / information in the trust value. For example, if the sender does not expect the receiver to experience rapid driving changes based on the data / information due to low performance of the information it generates (e.g., camera-based object recognition information) or an operating environment in which performance degrades, this information can be reflected in the trust value of the data / information. For example, as an opposite example, if the information it generates has high performance and reliability, the sender can expect rapid driving changes of the receiver based on the data / information, and this information can be reflected in the trust value of the data / information.

[0112] For example, the operational design domain (ODD) that describes the conditions under which an autonomous vehicle is designed to operate safely, such as environmental requirements (e.g., time, section, area, etc., e.g., only possible on a highway on a clear day), maneuvering (e.g., left turns through traffic are not possible), and requirements for how data / information is used (e.g., weather, location, etc.) can be reflected in the trust value of the data / information.

[0113] (4) Continuity and consistency information of data / information

[0114] For example, trust values ​​can reflect the continuity and consistency of information contained in messages generated and disseminated by the same sender. For example, this could mean not only the continuity and coherence of short-term message generation and dissemination, but also long-term continuity (or availability) and consistency (or reliability), such as the uptime of communication equipment.

[0115] For example, if the information included in multiple exchanged messages is continuous and consistent, the reliability value of the data / information can be improved. For example, if the values ​​measured by a sensor are not included in multiple exchanged messages but are included discontinuously, the reliability value of the data / information can be reduced. For example, if the vehicle speed information is included in multiple messages and propagated, that is, if the speed information of 16.67 m / s (t0), NULL (t1), NULL (t2), 16 m / s (t3), 15 m / s (t4), and 14 m / s (t5) is propagated sequentially based on six messages (t0 to t5), the reliability value of the data / information can be reduced because t1 and t2 lack continuity. For example, if the information included in multiple exchanged messages is inconsistent, that is, if there is a sudden change, the reliability value of the data / information can be reduced. For example, if the vehicle's speed information is included in a message and transmitted, that is, if the speed information of 16.67 m / s (t0), 15 m / s (t1), 5 m / s (t2), 16 m / s (t3), 50 m / s (t4), and 14 m / s (t5) is transmitted sequentially based on six messages (t0 to t5), t2 and t4 may have inconsistencies, and thus the reliability value of the data / information may decrease.

[0116] (5) Information about communication status

[0117] For example, if the validity of information is low due to high communication latency, the trust value of the data / information may decrease.

[0118] For example, communication status such as signal strength, connectivity, packet delivery success rate, and number of retransmissions can be reflected in the data / information reliability value.

[0119] For example, in the trust value evaluation element, the confidence in the data / information provided by the evaluation target (e.g., information provider) and / or the evaluation target itself may be included based on a common trust value evaluation standard. That is, for example, if a standardized trust value evaluation standard exists, the provider of the data / information may measure / evaluate the trust value by complying with the standardized standard, and / or the user of the data / information may measure / evaluate the trust value by complying with the standardized standard. In addition, for example, the trust value may be measured based on the behavior and / or capability information of the evaluation target. For example, in measuring / evaluating the trust value, the evaluation target may be the V2X message generator and / or the entity that generated the information included in the message (e.g., if the RSU's camera detected a pedestrian on the road and generated the information, the evaluation target may be the RSU) and / or the message transmitter (e.g., server, MEC). In addition, for example, the trust value that serves as the basis for differential operation may consider subjective or objective factors related to the characteristics of the data and the sender being exchanged, and may include existing security, authentication, and privacy technologies. In other words, for example, the entity that measures / evaluates the trust value of V2X data / information may be a sender-side method that measures / evaluates the trust value based on information generated by the sender (e.g., performance / specification of the sensor, measurement environment, measurement conditions, etc.) and then transmits it as a message, and / or a receiver-side method that measures / evaluates the trust value based on data / information received by the receiver, and / or a method in which the trust value of data / information is measured / evaluated by a third-party transmitter / entity. In addition, for example, the sender and the receiver may be terminal-to-terminal and / or server-to-server and / or server-to-terminal.

[0120] For example, the sender can directly measure / evaluate the trust value and communicate it to the receiver. This can be more effective if, for example, a method is agreed upon by both the sender and the receiver. That is, for example, various manufacturers may aim to measure / evaluate the trust value in the same way, and based on this, the sender can include information about how the receiver will perceive the information (e.g., the actions the receiver can take upon receiving the information), and the receiver can utilize the received information based on the trust value. For example, to measure / evaluate the trust value on the sender's side and communicate it to the receiver so that the user of the data / information can determine whether the received data can be used for the intended function, a specific data element (e.g., a safety container) can be added to the exchanged message, or the trust value of the data / information can be communicated in a separate message.

[0121] For example, the receiver may independently assess and evaluate the trust value based on the received information. In this case, agreement on the trust value measurement / evaluation criteria between the sender and receiver or between V2X communication users may not be essential, and thus, the measurement / evaluation criteria may vary across manufacturers during implementation. Furthermore, the ability to measure / evaluation trust values ​​in real time, for example, upon message reception, may be required.

[0122] For example, trust values ​​can be measured / evaluated by a third party other than the sender or receiver. For example, the third party could be a server, an RSU, or a certificate authority.

[0123] The steps for dividing trust values ​​into multiple levels, setting actions corresponding to the divided trust values, and differentially operating according to the trust values ​​related to received V2X data / information may be as follows.

[0124] For example, a receiver may perform differential actions based on the trust value of the measured / evaluated sender and / or received data / information when determining the operation of the receiver's service / application / function. That is, for example, in a method in which the receiver operates the service / application / function differently based on the trust value of the data / information, an index / interval / threshold for the differential action may be set. In this case, for example, the index / interval / threshold may be distinguished in various ways. For example, the trust value may be defined / set as a two-level (e.g., distinguishing a trust value between 0 and 1 as 0 or more and 0.5 or less and greater than 0.5 and 1 or less) or a three-level (e.g., distinguishing a trust value between 0 and 1 as 0 or more and 0.33 or less and greater than 0.33 and 0.66 or less and greater than 0.66 and 1 or less) or more trust intervals.

[0125] For example, a differential action corresponding to each defined / established confidence interval can be established, and the receiver can perform a differential action related to the service / application / function utilizing the received data / information based on the confidence value of the received data / information. For example, the differentiated actions may vary, as described in the following example(s).

[0126] 1. An action to reconfirm the contents of received data / information using the receiver's sensor or driver's perception based on the trust value of the message / information.

[0127] For example, if the confidence value of data / information is at a high level (e.g., if the confidence interval is set to level 2, the confidence value corresponding to the high confidence interval), the operation of reconfirming the contents of the received data / information by the receiver's sensor or the driver's perception can be omitted and / or simplified to operate the service / application / function. Conversely, for example, if the confidence value of data / information is at a low level (e.g., if the confidence interval is set to level 2, the confidence value corresponding to the low interval), in performing the service / application / function, a preparatory operation and a reconfirmation operation can be performed so that the contents of the received data / information can be recognized by the receiver's sensor or the driver. For example, if an RSU detects a road user at an intersection and transmits the data / information including that there is no road user at risk of collision at the intersection and a high confidence value to a receiver (e.g., vehicle A), the operation of reconfirming the data / information with the receiver's own sensors can be omitted and / or simplified to activate the driving function (e.g., passing through the intersection). In this case, the intersection can be passed at an appropriately high speed without decelerating or requiring the driver's attention. For example, in the opposite case, if the data / information including that there is a road user at risk of collision at the intersection and a high confidence value are transmitted to the receiver, the receiver can activate the driving function to respond to the collision (e.g., find an avoidance route) by appropriately decelerating without reconfirming with its own sensors. Additionally, for example, if the RSU transmits data / information including that there are no road users at risk of collision at the intersection, but the reliability value of the transmitted data / information is low, the receiver can proceed with driving normally after taking preemptive action to prepare for inaccuracy of the data / information by slowing down and reconfirming the received data / information with its own sensors.

[0128] For example, if a sender requests maneuver coordination to a receiver, the receiver can add an action to verify the requested maneuver coordination information based on the trust value of the received data / information. For example, when a sender (e.g., vehicle A) transmits a maneuver coordination message (e.g., maneuver coordination message (MCM), maneuver sharing and coordination message (MSCM)) to request / hope that the receiver (e.g., vehicle B) change lanes in front, the receiver can verify the received request message using its own sensors or omit it based on the received message and the trust value of the sender. For example, if the trust value of the data / information is high, the receiver can respond to the maneuver coordination request (e.g., accept or reject) without a confirmation action. Conversely, if the trust value of the data / information is low, the receiver can add an action to verify the maneuver coordination request (e.g., check the current location of the requesting vehicle).

[0129] 2. Differentiation of the recipient's operational availability range based on the trust value of the message / information.

[0130] For example, if the confidence value of the data / information is high (e.g., if the confidence interval is set to level 2, the confidence value corresponding to the high confidence interval), the operational range of the service / application / function that utilizes the received data / information can be maximized (e.g., rapid acceleration, deceleration, and direction change are possible). Conversely, if the confidence value of the data / information is low (e.g., if the confidence interval is set to level 2, the confidence value corresponding to the low confidence interval), the operational range of the service / application / function that utilizes the received data / information can be minimized or limited (e.g., rapid acceleration, deceleration, and direction change are not possible). For example, this may mean limiting the operations that can cope with the uncertainty of the data / information. For example, in a case where an RSU detects road users at an intersection and informs users approaching the intersection, if the receiver receives data / information including that there are no road users at risk of collision at the intersection and a high confidence value, when operating a service / application / function corresponding thereto, rapid acceleration (e.g., acceleration at a rate of more than 8 km / h per second) may be possible when accelerating from a low speed (e.g., 30 km / h). Conversely, if the receiver receives data / information including that there are no road users at risk of collision at the intersection and a low confidence value, when operating a service / application / function corresponding thereto, rapid acceleration (e.g., less than 8 km / h per second) may be restricted when accelerating from a low speed (e.g., 30 km / h). For example, the available range of maneuverability (e.g., acceleration allowed to exceed 8 km / h per second, deceleration allowed to exceed 15 km / h per second, and direction changes allowed to exceed 10 deg / sec) may vary depending on the characteristics of the receiver (e.g., type, weight, center of gravity, size, dynamic performance including acceleration, deceleration, and direction control, etc.).

[0131] 3. Differentiation of the intensity of warnings delivered to drivers based on the trust value of the message / information.

[0132] For example, if the confidence value of the data / information is high (e.g., if the confidence interval is set to level 2, the confidence value corresponding to the high confidence interval), the intensity of the warning can be maximized (e.g., with the maximum intensity through a combination of at least two of the visual, auditory, and tactile senses) when operating a service / application / function that uses the received data / information to deliver a warning to the driver. Conversely, for example, if the confidence value of the data / information is low (e.g., if the confidence interval is set to level 2, the confidence value corresponding to the low confidence interval), the intensity of the warning can be limited (e.g., with an appropriate intensity through at least one of the visual, auditory, and tactile senses) when operating a service / application / function that uses the received data / information to deliver a warning to the driver. For example, this may mean a warning operation that differentially informs the driver of the confidence value of the data / information. For example, when an RSU detects a road user at an intersection and informs a driver approaching the intersection, if the receiver receives data / information containing the presence of a road user at risk of collision at the intersection and a high confidence value, the driver can operate a service / application / function to notify the driver of this by providing a warning in a visual (e.g., display on the instrument cluster), auditory (e.g., voice guidance), and tactile (e.g., steering wheel vibration) manner. Conversely, for example, if the RSU receives data / information containing the presence of a road user at risk of collision at the intersection and a low confidence value, the driver can operate a service / application / function to notify the driver of this by providing a warning in a visual (e.g., display on the instrument cluster). For example, the intensity of the warning can be differentiated in various ways and combinations, taking into account the implementation characteristics of the receiver. In addition, for example, the warning and a response operation can be combined.For example, if the confidence value is low, the driver may be notified with only a warning, while if the confidence value is high, a combination of warning and a response action such as emergency braking may be performed.

[0133] 4. Differentiation of the receiver's perception reaction time (PRT) and / or autonomous driving control transfer depending on the trust value of the message / information.

[0134] For example, if the confidence value of data / information is high (e.g., if the confidence interval is set to level 2, the confidence value corresponding to the high confidence interval), the time / recognition reaction time for applying the data / information when operating a service / application / function that utilizes the received data / information can be reduced (e.g., if the reaction time required to respond to the data / information is 2.5 to 5 seconds, set it to 2.5 seconds). Conversely, for example, if the confidence value of data / information is low (e.g., if the confidence interval is set to level 2, the confidence value corresponding to the low confidence interval), the time / recognition reaction time for utilizing the data / information when operating a service / application / function that utilizes the received data / information can be increased (e.g., if the reaction time required to respond to the data / information is 2.5 to 5 seconds, set it to 5 seconds). For example, this may make sense to set a sufficient reaction time to prepare for the uncertainty of the data / information when the confidence value of the data / information is low. For example, if an RSU detects a road user on the road and transmits it to a receiver, if the trust value of the data / information received by the receiver while driving at a high speed of 100 km / h is high, the time / recognition reaction time for utilizing the service / application / function utilizing the data / information can be set to 10 seconds. For example, in an environment where messages with a high trust value are continuously received thereafter, the service / application / function can be not activated before the set 10 seconds, but can be activated when the set time has elapsed. For example, this can mean that the receiver can respond immediately based on the trust value of the data / information. Conversely, if the trust value of the data / information received by the receiver while driving at a high speed of 100 km / h is low, the time / recognition reaction time for utilizing the service / application / function utilizing the data / information can be set to 20 seconds.For example, a service / application / function can be activated when the preset time has elapsed, and this can be based on a high cognitive response time to accommodate data / information uncertainty. For example, when setting the cognitive response time, a sufficient cognitive response time can be set to adequately handle errors in received data / information based on a confidence value.

[0135] For example, if the recipient is driving autonomously, the received data / information can be used to differentiate the timing of handing over control to the driver / remote operator.

[0136] In an embodiment of the present disclosure, a differential operation method according to the trust value of data / information for each V2X message can be distinguished as follows.

[0137] 1. In case of status information messages (CAM (Cooperative Awareness Message) / BSM (Basic Safety Message), VAM (Vulnerable road user Awareness Message) / PSM (Personal Safety Message), CPM (Collective Perception Message) / SDSM (Sensor Data Sharing Message))

[0138] For example, messages for the purpose of recognizing the status information of road users may include a CAM (Cooperative Awareness Message) / BSM (Basic Safety Message) in which vehicles, etc. directly transmit their own status information, a VAM (Vulnerable road user Awareness Message) / PSM (Personal Safety Message) in which pedestrians, etc. transmit their own status information, and a CPM (Collective Perception Message) / SDSM (Sensor Data Sharing Message) in which status information of objects detected by sensors is transmitted. Hereinafter, a differential operation method according to the reliability value of data / information related to the status information message will be described in more detail with reference to FIGS. 6 and 7.

[0139] FIG. 6 illustrates a method for an RSU to disseminate sensor information on a road with a crosswalk, according to an embodiment of the present disclosure. The embodiment of FIG. 6 may be combined with various embodiments of the present disclosure.

[0140] Referring to FIG. 6, the RSU (610) can transmit status information of an object (vehicle A (620)) traveling from the left to the right on the road detected by the camera to the receiver (vehicle B (640)) as a V2X message of CPM / SDSM, and also, it can be considered a case where a pedestrian (VRU A (630)) waiting in front of a crosswalk transmits his / her status information to the receiver (vehicle B (640)) as a V2X message of VAM / PSM. For example, if the reliability value of data / information of RSU (610) is measured / evaluated as high (e.g., 0.9) due to the performance of the AI-based camera and / or compliance with a quality product development process and / or an operating environment that does not impede the performance of the camera, and VRU A (630) is measured / evaluated as low (e.g., 0.3) due to the performance of the position sensor (e.g., GNSS) mounted on the terminal and / or an unfavorable measurement environment (e.g., weak signal due to a tall building), then, depending on the reliability value of the message / information proposed in the present disclosure, the receiver (vehicle B (640)) can differentially perform an operation of reconfirming the contents of the received data / information with the receiver's sensor (sensor such as radar, camera, LiDAR mounted on vehicle B (640)) according to the reliability value of the received message / information. For example, vehicle B (640) can classify the trust value into two levels by considering the characteristics of the vehicle (e.g., size, weight, performance, etc.), and the standard for classifying the trust value can be set to 0.5. For example, in the example described above, in the case of status information of vehicle A (620) with a high trust value of data / information, the receiver (vehicle B (640)) can omit or simplify the operation of decelerating when driving next to vehicle A (620) or reconfirming the data / information received by its own sensor.On the other hand, for example, in the case of the status information of VRU A (630), the receiver (vehicle B (640)) may perform additional rechecking actions with its own sensors and decelerate, considering that there is a possibility of an error in the information, even though VRU A (630) is on the sidewalk and not on the road, and thus the risk of collision is low due to the low confidence value of the data / information.

[0141] FIG. 7 illustrates a method for an RSU to disseminate sensor information on a road with a crosswalk, according to an embodiment of the present disclosure. The embodiment of FIG. 7 may be combined with various embodiments of the present disclosure.

[0142] Referring to Fig. 7, the recognition reaction time of the receiver can be set to be differentiated as follows depending on the reliability value of the message / information. For example, assuming that the reliability value of the data / information of an object (vehicle A (720)) driving on the left side of the road detected by the camera of the RSU (710) is measured / evaluated as high (0.9), and the reliability value of the data / information of a pedestrian (VRU A (730)) is measured / evaluated as low (0.3), the recognition reaction time (e.g., 5 seconds) for forward collision warning can be set considering the relative values ​​(e.g., position, speed, etc.) of the vehicle (vehicle A (720)) with a high reliability value of the data / information and the receiver (vehicle B (740)). For example, due to the high reliability value of the data / information, even if the recognition reaction time is set short, the probability of an information error occurring is low, so a sufficient recognition reaction can be possible. In contrast, for example, a pedestrian (VRU A (730)) and a receiver (vehicle B (740)) with low confidence values ​​of data / information have an advantage in relative values ​​(e.g., relative position, relative speed, TTC (time to collision), etc.) over vehicle A (720), but due to the low confidence value, a high recognition reaction time (e.g., 8 seconds) for forward collision warning can be set.

[0143] 2. For maps (MAP) and signal information messages (SPaT) provided by infrastructure / RSUs.

[0144] Hereinafter, with reference to FIG. 8, a differential operation method according to the confidence value of data / information related to a map (MAP) and / or signal information message (SPaT) is described in more detail.

[0145] FIG. 8 illustrates a method using MAP and / or SPaT according to one embodiment of the present disclosure. The embodiment of FIG. 8 may be combined with various embodiments of the present disclosure.

[0146] Referring to Fig. 8, an example in which a receiver receives a map of an intersection and a signal information message from an infrastructure / RSU and passes through an intersection can be used to explain the differentiation of the receiver's operational availability range depending on the trust value of the message / information. For example, the signal information message (SPaT) may include all signal states of the current intersection (e.g., the signal status of the RSU (e.g., traffic light) (810) is green) and information on the time for which the current signal is maintained (e.g., the time to change of the RSU (e.g., traffic light) (810) is 3 seconds). For example, if the reliability value of the signal information data / information received by the receiver (820) is at a high level (e.g., 0.9), the receiver (vehicle A (820)) can maximize the available range of operation of the driving function utilizing the received data / information (e.g., rapid acceleration of 10 km / h or less per second, rapid deceleration of 20 km / h or less per second, and direction change of 10 deg / sec or less are possible). On the other hand, for example, if the reliability value of the signal information data / information is at a low level (e.g., 0.4), the available range of operation of the driving function utilizing the received data / information can be limited (e.g., only acceleration of 8 km / h or less per second, deceleration of 10 km / h or less per second, and direction change of 8 deg / sec or less are possible). Alternatively, for example, if signal information is received indicating that the signal will remain green (i.e., clear to pass) for 3 seconds before crossing an intersection, vehicle A (820) may need to accelerate or decelerate to cross the intersection based on its current state. For example, in a vehicle with a driver, this may be based on driving assistance notifications (e.g., maneuvering recommendations / suggestions from Green Light Optimal Speed ​​Advisory (GLOSA), etc.), or in an autonomous vehicle, this may be based on direct maneuvering.In this case, for example, if the current speed of vehicle A (820) is 30 km / h and it is assumed that it can pass through the intersection without a problem if it accelerates at 10 km / h per second, if the reliability value of the data / information is high, vehicle A (820) can pass through the intersection by accelerating to the maximum. Also, for example, vehicle A (820) can decelerate and stop in front of the intersection before the signal changes. Conversely, for example, if the reliability value of the data / information is low, due to the limited available operation range, it cannot pass through the intersection by accelerating and has no choice but to respond to the intersection signal by decelerating. For example, this may be to prevent an accident due to abrupt operation in preparation for the uncertainty of the received data / information (e.g., signal information).

[0147] 3. In case of road information messages (DENM (Decentralized Environmental Notification Message) / RSM (Road Safety Message)) such as forward accidents, traffic congestion, road construction, potholes, or weather (e.g., foggy areas)

[0148] Hereinafter, with reference to FIG. 9, a differential operation method according to the reliability value of data / information related to a road information message (DENM / RSM) is described in more detail.

[0149] FIG. 9 illustrates a method for an RSU to transmit road construction information and / or a method for a vehicle to transmit pothole information, according to one embodiment of the present disclosure. The embodiment of FIG. 9 may be combined with various embodiments of the present disclosure.

[0150] Referring to Fig. 9, a method for differentiating the intensity of a warning delivered to a driver according to the reliability value of data / information included in a road information message can be described.

[0151] For example, if it is assumed that the reliability value of the road construction (921) information transmitted by the RSU (911) on the road is measured / evaluated as high (0.9), and the reliability value of the pothole (922) information detected by vehicle B (912) is measured / evaluated as low (0.3), each receiver (vehicle A (931) and vehicle C (932)) can provide different methods and / or levels of warnings to the driver depending on the reliability value of the data / information. For example, a warning indicating a danger to vehicle C (932) that has received pothole (922) information (see the lower part of FIG. 9) having a low reliability value of the data / information can be displayed as a visual warning on the instrument panel cluster and / or display. On the other hand, for example, a warning informing vehicle A (931) of road construction (921) information ahead (see the upper part of Fig. 9) that has received a high confidence value of data / information may be a composite method based on the instrument panel cluster, display, voice warning, vibration, etc., and the level of warning (e.g., color, sound, vibration intensity, etc.) may be increased.

[0152] 4. For maneuver coordination messages (MCM, MSCM)

[0153] Hereinafter, with reference to FIG. 10, a differential operation method according to the trust value of data / information related to maneuver coordination messages (MCM, MSCM) is described in more detail.

[0154] FIG. 10 illustrates a method using a maneuver coordination message according to one embodiment of the present disclosure. The embodiment of FIG. 10 may be combined with various embodiments of the present disclosure.

[0155] Referring to FIG. 10, when using a maneuver coordination message (MCM, MSCM) for cooperative driving, that is, when a sender (e.g., a cooperative driving requester) requests maneuver coordination to a receiver, a method for adding an action to confirm the requested maneuver coordination information according to the trust value of the data / information received by the receiver can be described.

[0156] For example, when a sender (vehicle A (1011)) transmits a maneuver coordination message (MCM, MSCM) to request / hope for a lane change (for entering a road) in front of a receiver (vehicle B (1020)), the receiver (vehicle B (1020)) can verify or omit the request message with its own sensor based on the received message and the trust value of the sender, and / or request or omit verification from surrounding road users or infrastructure (1030). For example, if the trust value (e.g., 0.9) of the data / information transmitted by vehicle A (1011) is high, vehicle B (1020) can respond (e.g., accept or reject) to the maneuver coordination request without a confirmation action. For example, in Fig. 10, since vehicle A (1011) is driving ahead of vehicle B (1020), the request of vehicle A (1011) can be accepted when vehicle speed, etc. are taken into consideration. Conversely, for example, if the trust value (e.g., 0.3) of the data / information transmitted by vehicle A (1011) is low, the receiver (vehicle B (1020)) can add an action to confirm the maneuver coordination request (e.g., an action to confirm the current location of the vehicle that made the request). For example, when vehicle A (1011) transmits a maneuver coordination message, if it transmits a wrong position due to inaccuracy of the position sensor and / or intentionally, i.e., if it is actually located at vehicle A' (1012) in FIG. 10, but generates and transmits data / information as the position of vehicle A (1011), vehicle B (1020) can respond to the maneuver coordination message after directly or indirectly confirming the status of vehicle A (1011).

[0157] FIG. 11 illustrates a flow chart of a method for differentially performing services / applications / functions based on the trust value of data / information, according to one embodiment of the present disclosure. The embodiment of FIG. 11 may be combined with various embodiments of the present disclosure.

[0158] Referring to FIG. 11, in step S1110, the trust value of the sender and the data / information transmitted by the sender may be measured / evaluated based on at least one criterion. For example, the entity measuring / evaluating the trust value of the data / information may be the sender who transmitted the data / information (e.g., an information provider), the receiver of the data / information, or a third party other than the sender and the receiver. For example, the criterion for measuring / evaluating the trust value may be determined to be common to the sender and receiver of the data / information. Alternatively, for example, the criterion for measuring / evaluating the trust value may be determined based on a standardized evaluation method. For example, the criterion for measuring / evaluating the trust value may include the capability of the device that generated the data / information, the environment in which the data / information was generated, the capability of the device that transmitted the data / information, etc. In step S1120, the measured / evaluated trust value may be received. For example, if the entity evaluating the trust value of data / information is not the receiver of the data / information but the sender of the data / information or a third-party entity, the receiver can receive the measured / evaluated trust value for the data / information from the sender or the third-party entity. In step S1130, when operating a service / application / function that utilizes the data / information, the operation of one or more services / applications / functions can be differentially performed based on the trust value of the data / information. That is, for example, the receiver of the data / information can perform the operation of the service / application / function corresponding to the trust value based on the trust value related to the data / information that it has measured / evaluated (or, as in step S1120, the trust value measured / evaluated by the sender or a third-party entity).For example, when a service / application / function is set for each of a plurality of confidence intervals, the recipient of the data / information can determine a confidence interval among the plurality of confidence intervals in which the measured / evaluated confidence value of the data / information is included, and can perform the service / application / function set for the confidence interval in which the measured / evaluated confidence value of the data / information is included. In this case, for example, a service / application / function set for a confidence interval in which the measured / evaluated confidence value of the data / information is included may have a wider operable range than a service / application / function set for a confidence interval other than the confidence interval in which the measured / evaluated confidence value of the data / information is included, or the number of operations requiring re-verification of the data / information may be smaller.

[0159] According to various embodiments of the present disclosure, it is possible to measure / evaluate the trust value of data / information included in an exchanged message, set an operation for a service / application / function of a recipient of the corresponding information corresponding to the result value, and perform the service / application / function differently depending on the set trust value when V2X data / message is received. That is, in order to safely perform traffic safety functions through information exchange using V2X communication, it is possible to perform differential operations depending on the trust value of V2X data.

[0160] In addition, according to various embodiments of the present disclosure, in exchanging and utilizing V2X messages / information, by operating the service / application / function that uses the data / information received by the receiver step by step based on the measured / evaluated trust value, it is possible to prepare for the uncertainty of the data / information, prevent dangerous situations / factors that may arise from utilizing inaccurate information, ensure safety, and perform the service / application / function based on information with a high trust value, so that the function can operate smoothly and traffic flow can be improved. In particular, it can play a large role in implementing, for example, an autonomous driving function that operates depending on V2X data. In addition, for example, when utilizing V2X messages transmitted from products developed and produced by different manufacturers due to a lack of reliability of data / information between manufacturers, applying the method proposed in the present disclosure can ensure the safety of operating the function of the receiver and partially resolve the impediment to the spread of V2X services.

[0161] FIG. 12 illustrates a method for a first device to perform wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 12 may be combined with various embodiments of the present disclosure.

[0162] Referring to FIG. 12, in step S1210, the first device can obtain setting information related to a driving operation set for a plurality of reliability levels. In step S1220, the first device can receive information from the second device. In step S1230, the first device can obtain a reliability level related to the information. In step S1240, the first device can perform a first driving operation set for the first reliability level based on the reliability level related to the information being a first reliability level among the plurality of reliability levels. For example, the reliability level can be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

[0163] For example, based on the first reliability being higher than the second reliability among the plurality of reliability levels, the number of reconfirmation operations related to the first driving operation set for the first reliability level may be less than the number of reconfirmation operations related to the second driving operation set for the second reliability level.

[0164] For example, based on the first reliability being higher than the second reliability among the plurality of reliability levels, the operable range related to the first driving operation set for the first reliability level may be wider than the operable range related to the second driving operation set for the second reliability level.

[0165] For example, based on the first reliability being higher than the second reliability among the plurality of reliability levels, the intensity of a warning related to the first driving action set for the first reliability level may be stronger than the intensity of a warning related to the second driving action set for the second reliability level.

[0166] For example, based on the first reliability being higher than the second reliability among the plurality of reliability levels, the reaction time associated with the first driving action set for the first reliability level may be shorter than the reaction time associated with the second driving action set for the second reliability level.

[0167] For example, the long-term evaluation factor may include at least one of the following: a capability of a sensor associated with generating the information, a capability of a communication module associated with the second device, a level of a system associated with the first device, a level of a system associated with the second device, a safety integrity level-based development level of the first device or the second device, a level of error control associated with the second device, a level of encryption associated with the second device, and an evaluation of the second device associated with reputation or interaction data associated with the second device.

[0168] For example, the short-term evaluation factor may include at least one of the processing level of the information, the environment in which the sensor related to the generation of the information operates, the conditions for measurement of the sensor, the driving behavior expected based on the information, the continuity of the information, the consistency of the information, or the communication status between the first device and the second device.

[0169] For example, the reliability associated with the information generated by the second device may be obtained based on an evaluation of the second device based on at least one of the long-term evaluation factor or the short-term evaluation factor.

[0170] For example, the reliability associated with the information may be obtained based on an evaluation of the first device based on at least one of the long-term evaluation factor or the short-term evaluation factor.

[0171] For example, the reliability associated with the information may be obtained based on an evaluation by a third party based on at least one of the long-term evaluation factors or the short-term evaluation factors. For example, the third party may be at least one of a server, a roadside unit (RSU), or a certification authority.

[0172] For example, the information may be transmitted from the second device to the first device based on at least one of a status information message, a map and signal information message, a road information message, or a maneuver coordination message.

[0173] For example, based on the reliability associated with the information being included in the section associated with the first reliability, the first driving operation set for the first reliability may be performed. For example, based on the section associated with the second reliability among the plurality of reliability levels not overlapping with the section associated with the first reliability level, the first driving operation other than the second driving operation set for the second reliability level may be performed.

[0174] The above proposed method can be applied to devices according to various embodiments of the present disclosure. First, the processor (102) of the first device (100) can control the transceiver (106) to obtain setting information related to driving operations set according to multiple reliability levels.

[0175] And, the processor (102) of the first device (100) can control the transceiver (106) to receive information from the second device. And, the processor (102) of the first device (100) can control the transceiver (106) to obtain a reliability related to the information. And, the processor (102) of the first device (100) can perform a first driving operation set for the first reliability based on the reliability related to the information being a first reliability among the plurality of reliability levels. For example, the reliability level can be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

[0176] According to one embodiment of the present disclosure, a first device configured to perform wireless communication may be provided. For example, the first device may include at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the first device to: obtain setting information related to a driving operation set for a plurality of reliability levels; receive information from a second device; obtain a reliability level related to the information; and perform a first driving operation set for the first reliability level based on the reliability level related to the information being a first reliability level among the plurality of reliability levels. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

[0177] According to one embodiment of the present disclosure, a processing device configured to control a first device may be provided. For example, the processing device may include at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the first device to: obtain setting information related to a driving operation set for a plurality of reliability levels; receive information from a second device; obtain a reliability level related to the information; and perform a first driving operation set for the first reliability level based on the reliability level related to the information being a first reliability level among the plurality of reliability levels. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

[0178] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium having instructions recorded thereon may be provided. For example, the instructions, when executed, may cause a first device to: obtain setting information related to a driving operation set for a plurality of reliability levels; receive information from a second device; obtain a reliability level related to the information; and perform a first driving operation set for the first reliability level based on the reliability level related to the information being a first reliability level among the plurality of reliability levels. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

[0179] FIG. 13 illustrates a method for a second device to perform wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 13 may be combined with various embodiments of the present disclosure.

[0180] Referring to FIG. 13, in step S1310, the second device can obtain setting information related to a driving operation set for a plurality of reliability levels. In step S1320, the second device can generate first information. In step S1330, the second device can obtain a reliability level related to the first information. In step S1340, the second device can transmit the first information and second information related to the reliability level to the first device. For example, the reliability level can be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor. And, for example, based on the reliability level being a first reliability level among the plurality of reliability levels, a first driving operation set for the first reliability level can be performed.

[0181] The proposed method can be applied to devices according to various embodiments of the present disclosure. First, the processor (202) of the second device (200) can control the transceiver (206) to obtain setting information related to driving operations set according to a plurality of reliability levels. Then, the processor (202) of the second device (200) can generate first information. Then, the processor (202) of the second device (200) can control the transceiver (206) to obtain a reliability level related to the first information. Then, the processor (202) of the second device (200) can control the transceiver (206) to transmit the first information and second information related to the reliability level to the first device. For example, the reliability level can be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor. And, for example, based on the reliability being the first reliability among the plurality of reliability levels, the first driving operation set for the first reliability level can be performed.

[0182] According to one embodiment of the present disclosure, a second device configured to perform wireless communication may be provided. For example, the second device may include at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the second device to: obtain configuration information related to a driving operation set for a plurality of reliability levels; generate first information; obtain a reliability level related to the first information; and transmit the first information and second information related to the reliability level to the first device. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor. And, for example, based on the reliability level being a first reliability level among the plurality of reliability levels, a first driving operation set for the first reliability level may be performed.

[0183] According to one embodiment of the present disclosure, a processing device configured to control a second device may be provided. For example, the processing device may include at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the second device to: obtain setting information related to a driving operation set for a plurality of reliability levels; generate first information; obtain a reliability level related to the first information; and transmit the first information and second information related to the reliability level to the first device. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor. And, for example, based on the reliability level being a first reliability level among the plurality of reliability levels, a first driving operation set for the first reliability level may be performed.

[0184] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium storing commands may be provided. For example, the commands, when executed, may cause a second device to: obtain setting information related to a driving operation set for a plurality of reliability levels; generate first information; obtain a reliability level related to the first information; and transmit the first information and second information related to the reliability level to the first device. For example, the reliability level may be obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor. And, for example, based on the reliability level being a first reliability level among the plurality of reliability levels, a first driving operation set for the first reliability level may be performed.

[0185] The various embodiments of the present disclosure may be combined with each other.

[0186] Below, a description is given of devices to which various embodiments of the present disclosure can be applied.

[0187] Although not limited thereto, the various descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed in this document may be applied to various fields requiring wireless communication / connectivity (e.g., 5G) between devices.

[0188] 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.

[0189] FIG. 14 illustrates a communication system (1) according to one embodiment of the present disclosure. The embodiment of FIG. 14 can be combined with various embodiments of the present disclosure.

[0190] Referring to FIG. 14, a communication system (1) to which various embodiments of the present disclosure are applied 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) and / or an Aerial Vehicle (AV) (e.g., an Advanced Air Mobility (AAM)). The XR device may include an Augmented Reality (AR) / Virtual Reality (VR) / Mixed Reality (MR) device, and may be implemented in the form of a Head-Mounted Device (HMD), a Head-Up Display (HUD) equipped in a vehicle, a television, a smartphone, a computer, a wearable device, a home appliance, a digital signage, a vehicle, a robot, etc. The portable device may include a smartphone, a smart pad, a wearable device (e.g., a smart watch, smart glasses), a computer (e.g., a laptop, etc.), etc. The home appliance may include a TV, a refrigerator, a washing machine, etc. The IoT device may include a sensor, a smart meter, etc. For example, a base station and a network may also be implemented as a wireless device, and a specific wireless device (200a) may operate as a base station / network node to other wireless devices.

[0191] Here, the wireless communication technology implemented in the wireless devices (100a to 100f) 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 devices (100a to 100f) 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 devices (100a to 100f) 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 personal area networks (PAN) related to small / low-power digital communication based on various standards such as IEEE 802.15.4, and can be called by various names.

[0192] 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).

[0193] 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.

[0194] FIG. 15 illustrates a wireless device according to an embodiment of the present disclosure. The embodiment of FIG. 15 may be combined with various embodiments of the present disclosure.

[0195] Referring to FIG. 15, the first wireless device (100) and the second wireless device (200) can transmit and receive wireless signals via 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. 14.

[0196] 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). Furthermore, 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 / chip designed to implement a 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 the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0197] A 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). In addition, 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 the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0198] 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.

[0199] 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.

[0200] 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.

[0201] 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.

[0202] FIG. 16 illustrates a signal processing circuit for a transmission signal according to an embodiment of the present disclosure. The embodiment of FIG. 16 can be combined with various embodiments of the present disclosure.

[0203] Referring to FIG. 16, the signal processing circuit (1000) may include a scrambler (1010), a modulator (1020), a layer mapper (1030), a precoder (1040), a resource mapper (1050), and a signal generator (1060). Although not limited thereto, the operations / functions of FIG. 16 may be performed in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 15. The hardware elements of FIG. 16 may be implemented in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 15. For example, blocks 1010 to 1060 may be implemented in the processor (102, 202) of FIG. 15. Additionally, blocks 1010 to 1050 may be implemented in the processor (102, 202) of FIG. 15, and block 1060 may be implemented in the transceiver (106, 206) of FIG. 15.

[0204] The codeword can be converted into a wireless signal through the signal processing circuit (1000) of FIG. 16. Here, the codeword is an encoded bit sequence of an information block. The information block can include a transport block (e.g., an UL-SCH transport block, a DL-SCH transport block). The wireless signal can be transmitted through various physical channels (e.g., a PUSCH or a PDSCH).

[0205] Specifically, the codeword can be converted into a bit sequence scrambled by a scrambler (1010). The scramble sequence used for scrambling is generated based on an initialization value, and the initialization value may include ID information of the wireless device, etc. The scrambled bit sequence can be modulated into a modulation symbol sequence by a modulator (1020). The modulation method may include pi / 2-BPSK (pi / 2-Binary Phase Shift Keying), m-PSK (m-Phase Shift Keying), m-QAM (m-Quadrature Amplitude Modulation), etc. The complex modulation symbol sequence can be mapped to one or more transmission layers by a layer mapper (1030). The modulation symbols of each transmission layer can be mapped to the corresponding antenna port(s) by a precoder (1040) (precoding). The output z of the precoder (1040) can be obtained by multiplying the output y of the layer mapper (1030) by a precoding matrix W of N*M. Here, N is the number of antenna ports, and M is the number of transmission layers. Here, the precoder (1040) can perform precoding after performing transform precoding (e.g., DFT transform) on complex modulation symbols. In addition, the precoder (1040) can perform precoding without performing transform precoding.

[0206] The resource mapper (1050) can map modulation symbols of each antenna port to time-frequency resources. The time-frequency resources can include multiple symbols (e.g., CP-OFDMA symbols, DFT-s-OFDMA symbols) in the time domain and multiple subcarriers in the frequency domain. The signal generator (1060) generates a wireless signal from the mapped modulation symbols, and the generated wireless signal can be transmitted to another device through each antenna. To this end, the signal generator (1060) can include an Inverse Fast Fourier Transform (IFFT) module, a Cyclic Prefix (CP) inserter, a Digital-to-Analog Converter (DAC), a frequency uplink converter, etc.

[0207] The signal processing process for receiving signals in a wireless device can be configured in reverse order of the signal processing process (1010 to 1060) of FIG. 16. For example, a wireless device (e.g., 100, 200 of FIG. 15) can receive wireless signals from the outside through an antenna port / transceiver. The received wireless signals can be converted into baseband signals through a signal restorer. For this purpose, the signal restorer can include a frequency downlink converter, an analog-to-digital converter (ADC), a CP remover, and a fast Fourier transform (FFT) module. Thereafter, the baseband signal can be restored to a codeword through a resource demapper process, a postcoding process, a demodulation process, and a descrambling process. The codewords can be restored to the original information blocks through decoding. Accordingly, a signal processing circuit (not shown) for a received signal may include a signal restorer, a resource de-mapper, a postcoder, a demodulator, a de-scrambler, and a decoder.

[0208] Figure 17 illustrates a wireless device according to an embodiment of the present disclosure. The wireless device may be implemented in various forms depending on the use case / service (see Figure 14). The embodiment of Figure 17 may be combined with various embodiments of the present disclosure.

[0209] Referring to FIG. 17, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 15 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. 15. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 15. 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).

[0210] 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. 14, 100a), a vehicle (Fig. 14, 100b-1, 100b-2), an XR device (Fig. 14, 100c), a portable device (Fig. 14, 100d), a home appliance (Fig. 14, 100e), an IoT device (Fig. 14, 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. 14, 400), a base station (Fig. 14, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0211] In FIG. 17, various elements, components, units / parts, and / or modules within the wireless device (100, 200) may be interconnected entirely 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 the first unit (e.g., 130, 140) may be wirelessly connected via the communication unit (110). In addition, each element, component, unit / part, and / or module within the wireless device (100, 200) may further include one or more elements. For example, the control unit (120) may be composed of one or more processor sets. For example, the control unit (120) may be composed of a set of a communication control processor, an application processor, an electronic control unit (ECU), a graphics processing processor, a memory control processor, etc. As another example, the memory unit (130) may be composed of a random access memory (RAM), a dynamic RAM (DRAM), a read only memory (ROM), a flash memory, a volatile memory, a non-volatile memory, and / or a combination thereof.

[0212] Below, the implementation example of Fig. 17 is described in more detail with reference to the drawings.

[0213] FIG. 18 illustrates a mobile device according to an embodiment of the present disclosure. The mobile device may include a smartphone, a smart pad, a wearable device (e.g., a smartwatch, smartglasses), or a portable computer (e.g., a laptop, etc.). The mobile device may be referred to as a Mobile Station (MS), a User Terminal (UT), a Mobile Subscriber Station (MSS), a Subscriber Station (SS), an Advanced Mobile Station (AMS), or a Wireless Terminal (WT). The embodiment of FIG. 18 may be combined with various embodiments of the present disclosure.

[0214] Referring to FIG. 18, the portable device (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a memory unit (130), a power supply unit (140a), an interface unit (140b), and an input / output unit (140c). The antenna unit (108) may be configured as a part of the communication unit (110). Blocks 110 to 130 / 140a to 140c correspond to blocks 110 to 130 / 140 of FIG. 17, respectively.

[0215] The communication unit (110) can transmit and receive signals (e.g., data, control signals, etc.) with other wireless devices and base stations. The control unit (120) can control components of the mobile device (100) to perform various operations. The control unit (120) can include an AP (Application Processor). The memory unit (130) can store data / parameters / programs / codes / commands required for operating the mobile device (100). In addition, the memory unit (130) can store input / output data / information, etc. The power supply unit (140a) supplies power to the mobile device (100) and can include a wired / wireless charging circuit, a battery, etc. The interface unit (140b) can support connection between the mobile device (100) and other external devices. The interface unit (140b) can include various ports (e.g., audio input / output ports, video input / output ports) for connection with external devices. The input / output unit (140c) can input or output video information / signals, audio information / signals, data, and / or information input from a user. The input / output unit (140c) may include a camera, a microphone, a user input unit, a display unit (140d), a speaker, and / or a haptic module.

[0216] For example, in the case of data communication, the input / output unit (140c) obtains information / signals (e.g., touch, text, voice, image, video) input by the user, and the obtained information / signals can be stored in the memory unit (130). The communication unit (110) converts the information / signals stored in the memory into wireless signals, and can directly transmit the converted wireless signals to other wireless devices or to a base station. In addition, the communication unit (110) can receive wireless signals from other wireless devices or base stations, and then restore the received wireless signals to the original information / signals. The restored information / signals can be stored in the memory unit (130) and then output in various forms (e.g., text, voice, image, video, haptic) through the input / output unit (140c).

[0217] FIG. 19 illustrates a vehicle or autonomous vehicle according to one embodiment of the present disclosure. 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, or the like. The embodiment of FIG. 19 may be combined with various embodiments of the present disclosure.

[0218] Referring to FIG. 19, 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. 17, respectively.

[0219] 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.

[0220] 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.

[0221] The claims set forth in this specification may be combined in various ways. For example, the technical features of the method claims of this specification may be combined and implemented as a device, and the technical features of the device claims of this specification may be combined and implemented as a method. Furthermore, the technical features of the method claims and the technical features of the device claims of this specification may be combined and implemented as a device, and the technical features of the method claims and the technical features of the device claims of this specification may be combined and implemented as a method.

Claims

1. In a method for performing wireless communication by a first device, A step of acquiring setting information related to driving actions set by multiple reliability levels; A step of receiving information from a second device; A step of obtaining reliability related to the above information; and A step of performing a first driving operation set for the first reliability based on the reliability related to the above information being the first reliability among the plurality of reliability; including; A method wherein the above reliability is obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

2. In paragraph 1, A method wherein, based on the first reliability among the plurality of reliabilities being higher than the second reliability, the number of reconfirmation actions related to the first driving action set for the first reliability is less than the number of reconfirmation actions related to the second driving action set for the second reliability.

3. In paragraph 1, A method wherein, based on the first reliability among the plurality of reliability levels being higher than the second reliability level, the operable range related to the first driving operation set for the first reliability level is wider than the operable range related to the second driving operation set for the second reliability level.

4. In paragraph 1, A method wherein, based on the first reliability being higher than the second reliability among the plurality of reliability levels, the intensity of a warning related to the first driving action set for the first reliability level is stronger than the intensity of a warning related to the second driving action set for the second reliability level.

5. In paragraph 1, A method wherein, based on the first reliability among the plurality of reliability levels being higher than the second reliability level, a reaction time related to the first driving action set for the first reliability level is shorter than a reaction time related to the second driving action set for the second reliability level.

6. In paragraph 1, A method according to claim 1, wherein the long-term evaluation factors include at least one of: a capability of a sensor associated with generating the information, a capability of a communication module associated with the second device, a level of a system associated with the first device, a level of a system associated with the second device, a safety integrity level-based development level of the first device or the second device, a level of error control associated with the second device, a level of encryption associated with the second device, and an evaluation of the second device associated with reputation or interaction data associated with the second device.

7. In paragraph 1, A method according to claim 1, wherein the short-term evaluation factors include at least one of the processing level of the information, the environment in which the sensor related to the generation of the information operates, the conditions for measurement of the sensor, the expected driving operation based on the information, the continuity of the information, the consistency of the information, or the communication status between the first device and the second device.

8. In paragraph 1, A method wherein the reliability associated with the information generated by the second device is obtained based on an evaluation of the second device based on at least one of the long-term evaluation factors or the short-term evaluation factors.

9. In paragraph 1, A method wherein said reliability associated with said information is obtained based on an evaluation of said first device based on at least one of said long-term evaluation factor or said short-term evaluation factor.

10. In paragraph 1, The reliability associated with the above information is obtained based on an evaluation by a third party device based on at least one of the long-term evaluation factors or the short-term evaluation factors, and A method wherein the third device is at least one of a server, a road side unit (RSU), or an authentication authority.

11. In paragraph 1, A method wherein said information is transmitted from said second device to said first device based on at least one of a status information message, a map and signal information message, a road information message or a maneuver coordination message.

12. In paragraph 1, A method in which the first driving operation set for the first reliability is performed based on the reliability related to the above information being included in an interval related to the first reliability.

13. In paragraph 12, A method in which a first driving operation other than a second driving operation set for the second reliability is performed based on the fact that an interval related to a second reliability among the plurality of reliability levels does not overlap with an interval related to the first reliability level.

14. In a first device configured to perform wireless communication, At least one transceiver; at least one processor; and At least one memory coupled to said at least one processor and storing instructions, said instructions being executed by said at least one processor to cause said first device to: Obtain setting information related to driving behavior set by multiple reliability levels; to receive information from a second device; To obtain reliability related to the above information; and Based on the reliability related to the above information being the first reliability among the plurality of reliability levels, the first driving operation set for the first reliability level is performed, A first device, wherein the above reliability is obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

15. In a processing device set to control the first device, at least one processor; and At least one memory coupled to said at least one processor and storing instructions, said instructions being executed by said at least one processor to cause said first device to: Obtain setting information related to driving behavior set by multiple reliability levels; to receive information from a second device; To obtain reliability related to the above information; and Based on the reliability related to the above information being the first reliability among the plurality of reliability levels, the first driving operation set for the first reliability level is performed, A processing device, wherein the reliability is obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

16. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the first device to: Obtain setting information related to driving behavior set by multiple reliability levels; to receive information from a second device; To obtain reliability related to the above information; and Based on the reliability related to the above information being the first reliability among the plurality of reliability levels, the first driving operation set for the first reliability level is performed, A non-transitory computer-readable storage medium, wherein the reliability is obtained based on at least one of a long-term evaluation factor or a short-term evaluation factor.

17. In a method for performing wireless communication by a second device, A step of acquiring setting information related to driving actions set by multiple reliability levels; Step 1: Generating information; A step of obtaining reliability related to the above first information; and A step of transmitting the first information and the second information related to the reliability to the first device; Including, The above reliability is obtained based on at least one of the long-term evaluation factors or the short-term evaluation factors, and A method in which a first driving operation set for the first reliability is performed based on the above reliability being a first reliability among the plurality of reliability levels.

18. In a second device configured to perform wireless communication, At least one transceiver; at least one processor; and At least one memory coupled to said at least one processor and storing instructions, said instructions causing said second device to: Obtain setting information related to driving behavior set by multiple reliability levels; Let the first information be generated; To obtain reliability related to the above first information; and Transmit the first information and the second information related to the reliability to the first device, The above reliability is obtained based on at least one of the long-term evaluation factors or the short-term evaluation factors, and A second device, wherein a first driving operation set for the first reliability is performed based on the above reliability being a first reliability among the plurality of reliability levels.

19. In a processing device set to control a second device, at least one processor; and At least one memory coupled to said at least one processor and storing instructions, said instructions causing said second device to: Obtain setting information related to driving behavior set by multiple reliability levels; Let the first information be generated; To obtain reliability related to the above first information; and Transmit the first information and the second information related to the reliability to the first device, The above reliability is obtained based on at least one of the long-term evaluation factors or the short-term evaluation factors, and A processing device in which a first driving operation set for the first reliability is performed based on the above reliability being a first reliability among the plurality of reliability levels.

20. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the second device to: Obtain setting information related to driving behavior set by multiple reliability levels; Let the first information be generated; To obtain reliability related to the above first information; and Transmit the first information and the second information related to the reliability to the first device, The above reliability is obtained based on at least one of the long-term evaluation factors or the short-term evaluation factors, and A non-transitory computer-readable storage medium, wherein a first driving operation set for the first reliability is performed based on the above reliability being a first reliability among the plurality of reliability levels.

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