Terminal device, method by terminal device, and program

Abstract

A terminal device 10 includes a control unit 110 and a communication unit 120. The control unit 110 and the communication unit 120 are configured to execute sensing a plurality of times by exchanging sensing signals by applying different beams, different frequencies, or different signal sequences in a plurality of times of sensing.

Description

Terminal device, method by terminal device, and program CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on and claims the benefit of priority from Japanese Patent Application No. 2023-144438, filed on September 6, 2023, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to a terminal device, a method by the terminal device, and a program, and more particularly to a terminal device, a method by the terminal device, and a program for preventing interference of sensing signals.

[0003] The Third Generation Partnership Project (3GPP (registered trademark)) has defined wireless communication specifications called 5G NR (Fifth Generation New Radio), and technological development of these wireless specifications is progressing.

[0004] Following 5G NR, 6G systems, the sixth generation of wireless communication specifications, are also being considered. For 6G systems, technical specifications for sensing solutions are being considered. Sensing solutions use the Doppler effect to detect targets by analyzing changes in the frequency spectrum of emitted radio waves.

[0005] Non-Patent Document 1 provides an overview of sensing solutions being considered for 6G systems. It is expected that technical specifications for sensing solutions will be considered and defined in the future.

[0006] de Lima, C., Belot, D., Berkvens, R., Bourdoux, A., Dardari, A., Guillaud, M., Isomursu, M., Lohan, E.-S., Miao, Y., Barreto, AN, Aziz, MRK, Saloranta, J., Sanguanpuak, T., Sarieddeen, H., Seco-Granados, G., Suutala, J., Svensson, T., Valkama, M., Wymeersch, H., & van Liempd, B. (Eds.). (2020), '6G White Paper on Localization and Sensing', [White paper]. (6G Research Visions, No. 12). University of Oulu., [online], June 30, 2020, [Retrieved July 25, 2020], Internet <URL: http: / / urn.fi / urn:isbn:9789526226743>

[0007] In 5G NR, various wireless communication specifications are defined. In particular, specifications for allocating resources for transmitting communication signals are defined to prevent interference between devices. It is expected that specifications for allocating resources for transmitting communication signals will also be defined in 6G systems.

[0008] To realize the above-described sensing solution, it is expected that a large number of terminal devices will transmit sensing signals. It is necessary to prevent a sensing signal transmitted by one terminal device from interfering with communication signals transmitted from other devices and / or sensing signals transmitted from other devices. In particular, it is conceivable to perform sensing multiple times to improve the accuracy of sensing, but it is also necessary to prevent the above-described interference when sensing is performed multiple times. Non-Patent Document 1 does not describe a mechanism for performing sensing multiple times.

[0009] In view of the above circumstances, the present disclosure provides a technique for preventing interference between sensing signals and improving sensing accuracy when sensing is performed multiple times.

[0010] In order to achieve the above object, the terminal device of the present disclosure includes a control unit and a communication unit, and the control unit and the communication unit are configured to perform sensing multiple times by exchanging sensing signals by applying different beams, different frequencies, and different signal sequences in multiple sensing operations.

[0011] Furthermore, the terminal device method in the present disclosure includes performing sensing multiple times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the multiple sensing operations.

[0012] According to the above configuration, when sensing is performed multiple times, it is possible to prevent the sensing signal transmitted by the terminal device from interfering with the sensing signal from other terminal devices, and it is also possible to improve the accuracy of sensing. Note that the above configuration may achieve other effects instead of or in addition to the above effect.

[0013] FIG. 1 is a diagram showing a communication and sensing system S, FIG. 2 is a diagram showing a protocol stack of the U-plane, FIG. 3 is a diagram showing a protocol stack of the C-plane, FIG. 4 is a block diagram showing a schematic hardware configuration of a terminal device 10, FIG. 5 is a block diagram showing a schematic functional configuration of the terminal device 10, FIG. 6 is a block diagram showing a schematic hardware configuration of a base station device 20, FIG. 7 is a block diagram showing a schematic functional configuration of the base station device 20, FIG. 8 is a diagram showing a radio frame configuration, and FIG. 9 is a diagram showing an overview of self-sensing. 10 is a diagram showing an overview of cooperative sensing by the base station device 20 and the terminal device 10, FIG. 11 is a diagram showing an overview of cooperative sensing by the terminal device 10, FIG. 12 is a diagram showing an overview of sharing of a sensing beam and a communication beam, FIG. 13 is a diagram showing an overview of sharing of a sensing antenna and a communication antenna, FIG. 14 is a diagram showing an overview of separation of a sensing beam from a communication beam, FIG. 15 is a diagram showing an overview of separation of a sensing antenna from a communication antenna, and FIG. 16 is a diagram showing a time domain of a sensing resource from a communication resource. 17 is a diagram showing an overview of separation of sensing resources from communication resources in the frequency domain, FIG. 18 is a diagram showing an overview of separation of sensing resources from communication resources in the code domain, FIG. 19 is a diagram showing an overview of separation of sensing resources in the frequency domain / code domain, FIG. 20 is a diagram showing an overview of separation of sensing resources in the time domain / code domain, FIG. 21 is a diagram showing an overview of separation of sensing resources in the time domain / frequency domain, FIG. 22 is a diagram showing an overview of assignment of sensing IDs, FIG. 23 is a diagram showing a relationship between communication resources and sensing resources in the time domain, FIG. 24 is a diagram showing another relationship between communication resources and sensing resources in the time domain, FIG. 25 is a flowchart showing processing of a sensing procedure including self-sensing, FIG. 26 is a flowchart showing another processing of a sensing procedure including self-sensing, FIG. 27 is a flowchart showing processing of a sensing procedure including collaborative sensing, FIG. 28 is a flowchart showing another processing of a sensing procedure including collaborative sensing, and FIG.30 is a diagram showing an outline of a process for inserting a non-transmission interval to generate a signal waveform; FIG. 31 is a diagram showing an outline of another process for inserting a non-transmission interval to generate a signal waveform; FIG. 32 is a diagram showing the relationship between communication resources and sensing resources in the time domain before changing the time domain period; FIG. 33 is a diagram showing the relationship between communication resources and sensing resources in the time domain after changing the time domain period; and FIG. 34 is a diagram showing the relationship between communication resources and sensing resources in the time domain after changing the time domain length. 35 is a diagram showing the relationship between beams, frequencies, and signal sequences applied when sensing is performed multiple times, FIG. 36 is a diagram showing the relationship between beams, frequencies, and signal sequences applied when sensing is performed multiple times, FIG. 37 is a diagram showing the relationship between beams, frequencies, and signal sequences applied when sensing is performed multiple times, FIG. 38 is a flowchart showing processing of a sensing procedure including collaborative sensing performed multiple times, and FIG. 39 is a flowchart showing another processing of a sensing procedure including collaborative sensing performed multiple times.

[0014] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and drawings, elements that can be similarly described will be designated by the same reference numerals, and redundant description may be omitted.

[0015] The embodiments described below are merely examples of configurations that can realize the present disclosure. Each of the following embodiments can be modified or changed as appropriate depending on the configuration of the device to which the present disclosure is applied and various conditions. Not all of the combinations of elements included in each of the following embodiments are necessarily essential for realizing the present disclosure, and some of the elements can be omitted as appropriate. Therefore, the scope of the present disclosure is not limited to the configurations described in each of the following embodiments. As long as there are no mutual contradictions, configurations that combine multiple configurations described in the following embodiments can also be adopted.

[0016] 1. First Embodiment 1.1. Communication and Sensing System As shown in Fig. 1 , a communication and sensing system S of the first embodiment includes one or more terminal apparatuses (Terminal Apparatus) 10, one or more base station apparatuses (Base Station Apparatus) 20, and a core network 30. The communication and sensing system S is configured in accordance with predetermined technical specifications (Technical Specifications, TS). For example, the communication and sensing system S may comply with technical specifications (e.g., 5G, 5G Advanced, 6G, etc.) defined by 3GPP.

[0017] In the communication and sensing system S, various wireless communications are performed between the terminal device 10 and the base station device 20 in accordance with, for example, the 5G NR specification. Also, in the communication and sensing system S, various sensing operations are performed between the terminal device 10 and the base station device 20, or between the terminal devices 10. Details of the sensing will be described later.

[0018] In the communication and sensing system S, a user plane where user data is transmitted and received and a control plane where control data is transmitted and received are configured separately. That is, the communication and sensing system S supports C / U separation. The user plane is abbreviated as U-plane, and the control plane is abbreviated as C-plane.

[0019] The terminal device 10 is a device that wirelessly communicates with the base station device 20 and may be, for example, user equipment (UE) that operates in accordance with the 3GPP 5G NR specification. The terminal device 10 may also be a device that complies with other older or newer 3GPP specifications.

[0020] The terminal device 10 may be, for example, a mobile phone terminal such as a smartphone, a tablet terminal, a laptop PC, a communication module, a communication card, or an IoT device such as a surveillance camera or a robot. The terminal device 10 may be a vehicle (e.g., a car, a train, etc.) or a device provided therein. The terminal device 10 may be a transport vehicle other than a vehicle (e.g., a ship, an airplane, etc.) or a device provided therein. The terminal device 10 may be a sensor or a device provided therein. Note that the terminal device 10 may be called by other names such as a terminal, a mobile station, a mobile terminal, a mobile device, a mobile unit, a subscriber station, a subscriber terminal, a subscriber device, a subscriber unit, a wireless station, a wireless terminal, a wireless device, a wireless unit, a remote station, a remote terminal, a remote device, or a remote unit. The terminal device 10 may be a device adapted to one or more of enhanced Mobile Broadband (eMBB), Ultra-Reliable and Low Latency Communications (URLLC), and massive Machine Type Communications (mMTC).

[0021] The base station device 20 manages at least one cell. A cell constitutes the smallest unit of a communication area. For example, one cell belongs to one frequency (e.g., carrier frequency) and is composed of one component carrier. The term "cell" can refer to wireless communication resources and can also refer to a communication target of the terminal device 10. The base station device 20 wirelessly communicates with the terminal device 10 located in its own cell in the U-plane and C-plane. In other words, the base station device 20 terminates the U-plane protocol and C-plane protocol for the terminal device 10.

[0022] The base station device 20 communicates with the core network 30 in the U-plane and the C-plane. More specifically, the core network 30 includes multiple logical nodes including an Access and Mobility Management Function (AMF) and a User Plane Function (UPF). The base station device 20 connects to the AMF in the C-plane and connects to the UPF in the U-plane.

[0023] The base station device 20 may be, for example, a gNB that provides a U-plane and a C-plane conforming to the 3GPP 5G NR specification to the terminal device 10 and connects to the 3GPP 5GC (5G Core Network). The base station device 20 may also be a device conforming to other older or newer 3GPP specifications.

[0024] The base station device 20 may be configured by a plurality of unit devices. For example, the base station device 20 may be configured by a central unit (CU), a distributed unit (DU), and a radio unit (RU).

[0025] A radio access network (RAN) is formed by interconnecting multiple base station devices 20. The radio access network formed by the base station devices 20 that are gNBs may be referred to as an NG-RAN. The base station devices 20 that are gNBs may be referred to as NG-RAN nodes.

[0026] The plurality of base station devices 20 are connected to each other via a predetermined interface (for example, an Xn interface). More specifically, for example, the plurality of base station devices 20 are connected to each other via an Xn-U interface in the U-plane and via an Xn-C interface in the C-plane. Note that the plurality of base station devices 20 may also be connected to each other via other interfaces with different functions or names.

[0027] Each base station device 20 is connected to the core network 30 via a predetermined interface (for example, an NG interface). More specifically, for example, each base station device 20 is connected to the UPF of the core network 30 via an NG-U interface in the U-plane, and is connected to the AMF of the core network 30 via an NG-C interface in the C-plane. Note that each base station device 20 may be connected to the core network 30 via another interface with a different function or name.

[0028] The radio protocol architecture between the terminal device 10 and the base station device 20 will be described with reference to Fig. 2. The radio protocol architecture between the terminal device 10 and the base station device 20 and between the terminal device 10 and the core network 30 will be described with reference to Fig. 3.

[0029] 2 , the U-plane protocol stack includes, from the bottom up, a physical (PHY) layer, a media access control (MAC) layer, a radio link control (RLC) layer, a packet data convergence protocol (PDCP) layer, and a service data adaptation protocol (SDAP) layer. Each of the above layers is terminated at the base station device 20 on the network side.

[0030] As shown in Fig. 3 , the C-plane protocol stack includes, from the bottom up, a physical (PHY) layer, a media access control (MAC) layer, a radio link control (RLC) layer, a packet data convergence protocol (PDCP) layer, a radio resource control (RRC) layer, and a non-access stratum (NAS). The above-mentioned layers other than the non-access stratum are terminated at the base station device 20 on the network side. The non-access stratum is terminated at the AMF of the core network 30 on the network side.

[0031] 4, the terminal device 10 has, as hardware elements, a processor 101, a memory 102, an input / output interface 103, a wireless interface 104, and an antenna 105. The above elements provided in the terminal device 10 are connected to each other by an internal bus. Note that the terminal device 10 may have hardware elements other than the elements shown in FIG. 4.

[0032] The processor 101 is a computing element that realizes various functions of the terminal device 10. The processor 101 may be a system-on-a-chip (SoC) that includes elements such as a central processing unit (CPU), a graphics processing unit (GPU), and a memory controller.

[0033] The memory 102 is composed of at least one storage medium such as a RAM (Random Access Memory) or an eMMC (embedded Multi Media Card). The memory 102 is an element that temporarily or permanently stores programs and data used to execute various processes in the terminal device 10. The programs include one or more instructions for operating the terminal device 10. The processor 101 implements the functions of the terminal device 10 by expanding and executing the programs stored in the memory 102 in the memory 102 and / or a system memory (not shown).

[0034] The input / output interface 103 is an interface that receives operations on the terminal device 10 and supplies the operations to the processor 101, and presents various information to the user. The input / output interface 103 is, for example, a touch panel.

[0035] The wireless interface 104 is a circuit that performs various signal processing to realize wireless communication, and includes a baseband processor and an RF circuit. The wireless interface 104 transmits and receives wireless signals to and from the base station device 20 via an antenna 105.

[0036] 5, the terminal device 10 has, as functional blocks, a control unit 110 and a communication unit 120. The communication unit 120 has at least one transmission unit 121 and at least one reception unit 122.

[0037] The control unit 110 may include at least one processor 101 and at least one memory 102. In other words, the control unit 110 may be realized by the processor 101 and the memory 102. The control unit 110 executes various control processes in the terminal device 10. For example, the control unit 110 controls wireless communication with the base station device 20 via the communication unit 120. That is, the control unit 110 transmits and receives data / information / messages via the communication unit 120.

[0038] The communication unit 120 includes the wireless interface 104 and the antenna 105. In other words, the communication unit 120 is realized by the wireless interface 104 and the antenna 105. The communication unit 120 wirelessly communicates with the base station device 20 by transmitting and receiving wireless signals to and from the base station device 20. Two or more wireless interfaces 104 and two or more antennas 105 may be included in the communication unit 120.

[0039] The control unit 110 operates to execute various processes of the terminal device 10 of this embodiment.

[0040] 6, the base station device 20 has, as hardware elements, a processor 201, a memory 202, a network interface 203, a wireless interface 204, and an antenna 205. The above elements provided in the base station device 20 are connected to each other by an internal bus. Note that the base station device 20 may have hardware elements other than the elements shown in FIG. 6.

[0041] The processor 201 is a computing element that realizes various functions of the base station device 20. The processor 201 may be a CPU, and may further include other processors such as a GPU.

[0042] The memory 202 is configured by at least one storage medium such as a read-only memory (ROM), a RAM, a hard disk drive (HDD), or a solid state drive (SSD). The memory 202 is an element that temporarily or permanently stores programs and data used to execute various processes in the base station device 20. The programs include one or more instructions for operating the base station device 20. The processor 201 implements the functions of the base station device 20 by expanding and executing the programs stored in the memory 202 in the memory 202 and / or a system memory (not shown).

[0043] The network interface 203 is an interface used to transmit and receive signals to and from other base station devices 20 and the core network 30 .

[0044] The wireless interface 204 is a circuit that performs various signal processing to realize wireless communication, and includes a baseband processor and an RF circuit. The wireless interface 204 transmits and receives wireless signals to and from the base station device 20 via the antenna 205.

[0045] 7, the base station device 20 has, as functional blocks, a control unit 210, a communication unit 220, and a network communication unit 230. The communication unit 220 has at least one transmission unit 221 and at least one reception unit 222.

[0046] The control unit 210 may include at least one processor 201 and at least one memory 202. In other words, the control unit 210 may be realized by the processor 201 and the memory 202. The control unit 210 executes various control processes in the base station device 20. For example, the control unit 210 controls wireless communication with the terminal device 10 via the communication unit 220. That is, the control unit 210 transmits and receives data / information / messages via the communication unit 220. Furthermore, for example, the control unit 210 controls communication with other nodes (e.g., other base station devices 20, nodes of the core network 30) via the network communication unit 230.

[0047] The communication unit 220 includes a wireless interface 204 and an antenna 205. In other words, the communication unit 220 is realized by the wireless interface 204 and the antenna 205. The communication unit 220 wirelessly communicates with the terminal device 10 by transmitting and receiving wireless signals to and from the terminal device 10. Two or more wireless interfaces 204 and two or more antennas 205 may be included in the communication unit 220.

[0048] The network communication unit 230 includes the network interface 203. In other words, the network communication unit 230 is realized by the network interface 203. The network interface 203 transmits and receives signals to and from the network (and thus to the other nodes described above).

[0049] The control unit 210 operates to execute various processes in the base station device 20 of this embodiment.

[0050] The terminal device 10 and the base station device 20 communicate wirelessly with each other using radio resources in the frequency domain and the time domain. Furthermore, the terminal device 10 performs sensing using radio resources with itself, other terminal devices 10, and / or the base station device 20. The radio resources will be described below.

[0051] The transmission method for downlink communication from the base station device 20 to the terminal device 10 is, for example, Orthogonal Frequency Division Multiplexing (OFDM) using a cyclic prefix (CP), i.e., CP-OFDM. The transmission method for uplink communication from the terminal device 10 to the base station device 20 is, for example, the above-mentioned CP-OFDM or DFTS-OFDM in which CP-OFDM is applied after transform precoding that performs discrete Fourier transform (DFT) spreading. The above-mentioned method may also be adopted as the transmission method for sensing signals. The sensing signals are transmitted from the base station device 20 to the terminal device 10 or transmitted between terminal devices 10.

[0052] A cyclic prefix is ​​a redundant signal that functions as a guard period (GP) to prevent inter-symbol interference and inter-carrier interference, and is inserted at the beginning of an OFDM symbol. There are two types of cyclic prefixes: a normal cyclic prefix and an extended cyclic prefix.

[0053] As radio resources in the frequency domain of OFDM, multiple subcarriers that are orthogonal to each other are used. The multiple subcarriers are arranged in the frequency domain at a predetermined subcarrier spacing (sub-carrier spacing, SCS) Δf. Multiple subcarrier spacings Δf can be applied to the communication and sensing system S. The subcarrier spacing Δf can be expressed, for example, by the following equation: Δf=2 μ ・15 [kHz]

[0054] Here, μ is an integer equal to or greater than 0 and can take on at least one of the values ​​0, 1, 2, 3, 4, 5, and 6. Therefore, the subcarrier spacing Δf [kHz] can take on at least one of the values ​​15, 30, 60, 120, 240, 480, and 960. Note that μ may also take on a value of 7 or greater.

[0055] In the time domain of OFDM, a layered radio frame structure is used as shown in Figure 8. One radio frame includes 10 subframes. Subframes are assigned subframe numbers that count up by one from 0 to 9. One radio frame is divided into two half frames. The time length of a radio frame is 10 ms, the time length of a half frame is 5 ms, and the time length of a subframe is 1 ms. These time lengths do not depend on the subcarrier spacing Δf.

[0056] One subframe includes one or more slots (slot(s)). The number Ns of slots included in one subframe depends on the value of μ described above, and further depends on the subcarrier spacing Δf. The number Ns of slots is expressed by the following formula, for example: Ns=2 μ

[0057] One slot contains multiple symbols. The number of symbols in one slot depends on the type of cyclic prefix. For example, if a normal cyclic prefix is ​​used, one slot contains 14 symbols. For example, if an extended cyclic prefix is ​​used, one slot contains 12 symbols.

[0058] As described above, the number of slots and the number of symbols included in each of a radio frame, half frame, and subframe, each of which has a fixed time length, are variable. Therefore, the time length of a slot and the time length of a symbol are also variable.

[0059] A resource element (RE) is a radio resource unit in the time-frequency domain consisting of one subcarrier and one symbol, and a resource block (RB) is a radio resource unit in the time-frequency domain consisting of 12 subcarriers and multiple symbols.

[0060] Each radio frame is assigned a system frame number (SFN), which counts up by one from 0 to 1023. SFN "0" corresponds to the initial value of the SFN, and SFN "1023" corresponds to the maximum value of the SFN. Therefore, the radio frame following a radio frame assigned SFN 1023 is assigned SFN 0. Since the time length of a radio frame is 10 ms, the time length of one cycle of the system frame number is 10,240 ms (= 10.24 seconds).

[0061] Here, the base station device 20 may configure one or more serving cells for the terminal device 10. The serving cell may correspond to a component carrier in the downlink and / or a component carrier in the uplink. The technology in which one or more serving cells are configured and the base station device 20 and the terminal device 10 perform wireless communication may also be referred to as carrier aggregation.

[0062] Furthermore, the base station device 20 may configure one or more bandwidth parts (Bandwidth Parts, BWPs) for the terminal device 10 with respect to each of one or more serving cells. For example, a Downlink Bandwidth Part (DL-BWP) may be configured in the downlink of one serving cell. Furthermore, an Uplink Bandwidth Part (UL-BWP) may be configured in the uplink of one serving cell. Herein, the DL-BWP may include an initial DL-BWP and / or a dedicated DL-BWP. Furthermore, the UL-BWP may include an initial UL-BWP and / or a dedicated UL-BWP. Hereinafter, the BWP may include a DL-BWP and / or a UL-BWP.

[0063] 1.3 Channels and Control Information The terminal device 10 and the base station device 20 transmit and receive user data and control information to and from each other. The transmission and reception of control information in the downlink and uplink will be exemplified below.

[0064] The terminal device 10 and the base station device 20 transmit and receive user data and control information using a plurality of hierarchical channels. The physical channel is a channel used for physical communication between the terminal device 10 and the base station device 20. Examples of the physical channel include a physical downlink control channel (PDCCH), a physical broadcast channel (PBCH), and a physical uplink control channel (PUCCH).

[0065] A transport channel is a channel located above a physical channel and is mapped to a physical channel in the PHY layer. Multiple transport channels may be mapped to one physical channel. Examples of transport channels include a Downlink Shared Channel (DL-SCH) and an Uplink Shared Channel (UL-SCH). For example, downlink data may also be referred to as DL-SCH data. Furthermore, uplink data may also be referred to as UL-SCH data. Here, DL-SCH data includes downlink user data. Furthermore, UL-SCH data includes uplink user data.

[0066] A logical channel is a channel located above a transport channel and is mapped to the transport channel in the MAC layer. Multiple logical channels may be mapped to one transport channel, and one logical channel may be mapped to multiple transport channels. Logical channels are classified according to the characteristics of the information they transmit. Examples of logical channels include a Broadcast Control Channel (BCCH), a Common Control Channel (CCCH), and a Dedicated Control Channel (DCCH).

[0067] The base station device 20 transmits downlink control information (DCI) to the terminal device 10 using the PDCCH, which is a physical channel. The DCI includes information on downlink and uplink resource allocation for the terminal device 10, and control information for the terminal device 10. The DCI is mapped to the PDCCH and corresponds to Layer 1 signaling.

[0068] Here, one or more formats may be defined for transmission of DCI in the PDCCH. The format defined for transmission of DCI in the PDCCH may be referred to as a DCI format. For example, the DCI format may include a DCI format used for scheduling a Physical Downlink Shared Channel (PDSCH) (e.g., a format referred to as DCI format 1_0, DCI format 1_1, and / or DCI format 1_2). Furthermore, for example, the DCI format may include a DCI format used for scheduling a Physical Uplink Shared Channel (PUSCH) (e.g., a format referred to as DCI format 0_0, DCI format 0_1, and / or DCI format 0_2). Furthermore, the DCI format may include a DCI format not used for scheduling a PDSCH and / or a PUSCH. The DCI format used for scheduling a PDSCH and / or a PUSCH may be referred to as a scheduling DCI format. A DCI format that is not used for scheduling the PDSCH and / or PUSCH may be referred to as a non-scheduling DCI format. In this embodiment, for ease of explanation, a "DCI format" may be simply referred to as a "PDCCH." Furthermore, a "DCI generated according to a DCI format" may be simply referred to as a "DCI format."

[0069] For example, the base station device 20 may configure frequency domain resources and / or time domain resources that the terminal device 10 monitors (i.e., monitors) a PDCCH candidate set. For example, the frequency domain resources that the terminal device 10 monitors the PDCCH candidate set may be referred to as a control resource set (CORESET). Furthermore, the time domain resources that the terminal device 10 monitors the PDCCH candidate set may be referred to as a search space set (SSS). The terminal device 10 may monitor the PDCCH candidate set in one or more CORESETs in the DL-BWP of a serving cell for which PDCCH monitoring is configured, according to the corresponding search space set. Here, monitoring may imply attempting to decode each PDCCH candidate according to the monitored DCI format. The above configuration may be referred to as blind decoding.

[0070] Here, a Cyclic Redundancy Check (CRC) scrambled with a Radio Network Temporary Identifier (RNTI) may be added to the DCI (or DCI format) transmitted on the PDCCH. The CRC may also be referred to as a CRC parity bit. Multiple types of RNTI are defined. For example, the base station device 20 may set each RNTI by transmitting an RRC message including at least one of information indicating a C-RNTI (Cell-RNTI), information indicating a Modulation and Coding Scheme Cell-RNTI (MCS-C-RNTI), and information indicating a Configured Scheduling-RNTI (CS-RNTI). That is, a CRC scrambled with at least one of the C-RNTI, MCS-C-RNTI, and CS-RNTI may be added to the DCI (or DCI format) transmitted on the PDCCH.

[0071] The terminal device 10 may monitor (and / or receive) the PDCCH and detect (and / or receive) the DCI format.

[0072] The terminal device 10 transmits uplink control information (UCI) to the base station device 20 using the PUCCH, which is a physical channel. The UCI includes control information such as a scheduling request (SR), a hybrid automatic repeat reQuest (HARQ) ACK / NACK, and channel state information (CSI). The UCI is mapped to the PUCCH or PUSCH and corresponds to layer 1 signaling.

[0073] The base station device 20 uses the DL-SCH, which is a transport channel, to transmit a control element (CE) of the MAC layer to the terminal device 10. The downlink MAC CE is mapped to the PDSCH via the DL-SCH and corresponds to Layer 2 signaling.

[0074] The terminal device 10 transmits a control element (CE) of the MAC layer to the base station device 20 using the UL-SCH, which is a transport channel. The uplink MAC CE includes control information such as a buffer status report (BSR). The uplink MAC CE is mapped to a PUSCH via the UL-SCH and corresponds to Layer 2 signaling.

[0075] The base station device 20 transmits (or broadcasts) system information (SI) to the terminal device 10 using the BCCH, which is a logical channel. The SI includes minimum system information (MSI) and other system information (OSI). The MSI includes a master information block (MIB) and system information block 1 (SIB1). SIB1 may be referred to as remaining minimum system information (RMSI). The OSI includes system information blocks (SIB2 onward) other than SIB1. Of the BCCH, the MIB is mapped to the PBCH via the BCH (Broadcast CHannel), and the SIB is mapped to the PDSCH via the DL-SCH.

[0076] The base station device 20 transmits control information in the RRC layer to the terminal device 10 using a signaling radio bearer (SRB) established between the terminal device 10 and the base station device 20 in the RRC layer. Hereinafter, messages exchanged between the base station device 20 and the terminal device 10 in the RRC layer may be referred to as RRC messages. There are multiple types of SRBs (e.g., SRB0, SRB1, SRB2, SRB3, SRB4). The SRBs are used to transmit and receive RRC messages as well as NAS messages containing control information in the NAS layer. The CCCH or DCCH is used to transmit RRC messages from the base station device 20 to the terminal device 10. The CCCH and DCCH are each mapped to the PDSCH via the DL-SCH. The RRC message corresponds to Layer 3 signaling.

[0077] As an example of a downlink RRC message, an RRC reconfiguration message will be described. The RRC reconfiguration message is an RRC message transmitted from the base station device 20 to the terminal device 10 using SRB1 or SRB3. The DCCH is used to transmit the RRC reconfiguration message. The RRC reconfiguration message is used to reconfigure or modify the connection between the base station device 20 and the terminal device 10.

[0078] The terminal device 10 transmits an RRC message to the base station device 20 using the above-mentioned SRB. The CCCH or DCCH is used to transmit the RRC message from the terminal device 10 to the base station device 20. The CCCH and DCCH are each mapped to the PUSCH via the UL-SCH. The RRC message corresponds to Layer 3 signaling.

[0079] As an example of an uplink RRC message, a user equipment capability information (UECapabilityInformation) message will be described. The user equipment capability information message is an RRC message transmitted from the terminal device 10 to the base station device 20 using SRB1. The DCCH is used to transmit the user equipment capability information message. The user equipment capability information message is used to notify the base station device 20 of information related to the radio access capability of the terminal device 10.

[0080] As an example of an uplink RRC message, a user equipment assistance information (UE Assistance Information) message will be described. The user equipment assistance information message is an RRC message transmitted from the terminal device 10 to the base station device 20 using SRB1 or SRB3. The DCCH is used to transmit the user equipment assistance information message. The user equipment assistance information message is used to notify the base station device 20 of various information related to the terminal device 10 (UE assistance information).

[0081] 1.4. Sensing 1.4.1. Sensing Channel / Sensing Signal As described above, the terminal device 10 performs sensing by itself, with other terminal devices 10, and / or with the base station device 20. Sensing involves receiving radio waves transmitted to an object to be detected, such as a person or an obstacle, and analyzing changes in the frequency spectrum of the radio waves to detect the object. Hereinafter, an object detected by sensing is referred to as a "detection target." Detection targets include people, animals, objects, etc. to be detected.

[0082] In this embodiment, a sensing channel and / or a sensing signal, which is defined separately from wireless communication, is used for radio waves used to perform sensing. In this manner, the communication channel / communication signal can be separated from the sensing channel / sensing signal. Hereinafter, in this embodiment, a "sensing signal" is used to perform sensing. The sensing signal may be used interchangeably with the sensing channel.

[0083] As will be described later, in the case of self-sensing, the same device acts as a sensing transmitter and a sensing receiver, with the sensing transmitter transmitting a sensing signal and the sensing receiver receiving the sensing signal. In the case of cooperative sensing, different devices act as a sensing transmitter and a sensing receiver, with the sensing transmitter transmitting a sensing signal and the sensing receiver receiving the sensing signal. In either case, sensing is performed by exchanging sensing signals.

[0084] 1.4.2 Sensing Transmitter / Sensing Receiver For example, when sensing is performed between two terminal devices 10, one of the two terminal devices 10 transmits a sensing signal, and the other terminal device 10 receives the sensing signal. The sensing signal is reflected from the detection target, and its frequency spectrum changes due to the Doppler effect. The terminal device 10 that receives the sensing signal detects the detection target by analyzing the change in the frequency spectrum of the sensing signal. In addition, in the following, to distinguish between multiple terminal devices, the first of the multiple terminal devices will be referred to as the "first terminal device 10," the second as the "second terminal device 10," and the third as the "third terminal device 10."

[0085] A device that transmits a sensing signal is called a sensing transmitter. The sensing transmitter may be either a terminal device 10 or a base station device 20. A device that receives a sensing signal is called a sensing receiver. The sensing receiver may be a terminal device 10, or in some cases, a base station device 20.

[0086] 1.4.3 Self-Sensing When a single terminal device 10 performs sensing, the terminal device 10 serves as both a sensing transmitter and a sensing receiver. As shown in FIG. 9 , the terminal device 10 serves as both a sensing transmitter and a sensing receiver. In this case, the terminal device 10 serves as a sensing transmitter, transmitting a sensing signal, and serves as a sensing receiver, receiving the sensing signal reflected from a sensing target and / or a wall, etc. Sensing performed by a single device serving as both a sensing transmitter and a sensing receiver in this manner is referred to as "self-sensing." The term "self-sensing" may be used interchangeably with "monostatic-sensing" and "single-sensing."

[0087] 1.4.4 Cooperative Sensing For example, when two or more terminal devices 10 perform sensing, a first terminal device 10 acts as a sensing transmitter, and a second terminal device 10 acts as a sensing receiver. In this case, the first terminal device 10 transmits a sensing signal, and the second terminal device 10 receives the sensing signal. Sensing performed by multiple devices in this manner is referred to as "cooperative sensing." Cooperative sensing may be used interchangeably with group sensing, collaborative sensing, bistatic sensing, and multistatic sensing.

[0088] In cooperative sensing, for example, the base station device 20 may act as a sensing transmitter, and the terminal device 10 may act as a sensing receiver. As shown in Fig. 10 , the base station device 20 acts as a sensing transmitter, and the terminal device 10 acts as a sensing receiver. In this case, the base station device 20 transmits a sensing signal to a detection target, and the terminal device 10 receives the sensing signal.

[0089] In addition, in collaborative sensing, for example, the first terminal device 10 may serve as a sensing transmitter, and the second terminal device 10 and the third terminal device 10 may serve as sensing receivers. As shown in Fig. 11 , the first terminal device 10 serves as a sensing transmitter, and the second terminal device 10 serves as a sensing receiver. In this case, the first terminal device 10 transmits a sensing signal to a detection target, and the second terminal device 10 receives the sensing signal.

[0090] Cooperative sensing may be performed by three or more devices. For example, two terminal devices 10 may act as sensing transmitters, and one terminal device 10 may act as a sensing receiver. In this case, the two terminal devices 10 as sensing transmitters transmit sensing signals, and one terminal device 10 as a sensing receiver receives the sensing signals.

[0091] Alternatively, one terminal device 10 may serve as a sensing transmitter, and two terminal devices 10 may serve as sensing receivers. In this case, one terminal device 10 as a sensing transmitter transmits a sensing signal, and two terminal devices 10 as sensing receivers receive the sensing signal. When three or more devices perform cooperative sensing, the ratio of the number of sensing transmitters to the number of sensing receivers may be N to M, where N and M are integers greater than or equal to 1.

[0092] 1.4.5 Sensing Initiator / Sensing Responder For example, the base station device 20 may request the terminal device 10 to perform sensing. In this case, the base station device 20 transmits a sensing request message to the terminal device 10, and the terminal device 10 transmits an ACK message to the base station device 20. Sensing is performed by the terminal device 10 and the base station device 20 through such a procedure. Also, a first terminal device 10 may request a second terminal device 10 to perform sensing. In this case, the first terminal device 10 transmits a sensing request message to the second terminal device 10, and the second terminal device 10 transmits an ACK message to the first terminal device 10. Sensing is performed by the first terminal device 10 and the second terminal device 10 through such a procedure.

[0093] A device that requests to perform sensing is called a "sensing initiator." A device that performs sensing in response to a request from a sensing initiator is called a "sensing responder." The term "sensing initiator" may be used interchangeably with the term "sensing requester."

[0094] The procedure for starting sensing, such as the sensing initiator transmitting a sensing request message and the sensing responder transmitting an ACK message, is referred to as a "sensing initiation procedure."

[0095] For example, the base station device 20 may act as a sensing initiator, and the terminal device 10 may act as a sensing responder. In this case, in response to a request from the base station device 20, cooperative sensing may be performed with the base station device 20 acting as a sensing transmitter and the terminal device 10 acting as a sensing receiver. Also, in response to a request from the base station device 20, the terminal device 10 may perform self-sensing as a sensing transmitter and a sensing receiver.

[0096] Alternatively, the base station device 20 may serve as a sensing initiator, and the first terminal device 10 and the second terminal device 10 may serve as sensing responders. In this case, in response to a request from the base station device 20, collaborative sensing may be performed with the base station device 20 acting as a sensing transmitter and the first terminal device 10 and the second terminal device 10 acting as sensing receivers. Alternatively, in response to a request from the base station device 20, collaborative sensing may be performed with the first terminal device 10 acting as a sensing transmitter and the second terminal device 10 acting as a sensing receiver.

[0097] Alternatively, the first terminal device 10 may serve as a sensing initiator, and the second terminal device 10 may serve as a sensing responder. In this case, in response to a request from the first terminal device 10, collaborative sensing may be performed with the first terminal device 10 serving as a sensing transmitter and the second terminal device 10 serving as a sensing receiver. In response to a request from the first terminal device 10, collaborative sensing may be performed with the second terminal device 10 serving as a sensing transmitter and the first terminal device 10 serving as a sensing receiver. Furthermore, in response to a request from the first terminal device 10, the second terminal device 10 may perform self-sensing as a sensing transmitter and a sensing receiver.

[0098] 1.5. Transmitting Beam Antenna 1.5.1. Sharing of Sensing Beam and Communication Beam For example, when the terminal device 10 functions as a sensing transmitter, it forms a beam for transmitting a sensing signal. Also, when the terminal device 10 performs wireless communication, it forms a beam for transmitting a communication signal. Hereinafter, a beam used for wireless communication will be referred to as a "communication beam," and a beam used for sensing will be referred to as a "sensing beam."

[0099] The same beam may be used as both the sensing beam and the communication beam. For example, as shown in Figure 12, some beams among multiple beams may be used as sensing beams, and other beams may be used as both sensing beams and communication beams. The sensing beam and the communication beam may be identified and switched using an antenna port and an index.

[0100] 1.5.2 Sharing of Sensing Antenna and Communication Antenna The same antenna may be used for transmitting both the sensing signal and the communication signal. Hereinafter, the beam used for wireless communication will be referred to as the "communication antenna," and the beam used for sensing will be referred to as the "sensing antenna."

[0101] For example, multiple antenna panels may be used. In this manner, multiple beams can be transmitted simultaneously. In this case, for example, any of the multiple antenna panels may be used as a sensing antenna, and the other of the multiple antenna panels may be used as both a sensing antenna and a communication antenna.

[0102] 13 , for example, a beam transmitted from an antenna panel AP1 installed on one side of the terminal device 10 may be used as both a sensing beam and a communication beam. Also, a beam transmitted from an antenna panel AP2 installed on the other side of the terminal device 10 may be used as both a sensing beam and a communication beam. With this configuration, for example, by simultaneously transmitting and receiving a sensing beam from the antenna panel AP1 and a communication beam from the antenna panel AP2, it is possible to simultaneously transmit and receive a sensing beam and a communication beam. Also, by simultaneously transmitting and receiving a sensing beam from the antenna panel AP1 and a sensing beam from the antenna panel AP2, it is possible to simultaneously transmit and receive multiple sensing beams.

[0103] 1.5.3 Separation of Sensing Beams from Communication Beams Different beams may be used for sensing beams and communication beams. For example, as shown in Figure 14, some beams among multiple beams may be used as sensing beams, and other beams may be used as communication beams. The sensing beam and the communication beam may be switched using an antenna port and an index.

[0104] By using different beams for the sensing beam and the communication beam, the sensing beam can be separated from the communication beam. In wireless communication, the range for transmitting a communication signal and the range for transmitting a sensing signal in sensing may be entirely different. In wireless communication, beam sweeping is used to extend the signal transmission range. For example, if the range for transmitting a sensing signal is entirely narrower than the range for transmitting a communication signal, it is not necessary to perform beam sweeping as frequently to transmit the sensing signal as when transmitting the communication signal. By separating the sensing beam from the communication beam, such cases can be flexibly addressed.

[0105] 1.5.4 Separation of Sensing Antenna from Communication Antenna Also, different antennas may be used for transmitting the sensing signal and the communication signal.

[0106] 15 , for example, a beam transmitted from an antenna panel AP1 installed on one side of the terminal device 10 may be used as a sensing beam. Also, a beam transmitted from an antenna panel AP2 installed on one side of the terminal device 10 may be used as a communication beam. With such a configuration, for example, by simultaneously transmitting and receiving a sensing beam from the antenna panel AP1 and transmitting and receiving a communication beam from the antenna panel AP2, it is possible to simultaneously transmit and receive a sensing beam and a communication beam.

[0107] As described above, the range over which a communication signal is transmitted in wireless communication and the range over which a sensing signal is transmitted in sensing may be entirely different. When the range over which a communication signal is transmitted is entirely wider than the range over which a sensing signal is transmitted, it may be preferable to configure only the communication antenna as a multidirectional antenna. By separating the sensing antenna from the communication antenna, such cases can be flexibly addressed.

[0108] 1.6 Separation of Sensing Resources from Communication Resources The resources used to transmit sensing signals are separated from the resources used to transmit communication signals in the time domain, frequency domain, and code domain. Hereinafter, beams used for wireless communication are referred to as "communication resources," and beams used for sensing are referred to as "sensing resources." By separating the sensing resources from the communication resources, it is possible to avoid at least interference between the sensing signals and the communication signals.

[0109] 1.6.1 Time Division Multiplexing The sensing resource may be separated from the communication resource in the time domain. As shown in Figure 16, the time domain of the sensing resource and the time domain of the communication resource are alternately allocated at regular intervals. In Figure 16, the time domain of the sensing resource is represented by "S" and the time domain of the communication resource is represented by "C".

[0110] The time domain of the sensing resource may be, for example, a time interval of N slots, where N is an integer greater than or equal to 1. The time domain of the communication resource may be, for example, a time interval of M slots, where M is an integer greater than or equal to 1, and N may be greater than M, N=M, or N<M. In this embodiment, the sensing resource and the communication resource are allocated in slot units, but may also be allocated in frames, subframes, or other time units instead of slots.

[0111] When the sensing resource is separated from the communication resource in the time domain, the base station device 20 may transmit information regarding the time domain of the sensing resource to the terminal device 10. The information regarding the time domain may be transmitted using, for example, an RRC message or a message of another layer such as a MAC CE.

[0112] The information on the time domain includes information for specifying the time domain of the sensing resource. For example, the information on the time domain may include an interval at which the time domain of the sensing resource is inserted into the communication resource. For example, if there are 20 slots in one frame and the time domain of the sensing resource is inserted every three slots in one frame, the interval at which the time domain of the sensing resource is inserted is three (slots). The interval at which the time domain of the sensing resource is inserted may be referred to as a "time domain period."

[0113] The information about the time domain may also include an offset. The offset is a time difference in slots from the start of a frame at which the time domain of the sensing resource starts. For example, if the time domain of the sensing resource starts two slots after the start of a frame, the offset is 2 (slots).

[0114] Furthermore, the information about the time domain may include the length of the time domain of the sensing resource. For example, if the time domain of the sensing resource is 5 slots, the length of the time domain of the sensing resource is 5 (slots). The length of the time domain of the sensing resource may be referred to as the "time domain length."

[0115] 1.6.2 Frequency Division Multiplexing The sensing resources may be separated from the communication resources in the frequency domain. As shown in Figure 17, the frequency domain of the sensing resources and the frequency domain of the communication resources are alternately allocated for each subcarrier or block. In Figure 17, the frequency domain of the sensing resources is represented by "S" and the frequency domain of the communication resources is represented by "C".

[0116] The frequency domain of the sensing resource may be a frequency band allocated to each subcarrier or block, and the frequency band is represented as FQ1. The frequency domain of the communication resource may be a frequency band allocated to each subcarrier or block, and the frequency band is represented as FQ2.

[0117] When the sensing resource is separated from the communication resource in the frequency domain, the base station device 20 may transmit information regarding the frequency domain of the sensing resource to the terminal device 10. The information regarding the frequency domain may be transmitted using, for example, an RRC message or a message of another layer such as a MAC CE.

[0118] The information on the frequency domain includes information for specifying the frequency domain of the sensing resource. For example, the information on the frequency domain may include an interval at which the frequency domain of the sensing resource is inserted relative to the communication resource. For example, if communication resources are assigned to three consecutive subcarriers out of four consecutive subcarriers and a sensing resource is assigned to one subcarrier, the interval at which the frequency domain of the sensing resource is inserted is four (subcarriers). The interval at which the frequency domain of the sensing resource is inserted may be referred to as a "frequency domain interval."

[0119] The information regarding the frequency domain may also include a frequency bandwidth used for the frequency domain of the sensing resource.

[0120] 1.6.3 Code Division Multiplexing The sensing resources may be separated from the communication resources in the code domain. As shown in Figure 18, the code domain of the sensing resources and the code domain of the communication resources are alternately assigned by applying different codes to each subcarrier or block. The applied code may be, for example, a ZC sequence or a DFTS-OFDM sequence. In Figure 18, the code domain of the sensing resources is represented by "S" and the code domain of the communication resources is represented by "C".

[0121] The code domain of the sensing resource may be a domain in which an orthogonal code or a non-orthogonal code is applied to each subcarrier or block, and the domain to which the code is applied is represented as CD1. The frequency domain of the communication resource may be a domain in which an orthogonal code or a non-orthogonal code is applied to each subcarrier or block, and the domain to which the code is applied is represented as CD2.

[0122] When the sensing resource is separated from the communication resource in the code domain, the base station device 20 may transmit information regarding the code domain of the sensing resource to the terminal device 10. The information regarding the code domain may be transmitted using, for example, an RRC message or a message of another layer such as a MAC CE.

[0123] The information about the code region includes information for specifying the code region of the sensing resource. For example, the information about the code region may include an interval at which the code region of the sensing resource is inserted relative to the communication resource. For example, if a code for the communication resource is applied to three consecutive subcarriers out of four consecutive subcarriers and a code for the sensing resource is applied to one subcarrier, the interval at which the code region of the sensing resource is inserted is four (subcarriers). The interval at which the code region of the sensing resource is inserted may be referred to as a "code region interval."

[0124] 1.6.4 Combination Sensing resources may be separated from communication resources in any combination of the time domain, frequency domain, and code domain. For example, sensing resources may be separated from communication resources in the frequency domain and / or code domain within the same time domain. Alternatively, sensing resources may be separated from communication resources in the time domain and / or code domain within the same frequency domain. Furthermore, sensing resources may be separated from communication resources in the time domain and / or frequency domain within the same code domain. Sensing resources are separated from communication resources by any of the above division multiplexing methods.

[0125] 1.7 Separation of Sensing Resources from Other Devices In addition to or instead of the separation of sensing resources from communication resources described above, sensing resources used for each sensing are separated in the time domain / frequency domain / code domain of the sensing resources. Such separation can avoid interference of sensing signals between devices.

[0126] 1.7.1 Frequency Division Multiplexing / Code Division Multiplexing Within the Same Time Domain Within the time domain "S" of the sensing resources shown in FIG. 16, the sensing resources may be separated in the frequency domain and / or the code domain. As shown in FIG. 19, within the time domain indicated by slot 0, different frequency domains, different code domains, or a combination of different frequency domains and different code domains may be assigned. The same applies to the subsequent slots 1 and z. In this way, within the same time domain, the sensing resources are separated in the frequency domain and / or the code domain. Note that in this embodiment, the time domain is in units of slots, but frames, subframes, or other time units may be used instead of slots.

[0127] 1.7.2 Time Division Multiplexing / Code Division Multiplexing within the Same Frequency Region Within the frequency region "S" of the sensing resources shown in FIG. 17, the sensing resources may be separated in the time domain and / or the code domain. As shown in FIG. 20, within the frequency region representing a certain frequency band indicated by FQ0, different time regions, different code regions, or a combination of different time regions and different code regions may be assigned. The same applies to the subsequent FQ1 and FQz. In this way, within the same frequency region, the sensing resources are separated in the time domain and / or the code domain.

[0128] 1.7.3 Time Division Multiplexing / Frequency Division Multiplexing within the Same Code Region Within the sensing resource code region "S" shown in Fig. 18, sensing resources may be separated in the time and / or frequency domains. As shown in Fig. 21, within the code region indicated by CD0, different time regions, different frequency regions, or a combination of different time and frequency regions may be assigned. The same applies to the subsequent CD1 and CDz. In this way, within the same code region, sensing resources are separated in the time and / or frequency domains.

[0129] 1.7.4 Allocation of Sensing IDs To identify resources, a sensing ID may be allocated to the resources allocated as described above. The sensing ID is allocated for each resource allocated in any combination of the time domain, frequency domain, and code domain.

[0130] For example, in the above-described scheme, when sensing resources are separated in the time domain and the frequency domain, the resources allocated for each sensing are resources allocated in a combination of different slots and different frequencies. In the above case, a sensing ID is assigned for each resource allocated in a combination of different slots and different frequencies.

[0131] The sensing ID is an identifier that can identify the allocated resource. For example, as shown in Fig. 22, a sequential number is assigned to each resource allocated in a combination of different slots and different frequencies, and the sensing ID corresponds to the assigned sequential number. Note that the sensing ID may be used interchangeably with "resource ID" and "sensing resource ID."

[0132] In any combination of the time domain, frequency domain, and code domain, a sensing ID that can identify a resource allocated for each sensing operation is assigned to the resource, thereby making it possible to identify the resource to be used for performing sensing. For example, as will be described later, when the base station device 20 allocates sensing resources, the terminal device 10 is able to identify the resource to be used by notifying the terminal device 10 of the sensing ID.

[0133] In any of the above-described methods, sensing is performed using the allocated sensing resources. In sensing, a sensing transmitter transmits a sensing signal, and a sensing receiver receives the sensing signal.

[0134] In the procedure for allocating resources and the sensing initiation procedure, communication occurs between the terminal device 10 and the base station device 20, or between the terminal devices 10. The sensing initiation procedure may be performed using sensing resources.

[0135] As shown in Fig. 23, both the sensing initiation procedure and sensing may be performed within the time domain of the sensing resource. In addition, the procedure for reporting the sensing result, which will be described later, may also be performed within the time domain of the sensing resource. By using the sensing resource for the sensing initiation procedure, sensing can be more clearly separated from communication. Note that the procedure for allocating sensing resources is referred to as a "resource allocation procedure," as will be described in detail later.

[0136] 24, the sensing start procedure may be executed within the time domain of the communication resources. Furthermore, the procedure for reporting the sensing results, which will be described later, may also be executed within the time domain of the communication resources. In this case, since only sensing is performed using the sensing resources, the amount of sensing resources allocated can be reduced compared to the amount of communication resources allocated.

[0137] 1.8. Resource Allocation Procedure 1.8.1. Resource Allocation by Base Station Device As described above, sensing resources are allocated, and the resource allocation procedure can be performed using various methods. In the resource allocation procedure, the base station device 20 may allocate sensing resources to the terminal device 10.

[0138] (1) Scheduling Request (SR) The base station device 20 may allocate sensing resources in response to a request for sensing resource allocation from the terminal device 10. For this request, for example, an SR used to request radio resource allocation for the PUSCH may be used.

[0139] The base station device 20 allocates PUCCH resources for transmitting the SR to the terminal device 10. The base station device 20 transmits an RRC message including parameters of the SR to the terminal device 10. The parameters of the SR are included in a SchedulingRequestResourceConfig IE, which is an example of an RRC information element (IE).

[0140] The terminal device 10 transmits UCI including SR to the base station device 20 using the configured PUCCH resource. The terminal device 10 may transmit UCI on demand. The terminal device 10 may transmit UCI at a configured periodicity. For example, the terminal device 10 may transmit an SR set to "0" (negative SR) and / or an SR set to "1" (positive SR). The base station device 20 allocates sensing resources to the terminal device 10 according to the SR.

[0141] (2) Dynamic Grant (DG) DG is a scheduling method for allocating radio resources for the PUSCH in accordance with an uplink grant procedure. Sensing resources may be allocated using this scheduling method. The base station device 20 transmits a grant to the terminal device 10 via the PDCCH. The terminal device 10 performs sensing in accordance with the grant. For example, the base station device 20 may allocate sensing resources using a DCI format with a CRC scrambled by the C-RNTI and / or MCS-C-RNTI (i.e., a DCI format used to allocate sensing resources), and the terminal device 10 may perform sensing using the allocated sensing resources. Here, a new data indicator (New Data Indicator) included in the DCI format to which the CRC scrambled by the C-RNTI and / or MCS-C-RNTI is added may be set to 0 or 1.

[0142] Furthermore, the base station device 20 may allocate sensing resources using a DCI format with a CRC scrambled by the CS-RNTI (i.e., a DCI format used to allocate sensing resources), and the terminal device 10 may perform sensing using the allocated sensing resources. Here, a new data indicator included in the DCI format with a CRC scrambled by the CS-RNTI may be set to 1.

[0143] (3) Semi-Persistent Scheduling (SPS) SPS is a scheduling method that semi-persistently allocates radio resources for the PUSCH using the above-described DCI format. Sensing resources may be allocated using this scheduling method. "Semi-persistent" may be used interchangeably with "periodic." By this scheduling method, sensing resources are allocated to the terminal device 10 at a set period.

[0144] (4) Configured Grant (CG) CG is a scheduling method for allocating radio resources for PUSCH without the above-mentioned dynamic grant procedure. Sensing resources may be allocated using this scheduling method. CG includes two types, Type 1 and Type 2, and sensing resources may be allocated in the same manner as CG Type 1.

[0145] In a method similar to CG type 1, the base station device 20 transmits an RRC message including CG parameters to the terminal device 10. The CG parameters are included in a ConfiguredGrantConfig IE, which is an example of an RRC information element (IE). The ConfiguredGrantConfig IE includes information for specifying the time domain / frequency domain / code domain of the sensing resource, such as the interval at which the time domain of the sensing resource is inserted as described above. The terminal device 10 performs sensing using the allocated sensing resource without being triggered by DCI.

[0146] Furthermore, sensing resources may be allocated in a manner similar to that of CG type 2. In a manner similar to that of CG type 2, the base station device 20 transmits DCI scrambled with CS-RNTI to the terminal device 10. The CS-RNTI is used to activate periodic transmission. In response to activation by DCI scrambled with CS-RNTI, the terminal device 10 performs sensing using the allocated sensing resources.

[0147] In any of the above-described methods, when the base station device 20 allocates sensing resources, it assigns a sensing ID. This sensing ID may be transmitted to the terminal device 10. The sensing ID may be transmitted using, for example, an RRC message or a message of another layer such as a MAC CE.

[0148] 1.8.2. Resource Determination Using RNTI Instead of the resource allocation method described above, for example, the base station device 20 may allocate sensing resources in advance and associate the sensing ID for the allocated resources with the RNTI. Information associating the sensing ID with the RNTI may be transmitted to the terminal device 10 as, for example, broadcast information. In this way, the terminal device 10 can use the RNTI allocated to itself to identify the allocated sensing ID and then the allocated resource.

[0149] Furthermore, for example, a predetermined calculation may be performed based on the RNTI, and the sensing ID may be calculated using a value calculated as a result of the calculation.

[0150] Furthermore, the sensing ID may be calculated as follows: Sensing ID=RNTI mod x, or Sensing ID=RNTI mod x+y, where x and y are predetermined integers.

[0151] 1.8.3 Selection by Terminal Device Instead of the resource allocation method described above, for example, the base station device 20 may allocate sensing resources in advance and transmit a list including multiple sensing IDs corresponding to the allocated resources to the terminal device 10, for example, as broadcast information. In this way, the terminal device 10 can secure sensing resources to use by selecting a sensing ID from this list.

[0152] 1.9 Sensing Procedure Sensing resources are allocated and sensing IDs are assigned through the resource allocation procedure described above. Thereafter, the base station device 20 and / or the terminal device 10 execute the sensing procedure. The sensing procedure includes the sensing initiation procedure described above, sensing, and, in the case of collaborative sensing, a procedure for reporting the sensing results. Hereinafter, the procedure for reporting the sensing results will be referred to as the "reporting procedure."

[0153] 25 to 29, the processing executed by the terminal device 10 is executed by the control unit 110 and the transmitting unit 121 and receiving unit 122 of the communication unit 120. The processing executed by the base station device 20 is executed by the control unit 210 and the transmitting unit 221 and receiving unit 222 of the communication unit 220.

[0154] 1.9.1 Self-sensing (1) Self-sensing by terminal device The procedure by which the terminal device 10 performs self-sensing will be described with reference to Fig. 25. It is assumed that a sensing ID has been assigned to the terminal device 10 by the resource allocation procedure. It is also assumed that the terminal device 10 reports the sensing result to the base station device 20.

[0155] In step S2501, the terminal device 10 performs self-sensing by transmitting a sensing signal using the allocated resource, receiving the sensing signal reflected from the detection target, and analyzing changes in the frequency spectrum of the received signal.

[0156] In step S2502, the terminal device 10 transmits the sensing result to the base station device 20. The sensing result may be transmitted using, for example, an RRC message or a message of another layer such as a MAC CE. In this manner, the sensing procedure including self-sensing is executed.

[0157] (2) Self-sensing in response to a request from a terminal device With reference to Fig. 26, a procedure will be described in which a first terminal device 10 requests a second terminal device 10 to perform self-sensing, and the second terminal device 10 performs self-sensing. It is assumed that a sensing ID has been assigned to the first terminal device 10 by a resource allocation procedure. It is also assumed that the second terminal device 10 reports the sensing result to the first terminal device 10.

[0158] In step S2601, the first terminal apparatus 10, acting as a sensing initiator, transmits a sensing request message to the second terminal apparatus 10. The sensing request message includes a sensing ID. The sensing request message may be transmitted via, for example, a PC5 interface.

[0159] In step S2602, the second terminal apparatus 10, as a sensing responder, transmits an ACK message to the first terminal apparatus 10. The ACK message may be transmitted via, for example, the PC5 interface.

[0160] In step S2603, the second terminal apparatus 10 identifies a corresponding sensing resource from the sensing ID included in the sensing request message, and executes self-sensing using the identified sensing resource.

[0161] In step S2604, the second terminal apparatus 10 transmits the sensing result to the first terminal apparatus 10. The sensing result may be transmitted, for example, via the PC5 interface. In this manner, the sensing procedure including self-sensing is executed.

[0162] 26, the first terminal device 10 serves as the sensing initiator, but the base station device 20 may also serve as the sensing initiator. In this case, in response to a sensing request message from the base station device 20, the second terminal device 10 performs self-sensing.

[0163] 1.9.2. Collaborative Sensing (1) Collaborative Sensing with Sensing Initiator as Sensing Transmitter Referring to FIG. 27 , a procedure will be described in which a first terminal device 10 requests a second terminal device 10 and a third terminal device 10 to perform collaborative sensing, and the first terminal device 10, the second terminal device 10, and the third terminal device 10 perform collaborative sensing. In the example shown in FIG. 27 , the first terminal device 10 serves as a sensing transmitter, and the second terminal device 10 and the third terminal device 10 serve as sensing receivers. The first terminal device 10 is assumed to have been assigned a sensing ID by a resource allocation procedure. The second terminal device 10 and the third terminal device 10 are assumed to report sensing results to the first terminal device 10.

[0164] In step S2701, the first terminal apparatus 10, acting as a sensing initiator, transmits a sensing request message to the second terminal apparatus 10. Similarly, in step 2702, the first terminal apparatus 10, acting as a sensing initiator, transmits a sensing request message to the third terminal apparatus 10. The sensing request message includes a sensing ID. The sensing request message may be transmitted via, for example, a PC5 interface.

[0165] In step S2703, the second terminal apparatus 10, as a sensing responder, transmits an ACK message to the first terminal apparatus 10. Similarly, in step 2704, the third terminal apparatus 10, as a sensing responder, transmits an ACK message to the first terminal apparatus 10. The ACK message may be transmitted via, for example, a PC5 interface.

[0166] In step S2705, the first terminal apparatus 10 and the second terminal apparatus 10 perform collaborative sensing. Similarly, in step 2706, the first terminal apparatus 10 and the third terminal apparatus 10 perform collaborative sensing. In collaborative sensing by the first terminal apparatus 10 and the second terminal apparatus 10, the first terminal apparatus 10 transmits a sensing signal using a sensing resource corresponding to a sensing ID. Furthermore, the second terminal apparatus 10 identifies a sensing resource from the sensing ID included in the sensing request message, and receives a sensing signal using the identified sensing resource. The same is true for collaborative sensing by the first terminal apparatus 10 and the second terminal apparatus 10.

[0167] In step S2707, the second terminal apparatus 10 transmits the sensing result to the first terminal apparatus 10. Similarly, in step S2708, the third terminal apparatus 10 transmits the sensing result to the first terminal apparatus 10. The sensing result may be transmitted, for example, via the PC5 interface. In this manner, the sensing procedure including self-sensing is executed.

[0168] 27 , the first terminal device 10 serves as the sensing initiator, but the base station device 20 may also serve as the sensing initiator. In this case, in response to a sensing request message from the base station device 20, the first terminal device 10, the second terminal device 10, and the third terminal device 10 perform collaborative sensing. The base station device 20 may also serve as a sensing transmitter. In this case, the base station device 20 transmits a sensing signal to the second terminal device 10 and the third terminal device 10, and the second terminal device 10 and the third terminal device 10 receive the sensing signal, thereby performing collaborative sensing.

[0169] (2) Collaborative Sensing with Sensing Initiator as Sensing Receiver Referring to Figure 28, a procedure will be described in which a first terminal device 10 requests a second terminal device 10 and a third terminal device 10 to perform collaborative sensing, and the first terminal device 10, the second terminal device 10, and the third terminal device 10 perform collaborative sensing. In the example shown in Figure 28, the first terminal device 10 and the second terminal device 10 serve as sensing receivers, and the third terminal device 10 serves as a sensing transmitter. It is assumed that a sensing ID has been assigned to the first terminal device 10 by a resource allocation procedure. It is also assumed that the second terminal device 10 reports the sensing result to the first terminal device 10.

[0170] In step S2801, the first terminal apparatus 10, acting as a sensing initiator, transmits a sensing request message to the second terminal apparatus 10. Similarly, in step S2802, the first terminal apparatus 10, acting as a sensing initiator, transmits a sensing request message to the third terminal apparatus 10. The sensing request message includes a sensing ID. The sensing request message may be transmitted, for example, via a PC5 interface.

[0171] In step S2803, the second terminal apparatus 10, as a sensing responder, transmits an ACK message to the first terminal apparatus 10. Similarly, in step 2804, the third terminal apparatus 10, as a sensing responder, transmits an ACK message to the first terminal apparatus 10. The ACK message may be transmitted via, for example, a PC5 interface.

[0172] In step S2805, the first terminal apparatus 10 and the third terminal apparatus 10 perform collaborative sensing. Similarly, in step 2806, the second terminal apparatus 10 and the third terminal apparatus 10 perform collaborative sensing. In collaborative sensing by the first terminal apparatus 10 and the third terminal apparatus 10, the third terminal apparatus 10 identifies a sensing resource from a sensing ID included in the sensing request message, and transmits a sensing signal using the identified sensing resource. Furthermore, the first terminal apparatus 10 receives a sensing signal using a sensing resource corresponding to the sensing ID. The same is true for collaborative sensing by the second terminal apparatus 10 and the third terminal apparatus 10.

[0173] In step S2807, the second terminal apparatus 10 transmits the sensing result to the first terminal apparatus 10. The sensing result may be transmitted, for example, via the PC5 interface. In this manner, the sensing procedure including self-sensing is executed.

[0174] 28 , the first terminal device 10 serves as the sensing initiator, but the base station device 20 may also serve as the sensing initiator. In this case, in response to a sensing request message from the base station device 20, the first terminal device 10, the second terminal device 10, and the third terminal device 10 perform collaborative sensing.

[0175] The first embodiment has been described above. According to the first embodiment, resources are allocated for each sensing in any combination of the time domain, the code domain, and the code domain, thereby preventing interference of sensing signals between devices. Furthermore, since sensing resources are separated from communication resources, interference between sensing signals and communication signals can be prevented.

[0176] 2. Second Embodiment 2.1. Insertion of Non-Transmission Periods As described above, when sensing is performed, a sensing transmitter transmits a sensing signal, and a sensing receiver receives the sensing signal transmitted from the sensing transmitter. This means that when sensing is performed, it takes time from when the sensing transmitter transmits the sensing signal until the sensing signal reaches the sensing receiver. In the second embodiment, sensing resources are allocated in the time domain of the sensing resources, taking into consideration the time it takes for the sensing signal to reach the sensing receiver.

[0177] 29 , in consideration of the time required for the sensing receiver to receive the sensing signal, the sensing resource to be allocated may be a time including not only the transmission interval for transmitting the sensing signal but also the reception interval in the time domain. The reception interval may be used interchangeably with the “non-transmission interval.”

[0178] 2.2. Generation of Signal Waveform with Inserted Non-Transmission Intervals For example, in the case where a sensing signal is transmitted using the DFTS-OFDM transmission method, a sensing signal including a transmission interval and a non-transmission interval may be generated as follows.

[0179] As shown in Fig. 30, first, for the sensing signal, a length corresponding to the sample length of X is assigned as the transmission interval in the time domain. Then, the length obtained by adding the non-transmission interval to the transmission interval is assigned as the DFT size. The non-transmission interval is an interval in which there is no signal.

[0180] Then, DFT and FFT are performed, and a CP is added. The CP may be added as a non-transmission interval. In the signal converted in this way, a length corresponding to the sample length of X is assigned as the transmission interval. Then, the length obtained by adding the non-transmission interval to the transmission interval is assigned as the symbol length or FFT size.

[0181] In this way, sensing resources can be allocated in the time domain, taking into consideration the time it takes for a sensing signal to reach a sensing receiver.

[0182] Since the transmission interval is assigned according to a length corresponding to the sample length of X, the length of the transmission interval can be set appropriately according to the sample length. Furthermore, the length obtained by adding the non-transmission interval to the transmission interval is assigned as the DFT size, and the FFT size is obtained by performing the FFT, so the length obtained by adding the non-transmission interval to the transmission interval can be set appropriately according to the FFT size.

[0183] Furthermore, multiple transmission intervals may be allocated. For example, as shown in Figure 31, a first transmission interval, a first non-transmission interval, a second transmission interval, and a second non-transmission interval may be allocated as the DFT size. In the example shown in Figure 31, the first transmission interval and the second transmission interval correspond to a sample length of X / 2 of the sample length of X shown in Figure 30. The first non-transmission interval and the second non-transmission interval correspond to 1 / 2 of the non-transmission interval shown in Figure 30.

[0184] By allocating the transmission interval and non-transmission interval in this manner, when DFT and FFT are performed and a CP is added, the first transmission interval, the first non-transmission interval, the second transmission interval, and the second non-transmission interval are allocated as the FFT size.

[0185] 30 and 31 below, when the terminal device 10 transmits a sensing signal, the process of generating a signal waveform is executed by the control unit 110 and the transmitting unit 121 and receiving unit 122 of the communication unit 120 in the terminal device 10. Also, when the base station device 20 transmits a sensing signal, the process is executed by the control unit 210 and the transmitting unit 221 and receiving unit 222 of the communication unit 220.

[0186] As described above, the second embodiment has been described. According to the second embodiment, in addition to transmission durations, non-transmission durations can also be allocated in the time domain of sensing resources, thereby enabling more appropriate resource allocation for transmitting sensing signals.

[0187] 3. Third Embodiment In the first embodiment, an example has been described in which sensing resources are separated from communication resources in any combination of the time domain, the frequency domain, and the code domain. When separating sensing resources from communication resources, allocating more sensing resources is expected to increase sensing accuracy but decrease communication speed. Conversely, allocating fewer sensing resources is expected to increase communication speed but decrease sensing accuracy.

[0188] In the third embodiment, the ratio between the assigned communication resources and the assigned sensing resources is made variable. An example in which the ratio between the assigned communication resources and the assigned sensing resources is made variable will be described below, on the assumption that the sensing resources are separated from the communication resources in the time domain.

[0189] For example, by reducing the value of the time domain period, which is the interval at which the time domain of the sensing resource is inserted into the communication resource described above, more sensing resources can be allocated in the time domain.

[0190] 32 shows an example in which there are 20 slots in one frame, and a one-slot-long time domain of sensing resources is inserted every four slots in one frame. In this case, the time domain period is 4. For example, by changing the value of the time domain period to 3, as shown in FIG. 33, a one-slot-long time domain of one-slot-long sensing resources is inserted every three slots in one frame, resulting in more sensing resources being allocated.

[0191] Furthermore, for example, by increasing the value of the time domain length, which is the length of the time domain of the sensing resource described above, more sensing resources can be allocated in the time domain.

[0192] As described above, the example shown in Fig. 32 shows that there are 20 slots in one frame, and a time domain of one slot length of sensing resources is inserted every four slots in one frame. For example, by changing the value of the time domain length to 2, as shown in Fig. 34, a time domain of two slots length of sensing resources is inserted every four slots in one frame, and more sensing resources are allocated.

[0193] As described above, in the time domain, the ratio between the assigned communication resources and the assigned sensing resources can be made variable by changing the time domain period and / or the time domain length. In the frequency domain, as described above, the ratio between the assigned communication resources and the assigned sensing resources can be made variable by changing the frequency domain interval, which is the interval at which the frequency domain of the sensing resources is inserted. In the code domain, as described above, the ratio between the assigned communication resources and the assigned sensing resources can be made variable by changing the code domain interval, which is the interval at which the code domain of the sensing resources is inserted.

[0194] The above-mentioned parameters may be changed by the base station device 20 in accordance with, for example, communication traffic, the priority between sensing and communication, and requests from the terminal device 10 or the number of such requests. In other words, the ratio of allocated communication resources to allocated sensing resources changes according to predetermined conditions. The changed parameters may be notified from the base station device 20 to the terminal device 10, from the terminal device 10 to the base station device 20, or between terminal devices 10.

[0195] As described above, the third embodiment has been described. According to the third embodiment, communication resources and sensing resources can be appropriately allocated depending on the status of communication traffic and the like.

[0196] 4. Fourth Embodiment As described above, sensing is performed by transmitting a sensing signal to a detection target, receiving the sensing signal reflected from the detection target, and analyzing changes in the frequency spectrum of the received signal. For example, when detecting a moving detection target, the sensing can be repeated multiple times and the beam of the sensing signal can be changed for each sensing (beam sweep), thereby enabling the moving detection target to be detected with high accuracy.

[0197] In the fourth embodiment, sensing is repeated multiple times. An example of preventing interference of sensing signals between devices when sensing is performed multiple times will be described below.

[0198] 4.1 Changing Beam, Frequency, and Signal Sequence For example, assume that sensing is performed n times consecutively within a predetermined period. In this embodiment, the beam, frequency, and code / signal sequence are changed for each of the multiple sensing operations. Hereinafter, the code / signal sequence will be collectively referred to as the "signal sequence."

[0199] Fig. 35 shows an example in which the beam and signal sequence are changed for each of 16 consecutive sensing operations. As shown in Fig. 35, the same beam is applied for two consecutive sensing operations out of the 16 sensing operations, and a different beam is applied for the next two sensing operations. In other words, the beam is changed every other sensing operation. The same frequency is applied for all 16 sensing operations. Furthermore, different signal sequences are applied for all 16 sensing operations. Note that different beams include beams with different directions, intensities, patterns, etc.

[0200] In the example shown in Figure 35, sequence hopping is performed, in which the signal sequence is changed randomly in all sensing. In the example shown in Figure 35, the same frequency but different sequences are applied, the beam is changed every two times, and sensing is performed twice. In this way, Doppler estimation can be used to more accurately detect the target. Note that changing the beam every two times is merely an example. For example, the beam may be changed every m times, which is equal to or greater than two times.

[0201] Fig. 36 shows an example in which the beam and frequency are changed in each of 16 consecutive sensing operations. As shown in Fig. 36, the beam is changed every other sensing operation out of the 16 sensing operations. Furthermore, a first frequency is applied in the first sensing operation out of two sensing operations, and a second frequency is applied in the second sensing operation, and this is repeated twice each. In other words, the first frequency and the second frequency are applied alternately in the two sensing operations. Furthermore, the same signal sequence is applied in all 16 sensing operations.

[0202] In the example shown in Figure 36, the same signal sequence but different frequencies are applied, the beam is changed every two times, and sensing is performed twice each. In this way, the effect of frequency diversity can be obtained. Note that changing the beam every two times and alternately applying the first frequency and the second frequency is merely an example. For example, the beam may be changed every m times, which is two or more times, and the first frequency to the mth frequency may be alternately applied in m sensing operations.

[0203] Fig. 37 shows an example in which, when sensing is performed 16 times consecutively, the beam, frequency, and signal sequence are changed for each sensing. As shown in Fig. 37, a different beam and a different signal sequence are applied for all 16 sensing operations. In addition, a first frequency is applied for the first sensing operation, and a second frequency is applied for the second sensing operation, and this is repeated twice each. In other words, the first frequency and the second frequency are applied alternately for the two sensing operations.

[0204] In the example shown in Figure 37, sequence hopping is performed, in which the signal sequence is randomly changed in all sensing operations. In the example shown in Figure 37, a different beam is applied in all sensing operations. In this manner, multiple beams can be supported. Note that alternately applying the first frequency and the second frequency is merely an example. For example, the first frequency to the mth frequency may be alternately applied in m sensing operations, where m is an integer equal to or greater than 2.

[0205] 35 to 37 are merely examples of changing the beam, frequency, and signal sequence in each sensing operation. In this embodiment, any one or a combination of the beam, frequency, and signal sequence is changed in each sensing operation. In this way, when sensing is performed multiple times, interference of sensing signals between devices can be prevented and sensing accuracy can be improved.

[0206] 4.2 Resource Allocation The sensing resources used for sensing are allocated in the resource allocation procedure described above. That is, the sensing resources are allocated by the base station device 20, determined by the RNTI, or selected by the terminal device 10. In any case, when sensing is performed n times, the resource allocation procedure may be performed when performing each of the n sensing times.

[0207] Furthermore, n sensing resources may be allocated by executing one resource allocation procedure. In this case, n sensing IDs are allocated by executing one resource allocation procedure. For example, when the terminal device 10 requests resource allocation from the base station device 20, it may notify the base station device 20 of the number of sensing operations to be performed. Hereinafter, the number of sensing operations to be performed is referred to as the "number of sensing operations." The base station device 20 allocates sensing resources corresponding to the number of sensing operations according to the notified number of sensing operations, and assigns corresponding sensing IDs.

[0208] Furthermore, for example, in the method of calculating the sensing ID based on the RNTI described above, when the a-th sensing is performed among n sensing operations, the sensing ID may be calculated as follows: Sensing ID = RNTI mod x + a, where x is a predetermined integer.

[0209] The assigned sensing IDs may be n independent sensing IDs. Alternatively, the assigned sensing IDs may be n related sensing IDs. In this case, for example, each of the n sensing IDs may have a sub-number different from a common number. The common number corresponds to the common sensing ID, and the sub-number corresponds to the sub-sensing ID.

[0210] 4.3. Notification in Collaborative Sensing When sensing is performed multiple times in succession, in collaborative sensing, for example, the sensing initiator needs to notify the sensing responder of information such as the number of sensing times. A sensing procedure in which a first terminal device 10 and a second terminal device 10 perform collaborative sensing n times will be described with reference to FIG. 38 . In the example shown in FIG. 38 , the first terminal device 10 serves as a sensing transmitter, and the second terminal device 10 serves as a sensing receiver. Furthermore, the first terminal device 10 serves as a sensing initiator, and the second terminal device 10 serves as a sensing responder.

[0211] In step S3801, the first terminal apparatus 10 executes a resource allocation procedure to allocate sensing resources corresponding to the number of sensing times n. Through this procedure, n sensing IDs are allocated.

[0212] In step S3802, the first terminal apparatus 10, acting as a sensing initiator, transmits a sensing request message to the second terminal apparatus 10. The sensing request message includes a sensing ID. The sensing request message may be transmitted via, for example, a PC5 interface.

[0213] In step S3802, sensing IDs corresponding to n sensing operations may be notified collectively from the first terminal device 10 to the second terminal device 10. Alternatively, in step S3805, each time sensing is executed, the first terminal device 10 may notify the second terminal device 10 of a sensing ID for the subsequent sensing operation.

[0214] In step S3803, the second terminal apparatus 10, as a sensing responder, transmits an ACK message to the first terminal apparatus 10. The ACK message may be transmitted via, for example, the PC5 interface.

[0215] In step S3804, the first terminal apparatus 10 notifies the second terminal apparatus 10 of parameters related to sensing. Hereinafter, the parameters related to sensing will be referred to as "sensing parameters." The sensing parameters may be transmitted via, for example, a PC5 interface.

[0216] The sensing parameters include the number of sensing operations. The sensing parameters also include patterns such as those shown in Figures 35 to 37. A pattern indicates how any of the beam, frequency, and code / signal sequence is changed in each of the n sensing operations performed. Hereinafter, such a pattern will be referred to as a "sensing pattern."

[0217] In addition to the above, the sensing parameters may include the following information: - Transmission intervals to be inserted in the sensing resource time domain - Transmission intervals and non-transmission intervals to be inserted in the sensing resource time domain - Frequency bandwidth applied in each sensing - Signal sequence number applied in each sensing

[0218] Information included in the sensing parameters such as the transmission interval and frequency bandwidth described above needs to be notified in each sensing. In step S3803, information corresponding to n sensing operations may be notified collectively from the first terminal apparatus 10 to the second terminal apparatus 10. Alternatively, in step S3805, information about the subsequent sensing operation may be notified from the first terminal apparatus 10 to the second terminal apparatus 10 each time sensing is performed.

[0219] In step S3805, the first terminal apparatus 10 and the second terminal apparatus 10 repeat the execution of collaborative sensing n times.

[0220] In step S3806, the second terminal apparatus 10 transmits the sensing result to the first terminal apparatus 10. The sensing result may be transmitted via, for example, a PC5 interface.

[0221] In step S3805, sensing results corresponding to n sensing operations may be transmitted in bulk from the second terminal device 10 to the first terminal device 10. Alternatively, in step S3805, each time sensing is performed, the first terminal device 10 may notify the second terminal device 10 of a sensing ID for the subsequent sensing operation.

[0222] 38, the resource allocation procedure, the notification of the resource ID, the notification of the sensing parameters, and the reporting procedure are executed collectively for n sensing operations. Alternatively, the above procedures may be executed individually each time sensing is executed.

[0223] Another sensing procedure in which a first terminal device 10 and a second terminal device 10 perform cooperative sensing n times will be described with reference to Fig. 39 . In the example shown in Fig. 39 , the first terminal device 10 also serves as a sensing transmitter, and the second terminal device 10 also serves as a sensing receiver. Furthermore, the first terminal device 10 also serves as a sensing initiator, and the second terminal device 10 also serves as a sensing responder.

[0224] In step S3901, the first terminal apparatus 10, as a sensing initiator, transmits a sensing request message to the second terminal apparatus 10. In step S3902, the second terminal apparatus 10, as a sensing responder, transmits an ACK message to the first terminal apparatus 10.

[0225] In step S3903, the first terminal device 10 executes a resource allocation procedure to allocate resources for performing the a-th sensing among n sensing operations, thereby allocating sensing resources for the a-th sensing operation. A corresponding sensing ID is allocated by this procedure.

[0226] In step S3904, the first terminal apparatus 10 notifies the second terminal apparatus 10 of the sensing ID to be used for the a-th sensing. The first terminal apparatus 10 also notifies the second terminal apparatus 10 of sensing parameters. The sensing parameters include any of a transmission interval, a transmission interval plus a non-transmission interval, a frequency bandwidth, a signal sequence number, and the like, which are applied in the a-th sensing.

[0227] In step S3905, the first terminal apparatus 10 and the second terminal apparatus 10 repeatedly perform collaborative sensing n times. In step S3906, the second terminal apparatus 10 transmits the sensing result to the first terminal apparatus 10.

[0228] Steps S3903 to S3906 are repeated n times. In this way, the resource allocation procedure, the notification of the resource ID, the notification of the sensing parameters, and the reporting procedure are executed individually for each of the n sensing operations.

[0229] 39 , after step S3906 is executed in the a-th sensing, steps S3903 to S3906 are executed in the subsequent (a+1)-th sensing. After step S3906, the first terminal apparatus 10 and the second terminal apparatus 10 may notify that the (a+1)th sensing will be executed after the a-th sensing. Furthermore, in the n-th sensing, which is the last of the n sensing, after step S3906, the first terminal apparatus 10 and the second terminal apparatus 10 may notify that sensing will end.

[0230] In the example shown in FIG. 39, the first terminal apparatus 10 and the second terminal apparatus 10 notify information on the subsequent sensing each time sensing is performed, instead of notifying the number of sensing operations at the beginning.

[0231] 38 and 39, the first terminal device 10 serves as a sensing transmitter and a sensing initiator, but the base station device 20 may also serve as a sensing transmitter and a sensing initiator. In this case, in response to a sensing request message from the base station device 20, the base station device 20 and the first terminal device 10 and / or the second terminal device 10 perform cooperative sensing.

[0232] 38 and 39 , the processing of the sensing procedure is executed by the control unit 110, and the transmission unit 121 and reception unit 122 of the communication unit 120 in the terminal device 10. Furthermore, when the base station device 20 executes collaborative sensing, the processing is executed by the control unit 210, and the transmission unit 221 and reception unit 222 of the communication unit 220.

[0233] 5. Modifications Although the present disclosure has been described based on the above embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also encompasses various modifications and modifications within the equivalent range. Other combinations including one or more elements included in the above embodiment are also within the scope and spirit of the present disclosure.

[0234] The words, phrases, and other expressions used in the above embodiments are merely examples and may be replaced with substantially identical or similar expressions. In particular, since the technology according to the above embodiments relates to technical specifications, the expressions in the above embodiments may be replaced with substantially identical or similar expressions in technical specifications (e.g., technical specifications cited in this specification).

[0235] The information transmitted and received in the above embodiment may be contained in the same or a different message or element already described in the technical specifications, or may be contained in a newly defined message or element. The information transmitted and received in the above embodiment may be transmitted and received using a different layer and / or a different channel than those in the above embodiment.

[0236] The means and / or functions provided by the devices described in the above embodiments can be provided by software recorded in a tangible memory device and a computer that executes the software, software alone, hardware alone, or a combination thereof. For example, if any of the above devices is provided by an electronic circuit that is hardware, it can be provided by a digital circuit including a large number of logic circuits, or an analog circuit.

[0237] The device described in the above embodiment executes a program stored in a non-transitory tangible storage medium, and the execution of the program executes a method corresponding to the program.

[0238] 6. Supplementary Notes Some or all of the above embodiments and modified examples may also be described as, but are not limited to, the following supplementary notes. Below, a relationship is expressed in which a supplementary note that is dependent on multiple supplementary notes is dependent on another supplementary note that is dependent on multiple supplementary notes. All of the dependency relationships of the supplementary notes expressed below are included in the above embodiments.

[0239] (Supplementary Note 1) A terminal device (10) including a control unit (110) and a communication unit (120), wherein the control unit and the communication unit are configured to perform the sensing multiple times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the multiple sensing operations.

[0240] (Supplementary Note 2) The terminal device according to Supplementary Note 1, wherein the control unit and the communication unit are further configured to apply the same frequency and different beams in the multiple sensing operations.

[0241] (Supplementary Note 3) The terminal device according to Supplementary Note 2, wherein the control unit and the communication unit are further configured to apply a different beam every m sensing times, where the multiple sensing times correspond to n sensing times, and n and m are integers equal to or greater than 2, and n>m.

[0242] (Supplementary Note 4) The terminal device according to Supplementary Note 2 or 3, wherein the control unit and the communication unit are further configured to apply a random signal sequence in the multiple sensing operations.

[0243] (Supplementary Note 5) The terminal device according to Supplementary Note 1, wherein the control unit and the communication unit are further configured to apply different frequencies and different beams in the multiple sensing operations.

[0244] (Supplementary Note 6) The terminal device according to Supplementary Note 5, wherein the multiple sensing operations correspond to n sensing operations, and the terminal device is further configured to apply a different beam every m sensing operations, where n and m are integers greater than or equal to 2, and n>m.

[0245] (Supplementary Note 7) The terminal device according to Supplementary Note 5 or 6, wherein the control unit and the communication unit are further configured to correspond to n sensing operations and to alternately apply a first frequency to an mth frequency in m sensing operations, where n and m are integers equal to or greater than 2, and n>m.

[0246] (Supplementary Note 8) The terminal device according to any one of Supplementary Notes 5 to 7, wherein the control unit and the communication unit are further configured to apply the same signal sequence in the multiple sensing operations.

[0247] (Supplementary Note 9) The terminal device according to Supplementary Note 5, wherein the control unit and the communication unit are further configured to apply a random signal sequence in the multiple sensing operations.

[0248] (Supplementary Note 10) The terminal device according to any one of Supplementary Notes 1 to 9, wherein the control unit and the communication unit are further configured to perform the sensing by exchanging sensing signals using sensing resources allocated in each of the plurality of sensing operations, and an identifier is assigned to each of the allocated sensing resources.

[0249] (Supplementary Note 11) The terminal device according to Supplementary Note 10, wherein the communication unit is further configured to notify another device of the assigned identifier in each of the sensing operations.

[0250] (Supplementary Note 12) The terminal device according to Supplementary Note 10, wherein the communication unit is further configured to notify another device of the assigned identifiers corresponding to the plurality of sensing operations.

[0251] (Supplementary Note 13) The terminal device according to any one of Supplementary Notes 1 to 12, wherein the communication unit is further configured to notify another device of a number of sensing operations corresponding to the plurality of sensing operations.

[0252] (Supplementary Note 14) The terminal device according to any one of Supplementary Notes 1 to 12, wherein the communication unit is further configured to, in each of the sensing operations, notify another device that a subsequent sensing operation will be performed.

[0253] (Supplementary Note 15) The terminal device according to any one of Supplementary Notes 1 to 12, wherein the communication unit is further configured to notify another device that the multiple sensing operations have ended.

[0254] (Supplementary Note 16) The terminal device according to any one of Supplementary Notes 1 to 15, wherein the communication unit is further configured to notify another device of sensing parameters corresponding to the plurality of sensing operations.

[0255] (Supplementary Note 17) The terminal device according to any one of Supplementary Notes 1 to 15, wherein the communication unit is further configured to notify another device of a sensing parameter in each of the sensing operations.

[0256] (Supplementary Note 18) The terminal device according to Supplementary Note 16 or 17, wherein the sensing parameters include any of: a period for transmitting the sensing signal in a time domain of a sensing resource allocated to the sensing signal; a period for transmitting the sensing signal and a period for receiving the sensing signal in a time domain of the allocated sensing resource; a frequency applied in each of the sensing operations; and a signal sequence number applied in each of the sensing operations.

[0257] (Supplementary Note 19) The terminal device according to any one of Supplementary Notes 1 to 18, wherein sensing resources are allocated to the sensing signal in any combination of a time domain, a frequency domain, and a code domain.

[0258] (Supplementary Note 20) The terminal device according to Supplementary Note 19, wherein the sensing resource is separated from a communication resource used for communication in any combination of a time domain, a frequency domain, and a code domain.

[0259] (Supplementary Note 21) The terminal device according to Supplementary Note 20, wherein a ratio of resource allocation between the sensing resource and the communication resource varies according to a predetermined condition.

[0260] (Supplementary Note 22) The terminal device according to any one of Supplementary Notes 19 to 21, wherein the sensing resource is allocated, in a time domain, a period for transmitting the sensing signal and a period for receiving the sensing signal.

[0261] (Supplementary Note 23) The terminal device according to Supplementary Note 22, wherein the sensing resource is allocated, in a time domain, a plurality of intervals for transmitting the sensing signal and a plurality of intervals for receiving the sensing signal.

[0262] (Supplementary Note 24) The terminal device according to Supplementary Note 22 or 23, wherein, when the sensing signal is transmitted by a DFTS-OFDM transmission method, a section for transmitting the sensing signal corresponds to a sample length.

[0263] (Supplementary Note 25) The terminal device according to any one of Supplementary Notes 22 to 24, wherein the period for transmitting the sensing signal and the period for receiving the sensing signal correspond to an FFT size.

[0264] (Supplementary Note 26) A base station device (20), comprising: a control unit (210) and a communication unit (220), wherein the control unit and the communication unit are configured to perform the sensing multiple times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the multiple sensing operations.

[0265] (Supplementary Note 27) A method executed by a terminal device (10), comprising: performing the sensing multiple times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the multiple sensing times.

[0266] (Supplementary Note 28) A method executed by a base station device (20), comprising: performing the sensing a plurality of times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the plurality of sensing times.

[0267] (Supplementary Note 29) A program that, when executed, causes a processor (101) in a terminal device (10) to perform the sensing multiple times by exchanging sensing signals by applying different beams, different frequencies, and different signal sequences in the multiple sensing operations.

[0268] (Supplementary Note 30) A program that, when executed, causes a processor (201) in a base station device (20) to execute: performing the sensing multiple times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the multiple sensing operations.

[0269] (Supplementary Note 31) A computer-readable non-transitory tangible recording medium storing a program that, when executed, causes a processor (101) in a terminal device (10) to perform the sensing multiple times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the multiple sensing times.

[0270] (Supplementary Note 32) A computer-readable non-transient tangible recording medium storing a program that, when executed, causes a processor (201) in a base station device (20) to perform the following: When executed, causes a processor (101) in a terminal device (10) to perform the sensing multiple times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the multiple sensing times.

[0271] The disclosures of the above prior art documents and references are incorporated herein by reference.

Claims

1. A terminal device (10), comprising a control unit (110) and a communication unit (120), wherein the control unit and the communication unit are configured to perform the sensing multiple times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the multiple sensing operations.

2. The terminal device according to claim 1, wherein the control unit and the communication unit are further configured to apply the same frequency and different beams in the multiple sensing operations.

3. The terminal device of claim 2, wherein the control unit and the communication unit are further configured to apply a different beam every m sensing operations, the multiple sensing operations corresponding to n sensing operations, n and m being integers greater than or equal to 2, and n > m.

4. The terminal device according to claim 2, wherein the control unit and the communication unit are further configured to apply a random signal sequence in the multiple sensing operations.

5. The terminal device according to claim 1, wherein the control unit and the communication unit are further configured to apply different frequencies and different beams in the multiple sensing operations.

6. The terminal device of claim 5, wherein the multiple sensing operations correspond to n sensing operations, and the terminal device is further configured to apply a different beam every m sensing operations, where n and m are integers greater than or equal to 2, and n>m.

7. The terminal device of claim 5, wherein the control unit and the communication unit are further configured to correspond to n sensing operations and to alternately apply a first frequency to an mth frequency in m sensing operations, where n and m are integers greater than or equal to 2, and n>m.

8. The terminal device according to claim 5, wherein the control unit and the communication unit are further configured to apply the same signal sequence in the multiple sensing operations.

9. The terminal device according to claim 5, wherein the control unit and the communication unit are further configured to apply a random signal sequence in the multiple sensing operations.

10. The terminal device of claim 1, wherein the control unit and the communication unit are further configured to perform the sensing by exchanging sensing signals using the assigned sensing resources in each of the multiple sensing operations, and an identifier is assigned to each of the assigned sensing resources.

11. The terminal device according to claim 10, wherein the communication unit is further configured to notify another device of the assigned identifier during each of the sensing operations.

12. The terminal device according to claim 10, wherein the communication unit is further configured to notify another device of the assigned identifiers corresponding to the multiple sensing operations.

13. The terminal device according to claim 1, wherein the communication unit is further configured to notify another device of a number of sensing events corresponding to the plurality of sensing events.

14. The terminal device according to claim 1, wherein the communication unit is further configured to, during each of the sensing, notify another device that a subsequent sensing will be performed.

15. The terminal device according to any one of claims 1 to 12, wherein the communication unit is further configured to notify another device that the multiple sensing operations have been completed.

16. The terminal device according to claim 1, wherein the communication unit is further configured to notify another device of sensing parameters corresponding to the multiple sensing operations.

17. The terminal device according to any one of claims 1 to 15, wherein the communication unit is further configured to notify another device of sensing parameters in each of the sensing operations.

18. The terminal device of claim 16, wherein the sensing parameters include any of the following: a section for transmitting the sensing signal in a time domain of a sensing resource allocated to the sensing signal; a section for transmitting the sensing signal and a section for receiving the sensing signal in a time domain of the allocated sensing resource; a frequency applied in each of the sensing operations; and a signal sequence number applied in each of the sensing operations.

19. A method performed by a terminal device (10), comprising: performing the sensing a plurality of times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the plurality of sensing times.

20. A program which, when executed, causes a processor (101) in a terminal device (10) to perform the sensing multiple times by exchanging sensing signals by applying any of different beams, different frequencies, and different signal sequences in the multiple sensing operations.

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