Method and device for setting priority of message transmitter based on tracking and transmission persistence

Abstract

Provided are a method for a first device to perform wireless communication and a device for supporting same. The method may comprise the steps of: sensing an object; acquiring a first transmission persistence level (TPL) value related to the object; receiving, from a second device, a first message including a second TPL value related to the object; and determining, on the basis of the first TPL value and the second TPL value, whether to transmit a second message including information related to the object.

Description

Method and device for setting the priority of a message sender based on tracking and transmission persistence

[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 of performing wireless communication by a first device is provided. The method may include: detecting an object; obtaining a first transmission persistence level (TPL) value associated with the object; receiving a first message from a second device, the first message including a second TPL value associated with the object; and determining, based on the first TPL value and the second TPL value, whether to transmit a second message including information associated with the object.

[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 coupled 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: detect an object; obtain a first transmission persistence level (TPL) value associated with the object; receive a first message from a second device, the first message including a second TPL value associated with the object; and determine, based on the first TPL value and the second TPL value, whether to transmit a second message including information associated with the object.

[0007] In one embodiment, a processing device is provided that is configured to control a first device. The processing device comprises at least one processor; and at least one memory coupled 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: detect an object; obtain a first transmission persistence level (TPL) value associated with the object; receive a first message from a second device, the first message including a second TPL value associated with the object; and determine, based on the first TPL value and the second TPL value, whether to transmit a second message including information associated with the object.

[0008] In one embodiment, a non-transitory computer-readable storage medium having instructions recorded thereon is provided. The instructions, when executed, cause a first device to: detect an object; obtain a first transmission persistence level (TPL) value associated with the object; receive, from a second device, a first message comprising a second TPL value associated with the object; and determine, based on the first TPL value and the second TPL value, whether to transmit a second message comprising information associated with the object.

[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] Figure 3 shows an example where infrastructure equipment at an intersection detects unconnected road users and transmits the information to connected road users.

[0012] Figure 4 illustrates a method for transmitting proxy messages from multiple connected vehicles that have detected a conventional single unconnected vehicle.

[0013] FIG. 5 illustrates a method for a single transmitter to transmit a proxy message upon detecting an unconnected vehicle at a road merging point, according to one embodiment of the present disclosure.

[0014] FIG. 6 illustrates a method for selecting a single transmitter from among multiple transmitters that detect an unconnected vehicle at a road merging point, according to one embodiment of the present disclosure.

[0015] FIG. 7 illustrates a method for detecting road construction information and transmitting it to surrounding road users according to one embodiment of the present disclosure.

[0016] FIG. 8 illustrates a method for transmitting road construction information to surrounding road users using multiple hops, according to one embodiment of the present disclosure.

[0017] FIG. 9 illustrates a flow chart for determining a TPL-based transmission priority to prevent duplicate transmissions according to one embodiment of the present disclosure.

[0018] FIG. 10 illustrates a method for preventing duplicate transmission of a proxy message based on a TPL according to one embodiment of the present disclosure.

[0019] FIG. 11 illustrates a method for a first device to perform wireless communication according to one embodiment of the present disclosure.

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

[0021] FIG. 13 illustrates a communication system (1) according to one embodiment of the present disclosure.

[0022] FIG. 14 illustrates a wireless device according to an embodiment of the present disclosure.

[0023] FIG. 15 illustrates a signal processing circuit for a transmission signal according to one embodiment of the present disclosure.

[0024] FIG. 16 illustrates a wireless device according to one embodiment of the present disclosure.

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

[0026] FIG. 18 illustrates a vehicle or autonomous vehicle according to one embodiment of the present disclosure.

[0027] 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."

[0028] 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."

[0029] 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".

[0030] 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.”

[0031] 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."

[0032] In the following explanation, ‘when, if, in case of’ can be replaced with ‘based on’.

[0033] Technical features individually described in a single drawing in this specification may be implemented individually or simultaneously.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] New network characteristics in 6G may include:

[0040] - Satellite integrated network

[0041] - 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).

[0042] - Seamless integration of wireless information and energy transfer

[0043] - 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.

[0044] Some general requirements for the new network characteristics of 6G, such as the above, may be as follows:

[0045] - small cell networks

[0046] - Ultra-dense heterogeneous network

[0047] - High-capacity backhaul

[0048] - 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.

[0049] - Softwarization and virtualization

[0050] Below, the core implementation technologies of the 6G system are described.

[0051] - 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.

[0052] - 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.

[0053] - Large-scale MIMO technology

[0054] - Hologram beamforming (HBF)

[0055] - Optical wireless technology

[0056] - Free-space optical transmission backhaul network (FSO backhaul network)

[0057] - Quantum communication

[0058] - Cell-free communication

[0059] - Integration of wireless information and power transmission

[0060] - Integration of wireless communication and sensing

[0061] - Integrated access and backhaul network

[0062] - Big data analysis

[0063] - Reconfigurable intelligent surface

[0064] - metaverse

[0065] - Block chain

[0066] 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.

[0067] - Advanced air mobility (AAM): AAM is a higher concept than urban air mobility (UAM), which is an air transportation method available in urban areas, and can refer to a means of transportation that includes movement between regional hubs as well as urban areas.

[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] Meanwhile, although infrastructure (e.g., road side units (RSUs), servers, etc.) and road users (e.g., vehicles, pedestrians, etc.) capable of V2X communication are gradually appearing, we are still in the early stages of V2X diffusion, and it seems that it will take a long time to establish a cooperative-intelligent transportation system (C-ITS) environment consisting of fully connected (or equipped) road users and infrastructure. Until then, V2X services will be provided and used in a mixed environment of connected road users, infrastructure, and unconnected (or unequipped) road users and infrastructure without V2X communication capabilities. To this end, solutions that recognize unconnected road users existing between connected infrastructure and road users and integrate them into V2X services are currently under development.

[0070] Figure 3 shows an example where infrastructure equipment at an intersection detects unconnected road users and transmits the information to connected road users.

[0071] For example, as shown in FIG. 3, when there are connected RSUs and road users (VRUs (vulnerable road users) #2, VRU#3, vehicles #2, vehicle #3) at an intersection, and there is also an unconnected road user (VRU#1, vehicle #1), the RSUs can detect the unconnected road users (VRU#2, VRU#3, vehicles #2, vehicle #3) and provide their status information to the connected road users (VRU#2, VRU#3, vehicles #2, vehicle #3). In addition, for example, the connected road users can also detect the unconnected road users by utilizing installed sensors and transmit proxy messages. Representative examples thereof include services and messages (e.g., SDSM (sensor data sharing message)) and CPM (collective perception message)) that integrate objects detected by sensors into a single message and transmit them. In addition, for example, there may be a message (e.g., SBSM (surrogate basic safety message)) that is currently being standardized by SAE and generates and transmits a status message of a single unconnected road user as a surrogate / proxy. For example, the above-described service and message can be expressed as a surrogate message, and such a message (surrogate message) can mean that a terminal with communication capabilities (e.g., vehicle / VRU / RSU / server, etc.) generates and transmits a status message (e.g., cooperative awareness message (CAM), basic safety message (BSM), VRU awareness message (VAM), personal safety message (PSM)) of a road user who does not have V2X communication equipment (unequipped), is not connected (unconnected), or has V2X communication capabilities but cannot currently send its own status message (deactivated / unavailable).

[0072] For example, in the SBSM standard document (SAE J2945 / 8), which is currently being standardized, a single vehicle can generate and transmit the basic safety message (BSM) of a single unconnected road user on its behalf. In this case, when multiple connected road users detect a single unconnected road user, the standard document includes rules to prevent duplicate transmission of information messages for the same detected road user. For example, as a way to limit duplicate transmission of a proxy status message (e.g. SBSM) as written in the current document, if an identical or identical object (within a diameter of 1.5 m) detected by multiple connected vehicles (e.g. device A, device B, etc.) is a connected road user and transmits its own status message (e.g. BSM), or if an unconnected road user is detected and a connected road user (e.g. device A) transmits a message containing information about itself (e.g. SBSM) and this is received by another connected road user (e.g. device B), the connected road user (e.g. device B) may hold and / or stop transmission for a certain period of time (e.g. 5 seconds in the case of J2945 / 8) even if it detects the same unconnected road user. For example, this way, a connected infrastructure or road user that was previously transmitting a proxy message may have priority in transmitting the message.

[0073] Meanwhile, the standard document related to SBSM currently states the above-mentioned content as follows:

[0074] - Limiting SBSM duplicate transmission

[0075] When the HV (host vehicle) receives an SBSM indicating an object within a diameter of 1.5 m of the vehicle's location detected by the HV, the HV may do the following:

[0076] For example, the transmission of the SBSM for a detected vehicle could be delayed for 5 seconds. For example, a 5-second timer could be reset each time an SBSM on behalf of a detected vehicle is received.

[0077] For example, transmission of SBSMs on behalf of a detected vehicle can be immediately suspended for 5 seconds. For example, a 5-second timer can be reset each time an SBSM on behalf of a detected vehicle is received.

[0078] Meanwhile, in the conventional message transmission method described above, when multiple transmitters detect / recognize / analyze the same object or information and transmit it to surrounding terminals, transmission priority may be given to the transmitter that recently transmitted the information in order to prevent duplicate transmission of the same information. This is the simplest method for preventing duplicate transmission, but it may not take into account the individual situations and capabilities of the transmitter candidates who can transmit the same information. For example, when multiple connected road users (e.g., transmission candidates) detect an unconnected road user and determine a single transmitter to prevent duplicate transmission of a proxy message (e.g., CPM, SDSM, SBSM, etc.) containing the unconnected road user's information, if a transmitter has already transmitted the proxy message of the unconnected road user to the surroundings, that is, if the transmission candidate has received the message, the terminal that has already transmitted the proxy message has transmission priority for the proxy message of the unconnected road user and can continuously transmit the proxy message, and other transmission candidates cannot transmit. In this case, for example, there may be limitations in providing status information of unconnected road users to connected road users due to failure to consider the relationship between unconnected road users and transmission candidates and / or the circumstances, capabilities, etc. of all transmission candidates.

[0079] Figure 4 illustrates a method for transmitting proxy messages from multiple connected vehicles that have detected a conventional single unconnected vehicle.

[0080] For example, as shown in FIG. 4, when two connected vehicles (HV (host vehicle) A (420), HV (host vehicle) B (430)) detect one unconnected vehicle (410) and HV A (420) is already transmitting a proxy message (e.g., SBSM) (440) containing information of the unconnected vehicle, HV B (430) must hold or stop transmitting the proxy message of the unconnected vehicle for 5 seconds according to a conventional transmission method. However, for example, when considering the relationship and situation (e.g., location, relative speed, angle, or driving lane, etc.) between an unconnected vehicle and a connected vehicle capable of transmitting status information of the unconnected vehicle, HV B (430), which is driving in the same lane and in the same direction as the unconnected vehicle, can detect information related to the unconnected vehicle (410) more effectively than HV A (420), which has already transmitted a proxy message (440) of the unconnected vehicle and has priority, and can generate and transmit a proxy message for a longer period of time. For example, if HV A (420) passes the unconnected vehicle (410) after 1 second and can no longer detect the unconnected vehicle and generate and transmit a proxy message, HV B (430) cannot transmit for 5 seconds using the current method, and thus information about the unconnected vehicle (410) may not be provided to other connected road users for 4 seconds. That is, for example, gaps in the sharing of information related to unconnected vehicles may occur, and other connected road users may have difficulty recognizing unconnected vehicles, which could pose a threat to traffic safety.

[0081] Additionally, for example, information propagation can be expanded through multi-hop and / or relay transmission. A potential problem in this case is that when a single information source undergoes multiple hops and / or relay transmissions, the same terminal may receive duplicate information from multiple relay terminals after several hops / relay transmissions via multiple relays. This can also lead to excessive consumption of wireless communication resources.

[0082] In the present disclosure, when multiple senders can transmit the same information, a method for selecting a single or specific sender to avoid duplicate transmissions is proposed, in which transmission priorities are set by considering the status and environment of the candidates for transmission, including the correlation between the information to be transmitted and the candidates for transmission, and a device supporting the method. For example, the same information may refer to the source / source of information, such as information obtained from the same source, information in the same context, or information detecting the same object. In addition, the priority of the message sender may be set based on, for example, the sensing / recognition / analysis capabilities, communication / transmission capabilities, or tracking and transmission persistence capabilities of the candidates for transmission related to the information to be transmitted. In addition, for example, when multiple connected infrastructures or road users detect a proxy message of an unconnected road user and want to transmit the information of the unconnected road user to nearby connected road users, the sender may be selected by calculating the tracking and transmission persistence capabilities of multiple candidates for transmission in a transmission method that avoids duplicate transmissions. For example, the tracking and transmission persistence may be expressed in quantitative figures and may be calculated differently for each transmitter, taking into account the relationship and / or circumstances of the transmitter and the unconnected road user.

[0083] In the present disclosure, when multiple transmitters can transmit / forward the same information source (e.g., object, event, information, etc.), a method of selecting a single and / or specific transmitter / forwarder to avoid duplicate transmissions is proposed, as follows: a method of setting a transmission priority by considering the status and environment of the transmitter candidates, including the correlation between the source of the information to be transmitted and the transmitter candidates. In this case, for example, the source of the information may include information obtained by a sensor (e.g., information of an unconnected object and / or an object that has not transmitted an information message on its own) or information about a road event (e.g., road construction information, accident information, traffic congestion information, or weather information). In addition, for example, the transmitter may be a generator and / or transmitter of the information (e.g., a terminal that receives information from another source and transmits it). The element defining the relationship between the source of the information and the transmitter / forwarder candidates proposed in the present disclosure may set a priority of the message transmitter based on at least one of the following elements: the sensing / recognition / analysis capability of the information to be transmitted, the communication and information transmission capability, or the tracking and transmission continuity capability. For example, there may be sensor performance, sensor data processing capability, communication performance (e.g., communication signal strength), distance to the source of information, relative speed, direction of movement, detection direction, tracking time, transmission duration, etc.

[0084] For example, when considering a service that shares information on objects / road users detected by sensors, wireless communication resources can be saved by preventing duplicate transmission of the same information by selecting a single or specific transmitter among multiple transmission candidates that detected the same object. For example, in selecting a single or specific transmitter, a quantitative numerical value / specific value (e.g., transmission persistence level / value) for setting priorities can be calculated and exchanged as a criterion for comparison. For example, when multiple connected road users or infrastructures (e.g., servers / RSUs) detect information on unconnected road users detected by sensors and want to transmit / provide the information on the unconnected road users to surrounding connected road users, in a transmission method that avoids duplicate transmission, a single transmitter can be selected by calculating and comparing specific values ​​of multiple transmission candidates that take into account the relationship and situation (e.g., tracking and transmission persistence) between the transmission candidate and the unconnected road user (e.g., source of information). For example, the distance between the detected unconnected road user and each transmission candidate, the relative speed, the difference in the direction of travel, the difference between the direction of travel and the direction of sensor detection (e.g., the difference in the driving lane), the message transmission history for the same object (e.g., the number of transmissions), the type of the transmission candidate (e.g., (RSU, vehicle, bicycle, pedestrian) can be utilized as a specific value for setting priorities. For example, a specific value for setting priorities can be included in a proxy message of an unconnected road user and transmitted to the surrounding connected infrastructure and / or road users. Other transmission candidates who receive this can compare it with their own specific value to determine whether to transmit. For example, if a connected vehicle detects an object with a sensor and does not receive a message containing information about the detected object, it can transmit the object information along with a specific value for setting its own priority.For example, referring to FIG. 4 described above, when a connected road user (HV A (420) of FIG. 4) is transmitting a message (e.g., SBSM) (a proxy message (440) transmitted from HV A of FIG. 4) containing information of an unconnected road user (an unconnected vehicle (410) of FIG. 4) and a specific value, another connected road user (HV B (430) of FIG. 4) that has detected the same unconnected road user (an unconnected vehicle (410) of FIG. 4) can compare the specific value of the transmitter (HV A (420) of FIG. 4) with the specific value of itself (HV B (430) of FIG. 4) before transmitting the proxy message of the unconnected road user to determine whether to transmit. For example, if a specific value of itself (HV B (430) of FIG. 4) is higher (or lower) than a specific value of the transmitter (HV A (420) of FIG. 4), the transmission can be stopped, and conversely, if it is lower (or higher) than a specific value of the transmitter (HV A (420) of FIG. 4), the transmission can be proceeded. For example, a specific value for setting the priority of a transmission candidate (x) can be calculated as follows. For example, the specific value can be interpreted as being replaced with a transmission persistence level (TPL), and a function for calculating the TPL of the transmission candidate (x) can be as shown in Function Equation 1 below.

[0085] [Function formula 1]

[0086] TPL = a × distance + b × relative velocity + c × heading difference + d × angle between heading and direction of detection + e / (message counter + 1) + f × type of transmission candidate

[0087] For example, a, b, c, d, e, and f in the above function equation 1 are coefficients that can be set in various ways for each service or message. In addition, for example, the distance may refer to the distance between the source of information and the transmission candidate, the relative velocity may refer to the relative velocity between the source of information and the transmission candidate, and the heading difference may refer to the difference between the moving direction of the source of information and the moving direction of the transmission candidate. For example, among multiple transmission candidates, if one is close to the detected object and is moving in the same direction at a similar speed, it may be selected as a single transmitter with a high priority. For example, the angle between the heading and direction of detection may refer to the difference between the direction in which the transmission candidate senses / looks at the source of information and the heading. For example, if the source of information is an unconnected vehicle, this value may be calculated as low if the transmitting candidate is driving in the same driving lane and / or driving path, or this value may be calculated as high if the transmitting candidate is driving in a different lane and / or driving path (e.g., the unconnected vehicle turns left, the transmitting candidate turns right). For example, the message counter may mean the number of transmissions (e.g., MSGCount) of messages to consider the previous transmission history of messages for the source of information. That is, for example, among transmitting candidates in a similar environment, a transmitting candidate with a previous transmission history may continuously transmit information. For example, the type of transmission candidate may mean the type of the transmitting candidate, and the type of the transmitting candidate is a factor that can consider the characteristics of the transmitter, and a specific value may be set for each type.For example, if there is an infrastructure (e.g., a server / RSU) with superior sensor performance, communication capability, etc. as a transmission candidate, a bonus point can be given to a specific value for setting the transmission priority. For example, by setting the value of '1' for the infrastructure, '5' for the vehicle, and '9' for the pedestrian, the infrastructure (e.g., the server / RSU) can be given a higher transmission priority (with a lower value) than the vehicle or pedestrian. In addition, for example, the vehicle can be given a higher transmission priority (with a lower value) than the pedestrian. For example, the selection of a single transmitter among multiple transmission candidates for a single object detected by the above-described sensor is one example, and the contents proposed in the present disclosure can be applied when duplicate transmissions among other V2X services need to be limited or controlled, or when a single or specific transmitter needs to be selected. For example, multi-hop or relaying can be utilized among V2X services to spread information or expand communication range. In this case, for example, duplicate transmission of the same information may occur while passing through multiple relay terminals. In this case, for example, priority setting can be performed to select a single or specific transmitter / transmitter from among multiple transmitter / relay candidates by considering the relationship, situation, etc. of the source of the information proposed in the present disclosure and the transmitter / transmitter candidates.

[0088] The method proposed in the present disclosure can be performed as in the embodiment(s) described below together with the SBSM duplicate transmission limiting method of the surrogate V2V (vehicle-to-vehicle) safety communications service among the contents of the SAE standard (J2945 / 8) which is in the process of standardization.

[0089] FIG. 5 illustrates a method for a single transmitter to transmit a proxy message upon detecting an unconnected vehicle at a road merging point, according to one embodiment of the present disclosure. The embodiment of FIG. 5 may be combined with various embodiments of the present disclosure.

[0090] Referring to FIG. 5, when a connected vehicle (HV A) (520) that detects an unconnected vehicle (510) attempts to transmit a message (e.g., SBSM) (521) containing information (e.g., location, speed, direction, etc.) of the unconnected vehicle, the connected vehicle can check whether there is a message containing information of the same vehicle or a vehicle determined to be the same vehicle. For example, if no message is received, the HV A (520) can calculate the TPL (transmission persistence level) described as an example in the present disclosure and transmit it together with the information of the unconnected vehicle. For example, the TPL (transmission persistence level) of the HV A (520) for the unconnected vehicle (510) can be calculated as follows.

[0091] f(HV A, t0) = 0.5 × 20[m] + 0.5 × 1[m / s] + 0.03 × 0[deg] + 0.03 × 30[deg] + 0.01 / (0+1) + 1 × 5 = 16.41

[0092] FIG. 6 illustrates a method for selecting a single transmitter among multiple transmitters that detect an unconnected vehicle at a road merging point, according to one embodiment of the present disclosure. The embodiment of FIG. 6 may be combined with various embodiments of the present disclosure.

[0093] Referring to Fig. 6, the situation illustrated in Fig. 6 may be a subsequent situation (e.g., time t1) of the situation illustrated in Fig. 5 described above (e.g., time t0). For example, a connected vehicle (HV A (620)) that detects an unconnected vehicle (610) may calculate its own TPL (Tel: Parallel Link) and transmit it to surrounding road users along with information about the unconnected vehicle. For example, in this situation, a connected vehicle (HV B (630)) that detects an unconnected vehicle (610) may receive a proxy message (e.g., SBSM) and a transmission persistence level (TPL) (621) of the transmitter (HV A (620)) while merging at an on-ramp. For example, HV B (630) can detect an unconnected vehicle (610) and calculate its own transmission persistence level (TPL) before transmitting a proxy message of the unconnected vehicle, and compare it with the transmission persistence level (TPL) of the previous transmitter (e.g., HV A (620)) to determine whether to transmit. For example, the transmission persistence levels (TPL) of the connected vehicles at that time (HV A (620), HV B (630)) can be calculated as follows.

[0094] f(HV A, t1) = 0.5 × 20[m] + 0.5 × 1[m / s] + 0.03 × 0[deg] + 0.03 × 30[deg] + 0.01 / (1+1) + 1 × 5 = 16.45

[0095] f(HV B, t1) = 0.5

[0096] In this case, for example, HV B (630) can confirm that its own transmission persistence level (TPL) is lower than the transmission persistence level (TPL) of HV A (620), and can transmit an information message (631) of the unconnected vehicle. For example, after HV A (620) receives the information message (e.g., SBSM) and the transmission persistence level (TPL) (631) of the unconnected vehicle of HV B (630), it can confirm that its own (HV A (620)) TPL (transmission persistence level) is higher than the TPL (transmission persistence level) of HV B (630), and then HV A (620) can stop transmitting the information message of the unconnected vehicle.

[0097] FIG. 7 illustrates a method for detecting road construction information and transmitting it to surrounding road users, according to one embodiment of the present disclosure. The embodiment of FIG. 7 may be combined with various embodiments of the present disclosure.

[0098] Referring to FIG. 7, a service that can detect road construction information among road information notification services and transmit it to surrounding road users as a V2X message (e.g., RSA (road side alert), RSM (road safety message), BSM (basic safety message) part 2, DENM (decentralized environmental notification message)). For example, in FIG. 7, when vehicle A (730), vehicle B (740), and RSU (720) detect / recognize road construction (710) and transmit messages to surrounding road users, a single transmitter can be selected to avoid duplicate transmission. In this case, for example, when a single transmitter is selected by calculating a specific value for priority setting proposed in the present disclosure, a TPL (transmission persistence level) can be calculated as follows.

[0099] f(RSU, t0) = 0.5 × 10[m] + 0.5 × 0[m / s] + 0.03 × 0[deg] + 0.03 × 30[deg] + 0.01 / (0+1) + 1 × 1 = 6.91

[0100] f(vehicle A, t0) = 0.5 × 10[m] + 0.5 × 5[m / s] + 0.03 × 0[deg] + 0.03 × 30[deg] + 0.01 / (0+1) + 1 × 5 = 13.41

[0101] f(vehicle B, t0) = 0.5 × 20[m] + 0.5 × 5[m / s] + 0.03 × 0[deg] + 0.03 × 0[deg] + 0.01 / (0+1) + 1 × 5 = 17.51

[0102] In the example of the calculation above, the type of the transmission candidate (e.g., RSU=1, vehicle=5) can be reflected in the value of the transmission persistence level (TPL), and this value can be used to select the RSU as a single transmitter.

[0103] FIG. 8 illustrates a method for transmitting road construction information to surrounding road users using multiple hops, according to one embodiment of the present disclosure. The embodiment of FIG. 8 may be combined with various embodiments of the present disclosure.

[0104] Referring to FIG. 8, when a message (e.g., DENM / RSA) transmitted by an RSU (810) is transmitted to surrounding road users (vehicles A (821), B (822)) in multiple hops to expand the propagation range, it may be necessary to select a specific propagator rather than all propagators in consideration of wireless communication resources. For example, as shown in FIG. 8, after an RSU (810) transmits information (e.g., DENM / RSA) to road users (vehicles A (821), B (822)) within the communication range, the road users (vehicles A (821), B (822)) that receive the information transmit the same information to surrounding road users (e.g., in the case of vehicle A (821), to vehicle C (823) and vehicle E (825), and in the case of vehicle B (822), to vehicle C (823) and vehicle D (824)), thereby expanding the propagation range of the information. In this case, for example, when a specific or single relay must be selected due to limitations in wireless communication resources, a specific value for selecting a transmitter can be calculated by considering the relationship and situation between the source of the information and the relay proposed in the present disclosure. For example, when applying the embodiment of the above-described transmission persistence level (TPL), transmission priority can be given to vehicle B (822), and vehicles C (823) and D (824) can receive the same information through the propagation of the information. For example, this can transmit information more efficiently and continuously than when vehicle A (821) is selected as a transmitter / forwarder and transmits information to vehicles C (823) and E (825).

[0105] FIG. 9 illustrates a flowchart for determining a TPL-based transmission priority to prevent duplicate transmissions, according to one embodiment of the present disclosure. The embodiment of FIG. 9 may be combined with various embodiments of the present disclosure.

[0106] Referring to FIG. 9, in step S910, a plurality of transmission candidates can evaluate a transmission persistence level (TPL) considering the relationship and situation of the source of information and each transmission candidate in order to set a priority for selecting a transmitter. In step S920, when each of the plurality of transmission candidates receives a message about the source of information from other transmission candidate(s), each of the plurality of transmission candidates can compare its own TPL with the TPL (Transmission Persistence Level) of the other transmission candidate(s). In step S930, after comparing the TPL (Transmission Persistence Level) of the plurality of transmission candidates, each of the plurality of transmission candidates can decide whether to transmit an information message or stop transmitting.

[0107] FIG. 10 illustrates a method for preventing duplicate transmission of proxy messages based on a TPL, according to one embodiment of the present disclosure. The embodiment of FIG. 10 may be combined with various embodiments of the present disclosure.

[0108] Referring to FIG. 10, UE 1 and UE 2 may be connected (or equipped) terminals (e.g., road users or RSUs). In step S1010, UE 1 may detect an object on the road (or a road condition), and UE 2 located around UE 1 may also detect the same object on the road (or a road condition) detected by UE 1. For example, the object on the same road detected by UE 1 and UE 2 may be an unconnected (or unequipped) terminal (e.g., a road user) (or the same road condition detected by UE 1 and UE 2 may be road construction, a traffic accident, traffic congestion, weather, etc.). Meanwhile, if the object detected by both UE 1 and UE 2 is an unconnected terminal, since the object does not have the ability to transmit information related to itself to surrounding road users (e.g., UE 1 or UE 2), UE 1 or UE 2 around the object can transmit information related to the object on behalf of the object. In step S1020, each of UE 1 and UE 2 can calculate a transmission persistence level (TPL) value indicating a correlation between itself and the detected object. For example, the TPL value can indicate the tracking ability of each of UE 1 and UE 2 for the detected object or the persistent ability of information transmission for the detected object. For example, even if UE 1 and UE 2 detect the same object, there may be differences in sensor performance, data processing capability, communication performance, distance to the detected object, movement direction, etc. of UE 1 and UE 2, so the TPL value of UE 1 for the object calculated by UE 1 and the TPL value of UE 2 for the object calculated by UE 2 may be different from each other.For example, each of UE 1 and UE 2 can calculate a TPL value based on the above-described function equation 1. In step S1030, UE 2 can transmit a message including its own TPL value to UE 1, which is a neighboring transmission candidate. For example, the message including the TPL value of UE 2 may be a surrogate basic safety message (SBSM) including information related to an object detected by UE 2. In step S1040, UE 1 can determine that UE 1 and UE 2 have detected the same object based on the information included in the message received in step S1030 described above, and UE 1 can compare its own TPL value calculated in step S1020 described above with the TPL value of UE 2 included in the message received in step S1030 described above in order to prevent duplicate transmission of surrogate messages for the object. For example, UE 1 may determine whether to transmit a new message including information related to the detected object based on comparing the TPL value of UE 1 with the TPL value of UE 2. That is, for example, if a message including information related to an object received by UE 1 from UE 2 is a proxy message including information related to an object at time t0, UE 1 may determine whether to transmit a proxy message including information related to an object at time t1 after time t0 based on the comparison of the TPL values. In step S1050, UE 1 may transmit a new message including information related to the object to UE 2 based on the TPL value of UE 1 being smaller than the TPL value of UE 2. In this case, for example, UE 1 may include the TPL value of UE 1 in the new message and transmit it to UE 2.That is, for example, UE 1 may determine that its tracking capability for the object or its ability to sustain information transmission for the object is superior to that of UE 2 based on the fact that the TPL value of UE 1 is smaller than that of UE 2. In addition, UE 1 may determine that a priority related to transmission of a proxy message including information related to the detected object is higher than that of UE 2. Accordingly, UE 1 may transmit a new proxy message including the TPL value of UE 1 and information related to the detected object to UE 2. In step S1060, UE 2, having received the message from UE 1, may stop transmitting the proxy message including information related to the detected object. For example, UE 2 may determine that its own TPL value is greater than that of UE 1 based on the TPL value of UE 1 included in the message transmitted from UE 1 in step S1050 described above. That is, for example, UE 2 may determine that its tracking capability for the object or its ability to sustain information transmission for the object is not superior to that of UE 1 based on the fact that the TPL value of UE 2 is greater than that of UE 1. In addition, UE 2 may determine that the priority for transmitting a proxy message containing information related to the detected object is lower than that of UE 1. Accordingly, even if UE 2 can detect the object and analyze information related to the object, it may stop transmitting a proxy message containing information related to the object.

[0109] According to various embodiments of the present disclosure, by setting message sender priorities based on tracking and transmission persistence, duplicate transmissions can be effectively prevented and wireless communication resources can be efficiently utilized. Furthermore, for example, a sender capable of effectively detecting / recognizing / analyzing information to be transmitted and continuously transmitting the information can be selected. For example, when detecting a moving object with a sensor, generating information, and transmitting the information, it is advantageous for a transmitter candidate with a superior object detection environment to transmit the object information, as this can provide high-quality information. In this case, for example, high-quality information can be provided to surrounding terminals, thereby improving traffic safety and flow. Furthermore, for example, by selecting a single or specific sender to avoid duplicate transmissions, wireless communication resources can be effectively utilized. Furthermore, for example, the proposed proxy message transmission method can minimize gaps in proxy messages by continuously transmitting proxy messages containing information about unconnected road users, and by continuously transmitting detailed information, surrounding connected infrastructure or road users can more effectively recognize unconnected road users. In this case, for example, the quality of V2X services can be improved, thereby promoting traffic safety and efficiency.

[0110] FIG. 11 illustrates a method for a first device to perform wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 11 may be combined with various embodiments of the present disclosure.

[0111] Referring to FIG. 11, in step S1110, a first device may detect an object. In step S1120, the first device may obtain a first transmission persistence level (TPL) value associated with the object. In step S1130, the first device may receive a first message including a second TPL value associated with the object from a second device. In step S1140, the first device may determine whether to transmit a second message including information associated with the object based on the first TPL value and the second TPL value.

[0112] For example, whether to transmit the second message may be determined based on a comparison of the first TPL value and the second TPL value.

[0113] For example, the first TPL value may be obtained based on a correlation between the first device and the object. And, for example, the second TPL value may be obtained based on a correlation between the second device and the object.

[0114] For example, the first TPL value can be obtained based on the distance between the first device and the object.

[0115] For example, the first TPL value may be obtained based on a relative velocity between the first device and the object. That is, for example, the first TPL value may be obtained based on a relative velocity of the first device with respect to the object.

[0116] For example, the first TPL value may be obtained based on a heading difference between the first device and the object. That is, for example, the first TPL value may be obtained based on a difference between a direction of travel of the first device and a direction of travel of the object.

[0117] For example, the first TPL value may be obtained based on the angle between the heading and direction of detection between the first device and the object. That is, for example, the first TPL value may be obtained based on the angle between the heading direction of the first device and the direction of detection with respect to the object.

[0118] For example, the first TPL value may be obtained based on a message count of the first device. That is, for example, the first TPL value may be determined based on the number of times the first device has transmitted a message related to the object before a decision is made as to whether to transmit the second message.

[0119] For example, the first TPL value can be obtained based on the type of the first device.

[0120] For example, the first TPL value may be obtained by adding together (i) a value determined based on a distance between the first device and the object multiplied by a first coefficient, (ii) a value determined based on a relative speed between the first device and the object multiplied by a second coefficient, (iii) a value determined based on a heading difference between the first device and the object multiplied by a third coefficient, (iv) a value determined based on an angle between heading and direction of detection between the first device and the object multiplied by a fourth coefficient, (v) a value obtained by dividing a fifth coefficient by a value obtained by adding 1 to a message count of the first device, and (vi) a value obtained by multiplying a sixth coefficient by a value determined based on a type of the first device.

[0121] For example, based on the first TPL value being less than the second TPL value, the second message including the first TPL value may be transmitted.

[0122] For example, transmission of a third message including information related to the object of the second device may be stopped based on the second message including the first TPL value being less than the second TPL value being transmitted to the second device.

[0123] For example, transmission of the second message of the first device may be stopped based on the first TPL value being greater than the second TPL value.

[0124] The 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 detect an object. Then, the processor (102) of the first device (100) can obtain a first transmission persistence level (TPL) value related to the object. Then, the processor (102) of the first device (100) can control the transceiver (106) to receive a first message including a second TPL value related to the object from a second device. Then, the processor (102) of the first device (100) can determine whether to transmit a second message including information related to the object based on the first TPL value and the second TPL value.

[0125] 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 coupled 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: detect an object; obtain a first transmission persistence level (TPL) value associated with the object; receive a first message from a second device, the first message including a second TPL value associated with the object; and determine, based on the first TPL value and the second TPL value, whether to transmit a second message including information associated with the object.

[0126] 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 coupled 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: detect an object; obtain a first transmission persistence level (TPL) value associated with the object; receive a first message from a second device, the first message including a second TPL value associated with the object; and determine, based on the first TPL value and the second TPL value, whether to transmit a second message including information associated with the object.

[0127] 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: detect an object; obtain a first transmission persistence level (TPL) value associated with the object; receive a first message from a second device, the first message including a second TPL value associated with the object; and determine, based on the first TPL value and the second TPL value, whether to transmit a second message including information associated with the object.

[0128] FIG. 12 illustrates a method for a second 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.

[0129] Referring to FIG. 12, in step S1210, a second device may detect an object. In step S1220, the second device may obtain a second transmission persistence level (TPL) value associated with the object. In step S1230, the second device may transmit a first message including the second TPL value to the first device. In step S1240, the second device may receive a second message including the first TPL value from the first device. In step S1250, the second device may stop transmitting a third message including information associated with the object based on the first TPL value being less than the second TPL value.

[0130] 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 detect an object. Then, the processor (202) of the second device (200) can obtain a second transmission persistence level (TPL) value related to the object. Then, the processor (202) of the second device (200) can control the transceiver (206) to transmit a first message including the second TPL value to the first device. Then, the processor (202) of the second device (200) can control the transceiver (206) to receive a second message including the first TPL value from the first device. And, the processor (202) of the second device (200) can control the transceiver (206) to stop transmitting the third message including information related to the object based on the first TPL value being less than the second TPL value.

[0131] 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 coupled 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: detect an object; acquire a second transmission persistence level (TPL) value associated with the object; transmit a first message including the second TPL value to a first device; receive a second message including the first TPL value from the first device; and, based on the first TPL value being less than the second TPL value, stop transmitting a third message including information associated with the object.

[0132] 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 coupled 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: detect an object; obtain a second transmission persistence level (TPL) value associated with the object; transmit a first message including the second TPL value to a first device; receive a second message including the first TPL value from the first device; and stop transmitting a third message including information associated with the object based on the first TPL value being less than the second TPL value.

[0133] 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 second device to: detect an object; obtain a second transmission persistence level (TPL) value associated with the object; transmit a first message including the second TPL value to a first device; receive a second message including the first TPL value from the first device; and stop transmitting a third message including information associated with the object based on the first TPL value being less than the second TPL value.

[0134] The various embodiments of the present disclosure may be combined with each other.

[0135] Below, a description is given of devices to which various embodiments of the present disclosure can be applied.

[0136] 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.

[0137] 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.

[0138] FIG. 13 illustrates a communication system (1) according to one embodiment of the present disclosure. The embodiment of FIG. 13 can be combined with various embodiments of the present disclosure.

[0139] Referring to FIG. 13, 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.

[0140] 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.

[0141] 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).

[0142] 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.

[0143] FIG. 14 illustrates a wireless device according to an embodiment of the present disclosure. The embodiment of FIG. 14 may be combined with various embodiments of the present disclosure.

[0144] Referring to FIG. 14, 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. 13.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] FIG. 15 illustrates a signal processing circuit for a transmission signal according to an embodiment of the present disclosure. The embodiment of FIG. 15 may be combined with various embodiments of the present disclosure.

[0152] Referring to FIG. 15, 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. 15 may be performed in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 14. The hardware elements of FIG. 15 may be implemented in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 14. For example, blocks 1010 to 1060 may be implemented in the processor (102, 202) of FIG. 14. Additionally, blocks 1010 to 1050 may be implemented in the processor (102, 202) of FIG. 14, and block 1060 may be implemented in the transceiver (106, 206) of FIG. 14.

[0153] The codeword can be converted into a wireless signal through the signal processing circuit (1000) of FIG. 15. 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).

[0154] 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.

[0155] 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.

[0156] 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. 15. For example, a wireless device (e.g., 100, 200 of FIG. 14) 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.

[0157] Figure 16 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 13). The embodiment of Figure 16 may be combined with various embodiments of the present disclosure.

[0158] Referring to FIG. 16, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 14 and may be composed of various elements, components, units / units, and / or modules. For example, the wireless device (100, 200) may include a communication unit (110), a control unit (120), a memory unit (130), and an additional element (140). The communication unit may include a communication circuit (112) and a transceiver(s) (114). For example, the communication circuit (112) may include one or more processors (102, 202) and / or one or more memories (104, 204) of FIG. 14. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 14. 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).

[0159] 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. 13, 100a), a vehicle (Fig. 13, 100b-1, 100b-2), an XR device (Fig. 13, 100c), a portable device (Fig. 13, 100d), a home appliance (Fig. 13, 100e), an IoT device (Fig. 13, 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. 13, 400), a base station (Fig. 13, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0160] In FIG. 16, various elements, components, units / parts, and / or modules within the wireless device (100, 200) may be entirely interconnected via a wired interface, or at least some may be wirelessly connected via a communication unit (110). For example, within the wireless device (100, 200), the control unit (120) and the communication unit (110) may be wired, and the control unit (120) and 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.

[0161] Below, the implementation example of Fig. 16 is described in more detail with reference to the drawings.

[0162] FIG. 17 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. 17 may be combined with various embodiments of the present disclosure.

[0163] Referring to FIG. 17, 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. 16, respectively.

[0164] 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.

[0165] 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).

[0166] FIG. 18 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. 18 may be combined with various embodiments of the present disclosure.

[0167] Referring to FIG. 18, a vehicle or autonomous vehicle (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a driving unit (140a), a power supply unit (140b), a sensor unit (140c), and an autonomous driving unit (140d). The antenna unit (108) may be configured as a part of the communication unit (110). Blocks 110 / 130 / 140a to 140d correspond to blocks 110 / 130 / 140 of FIG. 16, respectively.

[0168] 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.

[0169] 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.

[0170] 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, Step of detecting an object; A step of obtaining a first TPL (transmission persistence level) value associated with the object; receiving a first message from a second device, the first message including a second TPL value associated with the object; and A method comprising: a step of determining whether to transmit a second message including information related to the object based on the first TPL value and the second TPL value.

2. In paragraph 1, A method wherein whether to transmit the second message is determined based on a comparison of the first TPL value and the second TPL value.

3. In paragraph 1, The above first TPL value is obtained based on the correlation between the first device and the object, and A method wherein the second TPL value is obtained based on a correlation between the second device and the object.

4. In paragraph 1, A method wherein the first TPL value is obtained based on the distance between the first device and the object.

5. In paragraph 1, A method wherein the first TPL value is obtained based on a relative velocity between the first device and the object.

6. In paragraph 1, A method wherein the first TPL value is obtained based on a heading difference between the first device and the object.

7. In paragraph 1, A method wherein the first TPL value is obtained based on an angle between heading and direction of detection between the first device and the object.

8. In paragraph 1, A method wherein the first TPL value is obtained based on the message count of the first device.

9. In paragraph 1, A method wherein the first TPL value is obtained based on the type of the first device.

10. In paragraph 1, A method according to claim 1, wherein the first TPL value is obtained by adding together (i) a value determined based on a distance between the first device and the object multiplied by a first coefficient, (ii) a value determined based on a relative speed between the first device and the object multiplied by a second coefficient, (iii) a value determined based on a heading difference between the first device and the object multiplied by a third coefficient, (iv) a value determined based on an angle between heading and direction of detection between the first device and the object multiplied by a fourth coefficient, (v) a value obtained by dividing a fifth coefficient by a value obtained by adding 1 to a message count of the first device, and (vi) a value obtained by multiplying a sixth coefficient by a value determined based on a type of the first device.

11. In paragraph 1, A method wherein the second message including the first TPL value is transmitted based on the first TPL value being less than the second TPL value.

12. In paragraph 1, A method wherein transmission of a third message containing information related to the object of the second device is stopped based on the second message containing the first TPL value being less than the second TPL value being transmitted to the second device.

13. In paragraph 1, A method in which transmission of the second message of the first device is stopped based on the first TPL value being greater than the second TPL value.

14. In a first device configured to perform wireless communication, At least one transmitter / receiver; at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said first device causes: to detect objects; Obtain a first TPL (transmission persistence level) value associated with the object; Receive a first message from a second device, the first message including a second TPL value associated with the object; and A first device that determines whether to transmit a second message including information related to the object based on the first TPL value and the second TPL value.

15. In a processing device set to control the first device, at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said first device causes: to detect objects; Obtain a first TPL (transmission persistence level) value associated with the object; Receive a first message from a second device, the first message including a second TPL value associated with the object; and A processing device that determines whether to transmit a second message including information related to the object based on the first TPL value and the second TPL value.

16. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the first device to: to detect objects; Obtain a first TPL (transmission persistence level) value associated with the object; Receive a first message from a second device, the first message including a second TPL value associated with the object; and A non-transitory computer-readable storage medium that determines whether to transmit a second message containing information related to the object based on the first TPL value and the second TPL value.

17. In a method for performing wireless communication by a second device, Step of detecting an object; A step of obtaining a second TPL (transmission persistence level) value associated with the object; A step of transmitting a first message including the second TPL value to the first device; receiving a second message including a first TPL value from the first device; and A method comprising: stopping transmission of a third message including information related to the object based on the first TPL value being less than the second TPL value; 18. In a second device configured to perform wireless communication, At least one transmitter / receiver; at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said second device causes: to detect objects; Obtain a second TPL (transmission persistence level) value associated with the object; Transmit a first message including the second TPL value to the first device; Receive a second message including a first TPL value from the first device; and A second device that stops transmitting a third message containing information related to the object based on the first TPL value being less than the second TPL value.

19. In a processing device set to control a second device, at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said second device causes: to detect objects; Obtain a second TPL (transmission persistence level) value associated with the object; Transmit a first message including the second TPL value to the first device; Receive a second message including a first TPL value from the first device; and A processing device that stops transmitting a third message containing information related to the object based on the first TPL value being less than the second TPL value.

20. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the second device to: to detect objects; Obtain a second TPL (transmission persistence level) value associated with the object; Transmit a first message including the second TPL value to the first device; Receive a second message including a first TPL value from the first device; and A non-transitory computer-readable storage medium that causes transmission of a third message containing information related to the object to be stopped based on the first TPL value being less than the second TPL value.

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