Communication device and communication method

Abstract

A communication device includes circuitry that performs signaling related to at least one of transmission and reception of a sensing signal transmitted by using a radio communication resource with one or a plurality of other communication devices, and that performs at least one of transmission and reception of the sensing signal after the signaling.

Description

COMMUNICATION DEVICE AND COMMUNICATION METHOD

[0001] The present disclosure relates to a communication device and a communication method.

[0002] With the rapid development of digital technology in recent years, fusion of sensing technology and communication technology has become important. As an example of a trend regarding the fusion, integrated sensing and communication (ISAC) has been known (for example, NPL 1).

[0003] 3GPP TR 22.837 V19.1.0 (2023-09), 3rd Generation Partnership Project; Technical Specification Group TSG SA; Feasibility Study on Integrated Sensing and Communication (Release 19)

[0004] However, effective fusion of the sensing technology and the communication technology cannot be achieved only by simply applying the sensing technology to the known communication technology. As an example, fusion of sensing technology and cellular communication technology is considered. In cellular communication, a radio communication network is implemented by cooperation of a plurality of communication devices. However, with the known cellular communication technology as it is, there is a possibility that cooperation between a plurality of communication devices is not successful depending on the sensing technology to be applied.

[0005] Therefore, the present disclosure proposes a communication device and a communication method capable of implementing effective fusion of sensing technology and communication technology.

[0006] Note that the above problem or object is merely one of a plurality of problems or objects that can be solved or achieved by a plurality of embodiments disclosed in the present specification.

[0007] In order to solve the above problem, a communication device according to one embodiment of the present disclosure includes: a signaling unit that performs signaling related to at least one of transmission and reception of a sensing signal transmitted by using a radio communication resource with one or a plurality of other communication devices; and a sensing unit that performs at least one of transmission and reception of the sensing signal after the signaling.

[0008] Fig. 1 is a diagram for explaining mono-static sensing.Fig. 2 is a diagram for explaining bi-static sensing.Fig. 3 is a diagram for explaining multi-static sensing.Fig. 4 is a diagram for explaining multi-static sensing.Fig. 5 is a diagram for explaining multi-static sensing.Fig. 6 is a diagram illustrating a configuration of a communication system according to the present embodiment.Fig. 7 is a diagram illustrating a configuration example of a server according to an embodiment of the present disclosure.Fig. 8 is a diagram illustrating a configuration of a management device according to the present embodiment.Fig. 9 is a diagram illustrating a configuration of a base station according to the present embodiment.Fig. 10 is a diagram illustrating a configuration of a terminal device according to the present embodiment.Fig. 11 is a diagram for explaining a first sensing scenario.Fig. 12 is a diagram for explaining a second sensing scenario.Fig. 13 is a diagram for explaining a third sensing scenario.Fig. 14 is a diagram for explaining a fourth sensing scenario.Fig. 15 is a diagram for explaining a fifth sensing scenario.Fig. 16 is a diagram for explaining a sixth sensing scenario.Fig. 17 is a diagram for explaining feedback of a sensing result.Fig. 18 is a sequence diagram illustrating an example of sensing processing related to the mono-static sensing.Fig. 19 is a sequence diagram illustrating an example of sensing processing related to the bi-static sensing.Fig. 20 is a diagram for explaining a sensing scenario of the multi-static sensing.Fig. 21 is a sequence diagram illustrating an example of sensing processing related to the multi-static sensing.Fig. 22 is a diagram for explaining a sensing operation according to a first operation example.Fig. 23 is a diagram for explaining TCI.

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each of the following embodiments, the same parts are denoted by the same reference numerals, and redundant description will be omitted.

[0010] In addition, in the present description / specification and the drawings, a plurality of components having substantially the same functional configuration may be distinguished by attaching different numbers after the same reference numerals. For example, a plurality of configurations having substantially the same functional configuration are distinguished as terminal devices 401, 402, and 403as necessary. However, when it is not particularly necessary to distinguish each of a plurality of components having substantially the same functional configuration, only the same reference numeral is attached. For example, when it is not particularly necessary to distinguish the terminal devices 401, 402, and 403, the terminal devices are simply referred to as terminal devices 40.

[0011] Also, in the present description / specification, the expression "at least one of" with a list of elements is understood as an expression in which the listed elements are options. For example, "at least one of A, B, and C" represents "A", "B", "C", "A and B", "A and C", "B and C", or "A, B, and C". "At least one of A, B, or C" and "at least one of A, B, and / or C" are also similar to the "at least one of A, B, and C". Here, A, B, and C are all optional expressions (for example, word, phrase, term, or item).

[0012] One or a plurality of embodiments (examples and modifications are included) described below can each be implemented independently. On the other hand, at least a part of a plurality of embodiments described below may be appropriately combined with at least a part of other embodiments. A plurality of embodiments may include novel features different from each other. Therefore, a plurality of embodiments can contribute to solving objects or problems different from each other, and can exhibit effects different from each other.

[0013] <<1. Outline>> First, an outline of the present embodiment will be described.

[0014] <1-1. Problem> With the rapid development of digital technology in recent years, fusion of sensing technology and communication technology has become important. As an example of a trend regarding the fusion, integrated sensing and communication (ISAC) has been known. In ISAC, for example, a communication device collects and processes different types of sensing data in real time, and shares information with other devices by the communication technology. The fusion of the sensing technology and the communication technology can lead to revolutionary changes in a wide variety of fields.

[0015] However, effective fusion of the sensing technology and the communication technology cannot be achieved only by simply applying the sensing technology to the known communication technology.

[0016] As an example, fusion of sensing technology and cellular communication technology is considered. In cellular communication, a radio communication network is implemented by cooperation of a plurality of communication devices. However, with the known cellular communication technology as it is, there is a possibility that cooperation between a plurality of communication devices is not successful depending on the sensing technology to be applied.

[0017] For example, it is assumed that a communication device transmits a sensing signal for detecting a surrounding object by using a radio communication resource (hereinafter, also referred to as a radio resource or simply a resource) for the cellular communication. The sensing signal is a signal used for sensing. Here, if the other communication device (for example, another communication device in the same cell) does not obtain the information on transmission of the sensing signal in advance, for example, the sensing signal interferes with cellular communication and / or sensing of the other communication device, and cellular communication and / or sensing may be confused.

[0018] Therefore, the present embodiment solves the above problem as follows.

[0019] <1-2. ISAC, TCI, and QCL> Before describing an outline of a solution, integrated sensing and communication (ISAC), transmission configuration indicator (TCI), and Quasi-co-location (QCL) will be described.

[0020] <1-2-1. ISAC> First, the integrated sensing and communication (ISAC) will be described.

[0021] The main role of the ISAC first includes collection of sensing data. A communication device uses different types of sensors to monitor various phenomena, for example, environmental changes and / or object behavior. As a result, the communication device can collect data in real time and accurately grasp a situation of the physical world.

[0022] Next, the role of the ISAC includes data processing and conversion. The communication device converts the collected data into useful information through processing such as analysis and / or pattern recognition. For example, in the environmental monitoring, the communication device grasps a tendency of temperature and humidity from the sensing data and uses the grasped tendency for future weather prediction.

[0023] Furthermore, as a role of the ISAC, data sharing by the communication technology can be mentioned. The communication device transmits sensing data (or data based on sensing data) to an appropriate location and / or device by the communication technology. Information sharing in real time enables monitoring or control at a remote location. As a result, it is possible to quickly respond to various problems.

[0024] The ISAC is assumed to be important in many fields such as infrastructure management of smart cities, industrial automation, and medical monitoring. Data integration and sharing may enable more efficient operation and / or more efficient data-driven decision-making.

[0025] (Regarding Sensing Technology) In the present embodiment, the sensing technology includes a technology for detecting / measuring a physical phenomenon. In the ISAC, the sensing technology is an important element for detecting environmental and / or object changes and collecting the changes as digital data.

[0026] In the following description, data detected by one or a plurality of sensing functions included in the communication device may be referred to as sensing data. As described above or later, the sensing data may be 3GPP sensing data or non-3GPP sensing data. The 3GPP sensing data means data obtained from a 3GPP radio signal affected by an object or an environment (reflection, refraction, diffraction, and the like) for the purpose of sensing. The non-3GPP sensing data means data provided for an object or an environment for sensing by a sensor (for example, video, LiDAR, sonar, and the like) other than the 3GPP. The sensing function may be implemented by one or a plurality of sensors included in the communication device. The communication device having the sensing function may be a sensing transmitter, a sensing receiver, or both. The sensing transmitter is an entity that transmits a sensing signal used by a sensing service in an operation thereof. The sensing transmitter is a part of a RAN node (for example, a base station 30 described above or below) or a UE (for example, a terminal device 40 described above or below). The sensing transmitter may be located in the same entity as the sensing receiver, or may be located in a different entity. The sensing receiver is an entity that receives the sensing signal used by the sensing service in the operation thereof. The sensing receiver is a part of the RAN node (for example, the base station 30 described above or below) or the UE (for example, the terminal device 40 described above or below). The sensing receiver is located in the same or a different entity with the sensing transmitter. The sensing data appearing in the following description can be rephrased as sensing information, detection data, or detection information.

[0027] In the present embodiment, the sensing may include at least one of the following (1) to (5). The word "detection" appearing in the following description can be replaced with "measurement". In addition, the word "communication device" appearing in the following description can be replaced with "information processing device".

[0028] (1) Temperature detection The communication device may collect temperature data of the environment detected by a temperature sensor as sensing data (or data based on sensing data). The communication device may utilize the collected data for weather forecasting and / or energy management, for example.

[0029] (2) Humidity detection The communication device may collect humidity data in the air detected by a humidity sensor as sensing data (or data based on sensing data). The communication device may utilize the collected data for indoor comfort control and / or agricultural management, for example.

[0030] (3) Light detection The communication device may collect data of intensity and / or brightness of light detected by an optical sensor as sensing data (or data based on sensing data). The communication device may utilize the collected data for lighting control and / or environmental monitoring, for example.

[0031] (4) Acceleration detection The communication device may collect data of acceleration and / or vibration of an object detected by an acceleration sensor as sensing data (or data based on sensing data). The communication device may utilize the collected data for motion sensing and / or device soundness diagnosis, for example.

[0032] (5) Position detection The communication device may collect position data of an object detected by a position sensor (for example, a GNSS sensor such as a GPS sensor) as sensing data (or data based on sensing data). The communication device may utilize the collected data for tracking movement of an object, for example.

[0033] Note that the sensing of the present embodiment is not limited to the examples of (1) to (5) described above. The sensing of the present embodiment may be, for example, sensing related to detection of at least one of color of an object, velocity of an object, acceleration of an object, reflectance of an object, transmittance of an object, distance to an object, temperature of an object / environment, geomagnetism, illuminance, atmospheric pressure, light, and sound. Of course, the sensing of the present embodiment may be sensing other than the examples.

[0034] (ISAC in Cellular Communication System) The cellular communication technology is, for example, a radio access technology (RAT) that enables mobile communication of a terminal device by arranging a plurality of areas covered by base stations in a cell shape. The cellular communication system is a communication system that enables the mobile communication of the terminal device by using the cellular communication technology.

[0035] The cellular communication system includes not only a third generation mobile communication system (so-called 3G) and a fourth generation mobile communication system (so-called 4G) but also a fifth generation mobile communication system (so-called 5G). The first standard of 5G was formulated as Rel-15 in 2018. 5G is a radio access technology that can cope with various use cases including enhanced mobile broadband (eMBB), massive machine type communications (mMTC), and ultra-reliable and low latency communications (URLLC).

[0036] The cellular communication system may include a sixth generation mobile communication system (so-called 6G). 6G is a next generation system of 5G. A radio communication system that seeks further evolution of 5G is being considered as 6G. Note that the cellular communication system may include not only 6G but also beyond 5G (B5G).

[0037] High-speed communication, low latency, and multi-connectivity in 5G, B5G, and 6G satisfy conditions required by use cases related to the ISAC. Therefore, affinity between the cellular communication system (for example, 5G, B5G, and 6G) and the ISAC is high. In particular, in the cellular communication system, the sensing technology based on the ISAC may become an important element for controlling radio communication.

[0038] For example, sensing in 5G may be referred to as 5G wireless sensing. In the 5G wireless sensing, a distance (range), an angle, an instantaneous linear velocity, and the like of an object may be determined using radio frequency as a technology for acquiring information on a characteristic of an environment and / or an object in the environment. Since the sensing function that uses radio frequency (radio frequency sensing function) does not need to connect objects via devices (for example, base station 30 and terminal device 40) in the network, a service for device-free object localization can be provided. Estimation of parameters such as signal strength, delay, Doppler, angular spectrum information, and the like may be obtained from a scattered and reflected radio frequency signal transmitted and received by the RAN node (for example, the base station 30 described above or below) or the UE (for example, the terminal device 40 described above or below) using the sensing signal (for example, NR radio frequency signal). By processing such radio frequency signal, a feature such as object position, velocity, geometric information, and the like may be extracted and further exposed to various applications along with contextual information. The ability to obtain distance, velocity, and angle information from the radio frequency signal may provide a wide range of new features such as various object detection, object recognition (vehicle, human, animal, UAV, and the like), high accuracy localization, tracking, and the like.

[0039] With the introduction of the sensing technology by the ISAC, the cellular communication system can perform high-degree monitoring on the situation around the communication device and / or the communication environment of the communication device, and collect data in real time. As a result, the cellular communication system can quickly detect a change and / or a failure occurrence in the communication environment and take an appropriate action. For example, the cellular communication system can detect the influence of an interference and / or an obstacle of the radio wave by the sensing data, and optimize the communication channel and / or the frequency band.

[0040] In addition, the cellular communication system can utilize the data collected by the sensing technology for optimization and / or quality improvement of the communication network. For example, the cellular communication system can adjust a bandwidth of communication and / or optimize a connection control of the device by monitoring the network in real time based on the sensing data. Accordingly, improvement in user experience is realized.

[0041] In addition, the cellular communication system can use the data collected by the sensing technology for network slicing. For example, the cellular communication system can provide an optimal communication environment for different applications / services by constructing a customized network environment based on the sensing data.

[0042] In addition, the cellular communication system can use the data collected by the sensing technology for security enhancement. The cellular communication system can realize protection of the network and / or enhancement of security measures by detecting a sign of an abnormal operation and / or an attack by the sensing technology and issuing a warning early.

[0043] That is, in the cellular communication system, the ISAC is useful for improving quality of the communication network, optimizing operation, enhancing security, or the like. In the cellular communication system, the ISAC may be an important element for constructing a more reliable communication environment.

[0044] <1-2-2. TCI and QCL> Next, a transmission configuration indicator (TCI) and a quasi-co-location (QCL) will be described.

[0045] In 5G, control of reception processing of a signal and / or a channel based on the transmission configuration Indicator (TCI) has been studied. Here, the reception processing may be, for example, at least one of reception, demapping, demodulation, and decoding. Here, the TCI is information on quasi-co-location (QCL) of a signal and / or a channel. The TCI may be called a spatial reception parameter, spatial relation information, or the like. The TCI may be set in the communication device for each channel or each signal.

[0046] The QCL indicates a statistical nature of the signal and / or the channel. For example, the QCL indicates a relationship between antenna ports. For example, if signal transmission between different antenna ports can be inferred based on a specific channel characteristic, the relationship may be considered to be the quasi-co-location (QCL). In other words, if a characteristic of a signal on one antenna port can be inferred from a characteristic of a signal on another antenna port, the relationship may be considered to be the QCL. For example, when one signal and / or channel and another signal and / or channel are the QCL, it can be assumed that at least one of doppler shift, doppler spread, average delay, delay spread, and spatial parameter are the same between a plurality of different signals and / or channels.

[0047] For example, it is assumed that reference signals X and Y are transmitted from the same antenna array, and the same spatial filter is applied to the signals. Here, the reference signal X and the reference signal Y have similar channel characteristic. Therefore, the communication device on the reception side (hereinafter, also referred to as a reception device) can detect the reference signal Y using the channel characteristic of the reference signal X. Here, the reference signal X and the reference signal Y can be regarded as the QCL.

[0048] Here, the reference signal X can be a signal such as a channel state information reference signal (CSI-RS) or synchronization signal (SS) / physical broad cast channel (PBCH) block (SSB). In addition, the signal Y can be a channel such as a physical downlink control channel (PDCCH), a physical downlink shared channel (PDSCH), a physical uplink control channel (PUCCH), a physical uplink shared channel (PUSCH), a physical sidelink control channel (PSCCH), or a physical sidelink shared channel (PSSCH). For example, when a predetermined CSI-RS and a predetermined PDCCH are the QCL, the reception device can execute reception processing of the PDCCH assuming that a predetermined channel characteristic for receiving the PDCCH is the same as a predetermined channel characteristic of the CSI-RS.

[0049] The channel characteristic related to the QCL may be a part or all of a plurality of channel characteristics described in (1) to (5) below.

[0050] (1) Doppler shift The doppler shift refers to a change in wavelength due to movement of the communication device. The doppler shift is a phenomenon in which the frequency of the transmission signal changes according to the speed.

[0051] (2) Doppler spread The doppler spread is, for example, a temporal representation of a difference in frequency between the transmission signal and the reception signal. The doppler spread indicates a spread of the received signal.

[0052] (3) Average delay The average delay indicates, for example, an average value of arrival times of signals by multipath propagation.

[0053] (4) Delay spread The delay spread (delay dispersion) indicates, for example, an arrival time difference between the first multipath component and the last component.

[0054] (5) Spatial parameter The spatial parameter is information on beamforming. The spatial parameter may be a spatial reception parameter (spatial Rx parameter). Here, the spatial reception parameter may correspond to a reception beam (for example, reception analog beam) of the reception device. Then, the reception device may identify the beam based on the spatial parameter.

[0055] A plurality of types may be defined as the QCL type. For example, the following four QCL types having different parameter sets may be defined as the QCL type.

[0056] (1) QCL type A Parameter set: Doppler shift, doppler spread, average delay, and delay spread

[0057] (2) QCL type B Parameter set: Doppler shift and doppler spread

[0058] (3) QCL type C Parameter set: Doppler shift and average delay

[0059] (4) QCL type D Parameter set: Spatial parameter

[0060] The transmission configuration indicator (TCI) is information for notifying about the QCL. The TCI is dynamically transmitted, for example, in a downlink control information (DCI) message. The TCI may include information such as a QCL relationship between reference signals (RSs) in a RS set of the downlink (DL).

[0061] <1-3. Outline of Solution> Based on the above description, an outline of the solution of the present embodiment will be described.

[0062] The communication system of the present embodiment is a cellular communication system including a plurality of communication devices (for example, a terminal device and / or a base station). Each of the plurality of communication devices includes a radio communication unit (for example, a 3GPP transceiver) for cellular communication. Note that the communication device of the present embodiment may be a device different from the terminal device and the base station. For example, the communication device of the present embodiment may be a device at least including at least a part of functions of the terminal device and / or at least a part of functions of the base station. For example, the communication device in the present embodiment may be a repeater or a relay device that repeats or relays a predetermined signal.

[0063] At least one of the plurality of communication devices has one or a plurality of sensing functions. The one or a plurality of sensing functions included in the communication device include a radio frequency (RF)-based sensing function (for example, an RF-based sensing function supported by a 3GPP transceiver). The RF-based sensing function is, for example, a function of detecting surrounding objects using radio communication resources for performing cellular communication.

[0064] Note that, in the present embodiment, the communication device does not necessarily have the sensing function. The sensing device having the sensing function may be a device different from the communication device. Then, it is preferable that the sensing device can communicate with at least one communication device by wired connection (for example, at least one of USB connection and wired LAN connection) or wireless connection (for example, at least one of Bluetooth connection, wireless LAN connection, and connection by a communication method different from the communication system of the present embodiment).

[0065] The one or a plurality of communication devices included in the communication system detect surrounding objects using the RF-based sensing function. For example, the communication device (transmission device, sensing transmitter) included in the communication system transmits the sensing signal by using the radio communication resource for performing cellular communication.

[0066] The sensing signal is a signal used for sensing. The sensing signal may mean transmission on a 3GPP wireless interface that can be used for sensing purposes. The sensing signal may be, for example, a signal such as CSI-RS or SSB, or may be a signal transmitted and / or received on a channel such as PDCCH, PDSCH, PUCCH, PUSCH, PSCCH, or PSSCH. The sensing signal may be referred to as a sensing reference signal (RS).

[0067] A communication device (reception device, sensing receiver) included in the communication system receives the sensing signal transmitted by the transmission device. As described above or below, the reception of the sensing signal may include collecting sensing data. The sensing data collection process may be referred to as a sensing measurement process. That is, the reception of the sensing signal may be measurement of the sensing signal. The reception of the sensing signal may include reception of other signals and / or channels that are the quasi-co-location (QCL) with the sensing signal. Other signals and / or channels that are the quasi-co-location (QCL) with the sensing signal can also be regarded as the sensing signal.

[0068] The sensing performed by the one or a plurality of communication devices included in the communication system may be mono-static sensing, bi-static sensing, or multi-static sensing.

[0069] The mono-static sensing, the bi-static sensing, and the multi-static sensing will be described below with reference to Figs. 1 to 5.

[0070] Note that, in Figs. 1 to 5, an automobile is illustrated as an object to be sensed, but the object to be sensed is not limited to an automobile. For example, the object to be sensed may be a moving object other than an automobile, or may be a structure. Here, the moving object may be a mobile terminal, or may be a moving object that moves on land, in the ground, on water, or under water. Furthermore, the moving object may be a moving object that moves inside the atmosphere or may be a moving object that moves outside the atmosphere. The structure may be a building or a non-building structure. The structure may be a base station, or may be a structure on land, in the ground, on water, or under water. The structure may be a structure in the atmosphere or a structure outside the atmosphere. In addition, the object to be sensed may be an organism such as a human.

[0071] (Mono-Static Sensing) Fig. 1 is a diagram for explaining the mono-static sensing. The mono-static sensing is sensing of a mono-static method in which one communication device performs both transmission and reception of the sensing signal. In the example of Fig. 1, one communication device transmits the sensing signal to the surroundings, and the communication device receives the sensing signal reflected by the object. As a result, the communication device can detect surrounding objects.

[0072] (Bi-Static Sensing) Fig. 2 is a diagram for explaining the bi-static sensing. The bi-static sensing is sensing of a bi-static method in which one communication device (transmission device) transmits the sensing signal and another communication device (reception device) receives the sensing signal. In the example of Fig. 2, one communication device (transmission device) transmits the sensing signal to the surroundings, and another communication device (reception device) receives the sensing signal reflected by the object. Accordingly, the communication device can detect objects surrounding the transmission device and / or the reception device.

[0073] (Multi-Static Sensing) Figs. 3 to 5 are diagrams for explaining the multi-static sensing. The multi-static sensing is sensing in a multi-static method in which a plurality of communication devices are involved in transmission or reception of the sensing signal. The multi-static sensing may also be referred to in other expressions, such as multi-sensing. In the example of Fig. 3, one communication device (transmission device) transmits the sensing signal to the surroundings, and a plurality of other communication devices (reception devices) receive the sensing signal. In the example of Fig. 4, a plurality of communication devices (transmission devices) transmit the sensing signal to the surroundings, and another communication device (reception device) receives the sensing signal. In the example of Fig. 5, a plurality of communication devices (transmission devices) transmit the sensing signal to the surroundings, and a plurality of other communication devices (reception devices) receive the sensing signal. Accordingly, the communication device can detect objects surrounding the transmission device and / or the reception device.

[0074] The multi-static sensing may include sensing in which at least one mono-static sensing and at least one bi-static sensing are combined. For example, one communication device may transmit the sensing signal to the surroundings, the communication device may receive the sensing signal reflected by the object, and another communication device (reception device) may receive the sensing signal reflected by the object. Accordingly, the communication device can detect objects surrounding the transmission device and / or the reception device.

[0075] As described above, when the transmission device transmits the sensing signal to the surroundings, if another communication device does not obtain information on transmission of the sensing signal in advance, cellular communication and / or sensing may be confused.

[0076] Therefore, prior to transmission and / or reception of the sensing signal, the communication device of the present embodiment performs signaling related to at least one of transmission and reception of the sensing signal with one or a plurality of other communication devices included in the communication system. Note that, as described above or later, the signaling related to at least one of transmission and reception of the sensing signal may be rephrased as transmission (or reception) of information on at least one of transmission and reception of the sensing signal. The information on at least one of transmission and reception of the sensing signal may be referred to as sensing assistance information. The sensing assistance information may be defined as information that is provided from a trusted third party to the 5G system and can be used to support derivation of the sensing result. The sensing assistance information may include 3GPP sensing data itself. Alternatively, the sensing assistance information may not include the 3GPP sensing data itself.

[0077] For example, in the example of the mono-static sensing illustrated in Fig. 1, the communication device may notify the one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by signaling. In other words, the communication device may notify the one or a plurality of other communication devices of information indicating (or instructing) not to use the radio communication resource to be used for transmitting the sensing signal.

[0078] Furthermore, in the example of the bi-static sensing illustrated in Fig. 2, the transmission device may notify the reception device of information on the radio communication resource to be used for transmission of the sensing signal by signaling. The transmission device may notify the reception device of the information on the QCL of the sensing signal by signaling.

[0079] Furthermore, in the example of the multi-static sensing illustrated in Fig. 3, the transmission device may acquire capability information on the multi-static sensing of each communication device by signaling from the plurality of other communication devices included in the communication system. Here, the transmission device may select a communication device (reception device) to which the sensing signal is to be transmitted from among the plurality of other communication devices based on the capability information.

[0080] Furthermore, in the example of the multi-static sensing illustrated in Fig. 4, the reception device may acquire capability information on the multi-static sensing of each communication device by signaling from the plurality of other communication devices included in the communication system. Here, the reception device may select a communication device (transmission device) to transmit the sensing signal from among the plurality of other communication devices based on the capability information.

[0081] Furthermore, in the example of the multi-static sensing illustrated in Fig. 5, the transmission device or the reception device may acquire capability information on the multi-static sensing of each communication device by signaling from the plurality of other communication devices included in the communication system. Here, the transmission device or the reception device may select a communication device (reception device) to which the sensing signal is to be transmitted or a communication device (transmission device) to transmit the sensing signal from among the plurality of other communication devices based on the capability information. At least one of the information indicating (or instructing) not to use the radio communication resource to be used for transmission of the sensing signal, the information of the radio communication resource to be used for transmission of the sensing signal, or the capability information on the multi-static sensing of each communication device illustrated in Figs. 1 to 5 may be included in the information on at least one of transmission and reception of the sensing signal (for example, sensing assistance information).

[0082] Then, the transmission device and / or the reception device transmits and / or receives the sensing signal after the signaling.

[0083] As a result, one or a plurality of communication devices included in the communication system can smoothly perform cellular communication and / or sensing. In particular, in the multi-static sensing, many communication devices are involved in sensing. Since the adjustment is performed in advance by the signaling, even if many communication devices use the radio communication resources for sensing, there is no significant influence on communication. On the contrary, since the adjustment is performed in advance by the signaling, even if many communication devices use radio communication resources for communication, sensing (for example, multi-static sensing) is not greatly affected. As a result, effective fusion of the sensing technology and the communication technology is realized.

[0084] The outline of the present embodiment has been described above, and a communication system 1 of the present embodiment will be described in detail below.

[0085] <<2. Configuration of Communication System>> First, a configuration of the communication system 1 will be described.

[0086] Fig. 6 is a diagram illustrating a configuration of the communication system 1 according to the present embodiment. The communication system 1 includes a server 10, a management device 20, the base station 30, and the terminal device 40. The communication system 1 provides a wireless network (mobile network) capable of mobile communication for a user by operating the radio communication devices configuring the communication system 1 in cooperation with each other.

[0087] The wireless network of the present embodiment may be, for example, a cellular network including a radio access network RAN and a core network CN. In the present embodiment, the radio communication device is a device having a function of radio communication, and corresponds to the base station 30 and the terminal device 40 in the example of Fig. 6.

[0088] The communication system 1 may include a plurality of servers 10, a plurality of management devices 20, a plurality of base stations 30, and a plurality of terminal devices 40. In the example of Fig. 6, the communication system 1 includes a server 101and a server 102as the server 10, and includes a management device 201and a management device 202as the management device 20. Furthermore, the communication system 1 includes a base station 301, a base station 302, and a base station 303as the base station 30, and includes a terminal device 401, a terminal device 402, and a terminal device 403as the terminal device 40. Note that, in the following description, a device included in the communication system 1 may be referred to as a network device.

[0089] The terminal device 40 may be configured to connect to a network using a radio access technology (RAT) such as long term evolution (LTE), new radio (NR), beyond 5G (B5G), 6G, Wi-Fi, and Bluetooth (registered trademark). Here, the terminal device 40 may be configured to be able to use different radio access technologies (radio communication schemes). For example, the terminal device 40 may be configured to be able to use NR and Wi-Fi. Furthermore, the terminal device 40 may be configured to be able to use different cellular communication technologies (for example, LTE, NR, B5G, or 6G).

[0090] LTE and NR are types of cellular communication technology, and enable mobile communication of a terminal device by arranging a plurality of areas covered by base stations in a cell shape. In addition, 6G is also assumed to be a type of cellular communication technology, and it is assumed that mobile communication of the terminal device becomes possible by arranging a plurality of areas covered by base stations in a cell shape.

[0091] Note that, in the following description, "LTE" includes LTE-Advanced (LTE-A), LTE-Advanced Pro (LTE-A Pro), and evolved universal terrestrial radio access (EUTRA). In addition, NR includes new radio access technology (NRAT) and further EUTRA (FEUTRA). Further, NR may include 5G-Advanced. Note that a single base station 30 may manage a plurality of cells. In the following description, a cell corresponding to LTE may be referred to as an LTE cell, and a cell corresponding to NR may be referred to as an NR cell.

[0092] NR is a radio access technology of a next generation (fifth generation) of LTE (fourth generation communication including LTE-Advanced and LTE-Advanced Pro). NR is a radio access technology that can cope with various use cases including enhanced mobile broadband (eMBB), massive machine type communications (mMTC), and ultra-reliable and low latency communications (URLLC). NR is standardized by Rel-15 of 3GPP (registered trademark) as a technical framework corresponding to a usage scenario, a requirement condition, an arrangement scenario, and the like in the use cases. Furthermore, in B5G and 6G, it is required to simultaneously realize a plurality of axes of high speed and large capacity, low delay and high reliability, and multiple simultaneous connection.

[0093] 6G may be a mobile communication technology of a next generation of NR or 5G system (5GS) which is the fifth generation mobile communication. 6G can be a cellular communication technology similarly to 5G (NR). 6G includes a radio access technology and a network technology between a base station, a core network, and a data network. In addition, 6G may include a technology for extreme connectivity of each of eMBB, mMTC, and URLLC, which have been major use cases or requirements in NR. Furthermore, 6G may include a new technology in a new aspect. For example, 6G may include technologies related to AI (Cognitive network, AI native Air Interface), sensing (including Rader sensing, network as a sensor, ISAC), and terahertz communication.

[0094] Note that the above-described or later-described wireless network may correspond to at least one of radio access technologies (RAT) such as LTE, NR, B5G, and 6G. Note that the radio access scheme used by the communication system 1 is not limited to LTE, NR, and 6G, and may be another radio access scheme such as wideband code division multiple access (W-CDMA) and code division multiple access 2000 (cdma2000).

[0095] Furthermore, the base station 30 may be a ground station or a non-ground station. That is, the communication system illustrated in Fig. 6 may be a non-terrestrial network. The non-ground station may be a satellite station or an aircraft station. If the non-ground station is a satellite station, the wireless network may be a Bent-pipe (Transparent) type mobile satellite communication system.

[0096] In the present embodiment, the ground station and a ground base station are a base station and a relay station installed on the ground. Here, the "ground" is a ground in a broad sense including not only on land but also in the ground, on water, or under water. Note that, in the following description, the description of "ground station" may be replaced with "gateway".

[0097] Note that a base station of LTE may be referred to as an evolved Node B (eNodeB) or an eNB. Furthermore, the base station of NR may be referred to as a gNodeB or a gNB. In addition, a 6G base station may be referred to as a 6G NodeB (6GNB). The RAN of LTE may be referred to as an EUTRAN. The RAN of NR may be referred to as an NGRAN. The RAN of 6G may be referred to as a 6GRAN. Furthermore, in LTE, NR, B5G, and 6G, a terminal device (also referred to as a mobile station or a terminal) may be referred to as a user equipment (UE). Note that the terminal device is a type of the communication device, and is also referred to as a mobile station or a terminal.

[0098] Note that the terminal device 40 may be connectable to a network using a radio access technology (radio communication scheme) other than LTE, NR, B5G, 6G, Wi-Fi, and Bluetooth. For example, the terminal device 40 may be connectable to a network by using low power wide area (LPWA) communication. Furthermore, the terminal device 40 may be connectable to a network using radio communication of a proprietary standard.

[0099] Here, the LPWA communication is radio communication that enables low-power wide-range communication. For example, the LPWA radio is internet of things (IoT) radio communication using a specific low power radio (for example, a 920 MHz band) or an industry-science-medical (ISM) band. Furthermore, the LPWA radio may include LTE-M operating in a cellular frequency band and / or cellular IoT (C-IoT) typified by NB-IoT. Note that the LPWA communication used by the terminal device 40 may conform to an LPWA standard. The LPWA standard may be, for example, at least one of ELTRES, ZETA, SIGFOX, LoRaWAN, LTE-M, and NB-IoT. Of course, the LPWA standard is not limited thereto, and may be another LPWA standard.

[0100] Each radio communication device illustrated in Fig. 6 may be considered as a device in a logical sense. That is, a part of each radio communication device may be implemented by a virtual machine (VM), a container such as a docker, or the like, and the devices may be implemented on physically the same hardware.

[0101] In the present embodiment, the concept of the radio communication device includes not only a portable moving object device (terminal device) such as a mobile terminal but also a device installed in a structure or a moving object. The structure or the moving object itself may be regarded as a radio communication device. Furthermore, the concept of the radio communication device includes not only the terminal device 40 but also the base station 30. The radio communication device is a type of a processing device or an information processing device. The radio communication device can also be referred to as a transmission device or a reception device.

[0102] Note that, in the present embodiment, the resource may indicate, for example, at least one of Frequency, Time, Resource Element (including REG, CCE, and CORESET), Resource Block, Bandwidth Part, Component Carrier, Symbol, Sub-Symbol, Slot, Mini-Slot, Subslot, Subframe, Frame, PRACH occasion, Occasion, Code, Multi-access physical resource, Multi-access signature, and Subcarrier Spacing (Numerology). That is, "resource", "radio resource", or "radio communication resource" described above or below may be read as at least one of the above examples.

[0103] Hereinafter, the configuration of each radio communication device configuring the communication system 1 will be specifically described. Note that the configuration of each radio communication device described below is merely an example. The configuration of each radio communication device may be different from the following configuration.

[0104] <2-1. Configuration of Server> First, a configuration of the server 10 will be described.

[0105] The server 10 is an information processing device (computer) that provides various services to the terminal device 40. For example, the server 10 is an information processing device that executes processing related to a sensing service.

[0106] The sensing service is, for example, a service performed using data (hereinafter, referred to as sensing data) detected by one or a plurality of sensing functions included in one or a plurality of communication devices (for example, the base station 30 and / or the terminal device 40). Note that the sensing service is not limited to a service performed by directly using the sensing data. The sensing service may be a service performed by indirectly using the sensing data. For example, the sensing service may be a service performed using a processing result based on the sensing data.

[0107] The sensing service is typically a sensing data providing service. For example, the sensing service is a providing service of sensing data used in a predetermined use case (for example, processing related to automatic driving of a moving object, processing related to automatic operation of a device / system, or processing related to XR content). However, the sensing service is not limited to the providing service of the sensing data. The sensing service may be a providing service for processing executed using the sensing data, or may be a providing service for information generated using one or a plurality of the sensing services. The sensing service will be described later.

[0108] The one or a plurality of sensing functions included in the communication device may include a radio frequency (RF)-based sensing function (for example, an RF-based sensing function supported by a 3GPP transceiver). Of course, the one or a plurality of sensing functions included in the communication device may include various detection functions (for example, a function of detecting at least one of color of an object, velocity of an object, acceleration of an object, reflectance of an object, transmittance of an object, distance to an object, temperature of an object / environment, geomagnetism, illuminance, atmospheric pressure, light, and sound) using one or a plurality of sensors (physical sensor and / or logical sensor) included in the communication device.

[0109] The one or a plurality of sensors included in the one or a plurality of communication devices may be, for example, the one or a plurality of sensors included in the base station 30 and / or the terminal device 40 (for example, the one or a plurality of sensors included in a sensor unit 34 and / or a sensor unit 46 to be described later). For example, the one or a plurality of sensors may include a sensor that detects an image and / or a shape of an object, such as a camera and / or a LiDAR. The one or a plurality of sensors may also include a sensor that detects at least one of color of an object, velocity of an object, acceleration of an object, reflectance of an object, transmittance of an object, distance to an object, temperature of an object / environment, geomagnetism, illuminance, atmospheric pressure, light, and sound. Here, the sensing service may be a service based on image data or shape data detected by the sensor (for example, a service related to automatic driving of a moving object). Furthermore, the sensing service may be a service based on sensing data of a sensor that detects at least one of color of an object, velocity of an object, acceleration of an object, reflectance of an object, transmittance of an object, distance to an object, temperature of an object / environment, geomagnetism, illuminance, atmospheric pressure, light, and sound.

[0110] Note that the one or a plurality of sensors directly or indirectly used for the sensing service is not limited to the one or a plurality of sensors included in the base station 30 and / or the terminal device 40. The one or a plurality of sensors directly or indirectly used for the sensing service may be one or a plurality of sensors included in a communication device other than the base station 30 and the terminal device 40. For example, the one or a plurality of sensors directly or indirectly used in the sensing service may be one or a plurality of sensors included in the server 10 and / or the management device 20.

[0111] The server 10 may be an application server or a Web server. The server 10 may be a cloud server or an edge server. Furthermore, the server 10 may be a PC server, a midrange server, or a mainframe server. Furthermore, the server 10 may be an information processing device that performs data processing (edge processing) near the user or the terminal. For example, the server 10 may be an information processing device (computer) provided side by side with or built in the base station. Furthermore, the server 10 may have a function as a core network. For example, the server 10 may be a device that functions as the management device 20. Of course, the server 10 may be an information processing device that performs cloud computing. The server 10 of the present embodiment can function as an application function.

[0112] The server 10 is connected to another communication device (for example, the management device 20) via a network N. Although only one network N is illustrated in the example of Fig. 6, there may be a plurality of networks N. Here, the network N is, for example, a public network such as the Internet. Note that the network N is not limited to the Internet, and may be, for example, a local area network (LAN), a wide area network (WAN), a cellular network, a fixed telephone network, or a regional internet protocol (IP) network. The network N may include a wired network or a wireless network.

[0113] Fig. 7 is a diagram illustrating a configuration example of the server 10 according to an embodiment of the present disclosure. The server 10 includes a communication unit 11, a storage unit 12, and a controller 13. Note that the configuration illustrated in Fig. 7 is a functional configuration, and a hardware configuration may be different from the functional configuration. Furthermore, the functions of the server 10 may be distributed and implemented in a plurality of physically separated configurations. For example, the server 10 may include a plurality of information processing devices.

[0114] Note that the server 10 does not necessarily have all the configurations described above or below. Furthermore, the server 10 may have a configuration other than the above-described or later-described configuration. For example, the management device 20 may include a sensor unit having a configuration similar to that of a sensor unit (sensor unit 34 or sensor unit 46) included in the base station 30 or the terminal device 40.

[0115] The communication unit 11 is a communication interface for communicating with other devices. For example, the communication unit 11 is a network interface. For example, the communication unit 11 is a local area network (LAN) interface such as a network interface card (NIC). Furthermore, the communication unit 11 may be a wired interface or a wireless interface. The communication unit 11 communicates with the management device 20, the base station 30, the terminal device 40, and another server 10 according to the control of the controller 13.

[0116] The storage unit 12 is a storage device capable of reading and writing data such as a dynamic random access memory (DRAM), a static random access memory (SRAM), a flash memory, or a hard disk.

[0117] The controller 13 is a controller that controls each unit of the server 10. The controller 13 may be implemented by, for example, a processor such as a central processing unit (CPU) or a micro processing unit (MPU). Specifically, the controller 13 may be implemented by the processor executing various programs stored in a storage device in the management device 20 using a random access memory (RAM) or the like as a work area. Note that the controller 13 may be implemented by an integrated circuit such as an application specific integrated circuit (ASIC) and a field programmable gate array (FPGA). Furthermore, the controller 13 may be implemented by a graphics processing unit (GPU). Any of the CPU, the MPU, the ASIC, the FPGA, and the GPU may be regarded as a controller. Note that the controller 13 may include a plurality of physically separated objects. For example, the controller 13 may include a plurality of semiconductor chips.

[0118] <2-2. Configuration of Management Device> Next, a configuration of the management device 20 will be described.

[0119] The management device 20 is an information processing device (computer) that manages a wireless network. For example, the management device 20 is an information processing device that manages communication of the base station 30.

[0120] The management device 20 may be a device configuring the core network CN. For example, the management device 20 may be a device having a function as a mobility management entity (MME). Furthermore, the management device 20 may be a device having a function as an access and mobility management function (AMF) and / or a session management function (SMF). The MME, the AMF, and the SMF are control plane network function nodes in the core network CN. The management device 20 may be a device having a function as a control plane network function in 6G (6G CPNF). The 6G CPNF may include one or a plurality of logical nodes.

[0121] Of course, the functions of the management device 20 are not limited to the MME, the AMF, the SMF, and the 6G CPNF. The management device 20 may be a device having a function as a network slice selection function (NSSF), an authentication server function (AUSF), a policy control function (PCF), and a unified data management (UDM). Furthermore, the management device 20 may be a device having a function as a home subscriber server (HSS).

[0122] Note that the management device 20 may have a function of a gateway. For example, the management device 20 may have a function as a serving gateway (S-GW) or a packet data network gateway (P-GW). In addition, the management device 20 may have a function of a user plane function (UPF). Here, the management device 20 may have a plurality of the UPFs. In addition, the management device 20 may be a device having a user plane network function in 6G (6G UPNF).

[0123] In addition, the management device 20 may have a function of executing processing related to the sensing service. For example, the management device 20 may have an application function that executes processing related to the sensing service based on a request from another communication device (for example, at least one of the server 10, the base station 30, the terminal device 40, and another management device 20).

[0124] The core network CN includes a plurality of network functions, and each network function may be aggregated into one physical device or distributed to a plurality of physical devices. That is, the management device 20 can be distributively arranged in a plurality of devices. Further, the distributed arrangement may be controlled to be performed dynamically. Further, the core network CN may include one management device 20 or may include a plurality of management devices. The base station 30 and the management device 20 configure one network, and provide a radio communication service to the terminal device 40. The management device 20 is connected to the Internet, and the terminal device 40 can use various services provided via the Internet via the base station 30.

[0125] Note that the management device 20 is not necessarily a device configuring the core network CN. For example, it is assumed that the core network CN is a core network of wideband code division multiple access (W-CDMA) or code division multiple access 2000 (cdma2000). Here, the management device 20 may be a device that functions as a radio network controller (RNC).

[0126] Fig. 8 is a diagram illustrating a configuration of the management device 20 according to the present embodiment. The management device 20 includes a communication unit 21, a storage unit 22, and a controller 23. Note that the configuration illustrated in Fig. 8 is a functional configuration, and a hardware configuration may be different from the functional configuration. Furthermore, the functions of the management device 20 may be statically or dynamically distributed and implemented in a plurality of physically separated configurations. The management device 20 may include a plurality of server devices.

[0127] Note that the management device 20 does not necessarily have all the configurations described above or below. In addition, the management device 20 may have a configuration other than the above-described or later-described configuration. For example, the management device 20 may include a sensor unit having a configuration similar to that of a sensor unit (sensor unit 34 or sensor unit 46) included in the base station 30 or the terminal device 40.

[0128] The communication unit 21 is a communication interface for communicating with a radio communication device (for example, a base station 30). The communication unit 21 may be a network interface or a device connection interface. The communication unit 21 may be a local area network (LAN) interface such as a network interface card (NIC), a universal serial bus (USB) host controller, or a USB interface configured by a USB port or the like. The communication unit 21 may be a wired interface or a wireless interface. The communication unit 21 is controlled by the controller 23.

[0129] The storage unit 22 is a storage device capable of reading from and writing into a DRAM, an SRAM, a flash memory, a hard disk, or the like. The storage unit 22 stores, for example, a connection state of the terminal device 40. The storage unit 22 stores a radio resource control (RRC) state and an EPS connection management (ECM) state, or 5G System connection management (CM) state of the terminal device 40. The storage unit 22 may function as a home memory that stores position information of the terminal device 40.

[0130] The controller 23 is a controller that controls each unit of the management device 20. The controller 23 may be implemented by, for example, a processor such as a CPU or an MPU. Specifically, the controller 23 may be implemented by a processor executing various programs stored in a storage device in the management device 20 using a RAM or the like as a work area. The controller 23 may be implemented by an integrated circuit such as an ASIC or an FPGA. Furthermore, the controller 23 may be implemented by a GPU. Any of the CPU, the MPU, the ASIC, the FPGA, and the GPU may be regarded as a controller. Note that the controller 23 may include a plurality of physically separated objects. For example, the controller 23 may include a plurality of semiconductor chips.

[0131] <2-3. Configuration of Base Station> Next, a configuration of the base station 30 will be described.

[0132] The base station 30 is a radio communication device that performs radio communication with other radio communication devices (for example, the terminal device 40 or another base station 30). The base station 30 may perform radio communication with the terminal device 40 via a relay station, or may directly perform radio communication with the terminal device 40.

[0133] The base station 30 is a device corresponding to a radio base station (base station, Node B, eNB, gNB, 6GNB, or the like) or a wireless access point. In the following description, the base station 30 may be referred to as a base station (BS), a Node B, an eNB, a gNB, a 6GNB, or a BS 30.

[0134] The base station 30 may be a wireless relay station. The base station 30 may be an optical extension device called a remote radio head (RRH). The base station 30 may be a receiving station such as a field pickup unit (FPU). The base station 30 may be an integrated access and backhaul (IAB) donor node or an IAB relay node that provides radio access lines and radio backhaul lines in time division multiplexing, frequency division multiplexing, or space division multiplexing.

[0135] The radio access technology used by the base station 30 may be a cellular communication technology. The radio access technology used by the base station 30 may be a wireless LAN technology. The radio access technology used by the base station 30 may be a low power wide area (LPWA) communication technology. However, the radio access technology used by the base station 30 is not limited thereto, and may be another radio access technology. The radio communication used by the base station 30 may be radio communication using a millimeter wave or radio communication using a terahertz wave. The radio communication used by the base station 30 may be radio communication using radio waves or radio communication (optical radio) using infrared rays or visible light. Furthermore, the base station 30 may be capable of non-orthogonal multiple access (NOMA) communication with the terminal device 40. Here, the NOMA communication is communication (transmission, reception, or both) using a non-orthogonal resource. Note that the base station 30 may be able to perform the NOMA communication with another base station 30.

[0136] Note that the base station 30 may be able to communicate with the core network via a base station-core network interface (for example, NG Interface, S1 Interface, and the like). The interface may be either wired or wireless. Furthermore, the base station may be able to communicate with another base station via an inter-base station interface (for example, Xn Interface, X2 Interface, F1 Interface, and the like). The interface may be either wired or wireless.

[0137] The concept of a base station (also referred to as a "base station device") includes not only a donor base station but also a relay base station (also referred to as a "relay station"). The relay base station may be any one of an RF Repeater, a Smart Repeater, and an Intelligent Surface. Further, the concept of the base station may include a road-side unit (RSU). Furthermore, the concept of the base station may include not only a structure having a function of the base station but also a device installed in the structure.

[0138] The structure is, for example, a building such as a high-rise building, a house, a steel tower, a station facility, an airport facility, a harbor facility, an office building, a school building, a hospital, a factory, a commercial facility, or a stadium. The concept of the structure includes not only a building but also a construction (non-building structure) such as a tunnel, a bridge, a dam, a wall, and an iron pillar, and equipment such as a crane, a gate, and a windmill. The concept of the structure includes not only a structure on land (on the ground in a narrow sense) or in the ground, but also a structure on water such as a platform or a mega float, and a structure under water such as an ocean observation facility. The base station may also be referred to as an information processing device.

[0139] The base station 30 may be a donor station or a relay station (relay station). Furthermore, the base station 30 may be a fixed station or a mobile station. The mobile station is a radio communication device (for example, a base station) configured to be movable. Here, the base station 30 may be a device installed in a moving object or may be a moving object itself. For example, a relay station having mobility can be regarded as the base station 30 as a mobile station. In addition, a device that is originally a device having a mobility and has a function of a base station (at least a part of the function of the base station), such as a vehicle, an unmanned aerial vehicle (UAV) typified by a drone, or a smartphone, also corresponds to the base station 30 as a mobile station.

[0140] Here, the moving object may be a mobile terminal such as a smartphone or a mobile phone. In addition, the moving object may be a moving object that moves on land (on the ground in a narrow sense) (for example, a vehicle such as an automobile, a bicycle, a bus, a truck, a motorcycle, a train, or a linear motor car) or a moving object that moves in the ground (for example, in the tunnel) (for example, a subway). In addition, the moving object may be a moving object that moves on water (for example, a ship such as a passenger ship, a cargo ship, or a hovercraft) or a moving object that moves under water (for example, a submersible such as a submersible boat, a submarine, or an unmanned submersible). Furthermore, the moving object may be a moving object that moves in the atmosphere (for example, an aircraft such as an airplane, an airship, or a drone).

[0141] The base station 30 may be a ground base station (ground station) installed on the ground. The base station 30 may be a base station disposed in a structure on the ground or may be a base station installed in a moving object moving on the ground. The base station 30 may be an antenna installed in a structure such as a building and a signal processing device connected to the antenna. The base station 30 may be a structure or a moving object itself. The "ground" is a ground in a broad sense including not only land (ground in a narrow sense) but also in the ground, on water, or under water. The base station 30 is not limited to a ground base station. When the communication system 1 is a satellite communication system, the base station 30 may be an aircraft station. From the perspective of a satellite station, an aircraft station located on the earth is a ground station.

[0142] The base station 30 is not limited to a ground station. The base station 30 may be a non-ground base station (non-ground station) capable of floating in the air or space. The base station 30 may be an aircraft station or a satellite station.

[0143] The satellite station is a satellite station capable of floating outside the atmosphere. The satellite station may be a device mounted on a space vehicle such as an artificial satellite, or may be a space vehicle itself. The space vehicle is a moving object that moves outside the atmosphere. The space vehicle may be at least one of an artificial satellite, a spacecraft, a space station, and a probe. Of course, the space vehicle may be an artificial celestial body other than the described examples. Note that the satellite serving as the satellite station may be any of a low earth orbiting (LEO) satellite, a medium earth orbiting (MEO) satellite, a geostationary earth orbiting (GEO) satellite, or a highly elliptical orbiting (HEO) satellite. The satellite station may be a device mounted on a low earth orbiting satellite, a middle earth orbiting satellite, a geostationary earth orbiting satellite, or a highly elliptical orbiting satellite.

[0144] An aircraft station is a radio communication device such as an aircraft capable of floating in the atmosphere. The aircraft station may be a device mounted on an aircraft or the like, or may be an aircraft itself. The concept of the aircraft includes not only heavy aircraft such as airplanes or gliders, but also light aircraft such as balloons or airships. The concept of the aircraft includes not only heavy or light aircraft, but also rotorcraft such as helicopters or autogyros. The aircraft station or the aircraft on which the aircraft station is mounted may be an unmanned aircraft such as a drone.

[0145] The concept of the unmanned aircraft also includes unmanned aircraft systems (UAS) and a tethered UAS. The concept of the unmanned aircraft includes lighter than air UAS (LTA) and heavy than air UAS (HTA). The concept of the unmanned aircraft also includes high altitude UAS platforms (HAPs).

[0146] The size of the coverage of the base station 30 may be relatively large such as a macro cell or may be relatively small such as a pico cell. The size of the coverage of the base station 30 may be extremely small, such as a femtocell. The base station 30 may have a beamforming function. The base station 30 may form a cell or a service area for each beam. Further or alternatively, the base station 30 may have a function of delivering a desired wave to a pinpoint at a predetermined point by further considering distance information from an antenna of the base station 30 in addition to beamforming that gives directivity to a beam. This function may be referred to as beam focusing or point forming. Alternatively, sensing data may be acquired by performing sensing using a beam.

[0147] Fig. 9 is a diagram illustrating a configuration of the base station 30 according to the present embodiment. The base station 30 includes a radio communication unit 31, a storage unit 32, a controller 33, and a sensor unit 34. Here, the configuration illustrated in Fig. 9 is a functional configuration, and a hardware configuration may be different from the functional configuration. Furthermore, the functions of the base station 30 may be distributed and implemented in a plurality of physically separated configurations.

[0148] Note that the base station 30 does not necessarily have all the configurations described above or below. For example, the base station 30 may not include the sensor unit 34. Furthermore, the base station 30 may have a configuration other than the above-described or later-described configuration.

[0149] The radio communication unit 31 is a signal processing unit for wirelessly communicating with other radio communication devices (for example, at least one of the terminal device 40 and the other base station 30). The radio communication unit 31 may be referred to as a wireless transceiver or simply a transceiver. Here, the radio communication unit 31 may be a transceiver of a specification defined by a technical specification (TS) of 3rd generation partnership project (3GPP) (hereinafter, referred to as a 3GPP transceiver). The 3GPP transceiver may be a 3G transceiver, a 4G (LTE) transceiver, a 5G (NR) transceiver, or a 5G or later generation (for example, 6G) transceiver. The radio communication unit 31 is controlled by the controller 33. The radio communication unit 31 corresponds to one or a plurality of radio access methods. The radio communication unit 31 may correspond to at least one of NR, LTE, beyond 5G (B5G), and 6G. The radio communication unit 31 may support W-CDMA, cdma2000, and the like in addition to the NR, the LTE, the B5G, and the 6G. The radio communication unit 31 may support an automatic retransmission technology such as a hybrid automatic repeat request (HARQ). A part or all of the processes executed by the radio communication unit 31 may be executed by the controller 33.

[0150] The radio communication unit 31 includes a transmission processing unit 311, a reception processing unit 312, and an antenna 313. Alternatively, for the radio communication unit 31, at least one of the transmission processing unit 311, the reception processing unit 312, and the antenna 313 may be regarded as the radio communication unit 31. The radio communication unit 31 may include a plurality of the transmission processing units 311, a plurality of the reception processing units 312, and a plurality of the antennas 313. When the radio communication unit 31 supports a plurality of radio access methods, each unit of the radio communication unit 31 may be configured separately for each radio access method. The transmission processing unit 311 and the reception processing unit 312 may be individually configured by LTE, NR, B5G, and 6G. The antenna 313 may include a plurality of antenna elements, for example, a plurality of patch antennas. The radio communication unit 31 may have a beamforming function. For example, the radio communication unit 31 may have a polarization beamforming function using vertically polarized waves (V-polarized waves) and horizontally polarized waves (H-polarized waves) (or a polarization beamforming function using dual polarization in polarization directions of 45 degrees and -45 degrees from the vertical direction). Note that the radio communication unit 31 may transmit a sensing signal described above or below.

[0151] The transmission processing unit 311 performs a process of transmitting downlink control information and downlink data. For example, the transmission processing unit 311 encodes the downlink control information and the downlink data input from the controller 33 using an encoding method such as block encoding, convolutional encoding, turbo encoding, or the like. Here, the encoding may be performed by polar code encoding or low density parity check code (LDPC code) encoding. Then, the transmission processing unit 311 modulates the coded bits by a predetermined modulation method (for example, BPSK, QPSK, 16QAM, 64QAM, 256QAM, or a higher order multi-level modulation scheme). Here, signal points on a constellation do not necessarily have to be equidistant. Furthermore, the constellation may be a non uniform constellation (NUC). Then, the transmission processing unit 311 multiplexes a modulation symbol and a downlink reference signal of each channel and arranges the multiplexed result in a predetermined resource element. Then, the transmission processing unit 311 performs various types of signal processing on the multiplexed signal. For example, the transmission processing unit 311 performs processing such as conversion into a frequency domain by fast Fourier transform, addition of a guard interval (cyclic prefix), generation of a baseband digital signal, conversion into an analog signal, quadrature modulation, up-conversion, removal of an extra frequency component, and amplification of power. The signal generated by the transmission processing unit 311 is transmitted from the antenna 313.

[0152] The reception processing unit 312 processes an uplink signal received via the antenna 313. The reception processing unit 312 performs down-conversion, removal of an unnecessary frequency component, control of an amplification level, quadrature demodulation, conversion to a digital signal, removal of a guard interval (cyclic prefix), extraction of a frequency domain signal by fast Fourier transform, and the like on the uplink signal. Further, the reception processing unit 312 demultiplexes an uplink channel and an uplink reference signal such as a physical uplink shared channel (PUSCH) or a physical uplink control channel (PUCCH) from the signals subjected to the described processing. Further, the reception processing unit 312 demodulates the reception signal using a modulation method such as binary phase shift keying (BPSK) and quadrature phase shift keying (QPSK) with respect to the modulation symbol of the uplink channel. The modulation method used by the demodulation may be 16 quadrature amplitude modulation (QAM), 64QAM, or 256QAM. Here, signal points on a constellation do not necessarily have to be equidistant. The constellation may be a non uniform constellation (NUC). The reception processing unit 312 performs decoding on the encoded bits of the demodulated uplink channel. The decoded uplink data and uplink control information are output to the controller 33.

[0153] The antenna 313 is an antenna device that mutually converts a current and a radio wave. The antenna 313 may be configured by one antenna element, for example, one patch antenna. The antenna 313 may include a plurality of antenna elements, for example, a plurality of patch antennas. When the antenna 313 includes a plurality of antenna elements, the radio communication unit 31 may have a beamforming function. The radio communication unit 31 may be configured to generate a directional beam by controlling directivity of a radio signal using a plurality of the antenna elements. The antenna 313 may be a dual-polarized antenna. When the antenna 313 is a dual-polarized antenna, the radio communication unit 31 may use vertically polarized waves (V-polarized waves) and horizontally polarized waves (H-polarized waves) (or dual polarization in polarization directions of 45 degrees and -45 degrees from the vertical direction) when transmitting a radio signal. The radio communication unit 31 may control the directivity of a radio signal transmitted using vertically polarized waves and horizontally polarized waves (or dual polarization in polarization directions of 45 degrees and -45 degrees from the vertical direction). Furthermore, the radio communication unit 31 may transmit and receive spatially multiplexed signals via a plurality of layers including a plurality of the antenna elements.

[0154] The storage unit 32 is a storage device capable of reading and writing a DRAM, an SRAM, a flash memory, and a hard disk.

[0155] The controller 33 is a controller that controls each unit of the base station 30. The controller 33 controls the radio communication unit to perform radio communication with other radio communication devices (for example, the terminal device 40 or another base station 30). The controller 33 may be implemented by a processor such as a CPU or an MPU. Specifically, the controller 33 may be implemented by a processor executing various programs stored in a storage device inside the base station 30 using a RAM or the like as a work area. The controller 33 may be implemented by an integrated circuit such as an ASIC or an FPGA. Furthermore, the controller 33 may be implemented by a GPU. Any of the CPU, the MPU, the ASIC, the FPGA, and the GPU may be regarded as a controller. Note that the controller 33 may include a plurality of physically separated objects. For example, the controller 33 may include a plurality of semiconductor chips.

[0156] The controller 33 includes at least one block of a signaling unit 331, a sensing unit 332, a feedback unit 333, and a selection unit 334. The controller 33 may include a plurality of each block, or may include only one block for each block.

[0157] Each block (the signaling unit 331 to the selection unit 334) configuring the controller 33 is a functional block indicating a function of the controller 33. The functional blocks may be software blocks or hardware blocks. For example, each of the functional blocks described above may be one software module implemented by software (microprogram), or may be one circuit block on a semiconductor chip (die). Of course, each functional block may be one processor or one integrated circuit. The controller 33 may be configured by a functional unit different from the above-described functional block. A configuration method of the functional block is optional. Note that the operation of the controller 33 may be the same as the operation of the controller (controller 13, controller 23, or controller 43) of the server 10, the management device 20, or the terminal device 40.

[0158] The sensor unit 34 includes one or a plurality of sensors that detect various types of data related to the base station 30. For example, the sensor unit 34 may be configured to receive, detect, or measure a sensing signal transmitted by the same or another communication device (transmission device, sensing transmitter). Here, the sensor unit 34 may be the same functional unit as the radio communication unit 31. Further or alternatively, when the radio communication unit 31 is a first radio communication unit, the sensor unit 34 may be understood as a second radio communication unit. Furthermore, the one or a plurality of sensors included in the sensor unit 34 may include a sensor that performs detection regarding the surroundings of the base station 30. For example, the one or a plurality of sensors included in the sensor unit 34 may include at least one of a geomagnetic sensor, an illuminance sensor, a distance measuring sensor (for example, a time of flight (ToF) sensor), an atmospheric pressure sensor, a temperature sensor, an optical sensor, a sound sensor, and an image sensor. Furthermore, the sensor unit 34 (or the one or a plurality of sensors included in the sensor unit 34) may be configured to perform sensing using the above-described beamforming function and acquire sensing data.

[0159] Note that the sensor included in the sensor unit 34 is not limited to a sensor that performs detection regarding the surroundings of the base station 30. The one or a plurality of sensors included in the sensor unit 34 may include a sensor that performs detection regarding the position or the attitude of the base station 30. For example, the one or a plurality of sensors included in the sensor unit 34 may include an acceleration sensor and / or a gyro sensor. For example, the one or a plurality of sensors included in the sensor unit 34 may include a six degrees of freedom (6DoF) sensor or a three degrees of freedom (3DoF) sensor. Furthermore, the one or a plurality of sensors included in the sensor unit 34 may include a positioning sensor such as a global navigation satellite system (GNSS) sensor. The GNSS sensor may be a global positioning system (GPS) sensor, a GLONASS sensor, a Galileo sensor, or a quasi-zenith satellite system (QZSS) sensor.

[0160] The one or a plurality of sensors included in the sensor unit 34 may include a sensor unit configured by combining a plurality of sensors. For example, the one or a plurality of sensors included in the sensor unit 34 may include an inertial measurement unit (IMU) configured by combining a plurality of sensors among a positioning sensor (for example, a GNSS sensor), an acceleration sensor, and a gyro sensor. A sensor unit can also be regarded as a type of sensor.

[0161] Furthermore, the one or a plurality of sensors included in the sensor unit 34 may include a device / component configured using the sensor. For example, the one or a plurality of sensors included in the sensor unit 34 may include at least one of a camera (for example, a visible light camera, an infrared camera, a light field camera, or the like), a light detection and ranging (LiDAR), a radar (for example, a microwave radar, a millimeter wave radar, or the like), a microphone, and an image device. The image device is a device including one or a plurality of sensors. Devices / parts configured using sensors may also be considered a type of sensor.

[0162] Furthermore, the one or a plurality of sensors included in the sensor unit 34 may include a sensor that detects at least one of color of an object, velocity of an object, acceleration of an object, reflectance of an object, transmittance of an object, distance to an object, temperature of an object / environment, geomagnetism, illuminance, atmospheric pressure, light, and sound.

[0163] Furthermore, the one or a plurality of sensors included in the sensor unit 34 may include a sensor / sensor unit / device / component configured by combining two or more sensors selected from the above-described plurality of the sensors.

[0164] Note that, in the present embodiment, one or a plurality of sensing functions implemented by devices / components included in the base station 30 may be regarded as the one or a plurality of sensors included in the base station 30. For example, the one or a plurality of sensing functions of the radio communication unit 31 may be regarded as the one or a plurality of sensors included in the base station 30. Here, one or a plurality of sensing functions of the radio communication unit 31 may include a radio frequency (RF)-based sensing function (for example, an RF-based sensing function supported by a 3GPP transceiver). Then, the radio communication unit 31 (for example, a 3GPP transceiver) may be regarded as the sensor unit 34 (or a sensor included in the sensor unit 34).

[0165] In the foregoing or later description, the description relating to the sensors may be distinguished into a physical sensor and a logical sensor. That is, the sensor described above or below may indicate a physical sensor or a logical sensor.

[0166] For example, the physical sensor may be at least one of the examples of sensors described above or below. For example, the physical sensor may be at least one of a geomagnetic sensor, an illuminance sensor, a ranging sensor (for example, a time of flight (ToF) sensor), an atmospheric pressure sensor, a temperature sensor, an optical sensor, a sound sensor, an image sensor, an acceleration sensor, a gyro sensor, a six degrees of freedom (6DoF) sensor, a three degrees of freedom (3DoF) sensor, a positioning sensor (for example, a global navigation satellite system (GNSS) sensor such as a global positioning system (GPS) sensor, a GLONASS sensor, a Galileo sensor, or a quasi-zenith satellite system (QZSS) sensor), an inertial measurement unit (IMU), a camera (for example, a visible light camera, an infrared camera, a light field camera, or the like), a light detection and ranging (LiDAR), a radar (for example, a microwave radar, a millimeter wave radar, or the like), a microphone, an image device, and a sensing function (for example, the one or a plurality of sensing functions included in the radio communication unit 31 or the radio communication unit 41).

[0167] For example, the logical sensor may be an entity related to a sensor defined in a standard (for example, 3GPP technical standard). One logical sensor may be associated with one or a plurality of the physical sensors (including a plurality of sensors of the same type and a plurality of sensors of different types). Additionally or alternatively, a plurality of logical sensors may be associated with a plurality of physical sensors.

[0168] Note that, in some embodiments, the base station 30 may be configured by a set of a plurality of physical or logical devices. As an example, the base station 30 in the present embodiment may be distinguished into a plurality of devices such as a baseband unit (BBU) and a radio unit (RU). The base station 30 may be interpreted as a set of the plurality of devices. In addition, the base station may be either the BBU or the RU, or may be both. The BBU and the RU may be connected by a predetermined interface, for example, an enhanced common public radio interface (eCPRI).

[0169] The RU may be referred to as a remote radio unit (RRU) or a radio DoT (RD). The RU may correspond to a gNB distributed unit (gNB-DU) described later. The BBU may correspond to a gNB central unit (gNB-CU) to be described later. The RU may be a device integrally formed with the antenna. An antenna of the base station 30, for example, an antenna integrally formed with the RU, may adopt an advanced antenna system and support MIMO such as FD-MIMO or beamforming. The antenna of the base station 30 may include, for example, 64 transmission antenna ports and 64 reception antenna ports.

[0170] The antenna mounted on the RU may be an antenna panel including one or a plurality of antenna elements, and the RU may be mounted with one or a plurality of antenna panels. The RU may be mounted with two types of antenna panels: a horizontally polarized antenna panel and a vertically polarized antenna panel. The RU may be mounted with two types of antenna panels, that is, a right-handed circularly polarized antenna panel and a left-handed circularly polarized antenna panel, or an antenna panel with a polarization direction of 45 degrees from the vertical direction and an antenna panel with a polarization direction of -45 degrees from the vertical direction. A plurality of antennas having the plurality of polarization directions may be mounted on one antenna panel. The RU may be controlled by forming an independent beam for each antenna panel.

[0171] A plurality of the base stations 30 may be connected to each other. One or a plurality of the base stations 30 may be included in a radio access network (RAN). Then, the base station 30 may be simply referred to as a RAN, a RAN node, an access network (AN), an AN node, or the like. The RAN in LTE is referred to as an enhanced universal terrestrial RAN (EUTRAN). The RAN in NR may be referred to as NGRAN. In addition, the RAN in 6G may be referred to as 6GRAN. The RAN in W-CDMA (UMTS) is referred to as UTRAN.

[0172] The base station 30 of LTE is referred to as evolved Node B (eNodeB) or an eNB. Here, the EUTRAN includes one or a plurality of eNodeBs (eNBs). The base station 30 of NR may be referred to as a gNodeB or a gNB. Here, the NGRAN includes one or a plurality of gNBs. A 6G base station may be referred to as a 6GNodeB, a 6gNodeB, a 6GNB, or a 6gNB. Here, the 6GRAN includes one or a plurality of the 6GNBs. The EUTRAN may include a gNB (en-gNB) connected to a core network (EPC) in an LTE communication system (EPS). The NGRAN may include an ng-eNB connected to a core network 5GC in a 5G communications system (5GS).

[0173] When the base station 30 is an eNB, a gNB, a 6GNB, or the like, the base station 30 may be referred to as 3GPP access. When the base station 30 is a wireless access point, the base station 30 may be referred to as non-3GPP access. The base station 30 may be an optical extension device called a remote radio head (RRH). When the base station 30 is the gNB, the base station 30 may be a combination of the gNB-CU and the gNB-DU described above, or may be either the gNB-CU or the gNB-DU.

[0174] Here, the gNB-CU hosts a plurality of upper layers (for example, radio resource control (RRC), service data adaptation protocol (SDAP), packet data convergence protocol (PDCP)) in an access stratum for communication with the UE. On the other hand, the gNB-DU hosts a plurality of lower layers (for example, radio link control (RLC), medium access control (MAC), and physical layer (PHY)) in an access stratum. That is, among messages / information to be described later, RRC signaling (semi-static notification) may be generated by the gNB-CU, while MAC CE and DCI (dynamic notification) may be generated by the gNB-DU. Alternatively, in the RRC configuration (semi-static notification), for example, some configurations such as IE:cellGroupConfig may be generated by the gNB-DU, and the remaining configurations may be generated by the gNB-CU. The configurations may be transmitted and received through an F1 interface described later.

[0175] The base station 30 may be configured to be able to communicate with another base station. When a plurality of the base stations 30 are eNBs or a combination of an eNB and an en-gNB, the base stations 30 may be connected by an X2 interface. When a plurality of the base stations 30 are gNBs or a combination of a gn-eNB and a gNB, the base stations 30 may be connected by an Xn interface. When a plurality of the base stations 30 are a combination of a gNB-CU and a gNB-DU, the base stations 30 may be connected by the above-described F1 interface. A message / information (for example, RRC signaling, MAC control element (MAC CE), downlink control information (DCI), or the like) to be described later may be transmitted between a plurality of the base stations 30 via the inter-base station interfaces (for example, an X2 interface, an Xn interface, an F1 interface, or the like).

[0176] The cell provided by the base station 30 may be referred to as a serving cell. The concept of the serving cell includes a primary cell (PCell) and a secondary cell (SCell). When dual connectivity is provided to the terminal device 40, the PCell provided by a master node (MN) and 0 or one or a plurality of SCells may be referred to as a master cell group. The dual connectivity may be at least one of EUTRA-EUTRA dual connectivity, EUTRA-NR dual connectivity (ENDC), EUTRA-NR dual connectivity with 5GC, NR-EUTRA dual connectivity (NEDC), NR-NR dual connectivity, NR-6G dual connectivity, and 6G-NR dual connectivity. Of course, the dual connectivity is not limited thereto.

[0177] The serving cell may include a primary secondary cell (PSCell or a primary SCG cell). When dual connectivity is provided to the terminal device 40, the PCell provided by a secondary node (SN) and 0 or one or a plurality of SCells may be referred to as a secondary cell group (SCG). Unless specially configured (for example, PUCCH on SCell), the physical uplink control channel (PUCCH) is transmitted in the PCell and the PSCell, but is not transmitted in the SCell. Radio link failure is detected by the PCell and the PSCell, but is not detected by the SCell (may not be detected). As such, since the PCell and the PSCell have a special role in the serving cell, the cells are also referred to as a special cell (SpCell).

[0178] One downlink component carrier and one uplink component carrier may be associated with one cell. The system bandwidth corresponding to one cell may be divided into a plurality of bandwidth parts (BWPs). Here, one or a plurality of the BWPs may be set in the terminal device 40, and one BWP may be used as an active BWP for the terminal device 40. In addition, radio resources used by the terminal device 40, for example, a frequency band, a numerology (subcarrier spacing), or a slot format (slot configuration), may be different for each cell, each component carrier, or each BWP.

[0179] <2-4. Configuration of Terminal Device> Next, a configuration of the terminal device 40 will be described.

[0180] The terminal device 40 is a radio communication device that performs radio communication with other radio communication devices (for example, the base station 30 or another terminal device 40). In the following description, the terminal device 40 may be referred to as a user equipment (UE) or a UE 40.

[0181] As the terminal device 40, any form of information processing device (computer) can be employed. For example, the terminal device 40 may be a mobile terminal such as a mobile phone, a smart device (smartphone or tablet), a personal digital assistant (PDA), or a laptop PC. Furthermore, the terminal device 40 may be a communication module that is connected to an information processing device (for example, an imaging device that does not have a radio communication function) and provides the information processing device with a radio communication function. Furthermore, the terminal device 40 may be an imaging device (for example, a camcorder) having a radio communication function.

[0182] Furthermore, the terminal device 40 may be a motorcycle, a moving relay vehicle, or the like on which a communication device such as a field pickup unit (FPU) is mounted. Furthermore, the terminal device 40 may be a machine to machine (M2M) device or an internet of things (IoT) device. Furthermore, the terminal device 40 may be a wearable device such as a smart watch.

[0183] Furthermore, the terminal device 40 may be an extended reality (XR) device such as an augmented reality (AR) device, a virtual reality (VR) device, or a mixed reality (MR) device. Here, the XR device may be a glass-type device such as an AR glass or an MR glass, or may be a head-mounted device such as a VR head-mounted display. When the terminal device 40 is an XR device, the terminal device 40 may be a standalone device including only a user wearing portion (for example, an eyeglass portion). Furthermore, the terminal device 40 may be a terminal interlocking device including a user wearing portion (for example, the eyeglass portion) and a terminal portion (for example, a smart device) interlocked with the user wearing portion.

[0184] The terminal device 40 may be able to perform NOMA communication with the base station 30. The terminal device 40 may be able to use an automatic retransmission technology such as HARQ when communicating with the base station 30. The terminal device 40 may be able to perform sidelink communication with another terminal device 40. The terminal device 40 may be able to use an automatic retransmission technology such as HARQ when performing sidelink communication. The terminal device 40 may be able to perform NOMA communication when performing sidelink communication with another terminal device 40. The terminal device 40 may be able to perform LPWA communication with other radio communication devices such as the base station 30. The radio communication used by the terminal device 40 may be radio communication using millimeter waves. The radio communication used by the terminal device 40 may be radio communication using radio waves including sidelink communication, or may be radio communication using infrared rays or visible light, that is, optical radio.

[0185] The terminal device 40 may be a movable radio communication device, that is, a moving object device. The terminal device 40 may be a radio communication device installed in a moving object or may be a moving object itself. The terminal device 40 may be a vehicle that moves on a road such as an automobile, a bus, a truck, or a motorcycle or a vehicle of a train that travels on a track, or may be a radio communication device mounted on the vehicle. The moving object may be a mobile terminal, or may be a moving object that moves on land (on the ground in a narrow sense), in the ground, on water, or under water. Furthermore, the moving object may be a moving object that moves in the atmosphere such as an aircraft, an airship, a balloon, or a helicopter or may be a moving object that moves outside the atmosphere such as an artificial satellite. The moving object may be an unmanned aerial vehicle (UAV) such as a drone. Furthermore, the terminal device 40 may be a radio communication device mounted on the moving object.

[0186] The terminal device 40 may be able to communicate by being connected to a plurality of the base stations 30 or a plurality of cells at the same time. When one base station 30 supports a communication area via a plurality of the cells (for example, pCell or sCell), a plurality of the cells can be bundled to communicate between the base station 30 and the terminal device 40 by a carrier aggregation (CA) technology, a dual connectivity (DC) technology, a multi-connectivity (MC) technology, or the like. Alternatively, the terminal device 40 and a plurality of the base stations 30 may communicate with each other by a coordinated multi-point transmission and reception (CoMP) technology via cells of the different base stations 30.

[0187] The terminal device 40 may be able to communicate by being connected to a plurality of the base stations 30 or a plurality of cells. Furthermore, the terminal device 40 may transmit and / or receive sensing signals to and / or from each of a plurality of the base stations 30. The terminal device 40 may be configured to receive information on sensing signals (for example, information on resources) from at least one of a plurality of the base stations 30 or may be configured to receive information on sensing signals (for example, information on resources) from each of a plurality of the base stations 30. Furthermore, the terminal device 40 may transmit and / or receive the sensing signal to and / or from in each of a plurality of the cells. The terminal device 40 may be configured to receive information on sensing signals (for example, information on resources) from at least one of a plurality of the cells or may be configured to receive information on sensing signals (for example, information on resources) from each of a plurality of the cells.

[0188] The terminal device 40 may be a relay terminal that relays communication to a remote terminal.

[0189] Multi-static sensing may be performed in the base station 30, the remote terminal, and the relay terminal. Specifically, the sensing signals may be transmitted from each of the base station 30 and the relay terminal. The remote terminal may receive the sensing signal transmitted from each of the base station 30 and the relay terminal.

[0190] The base station 30 and / or the relay terminal may transmit information about sensing signals transmitted and / or received by the relay terminal and / or the remote terminal to the relay terminal and / or the remote terminal. In other words, the relay terminal and / or the remote terminal may receive information about sensing signals transmitted and / or received by the relay terminal and / or the remote terminal from the base station 30 and / or the relay terminal.

[0191] Fig. 10 is a diagram illustrating a configuration of the terminal device 40 according to the present embodiment. The terminal device 40 includes a radio communication unit 41, a storage unit 42, a controller 43, an input unit 44, an output unit 45, and a sensor unit 46. The configuration illustrated in Fig. 10 is a functional configuration, and a hardware configuration may be different from the functional configuration. Furthermore, the functions of the terminal device 40 may be distributed and implemented in a plurality of physically separated configurations.

[0192] Note that the terminal device 40 does not necessarily have all the configurations described above or below. For example, the terminal device 40 may not include at least one of the input unit 44, the output unit 45, and the sensor unit 46. Furthermore, the terminal device 40 may have a configuration other than the above-described or later-described configuration. The terminal device 40 may have a beamforming function. Furthermore, the terminal device 40 may be configured to acquire sensing data by performing sensing using a beam.

[0193] The radio communication unit 41 is a signal processing unit for radio communication with other radio communication devices (for example, the base station 30 or the another terminal device 40). The radio communication unit 41 may be referred to as a wireless transceiver or simply a transceiver. Here, the radio communication unit 41 may be a transceiver of a standard defined by a technical specification (TS) of 3GPP (hereinafter, referred to as a 3GPP transceiver). The 3GPP transceiver may be a 3G transceiver, a 4G (LTE) transceiver, a 5G (NR) transceiver, or a 5G or later generation transceiver. The radio communication unit 41 is controlled by, for example, the controller 43. The radio communication unit 41 corresponds to one or a plurality of radio access methods. The radio communication unit 41 may correspond to at least one of NR, LTE, beyond 5G (B5G), and 6G. The radio communication unit 41 may support W-CDMA, cdma2000, and the like in addition to the NR, the LTE, the B5G, and the 6G. The radio communication unit 41 may support an automatic retransmission technology such as a hybrid automatic repeat request (HARQ). A part or all of the processes executed by the radio communication unit 41 may be executed by the controller 43.

[0194] The radio communication unit 41 includes a transmission processing unit 411, a reception processing unit 412, and an antenna 413. At least one of the transmission processing unit 411, the reception processing unit 412, and the antenna 413 may be regarded as the radio communication unit 41. The radio communication unit 41 may include a plurality of the transmission processing units 411, a plurality of the reception processing units 412, and a plurality of the antennas 413. When the radio communication unit 41 supports a plurality of the radio access methods, each unit of the radio communication unit 41 may be configured separately for each radio access method. The transmission processing unit 411 and the reception processing unit 412 may be individually configured by LTE, NR, B5G, and 6G. The antenna 413 may include a plurality of antenna elements, for example, a plurality of patch antennas. The radio communication unit 41 may have a beamforming function. For example, the radio communication unit 41 may have a polarization beamforming function using vertically polarized waves (V-polarized waves) and horizontally polarized waves (H-polarized waves) (or a polarization beamforming function using dual polarization in polarization directions of 45 degrees and -45 degrees from the vertical direction). Note that the radio communication unit 41 may transmit a sensing signal described above or below.

[0195] The storage unit 42 is a storage device capable of reading and writing a DRAM, an SRAM, a flash memory, a hard disk, or the like.

[0196] The controller 43 is a controller that controls each unit of the terminal device 40. The controller 43 controls the radio communication unit to perform radio communication with other radio communication devices (for example, the base station 30 or another terminal device 40). The controller 43 may be implemented by a processor such as a CPU or an MPU. Specifically, the controller 43 may be implemented by a processor executing various programs stored in a storage device inside the terminal device 40 using a RAM or the like as a work area. The controller 43 may be implemented by an integrated circuit such as an ASIC or an FPGA. Any of the CPU, the MPU, the ASIC, and the FPGA can be regarded as a controller. The controller 43 may be implemented by a GPU. Any of the CPU, the MPU, the ASIC, the FPGA, and the GPU may be regarded as a controller. Note that the controller 43 may include a plurality of physically separated objects. For example, the controller 43 may include a plurality of semiconductor chips.

[0197] The controller 43 includes at least one block of a signaling unit 431, a sensing unit 432, a feedback unit 433, and a selection unit 434. The controller 43 may include a plurality of each block, or may include only one block for each block.

[0198] Each block (the signaling unit 431 to the selection unit 434) configuring the controller 43 is a functional block indicating a function of the controller 43. The functional blocks may be software blocks or hardware blocks. For example, each of the functional blocks described above may be one software module implemented by software (microprogram), or may be one circuit block on a semiconductor chip (die). Of course, each functional block may be one processor or one integrated circuit. The controller 43 may be configured by a functional unit different from the above-described functional block. A configuration method of the functional block is optional. Note that the operation of the controller 43 may be the same as the operation of the controller (controller 13, controller 23, or controller 33) of the server 10, the management device 20, or the base station 30.

[0199] The input unit 44 is an input device that receives various inputs from the outside. For example, the input unit 44 is an operation device for the user to perform various operations such as a keyboard, a mouse, an operation key, and a voice input. Note that, when a touch panel is adopted as the terminal device 40, the touch panel is also included in the input unit 44. Then, the user performs various operations by touching the screen with a finger or a stylus.

[0200] The output unit 45 is a device that performs various outputs such as sound, light, vibration, and an image to the outside. The output unit 45 includes a display unit that displays various types of information. The display unit is, for example, a display device such as a liquid crystal display or an organic electro luminescence (EL) display. Note that, when a touch panel is adopted as the terminal device 40, the display unit may be integrated with the input unit 44. Furthermore, when the terminal device 40 is an XR device, the terminal device 40 may be a transmission type device that projects an image on a glass, or may be a retina projection type device that directly projects an image on the retina of the user. The output unit 45 performs various outputs to the user under the control of the controller 43.

[0201] The sensor unit 46 includes one or a plurality of sensors that detect various types of data related to the terminal device 40. For example, the sensor unit 46 may be configured to receive, detect, or measure a sensing signal transmitted by the same or another communication device (transmission device, sensing transmitter). Here, the sensor unit 46 may be the same functional unit as the radio communication unit 41. Further or alternatively, when the radio communication unit 41 is a first radio communication unit, the sensor unit 46 may be understood as a second radio communication unit. Further, the one or a plurality of sensors included in the sensor unit 46 may include a sensor that performs detection regarding the position or the attitude of the terminal device 40. For example, the one or a plurality of sensors included in the sensor unit 46 may include an acceleration sensor and / or a gyro sensor. For example, the one or a plurality of sensors included in the sensor unit 46 may include a 6DoF sensor or a 3DoF sensor. Furthermore, the one or a plurality of sensors included in the sensor unit 46 may include a positioning sensor (for example, a GNSS sensor). The GNSS sensor may be a GPS sensor, a GLONASS sensor, a Galileo sensor, or a QZSS sensor. Furthermore, the sensor unit 46 (or the one or a plurality of sensors included in the sensor unit 46) may be configured to perform sensing using the above-described beamforming function and acquire sensing data.

[0202] Note that the sensor included in the sensor unit 46 is not limited to a sensor that performs detection regarding the position or posture of the terminal device 40. The one or a plurality of sensors included in the sensor unit 46 may include a sensor that performs detection regarding the surroundings of the terminal device 40. For example, the one or a plurality of sensors included in the sensor unit 46 may include at least one of a geomagnetic sensor, an illuminance sensor, a distance measuring sensor (for example, a ToF sensor), an atmospheric pressure sensor, a temperature sensor, an optical sensor, a sound sensor, and an image sensor.

[0203] The one or a plurality of sensors included in the sensor unit 46 may include a sensor unit configured by combining a plurality of sensors. For example, the one or a plurality of sensors included in the sensor unit 46 may include an inertial measurement unit configured by combining a plurality of sensors among a positioning sensor (for example, a GNSS sensor), an acceleration sensor, and a gyro sensor. A sensor unit can also be regarded as a type of sensor.

[0204] Furthermore, the one or a plurality of sensors included in the sensor unit 46 may include a device / component configured using the sensor. For example, the one or a plurality of sensors included in the sensor unit 46 may include at least one of a camera (for example, a visible light camera, an infrared camera, a light field camera, or the like), a LiDAR, a radar (for example, a microwave radar, a millimeter wave radar, or the like), a microphone, and an image device. The image device is a device including one or a plurality of sensors. Devices / parts configured using sensors may also be considered a type of sensor.

[0205] Furthermore, one or a plurality of sensors included in the sensor unit 46 may include a sensor that detects at least one of color of an object, velocity of an object, acceleration of an object, reflectance of an object, transmittance of an object, distance to an object, temperature of an object / environment, geomagnetism, illuminance, atmospheric pressure, light, and sound.

[0206] Furthermore, the one or a plurality of sensors included in the sensor unit 46 may include a sensor / sensor unit / device / component configured by combining two or more sensors selected from the above-described plurality of sensors.

[0207] Note that, in the present embodiment, one or a plurality of sensing functions implemented by devices / components included in the terminal device 40 may be regarded as the one or a plurality of sensors included in the terminal device 40. For example, the one or a plurality of sensing functions of the radio communication unit 41 may be regarded as the one or a plurality of sensors included in the terminal device 40. Here, one or a plurality of sensing functions of the radio communication unit 41 may include an RF-based sensing function (for example, an RF-based sensing function supported by a 3GPP transceiver). Then, the radio communication unit 41 (for example, a 3GPP transceiver) may be regarded as the sensor unit 46 (or a sensor included in the sensor unit 46).

[0208] As described above, the description relating to the sensors may be distinguished into a physical sensor and a logical sensor. That is, the sensor described above or below may indicate a physical sensor or a logical sensor.

[0209] <<3. Sensing Scenario>> The configuration of the communication system 1 has been described above, and a sensing scenario in the present embodiment will be described next. In the present embodiment, the sensing scenario is defined based on at least the type of the node that transmits the sensing signal and / or the node that receives the sensing signal.

[0210] In the following description, the communication node that transmits the sensing signal may be referred to as a transmission node, and a node that receives the sensing signal may be referred to as a reception node. The communication node is a communication device (for example, the base station 30 or the terminal device 40) included in the communication system 1. The communication node can be rephrased as a node, an entity, or a communication entity. In addition, the transmission node can be rephrased as a transmission entity. In addition, the reception node can be rephrased as a reception entity.

[0211] Hereinafter, six sensing scenarios (first to sixth sensing scenarios) will be described as scenarios of mono-static sensing and bi-static sensing. The multi-static sensing will be described later.

[0212] <3-1. First Sensing Scenario> Fig. 11 is a diagram for explaining a first sensing scenario. The first sensing scenario is a scenario of mono-static sensing by the base station 30. In the first sensing scenario, the base station 30 performs both transmission and reception of the sensing signal. That is, in the first sensing scenario, the base station 30 transmits the sensing signal, and the same base station 30 receives the sensing signal reflected by an object.

[0213] The sensing result obtained based on the sensing signal may be used in the base station 30 that transmitted the sensing signal. Note that the base station 30 may transmit the sensing result to another communication node.

[0214] <3-2. Second Sensing Scenario> Fig. 12 is a diagram for explaining a second sensing scenario. The second sensing scenario is a scenario of mono-static sensing by the terminal device 40. In the second sensing scenario, the terminal device 40 performs both transmission and reception of the sensing signal. That is, in the second sensing scenario, the terminal device 40 transmits the sensing signal, and the same terminal device 40 receives the sensing signal reflected by an object.

[0215] The sensing result obtained based on the sensing signal may be used by the terminal device 40 that transmitted the sensing signal. Note that the terminal device 40 may transmit the sensing result to another communication node.

[0216] <3-3. Third Sensing Scenario> Fig. 13 is a diagram for explaining a third sensing scenario. The third sensing scenario is a scenario of bi-static sensing from the base station 30 to the terminal device 40. In the third sensing scenario, the sensing signal is transmitted from the base station 30 and received by the terminal device 40. That is, in the third sensing scenario, the base station 30 transmits a sensing signal, and the terminal device 40 receives the sensing signal reflected by an object.

[0217] For example, in the third sensing scenario, the sensing signal is, for example, a downlink signal transmitted from the base station 30 by using a downlink resource. Alternatively, the sensing signal is, for example, a predetermined sensing signal transmitted from the base station 30 using the downlink resource. Here, the terminal device 40 may receive a downlink signal as a sensing signal, the downlink signal being transmitted from the base station 30 using the downlink resource.

[0218] The sensing result obtained based on the sensing signal may be used by the terminal device 40 that receives the sensing signal. Note that the terminal device 40 may transmit the sensing result to another communication node. For example, the terminal device 40 may feed back the sensing result to the base station 30 that transmitted the sensing signal by a method to be described later. Note that, as described above or later, the sensing result and the sensing data may be distinguished from each other. The sensing data may mean data sensed by a reception device (sensing receiver), while the sensing result may indicate an output result after predetermined processing is performed on the sensing data.

[0219] <3-4. Fourth Sensing Scenario> Fig. 14 is a diagram for explaining a fourth sensing scenario. The fourth sensing scenario is a scenario of bi-static sensing from the terminal device 40 to the base station 30. In the fourth sensing scenario, the sensing signal is transmitted from the terminal device 40 and received by the base station 30. That is, in the fourth sensing scenario, the terminal device 40 transmits the sensing signal, and the base station 30 receives the sensing signal reflected by an object.

[0220] For example, in the fourth sensing scenario, the sensing signal is, for example, an uplink signal transmitted from the terminal device 40 by using an uplink resource. Alternatively, the sensing signal is, for example, a predetermined sensing signal transmitted from the terminal device 40 using the uplink resource. Here, the base station 30 may receive a signal as the sensing signal, the signal being transmitted from the terminal device 40 using the uplink resource.

[0221] The sensing result obtained based on the sensing signal may be used by the base station 30 that receives the sensing signal. Note that the base station 30 may transmit the sensing result to another communication node. For example, the base station 30 may feed back the sensing result to the terminal device 40 that transmitted the sensing signal by a method to be described later.

[0222] <3-5. Fifth Sensing Scenario> Fig. 15 is a diagram for explaining a fifth sensing scenario. The fifth sensing scenario is a scenario of bi-static sensing from one terminal device 40 (in the example of Fig. 15, a terminal device 401) to another terminal device 40 (in the example of Fig. 15, a terminal device 402). In the fifth sensing scenario, the sensing signal is transmitted from one terminal device 40 and received by another terminal device 40. That is, in the fifth sensing scenario, for example, as illustrated in Fig. 15, the terminal device 401transmits the sensing signal, and the terminal device 402receives the sensing signal reflected by an object.

[0223] For example, in the fifth sensing scenario, the sensing signal is, for example, a sidelink signal transmitted from the terminal device 401by using a sidelink resource. Alternatively, the sensing signal is, for example, a predetermined sensing signal transmitted from the terminal device 401using the sidelink resource. Here, the terminal device 402may receive a signal as the sensing signal, the signal being transmitted from the terminal device 401using the sidelink resource.

[0224] The sensing result obtained based on the sensing signal may be used by the terminal device 402that receives the sensing signal. Note that the terminal device 402may transmit the sensing result to another communication node. For example, the terminal device 402may feed back the sensing result to the terminal device 401that transmitted the sensing signal by a method to be described later.

[0225] <3-6. Sixth Sensing Scenario> Fig. 16 is a diagram for explaining a sixth sensing scenario. The sixth sensing scenario is a scenario of bi-static sensing from one base station 30 (in the example of Fig. 16, a base station 301) to another base station 30 (in the example of Fig. 16, a base station 302). In the sixth sensing scenario, the sensing signal is transmitted from one base station 30 and received by another base station 30. That is, in the sixth sensing scenario, for example, as illustrated in Fig. 16, the base station 301transmits the sensing signal, and the base station 302receives the sensing signal reflected by an object.

[0226] For example, in the sixth sensing scenario, the sensing signal is, for example, an uplink / downlink signal transmitted from the base station 301by using an uplink resource / downlink resource. Alternatively, the sensing signal is, for example, a predetermined sensing signal transmitted from the base station 301using the uplink resource / downlink resource. Here, the base station 302may receive a signal as the sensing signal, the signal being transmitted from the base station 301using the uplink resource / downlink resource.

[0227] The sensing result obtained based on the sensing signal may be used by the base station 302that receives the sensing signal. Note that the base station 302may transmit the sensing result to another communication node. For example, the base station 302may feed back the sensing result to the base station 301that transmitted the sensing signal by a method to be described later. For example, the base station 302may feed back the sensing result to the base station 301that transmitted the sensing signal via an X2 interface or a core network.

[0228] Furthermore, in the above-described sensing scenario, an example of receiving a reflected sensing signal was described. However, the examples of the present embodiment are not limited thereto. For example, the communication device may receive a transmitted sensing signal. The radio communication used for transmission or reception of the sensing signal may be radio communication using a millimeter wave or radio communication using a terahertz wave.

[0229] <<4. Resource Allocation>> The sensing scenario of the present embodiment was described above, and allocation of resources for transmitting sensing signals will be described before describing the operation of the communication system 1.

[0230] As described above, the communication device (the base station 30 and / or the terminal device 40) included in the communication system 1 transmits the sensing signal using the radio communication resource (hereinafter, also simply referred to as a resource) for performing cellular communication. Hereinafter, the resource allocation in each of a case where the sensing signal is transmitted using a downlink resource, a case where the sensing signal is transmitted using an uplink resource, and a case where the sensing signal is transmitted using a sidelink resource will be described.

[0231] <4-1. Case of Being Transmitted by Using Downlink Resource> First, the resource allocation in a case where the sensing signal is transmitted using a downlink radio communication resource will be described. In the following description, a sensing signal transmitted using a downlink resource may be referred to as a downlink sensing signal.

[0232] <4-1-1. Downlink Sensing Signal> The downlink sensing signal is, for example, a downlink signal or a predetermined sensing signal transmitted from the base station 30 using the downlink resource. The downlink sensing signal may be, for example, at least one of the following signals (D1) to (D9).

[0233] (D1) Positioning Reference Signal (PRS) (D2) Channel State Information Reference Signal (CSI-RS) (D3) SS / PBCH Block (SSB) (D4) Primary Synchronization Signal (PSS) (D5) Secondary Synchronization Signal (SSS) (D6) Demodulation Reference Signal (DMRS) (D7) Phase-Tracking Reference Signal (PT-RS) (D8) Remote Interference Management Reference Signal (RIM RS) (D9) Detection Reference Signal (DRS)

[0234] In addition, the downlink sensing signal may be obtained by changing a part (for example, at least one of a mapping to a resource element, a signal sequence, a sequence, a scrambling code, and a parameter used for signal generation) of at least one of the above (D1) to (D9).

[0235] Furthermore, the downlink sensing signal may be a signal and / or a channel that is quasi-co-location (QCL) to at least one signal of the above (D1) to (D9).

[0236] Furthermore, the downlink sensing signal may be, for example, a signal such as a chirp signal. In addition, the downlink sensing signal may be an optional signal, an optional sequence, and / or an optional waveform. Note that the DRS is a newly defined (normalized) signal for detecting an object.

[0237] Even in such cases, the communication device (for example, the base station 30) can transmit the downlink sensing signal using the resource allocated using a resource allocation method to be described later.

[0238] The communication device may multiplex and transmit the sensing signal with the signal / information in the PDCCH and / or the PDSCH (for example, downlink control information and / or a downlink transport block). Furthermore, the communication device may transmit the sensing signal on a downlink channel (for example, a channel for a sensing signal) different from the above-described downlink channel (for example, the PDCCH and / or the PDSCH).

[0239] <4-1-2. Downlink Resource Allocation Method> The communication device may allocate the radio communication resource for transmitting the sensing signal from another communication device, or may allocate the radio communication resource by itself. For example, when the communication device that transmits the sensing signal is the base station 30, the base station 30 itself may allocate the resource. The communication device (or another communication device) may periodically or aperiodically allocate the radio communication resource. The downlink resource may be, for example, a PDCCH and / or PDSCH resource. Further, the downlink resource may be a resource of a downlink channel (for example, a dedicated channel for transmission of sensing signals) different from the above-described downlink channel (for example, the PDCCH and / or the PDSCH).

[0240] The communication device that transmits the sensing signal (for example, the base station 30) may determine the downlink resource based on information from another communication node (for example, the management device 20 and / or another base station 30) and / or control information from a control station.

[0241] <4-1-3. Response to Sensing Scenario> The above-described <4-1-1. Downlink Sensing Signal> and <4-1-2. Downlink Resource Allocation Method> can be applied to, for example, the first sensing scenario, the third sensing scenario, and the sixth sensing scenario.

[0242] A communication device not involved in sensing (for example, a communication device located around the base station 30 and / or another base station 30) may not recognize the sensing signal. For example, a communication device not involved in sensing (for example, the terminal device 40) may be set not to use the resource for transmitting the downlink sensing signal. For example, a communication device not involved in sensing (for example, the terminal device 40) may be set not to receive or set to skip a signal transmitted using the resource for transmitting the downlink sensing signal.

[0243] To prevent surrounding communication devices (for example, terminal devices 40 in the same cell) from using the resource for sensing signal transmission, the base station 30 may notify one or a plurality of communication devices (for example, one or a plurality of terminal devices 40 under control of the base station 30) not to use the resource. In the following description, a notification (notify information indicating (or instructing) that the radio communication resource to be used for transmission of the sensing signal is not to be used) for preventing the one or a plurality of communication devices from using the radio communication resource to be used for transmitting the sensing signal may be referred to as a non-use notification.

[0244] The base station 30 may perform the non-use notification to a plurality of the terminal devices 40 using, for example, at least one of the following.

[0245] ・ Information that can be broadcasted to all or a part of the terminal devices 40 (for example, PBCH and system information block (SIB)) ・ DCI transmitted on common PDCCH ・ PDSCH scheduled on common PDCCH

[0246] Note that the base station 30 may individually notify one or a plurality of terminal devices 40 of non-use. For example, the base station 30 may individually notify one or a plurality of terminal devices 40 of non-use by using the PDCCH and / or the PDSCH.

[0247] The communication device that received the non-use notification from the base station 30 (for example, the terminal device 40 under the control of the base station 30) does not use the resource related to the non-use notification. For example, the communication device that received the non-use notification may not perform the reception processing of the signal transmitted using the resource related to the non-use notification. Furthermore, the communication device that received the non-use notification may perform the reception processing except for at least the resource related to the non-use notification, for example. Furthermore, the communication device that received the non-use notification may operate on the assumption that the resource related to the non-use notification is not scheduled, for example.

[0248] <4-2. Case of Being Transmitted by Using Uplink Resource> Next, the resource allocation in a case where the sensing signal is transmitted using an uplink radio communication resource will be described. In the following description, the sensing signal transmitted using an uplink resource may be referred to as an uplink sensing signal.

[0249] <4-2-1. Uplink Sensing Signal> The uplink sensing signal is, for example, an uplink signal or a predetermined sensing signal transmitted from the terminal device 40 using the uplink resource.

[0250] For example, the uplink sensing signal is, for example, an uplink signal or a predetermined sensing signal transmitted from the terminal device 40 using the uplink resource. The uplink sensing signal may be, for example, at least one of the following signals (U1) to (U6).

[0251] (U1) Positioning Reference Signal (PRS) (U2) Demodulation Reference Signal (DMRS) (U3) Phase-Tracking Reference Signal (PT-RS) (U4) Sounding Reference Signal (SRS) (U5) Physical Random Access Channel (PRACH) or random accelerator preamble (U6) Detection Reference Signal (DRS)

[0252] In addition, the uplink sensing signal may be obtained by changing a part (for example, at least one of a mapping to a resource element, a signal sequence, a sequence, a scrambling code, and a parameter used for signal generation) of at least one of the above (U1) to (U6).

[0253] Furthermore, the uplink sensing signal may be a signal / channel that is quasi-co-location (QCL) to at least one signal of the above (U1) to (U6).

[0254] Furthermore, the uplink sensing signal may be, for example, a signal such as a chirp signal. In addition, the uplink sensing signal may be an optional signal, an optional sequence, and / or an optional waveform. Note that the DRS is a newly defined (normalized) signal for detecting an object.

[0255] Even in such cases, the communication device (for example, the terminal device 40) can transmit the uplink sensing signal using the resource allocated using a resource allocation method to be described later.

[0256] The communication device may multiplex and transmit the sensing signal with the signal / information in the PUCCH and / or the PUSCH (for example, uplink control information and / or an uplink transport block). Furthermore, the communication device may transmit the sensing signal on an uplink channel (for example, a dedicated channel for transmission of sensing signals) different from the above-described uplink channel (for example, the PUCCH and / or the PUSCH).

[0257] The sensing using the uplink sensing signal may be available only when the communication device (for example, the terminal device 40) is within a reception area of the base station 30 (in a case of in-coverage). That is, when the communication device (for example, the terminal device 40) is outside the reception area of the base station 30 (in a case of out-of-coverage), the communication device may not transmit the sensing signal using the uplink resource.

[0258] <4-2-2. Uplink Resource Allocation Method> The communication device may allocate a radio communication resource for transmitting the sensing signal from another communication device. For example, it is assumed that the communication device that transmits the sensing signal is the terminal device 40. Here, the base station 30 may allocate, to the terminal device 40, one or a plurality of resources for transmitting the sensing signal. Note that another communication device (for example, the base station 30) may allocate the uplink resource by signaling prior to sensing of the communication device. Here, another communication device may periodically or aperiodically allocate radio communication resource. The uplink resource may be, for example, a PUCCH and / or PUSCH resource. Further, the uplink resource may be a resource of an uplink channel (for example, a dedicated channel for transmission of sensing signals) different from the above-described uplink channel (for example, the PUCCH and / or the PUSCH).

[0259] <Response to Sensing Scenario> The above-described <4-2-1. Uplink Sensing Signal> and <4-2-2. Uplink Resource Allocation Method> can be applied to, for example, the second sensing scenario, the fourth sensing scenario, and the fifth sensing scenario.

[0260] <4-3. Case of Being Transmitted by Using Sidelink Resource> Next, the resource allocation in a case where the sensing signal is transmitted using a sidelink radio communication resource will be described. In the following description, the sensing signal transmitted using a sidelink resource may be referred to as a sidelink sensing signal.

[0261] <4-3-1. Sidelink Sensing Signal> For example, the sidelink sensing signal is, for example, a sidelink signal or a predetermined sensing signal transmitted from the terminal device 40 using the sidelink resource. The Sidelink sensing signal may be, for example, at least one of the following signals (S1) to (S8).

[0262] (S1) Sidelink Positioning Reference Signal (S-PRS) (S2) Channel State Information Reference Signal (CSI-RS) (S3) Sidelink SS / PBCH Block (S-SSB) (S4) Sidelink Primary Synchronization Signal (S-PSS) (S5) Sidelink Secondary Synchronization Signal (S-SSS) (S6) Demodulation Reference Signal (DMRS) (S7) Phase Tracking Reference Signal (PT-RS) (S8) Detection Reference Signal (DRS)

[0263] In addition, the sidelink sensing signal may be obtained by changing a part (for example, at least one of a mapping to a resource element, a signal sequence, a sequence, a scrambling code, and a parameter used for signal generation) of at least one of the above (S1) to (S8).

[0264] Furthermore, the sidelink sensing signal may be a signal / a channel that is quasi-co-location (QCL) to at least one signal of the above (S1) to (S8).

[0265] Furthermore, the sidelink sensing signal may be, for example, a signal such as a chirp signal. In addition, the sidelink sensing signal may be an optional signal, an optional sequence, and / or an optional waveform. Note that the DRS is a newly defined (normalized) signal for detecting an object.

[0266] Even in such cases, the communication device (for example, the terminal device 40) can transmit the sidelink sensing signal using the resource allocated using a resource allocation method to be described later.

[0267] The communication device may multiplex and transmit the sensing signal with a signal / information (for example, at least one of sidelink control information, a sidelink transport block, and sidelink feedback information) in at least one channel of a physical sidelink shared channel (PSCCH), a physical sidelink control channel (PSSCH), and a physical sidelink feedback channel (PSFCH). Furthermore, the communication device may transmit the sensing signal on a sidelink channel (for example, a dedicated channel for transmission of sensing signals) different from above-described the sidelink channel (for example, at least one of PSCCH, PSSCH, and PSFCH).

[0268] The sensing using the sidelink sensing signal may be available only when the communication device (for example, the terminal device 40) is out of the reception area of the base station 30 (in a case of out-of-coverage). Then, a setting regarding the sensing signal and the resource thereof may be performed in advance (for example, when the communication device is within the reception area of the base station 30).

[0269] The sensing using the sidelink sensing signal is available even when the communication device (for example, the terminal device 40) is within the reception area of the base station 30 (in a case of in-coverage). For example, the communication device may determine whether to use sensing using the sidelink sensing signal depending on whether the communication node that receives the sensing signal is the terminal device 40. For example, the terminal device 40 that transmits the sensing signal may determine to transmit the sensing signal using the sidelink resource when the communication node that receives the sensing signal is the terminal device 40, and may determine to transmit the sensing signal using the uplink resource when the communication node that receives the sensing signal is the base station 30. The determination may be performed by a device (for example, the management device 20 and / or the base station 30) other than the communication device that transmits the sensing signal.

[0270] <4-3-2. Sidelink Resource Allocation Method> The communication device may allocate a radio communication resource for transmitting the sensing signal from another communication device. For example, when the communication device that transmits the sensing signal is the terminal device 40, the base station 30 may allocate, to the terminal device 40, one or a plurality of resources for transmitting the sensing signal. Note that another communication device (for example, the base station 30 or another terminal device 40) may allocate the sidelink resource to the communication device by signaling prior to sensing of the communication device. Here, another communication device may dynamically allocate the sidelink resource by, for example, PDCCH or semi-statically allocate the sidelink resources by, for example, RRC signaling. Another communication device may periodically or aperiodically allocate the sidelink resource.

[0271] The sidelink resource may be an empty resource (resource satisfying a predetermined condition) discovered by monitoring (sidelink sensing) an empty state of the sidelink resource by a predetermined method by the communication device (for example, the terminal device 40 on the transmission side and / or the reception side).

[0272] Furthermore, the sidelink resource may be, for example, at least one resource of PSCCH, PSSCH, and PSFCH. Further, the sidelink resource may be a resource of a sidelink channel (for example, a dedicated channel for transmission of sensing signals) different from the above-described sidelink channel (for example, the PSCCH, the PSSCH, and the PSFCH).

[0273] <4-3-3. Response to Sensing Scenario> The above-described <4-3-1. Sidelink Sensing Signal> and <4-3-2. Sidelink Resource Allocation Method> can be applied to, for example, the second sensing scenario, the fourth sensing scenario, and the fifth sensing scenario.

[0274] <<5. Feedback>> The sensing scenario of the present embodiment was described above, and feedback of the sensing result will be described before describing the operation of the communication system 1.

[0275] Fig. 17 is a diagram for explaining the feedback of the sensing result. As described above, the communication device that received the sensing signal (hereinafter, referred to as a reception device) may feed back the sensing result to the communication device that transmitted the sensing signal (hereinafter, referred to as a transmission device). The sensing result may be a reception result of the sensing signal itself or a processing result based on the reception result of the sensing signal (for example, a detection result of an object). In the following description, information fed back as the sensing result may be simply referred to as feedback information.

[0276] The sensing signal transmission device may perform various types of processing based on the feedback information from the sensing signal reception device. For example, the sensing signal transmission device may detect an object based on the reception result of the sensing signal fed back from the sensing signal reception device. Furthermore, the sensing signal transmission device may perform communication setting regarding its own radio communication based on the reception result / detection result fed back from the sensing signal reception device. Furthermore, the sensing signal transmission device may perform communication control of another communication device based on the reception result / detection result fed back from the sensing signal reception device.

[0277] The feedback of the sensing result in a case where the sensing result is transmitted using the uplink resource (or the uplink channel), a case where the sensing result is transmitted using the sidelink resource (or the sidelink channel), and a case where the sensing result is transmitted using the downlink resource (or the downlink channel) will be described below.

[0278] <5-1. Case of Being Transmitted by Using Uplink Resource> The sensing signal reception device may feed back sensing results to the sensing signal transmission device using the uplink resource or the uplink channel. Here, the sensing signal transmission device is, for example, the base station 30, and the sensing signal reception device is, for example, the terminal device 40.

[0279] <5-1-1. Feedback Method> The sensing signal reception device may feed back the sensing result as physical layer information (uplink control information) using the PUCCH and / or the PUSCH. Furthermore, the sensing signal reception device may feed back the sensing result by the PUSCH as information of a radio resource control (RRC) layer and / or a medium access control (MAC) layer. Further or alternatively, when the sensing signal reception device is the terminal device 40, the sensing result may be fed back by NAS signaling. That is, the terminal device 40 as the sensing signal reception device may feed back the sensing result to a core network node (for example, a core network entity that provides an AMF or a sensing service) by NAS signaling.

[0280] <5-1-2. Resource Allocation Method> The base station 30 may notify the sensing signal transmission device and / or the sensing signal reception device of information of the resource for transmitting the feedback information. Here, the base station 30 may be the sensing signal transmission device. For example, the base station 30 serving as the sensing signal transmission device may notify the terminal device 40 serving as the sensing signal reception device of the information of the resource for transmitting the feedback information.

[0281] Here, the base station 30 may explicitly notify the information of the resource for transmitting the feedback information by PDCCH and / or RRC signaling. The base station 30 may include the information of the resource in the control information for scheduling the sensing signal and transmit the control information. Furthermore, the base station 30 may multiplex the information of the resource into the sensing signal and transmit the sensing signal.

[0282] Furthermore, the sensing signal reception device may determine the resource for transmitting the feedback information based on the sensing signal corresponding to the feedback information (sensing result) and / or the information of the resource used for transmitting the sensing signal. Here, the sensing signal reception device may determine the resource for transmitting the feedback information by further using (or in combination with) the control information notified by the PDCCH and / or the RRC signaling.

[0283] For example, the sensing signal reception device may determine the resource for transmitting the feedback information based on at least one of the following parameters. ・ ID for identifying sensing signal ・ Sensing signal sequence (sequence and / or code) ・ At least one of resource block number, slot number, subcarrier number, and symbol number for transmitting sensing signal ・ At least one of transmission configuration indicator (TCI), quasi-co-location (QCL), and beam information of sensing signal

[0284] <5-2. Case of Being Transmitted by Using Sidelink Resource> The sensing signal reception device may feed back sensing results to the sensing signal transmission device using the sidelink resource or the sidelink channel. Here, the sensing signal transmission device is, for example, the terminal device 40, and the sensing signal reception device is, for example, another terminal device 40.

[0285] <5-2-1. Feedback Method> The sensing signal reception device may feed back the sensing result as physical layer information (sidelink control information) using the PSCCH and / or the PSSCH. Furthermore, the sensing signal reception device may feed back the sensing result as information of the RRC layer and / or the MAC layer by the PSSCH.

[0286] <5-2-2. Resource Allocation Method> The base station 30 may notify the sensing signal transmission device and / or the sensing signal reception device of information of the resource for transmitting the feedback information. Here, the base station 30 may be a device other than the sensing signal transmission device and the sensing signal reception device.

[0287] Here, the base station 30 may explicitly notify the information of the resource for transmitting the feedback information by PDCCH and / or RRC signaling. The base station 30 may include the information of the resource in the control information for scheduling the sensing signal and transmit the control information. The base station 30 may multiplex the information of the resource into the sensing signal and transmit the sensing signal.

[0288] Furthermore, the sensing signal transmission device may explicitly notify the sensing signal reception device of the information of the resource for transmitting the feedback information by the PDCCH and / or the RRC signaling. The sensing signal transmission device may include the information of the resource in the control information for scheduling the sensing signal and transmit the control information. The sensing signal transmission device may multiplex the information of the resource into the sensing signal and transmit the sensing signal.

[0289] Furthermore, the sensing signal reception device may determine the resource for transmitting the feedback information based on the sensing signal corresponding to the feedback information (sensing result) and / or the information of the resource used for transmitting the sensing signal. Here, the sensing signal reception device may determine the resource for transmitting the feedback information by further using (or in combination with) the control information notified by at least one of the PDCCH, the PSCCH, and the RRC signaling.

[0290] For example, the sensing signal reception device may determine the resource for transmitting the feedback information based on at least one of the following parameters. ・ ID for identifying sensing signal ・ Sensing signal sequence (sequence and / or code) ・ At least one of resource block number, slot number, subcarrier number, and symbol number for transmitting sensing signal, or ・ At least one of transmission configuration indicator (TCI), quasi-co-location (QCL), and beam information of sensing signal

[0291] The resource for transmitting the feedback information may be an empty resource (resource satisfying a predetermined condition) discovered by monitoring (sidelink sensing) an empty state of the sidelink resource by a predetermined method by the communication device (for example, the terminal device 40 on the transmission side and / or the reception side).

[0292] <5-3. Case of Being Transmitted by Using Downlink Resource> The sensing signal reception device may feed back sensing results to the sensing signal transmission device using the downlink resource or the downlink channel. Here, the sensing signal transmission device is, for example, the terminal device 40, and the sensing signal reception device is, for example, the base station 30.

[0293] <5-3-1. Feedback Method> The sensing signal reception device may feed back the sensing result as physical layer information (downlink control information) using the PDCCH and / or the PDSCH. Furthermore, the sensing signal reception device may feed back the sensing result as information of the RRC layer and / or the MAC layer by the PDSCH.

[0294] <5-3-2. Resource Allocation Method> When the base station 30 serves as the sensing signal reception device, the base station 30 may determine the information of the resource for transmitting the feedback information by itself. Here, the communication node receiving the feedback information (for example, the terminal device 40) may be scheduled for the resource for transmitting the feedback information. That is, the base station 30 may notify the communication node that receives the feedback information of the information of the resource (scheduling information).

[0295] Here, the base station 30 may explicitly notify the information of the resource for transmitting the feedback information by PDCCH and / or RRC signaling.

[0296] Furthermore, the sensing signal reception device may determine the resource for transmitting the feedback information based on the sensing signal corresponding to the feedback information (sensing result) and / or the information of the resource used for transmitting the sensing signal. Here, the sensing signal transmission device may perform the reception processing on the assumption that the resource for receiving the feedback information corresponding to the sensing signal is a resource determined based on the sensing signal and / or the information of the resource used to transmit the sensing signal.

[0297] The sensing signal reception device may determine the resource for transmitting the feedback information based on the sensing signal corresponding to the feedback information (sensing result) and / or the information of the resource used for transmitting the sensing signal. Here, the sensing signal reception device may determine the resource for transmitting the feedback information by further using (or in combination with) the control information notified by the PDCCH and / or the RRC signaling.

[0298] For example, the sensing signal reception device may determine the resource for transmitting the feedback information based on at least one of the following parameters. ・ ID for identifying sensing signal ・ Sensing signal sequence (sequence and / or code) ・ At least one of resource block number, slot number, subcarrier number, and symbol number for transmitting sensing signal, or ・ At least one of transmission configuration indicator (TCI), quasi-co-location (QCL), and beam information of sensing signal

[0299] <<6. Operation of Communication System 1>> Based on the above, the operation of the communication system 1 will be described.

[0300] <6-1. First Example (Mono-Static Sensing)> First, an operation of the communication system 1 according to a first example will be described. In the first example, an operation of the communication system 1 according to mono-static sensing (for example, the first sensing scenario or the second sensing scenario) will be described.

[0301] Fig. 18 is a sequence diagram illustrating an example of sensing processing related to mono-static sensing. In each processing illustrated in Fig. 18, not every processing is necessarily required for carrying out the invention. In other words, each processing in Fig. 18 may be performed independently.

[0302] In the mono-static sensing, the sensing signal is a signal for mono-static sensing transmitted and received by one communication device (hereinafter, also referred to as a sensing device). The sensing device is a device that transmits and receives the sensing signal, and is, for example, the base station 30 or the terminal device 40. Hereinafter, sensing processing related to the mono-static sensing will be described with reference to the sequence diagram of Fig. 18.

[0303] First, the sensing device performs signaling related to sensing with one or a plurality of other communication devices (Step S101). Here, the signaling is transmission and / or reception of information on sensing (for example, control information for sensing). For example, it is assumed that the sensing device is the base station 30. Here, the signaling unit 331 of the base station 30 performs signaling related to sensing with the terminal device 40 and / or another base station 30. Furthermore, for example, it is assumed that the sensing device is the terminal device 40. Here, the signaling unit 431 of the terminal device 40 performs signaling related to sensing with the base station 30 and / or another terminal device 40.

[0304] Here, the sensing device (for example, the base station 30 or the terminal device 40) may notify one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by signaling. The signaling may be signaling related to at least one of transmission and reception of the sensing signal.

[0305] For example, it is assumed that the sensing device is the base station 30. Here, the signaling unit 331 of the base station 30 may notify the terminal device 40 and / or another base station 30 not to use the radio communication resource to be used for transmission of the sensing signal. Furthermore, for example, it is assumed that the sensing device is the terminal device 40. Here, the signaling unit 431 of the terminal device 40 may notify the base station 30 and / or another terminal device 40 not to use the radio communication resource to be used for transmission of the sensing signal. Accordingly, confusion of sensing and / or cellular communication can be prevented.

[0306] Furthermore, it is assumed that the sensing device is the terminal device 40, and the base station 30 is included in one or a plurality of other communication devices. Here, to determine whether the sensing signal can be transmitted, the signaling unit 431 of the terminal device 40 may check whether the device itself (terminal device 40) is within the coverage of the base station 30 by signaling.

[0307] Subsequently, the sensing device sets a radio communication resource for transmitting the sensing signal (Step S102). Here, the sensing device may set the resource allocated by the method described in <4. Resource Allocation> as the radio communication resource for transmitting the sensing signal.

[0308] Subsequently, the sensing device transmits and receives a sensing signal using the radio communication resource set in Step S102 (Step S103). For example, it is assumed that the sensing device is the base station 30. Here, the sensing unit 332 of the base station 30 may transmit and receive the sensing signal. Furthermore, for example, it is assumed that the sensing device is the terminal device 40. Here, the sensing unit 432 of the terminal device 40 may transmit and receive the sensing signal.

[0309] Further, it is assumed that the sensing device is the terminal device 40, and the base station 30 is included in one or a plurality of other communication devices. As described above, the signaling unit 431 of the terminal device 40 may check whether the unit itself (terminal device 40) is within the coverage of the base station 30 by signaling. Here, the sensing unit 432 of the terminal device 40 may transmit and receive the sensing signal when the unit itself (terminal device 40) is within the coverage of the base station 30, and may not transmit and receive the sensing signal when the unit itself (terminal device 40) is not within the coverage of the base station 30. Accordingly, irregular use of the radio communication resource can be prevented.

[0310] Subsequently, the sensing device performs object detection processing based on the reception result of the sensing signal (Step S104). For example, it is assumed that the sensing device is the base station 30. Here, the sensing unit 332 of the base station 30 may perform object detection processing. Furthermore, for example, it is assumed that the sensing device is the terminal device 40. Here, the sensing unit 432 of the terminal device 40 may perform object detection processing.

[0311] The sensing device may change the setting of its own communication parameter based on an object detection result. Furthermore, the sensing device may transmit the object detection result to another communication device (for example, the server 10 and / or the management device 20).

[0312] <6-2. Second Example (Bi-Static Sensing)> First, an operation of the communication system 1 according to a second example will be described. In the second embodiment, an operation of the communication system 1 according to bi-static sensing (for example, the third sensing scenario, the fourth sensing scenario, the fifth sensing scenario, or the sixth sensing scenario) will be described.

[0313] Fig. 19 is a sequence diagram illustrating an example of sensing processing related to the bi-static sensing. In each processing illustrated in Fig. 19, not every processing is necessarily required for carrying out the invention. In other words, each processing in Fig. 19 may be performed independently.

[0314] In the bi-static sensing, the sensing signal is a signal for bi-static sensing transmitted from one communication entity (hereinafter, referred to as a transmission device) to another communication entity (hereinafter, referred to as a reception device). Here, the transmission device is a communication device that transmits the sensing signal, and is, for example, the base station 30 or the terminal device 40. Furthermore, the reception device is a communication device that receives the sensing signal, and is, for example, another base station 30 or another terminal device 40. Hereinafter, the sensing processing related to the bi-static sensing will be described with reference to the sequence diagram of Fig. 19.

[0315] First, the transmission device and the reception device perform signaling related to sensing (Step S201). Here, the signaling is transmission and / or reception of information on sensing (for example, control information for sensing). The signaling may be signaling related to at least one of transmission and reception of the sensing signal.

[0316] For example, it is assumed that one of the transmission device and the reception device is the base station 30. Here, the signaling unit 331 of the base station 30 may perform signaling related to sensing (for example, transmission and / or reception of capability information on at least one of transmission and reception of the sensing signal) with the terminal device 40 and / or another base station 30. Furthermore, for example, it is assumed that one of the transmission device and the reception device is the terminal device 40. Here, the signaling unit 431 of the terminal device 40 may perform signaling related to sensing (for example, transmission and / or reception of capability information on at least one of transmission and reception of the sensing signal) with the base station 30 and / or another terminal device 40.

[0317] Note that the transmission device and / or the reception device may perform signaling with a communication device other than the transmission device and the reception device among one or a plurality of other communication devices. For example, the transmission device and / or the reception device may perform signaling with a communication device other than the transmission device and the reception device among one or a plurality of other communication devices in the same cell. Here, the transmission device and / or the reception device may notify a communication device other than the transmission device and the reception device among one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by signaling. Accordingly, confusion of sensing and / or cellular communication can be prevented.

[0318] In addition, it is assumed that one of the transmission device and the reception device is a terminal device that performs sidelink communication with another terminal device 40, and the other of the transmission device and the reception device is another terminal device 40. Then, it is assumed that one or a plurality of other communication devices include the base station 30 that controls the sidelink communication. Here, to determine whether to transmit the sensing signal, the terminal device 40 and / or the other terminal device 40 may check whether the device itself is within the coverage of the base station 30 by signaling.

[0319] Subsequently, the transmission device sets a radio communication resource for transmitting the sensing signal (Step S202a). In addition, the reception device sets a radio communication resource for receiving the sensing signal (Step S202b). Here, the transmission device and the reception device may set the resource allocated by the method described in <4.Resource Allocation> as the radio communication resource for transmitting and receiving the sensing signal.

[0320] Subsequently, the transmission device transmits the sensing signal using the radio communication resource set in Step S202a (Step S203). The reception device receives the sensing signal transmitted by using the radio communication resource.

[0321] Further, it is assumed that one of the transmission device and the reception device is a terminal device that performs sidelink communication with another terminal device 40, and the other of the transmission device and the reception device is another terminal device 40. Then, it is assumed that one or a plurality of other communication devices include the base station 30 that controls the sidelink communication. As described above, the terminal device 40 and / or the other terminal device 40 may confirm whether the terminal device 40 and / or the other terminal device 40 is within the coverage of the base station 30 by signaling with other communication devices (for example, the base station 30). The other communication device to be a signaling counterpart is not limited to the base station 30, and may be, for example, the terminal device 40 to be a sidelink communication counterpart. The terminal device 40 and / or the other terminal device 40 may transmit the sensing signal when at least one of the terminal device 40 and the other terminal device 40 is within the coverage of the base station 30, and may not transmit the sensing signal when at least one of the terminal device 40 and the other terminal device 40 is not within the coverage of the base station 30. Accordingly, irregular use of the radio communication resource can be prevented.

[0322] Subsequently, the reception device performs object detection processing based on the reception result of the sensing signal (Step S204). The reception device may change the setting of its own communication parameter based on an object detection result. Furthermore, the sensing device may transmit the object detection result to another communication device (for example, the server 10 and / or the management device 20).

[0323] Note that the reception device (for example, the feedback unit 433 of another terminal device 40) may feed back a result of the reception of the sensing signal to at least one of one or a plurality of other communication devices (Step S205). For example, the reception device may feed back a result of receiving the sensing signal to the transmission device. Here, the reception device may feed back a result of receiving the sensing signal by using a resource determined based on at least one of the sensing signal and the radio communication resource for transmitting the sensing signal. In addition, the reception device may feed back the result of the reception of the sensing signal using the resource allocated by the method described in <5. Feedback>.

[0324] Note that the reception device may be a terminal device 40 that performs sidelink communication with another terminal device 40. Then, one or a plurality of other communication devices may include the base station 30 that controls sidelink communication. Here, the reception device may feed back a result of the reception of the sensing signal to the base station 30.

[0325] <6-3. Third Example (Multi-Static Sensing)> First, an operation of the communication system 1 according to a third example will be described. In the third example, an operation of the communication system 1 according to multi-static sensing will be described.

[0326] <6-3-1. Regarding Multi-Static Sensing> The multi-static sensing is sensing in a multi-static method in which a plurality of communication devices are involved in transmission or reception of the sensing signal. The multi-static sensing of the present embodiment may have a pattern of any of the following (P1) to (P3).

[0327] (P1) Pattern 1 (one-to-many) The multi-static sensing of the present embodiment may be a pattern in which one communication device (one transmission device) transmits the sensing signal and a plurality of communication devices (a plurality of reception devices) receive the sensing signal. The plurality of reception devices may or may not include the transmission device.

[0328] (P2) Pattern 2 (many-to-one) The multi-static sensing of the present embodiment may be a pattern in which a plurality of communication devices (a plurality of transmission devices) transmit the sensing signal and one communication device (one reception device) receives the sensing signal. The plurality of transmission devices may or may not include the reception device.

[0329] (P3) Pattern 3 (many-to-many) The multi-static sensing of the present embodiment may be a case in which a plurality of communication devices (a plurality of transmission devices) transmit the sensing signal and a plurality of communication devices (a plurality of reception devices) receive the sensing signal. The plurality of reception devices may or may not include a part or all of the plurality of transmission devices. The plurality of transmission devices may or may not include a part or all of the plurality of reception devices.

[0330] <6-3-2. Transmission and / or Reception of Sensing Signal> In the multi-static sensing described above or below, the sensing signal is a signal transmitted from a plurality of communication entities to one or a plurality of communication devices including a communication device (for example, the base station 30 or the terminal device 40), or transmitted from one or a plurality of communication devices including a communication device (for example, the base station 30 or the terminal device 40) to a plurality of communication entities. The plurality of communication entities include at least one of one or a plurality of other communication devices (for example, another base station 30 or another terminal device 40).

[0331] In the multi-static sensing described above or below, one or a plurality of communication devices (for example, one or a plurality of base stations 30 and / or one or a plurality of terminal devices 40) may transmit and / or receive one sensing signal, or may transmit and / or receive a plurality of sensing signals, respectively.

[0332] Furthermore, when a plurality of sensing signals are used for sensing, one or a plurality of communication devices may transmit and / or receive the sensing signals using the same resource, or may transmit and / or receive the sensing signals using different resources. Here, the resource may be at least one of a time resource, a frequency resource, and a spatial resource.

[0333] Furthermore, when transmission of the sensing signal is performed a plurality of times, one or a plurality of communication devices may perform a plurality of transmissions (or a plurality of receptions) at different timings.

[0334] <6-3-3. Communication Entities that Perform Multi-Static Sensing> A plurality of communication entities (one or a plurality of transmission devices and / or one or a plurality of reception devices) that perform multi-static sensing may be defined as a group. A plurality of transmission devices may be defined as a group, a plurality of reception devices may be defined as a group, or a plurality of communication devices including one or a plurality of transmission devices and one or a plurality of reception devices may be defined as a group. Further, the group may be defined as sets of one or a plurality of transmission devices and / or one or a plurality of reception devices that can synchronously collect sensing data.

[0335] Here, the communication device may select a plurality of communication entities to be grouped from among the plurality of communication devices. In other words, the communication device (for example, the selection unit 334 of the base station 30 and / or the selection unit 434 of the terminal device 40) may select a plurality of communication entities that perform multi-static sensing from among a plurality of communication devices.

[0336] Here, the communication device that performs selection may be a communication device serving as a sensing signal transmission device (for example, the base station 30 and / or the terminal device 40), or may be a communication device serving as a sensing signal reception device (for example, another base station 30 and / or another terminal device 40). Furthermore, the communication device that performs selection may be a device other than the transmission device and the reception device (for example, the server 10 and / or the management device 20). Devices other than the transmission device and the reception device may include radio communication devices that are not involved in sensing (for example, the base station 30 and / or the terminal device 40).

[0337] The communication device may configure the group statically, semi-statically, or dynamically. That is, the communication device may statically, semi-statically, or dynamically select a plurality of communication entities that perform the multi-static sensing from among the plurality of communication devices.

[0338] For example, the communication device may dynamically select a plurality of communication entities that perform multi-static sensing from among the plurality of communication devices based on a result of signaling with at least one of the plurality of other communication devices (for example, at least one piece of information of a position, an attitude, and a capability of the communication device).

[0339] For example, it is assumed that the group is dynamically configured. Here, the communication device first configures a group at time t. For example, the communication device selects a plurality of communication entities (one or a plurality of transmission devices and / or one or a plurality of reception devices) at the time t from among a plurality of communication devices. Here, the communication device may select a plurality of the communication entities at the time t from among the plurality of other communication devices based on results of signaling with a plurality of the other communication devices.

[0340] Next, the communication device configures a group at time t+1. Here, the communication device may select a plurality of the communication entities (one or a plurality of transmission devices and / or one or a plurality of reception devices) at the time t+1 from among a plurality of the communication entities at the time t. Here, the communication device may select a plurality of the communication entities at the time t+1 from among a plurality of the communication entities at the time t based on a result of signaling with one or a plurality of communication devices among a plurality of the communication entities at the time t.

[0341] Note that, in static, semi-static, or dynamic selection of a plurality of the communication entities that perform multi-static sensing, the communication device may select a plurality of the communication entities based on a standard regarding accuracy of sensing. For example, the communication device may dynamically select a plurality of the communication devices in which the object detection accuracy is assumed to be a predetermined accuracy or more (for example, a plurality of the communication devices assumed to be near an object) from among the plurality of the other communication devices based on the result of the signaling (for example, at least one piece of information of a position, an attitude, and a capability of the communication device).

[0342] In addition, in static, semi-static, or dynamic selection of a plurality of the communication entities that perform multi-static sensing, the communication device may select a plurality of the communication entities based on a standard regarding interference with communication. For example, the communication device may dynamically select a plurality of the communication devices in which interference with communication of other communication devices is assumed to be equal to or less than a predetermined standard from among the plurality of the other communication devices based on the result of the signaling (for example, at least one piece of information of a position, an attitude, and a capability of the communication device).

[0343] In addition, in static, semi-static, or dynamic selection of a plurality of the communication entities that perform multi-static sensing, the communication device may select a plurality of the communication entities based on a standard regarding interference with sensing. For example, the communication device may dynamically select a plurality of the communication devices in which interference with sensing of the communication device is assumed to be equal to or less than a predetermined standard from among the plurality of the other communication devices based on the result of the signaling (for example, at least one piece of information of a position, an attitude, and a capability of the communication device).

[0344] In addition, the communication device may select a plurality of the communication entities based on a plurality of standards among a standard regarding accuracy of sensing, a standard regarding interference with communication, and a standard regarding interference with sensing.

[0345] <6-3-4. Sensing Scenario of Multi-Static Sensing> The sensing scenario of the multi-static sensing may be defined by a combination of the first to sixth sensing scenarios described in <3. Sensing Scenario> described above. Here, two or more different sensing scenarios among the first to sixth sensing scenarios may be combined, or the same sensing scenario may be combined.

[0346] Fig. 20 is a diagram for explaining a sensing scenario of the multi-static sensing. Fig. 20 illustrates a list of combinations of two sensing scenarios among the first to sixth sensing scenarios as the sensing scenario of the multi-static sensing. In the drawing, BS is the base station 30, and UE is the terminal device 40.

[0347] Specifically, the sensing scenario of the multi-static sensing of the present embodiment may be at least one of the following sensing scenarios (M1) to (M21).

[0348] Note that, in the example of Fig. 20, a combination of two sensing scenarios of mono-static sensing and bi-static sensing is illustrated as the sensing scenario of multi-static sensing. However, a sensing scenario of the multi-static sensing may be a combination of three or more sensing scenarios. In addition, a sensing scenario of the multi-static sensing may be a combination of two or more sensing scenarios of sensing scenarios of the mono-static sensing, the bi-static sensing, and the multi-static sensing.

[0349] Note that, in the following description, a sensing scenario obtained by combining the N1-th sensing scenario and the N2-th sensing scenario may be expressed as a sensing scenario N1-N2. For example, a sensing scenario in which the first sensing scenario and the third sensing scenario are combined is sensing scenario 1-3.

[0350] Hereinafter, the sensing scenarios of multi-static sensing illustrated in Fig. 20 will be described.

[0351] (M1) Sensing Scenario 1-1 The sensing scenario 1-1 is a combination of the first sensing scenario and the first sensing scenario. In the sensing scenario 1-1, a plurality of the base stations 30 transmit sensing signals, and one base station 30 of a plurality of the base stations 30 receives the sensing signals. Alternatively, in the sensing scenario 1-1, one base station 30 transmits a sensing signal, and the plurality of the base stations 30 including the one base station 30 receive the sensing signal.

[0352] (M2) Sensing Scenario 1-2 The sensing scenario 1-2 is a combination of the first sensing scenario and the second sensing scenario. In the sensing scenario 1-2, one base station 30 transmits a sensing signal, and the one base station 30 receives the sensing signal transmitted by itself. In addition, in the sensing scenario 1-2, one terminal device 40 transmits a sensing signal, and the one terminal device 40 receives the sensing signal transmitted by itself.

[0353] (M3) Sensing Scenario 1-3 The sensing scenario 1-3 is a combination of the first sensing scenario and the third sensing scenario. In the sensing scenario 1-3, one base station 30 transmits a sensing signal, and the one base station 30 and one terminal device 40 receive the sensing signal.

[0354] (M4) Sensing Scenario 1-4 The sensing scenario 1-4 is a combination of the first sensing scenario and the fourth sensing scenario. In the sensing scenario 1-4, one terminal device 40 and one base station 30 transmit sensing signals, and the one base station 30 receives both sensing signals.

[0355] (M5) Sensing Scenario 1-5 The sensing scenario 1-5 is a combination of the first sensing scenario and the fifth sensing scenario. In the sensing scenario 1-5, one base station 30 transmits a sensing signal, and a plurality of the base stations 30 receive the sensing signal. Here, a plurality of the base stations 30 that receive the sensing signal may or may not include the one base station 30 that transmits the sensing signal. Alternatively, in the sensing scenario 1-5, a plurality of base stations 30 transmit sensing signals, and one base station 30 receives the sensing signals. Here, a plurality of the base stations 30 that transmit the sensing signal may or may not include the one base station 30 that receives the sensing signal.

[0356] (M6) Sensing Scenario 1-6 The sensing scenario 1-6 is a combination of the first sensing scenario and the sixth sensing scenario. In the sensing scenario 1-6, one base station 30 transmits a sensing signal, and the one base station 30 receives the sensing signal transmitted by itself. In addition, in the sensing scenario 1-6, one terminal device 40 transmits a sensing signal, and another one terminal device 40 different from the one terminal device 40 receives the sensing signal.

[0357] (M7) Sensing Scenario 2-2 The sensing scenario 2-2 is a combination of the second sensing scenario and the second sensing scenario. In the sensing scenario 2-2, a plurality of terminal devices 40 transmit sensing signals, and one terminal device 40 of a plurality of the terminal devices 40 receives the sensing signals. Alternatively, one terminal device 40 transmits a sensing signal, and a plurality of terminal devices 40 including the one terminal device 40 receives the sensing signal.

[0358] (M8) Sensing Scenario 2-3 The sensing scenario 2-3 is a combination of the second sensing scenario and the third sensing scenario. In the sensing scenario 2-3, one base station 30 and one terminal device 40 transmit sensing signals, and the one terminal device 40 receives both sensing signals.

[0359] (M9) Sensing Scenario 2-4 The sensing scenario 2-4 is a combination of the second sensing scenario and the fourth sensing scenario. In the sensing scenario 2-4, one terminal device 40 transmits a sensing signal, and the one terminal device 40 and one base station 30 receive the sensing signal.

[0360] (M10) Sensing Scenario 2-5 The sensing scenario 2-5 is a combination of the second sensing scenario and the fifth sensing scenario. In the sensing scenario 2-5, one base station 30 transmits a sensing signal, and another one base station 30 different from the one base station 30 receives the sensing signal. In addition, in the sensing scenario 1-6, one terminal device 40 transmits a sensing signal, and the one terminal device 40 receives the sensing signal transmitted by itself.

[0361] (M11) Sensing Scenario 2-6 The sensing scenario 2-6 is a combination of the second sensing scenario and the sixth sensing scenario. In the sensing scenario 2-6, one terminal device 40 transmits a sensing signal, and a plurality of terminal devices 40 receive the sensing signal. Here, a plurality of the terminal devices 40 that receive the sensing signal may or may not include the one terminal device 40 that transmits the sensing signal. Alternatively, in the sensing scenario 2-6, a plurality of terminal devices 40 transmit sensing signals, and one terminal device 40 receives the sensing signals. Here, a plurality of the terminal devices 40 that transmit the sensing signal may or may not include the one terminal device 40 that receives the sensing signal.

[0362] (M12) Sensing Scenario 3-3 The sensing scenario 3-3 is a combination of the third sensing scenario and the third sensing scenario. In the sensing scenario 3-3, a plurality of the base stations 30 transmit sensing signals, and one terminal device 40 receives the sensing signals. Alternatively, in the sensing scenario 3-3, one base station 30 transmits a sensing signal, and a plurality of the terminal devices 40 receives the sensing signal.

[0363] (M13) Sensing Scenario 3-4 The sensing scenario 3-4 is a combination of the third sensing scenario and the fourth sensing scenario. In the sensing scenario 3-4, one base station 30 transmits a sensing signal, and one terminal device 40 receives the sensing signal transmitted by the one base station 30. In addition, in the sensing scenario 3-4, one terminal device 40 transmits a sensing signal, and one base station 30 receives the sensing signal transmitted by the one terminal device 40. The one base station 30 that transmits the sensing signal and the one base station 30 that receives the sensing signal may be the same base station 30, or may be different base stations 30. Furthermore, the one terminal device 40 that transmits a sensing signal and the one terminal device 40 that receives a sensing signal may be the same terminal device 40, or may be different terminal devices 40.

[0364] (M14) Sensing Scenario 3-5 The sensing scenario 3-5 is a combination of the third sensing scenario and the fifth sensing scenario. In the sensing scenario 3-5, one base station 30 transmits a sensing signal, and another one base station 30 different from the one base station 30 and one terminal device 40 receive the sensing signal.

[0365] (M15) Sensing Scenario 3-6 The sensing scenario 3-6 is a combination of the third sensing scenario and the sixth sensing scenario. In the sensing scenario 3-6, one base station 30 and one terminal device 40 transmit sensing signals, and another one terminal device 40 different from the one terminal device 40 receives both sensing signals.

[0366] (M16) Sensing Scenario 4-4 The sensing scenario 4-4 is a combination of the fourth sensing scenario and the fourth sensing scenario. In the sensing scenario 4-4, a plurality of the terminal devices 40 transmit sensing signals, and one base station 30 receives the sensing signals. Alternatively, in the sensing scenario 4-4, one terminal device 40 transmits a sensing signal, and a plurality of base stations 30 receive the sensing signal.

[0367] (M17) Sensing Scenario 4-5 The sensing scenario 4-5 is a combination of the fourth sensing scenario and the fifth sensing scenario. In the sensing scenario 4-5, one terminal device 40 and one base station 30 transmit sensing signals, and another one base station 30 different from the one base station 30 receives both sensing signals.

[0368] (M18) Sensing Scenario 4-6 The sensing scenario 4-6 is a combination of the fourth sensing scenario and the sixth sensing scenario. In the sensing scenario 4-6, one terminal device 40 transmits a sensing signal, and another one terminal device 40 different from the one terminal device 40 and one base station 30 receive the sensing signal.

[0369] (M19) Sensing Scenario 5-5 The sensing scenario 5-5 is a combination of the fifth sensing scenario and the fifth sensing scenario. In the sensing scenario 5-5, a plurality of the base stations 30 transmit sensing signals, and a plurality of the base stations 30 receive sensing signals. Here, a plurality of the base stations 30 that transmit the sensing signals may or may not include a part or all of a plurality of the base stations 30 that receive the sensing signals. Further, a plurality of the base stations 30 that receive the sensing signals may or may not include a part or all of a plurality of the base stations 30 that transmit the sensing signals. Alternatively, in the sensing scenario 5-5, one base station 30 transmits a sensing signal, and another one base station 30 receives the sensing signal.

[0370] (M20) Sensing Scenario 5-6 The sensing scenario 5-6 is a combination of the fifth sensing scenario and the sixth sensing scenario. Alternatively, in the sensing scenario 5-6, one base station 30 transmits a sensing signal, and another one base station 30 different from the one base station 30 receives the sensing signal. In addition, in the sensing scenario 5-6, one terminal device 40 transmits a sensing signal, and another one terminal device 40 different from the one terminal device 40 receives the sensing signal.

[0371] (M21) Sensing Scenario 6-6 The sensing scenario 6-6 is a combination of the sixth sensing scenario and the sixth sensing scenario. In the sensing scenario 6-6, a plurality of terminal devices 40 transmit sensing signals, and a plurality of terminal devices 40 receive the sensing signals. Here, a plurality of the terminal devices 40 that transmit the sensing signals may or may not include a part or all of the plurality of terminal devices 40 that receive the sensing signals. Here, a plurality of the terminal devices 40 that receive the sensing signals may or may not include a part or all of the plurality of terminal devices 40 that transmit the sensing signals. Alternatively, in the sensing scenario 6-6, one terminal device 40 transmits a sensing signal, and another one terminal device 40 receives the sensing signal.

[0372] <6-3-5. Details of Sensing Scenario of Multi-Static Sensing> Next, details of a sensing scenario of multi-static sensing will be described.

[0373] (1) Combination Sensing Scenario of Same Sensing Scenarios First, a combination sensing scenario of the same sensing scenarios (for example, sensing scenario 1-1, 2-2, 3-3, 4-4, or 5-5) will be described.

[0374] In such a sensing scenario, a plurality of transmission devices transmit sensing signals to one reception device. Alternatively, one transmission device transmits a sensing signal to a plurality of reception devices.

[0375] For example, in the sensing scenario 3-3, a plurality of base stations 30 transmit sensing signals using predetermined resources, and one terminal device 40 receives the sensing signals. Alternatively, one base station 30 transmits a sensing signal using a predetermined resource, and a plurality of terminal devices 40 receive the sensing signal.

[0376] In such a sensing scenario, when a plurality of transmission devices transmit sensing signals, the communication device may individually allocate resources for transmitting the sensing signals to each of the plurality of transmission devices. Here, the communication device to which the resource is allocated may be a communication device serving as a sensing signal transmission device and / or a sensing signal reception device (for example, the base station 30), or may be a communication device not serving as a sensing signal transmission device and / or a sensing signal reception device (for example, the base station 30).

[0377] In such a sensing scenario, when a plurality of reception devices feeds back sensing results, the communication device may individually allocate resources for feedback to each of the plurality of reception devices. Here, the communication device to which the resource is allocated may be a communication device serving as a sensing signal transmission device and / or a sensing signal reception device (for example, the base station 30), or may be a communication device not serving as a sensing signal transmission device and / or a sensing signal reception device (for example, the base station 30).

[0378] (2) Sensing Scenario in Which a Plurality of Transmission Devices Transmit Sensing Signals Next, a sensing scenario in which a plurality of transmission devices transmit sensing signals to one or a plurality of reception devices will be described.

[0379] In such a sensing scenario, a plurality of sensing signals are transmitted to be recognized as independent signals (for example, orthogonal signals) by the reception device (the base station 30 and / or the terminal device 40). That is, the transmission device (the base station 30 and / or the terminal device 40) transmits the sensing signal such that the sensing signal transmitted by itself is recognized as a signal (for example, an orthogonal signal) independent of other sensing signals transmitted by other transmission devices. To be recognized as independent signals, each of the sensing signals may be transmitted on separate resources. That is, the transmission device may transmit the sensing signal using a resource different from a resource used by another transmission device to transmit the sensing signal.

[0380] When the reception device feeds back one or a plurality of sensing results acquired using the sensing signals, the reception device may individually feed back one or a plurality of sensing results to each of the plurality of transmission devices. Here, the reception device may feed back only the sensing result based on the sensing signal transmitted by the transmission device to the transmission device itself, or may feed back the sensing result together with the sensing results based on the sensing signals transmitted by other transmission devices. Alternatively, the reception device may synthesize and / or combine one or a plurality of sensing results into one piece of feedback information, and feed back the feedback information to one or a plurality of transmission devices.

[0381] The reception device may determine a resource for the feedback based on an explicit notification from another communication device. For example, the reception device may determine a resource based on an explicit notification made by another communication device (for example, the base station 30) using RRC signaling and / or PDCCH. Furthermore, the reception device may determine a resource for feedback based on an implicit notification. For example, the reception device may implicitly determine a resource based on information on the sensing signal (for example, a part or all of the information of the sensing signal and / or the information of the transmission resource of the sensing signal).

[0382] (3) Sensing Scenario in Which a Plurality of Reception Devices Receive Sensing Signals Next, a sensing scenario in which a plurality of reception devices receive sensing signals from one or a plurality of transmission devices will be described.

[0383] When a plurality of the reception devices feed back a sensing result, resources for the feedback can be individually set between the reception devices. For example, the reception device may set a predetermined offset value through RRC signaling for each reception device. Then, the reception device may determine a resource for feedback based on the offset value and the information on the received sensing signal (for example, control information on the sensing signal).

[0384] (4) Sensing Scenario in Which There Are a Plurality of Pairs or Groups of Transmission Devices and Reception Devices Next, a sensing scenario (for example, sensing scenario 1-2, 1-6, 2-5, 3-4, or 5-6) in which there are a plurality of pairs or groups of transmission devices and reception devices will be described.

[0385] In such a sensing scenario, the transmission devices of different pairs or groups transmit different sensing signals. Then, the reception devices of different pairs or groups receive the sensing signals transmitted by the pair or group to which the reception devices belong.

[0386] In such a sensing scenario, for example, the respective sensing signals may be transmitted at the same timing. For example, the transmission device may transmit the sensing signal at the same timing as the transmission timing of the transmission device of another pair or group. Here, in the transmission devices of different pairs or groups, the resources of the sensing signals may be set such that the respective sensing signals are transmitted at the same timing. For example, the communication device (for example, the base station 30) may allocate resources of the same time to the transmission devices of different pairs or groups so that respective sensing signals are transmitted at the same timing.

[0387] As a result, since the same object can be detected by a plurality of sensing signals, the accuracy of sensing is improved.

[0388] <6-3-6. Sequence Example Related to Multi-Static Sensing> Next, a sequence example related to the multi-static sensing will be described.

[0389] Fig. 21 is a sequence diagram illustrating an example of sensing processing related to the multi-static sensing. In each processing illustrated in Fig. 21, not every processing is necessarily required for carrying out the invention. In other words, each processing in Fig. 21 may be performed independently.

[0390] In the multi-static sensing, the sensing signal is a signal for multi-static sensing transmitted from a plurality of communication entities (hereinafter, referred to as a plurality of transmission devices) or transmitted to a plurality of communication entities (hereinafter, referred to as a plurality of reception devices).

[0391] Here, the transmission device is a communication device that transmits a sensing signal. The plurality of transmission devices include, for example, at least one of the base station 30 and the terminal device 40. Furthermore, the reception device is a communication device that receives a sensing signal. The plurality of reception devices include, for example, at least one of the base station 30 and the terminal device 40. The plurality of transmission devices may include a reception device. In addition, the plurality of reception devices may include a transmission device.

[0392] Note that, in Fig. 21, the plurality of transmission devices and the plurality of reception devices are illustrated as a plurality of communication entities related to the multi-static sensing, but the plurality of communication entities related to the multi-static sensing are not necessarily limited to the example. The plurality of communication entities related to the multi-static sensing may be one transmission device and a plurality of reception devices. Here, the plurality of reception devices may or may not include the one transmission device. Furthermore, the plurality of communication entities related to the multi-static sensing may be a plurality of transmission devices and one reception device. Here, the plurality of transmission devices may or may not include the one reception device.

[0393] Hereinafter, the sensing processing related to the multi-static sensing will be described with reference to the sequence diagram of Fig. 21.

[0394] First, at least one of a plurality of communication entities related to the multi-static sensing (one or a plurality of transmission devices and one or a plurality of reception devices) performs signaling related to sensing with at least one of one or a plurality of other communication devices (Step S301a, Step S301b, or Step S301c). Here, the signaling is transmission and / or reception of information on sensing (for example, control information for sensing). The signaling may be signaling related to at least one of transmission and reception of the sensing signal.

[0395] Note that the signaling may be performed between one or a plurality of transmission devices and one or a plurality of reception devices (Step S301a).

[0396] For example, it is assumed that one of the one or a plurality of transmission devices is the base station 30. Here, the signaling unit 331 of the base station 30 may perform signaling related to sensing with one or a plurality of reception devices (for example, the terminal device 40 and / or another base station 30).

[0397] Furthermore, for example, it is assumed that one of the plurality of transmission devices related to the multi-static sensing is the terminal device 40. Here, the signaling unit 431 of the terminal device 40 may perform signaling related to sensing with one or a plurality of reception devices (the base station 30 and / or another terminal device 40).

[0398] In addition, for example, it is assumed that one of one or a plurality of reception devices is the base station 30. Here, the signaling unit 331 of the base station 30 may perform signaling related to sensing with one or a plurality of transmission devices (for example, the terminal device 40 and / or another base station 30).

[0399] Furthermore, for example, it is assumed that one of the plurality of reception devices related to the multi-static sensing is the terminal device 40. Here, the signaling unit 431 of the terminal device 40 may perform signaling related to sensing with one or a plurality of transmission devices (the base station 30 and / or another terminal device 40).

[0400] Furthermore, the signaling may be performed between a plurality of transmission devices (Step S301b).

[0401] For example, it is assumed that one of the plurality of transmission devices is the base station 30. Here, the signaling unit 331 of the base station 30 may perform signaling related to sensing with one or a plurality of other transmission devices (for example, the terminal device 40 and / or another base station 30).

[0402] Furthermore, for example, it is assumed that one of the plurality of transmission devices related to the multi-static sensing is the terminal device 40. Here, the signaling unit 431 of the terminal device 40 may perform signaling related to sensing with one or a plurality of other transmission devices (the base station 30 and / or another terminal device 40).

[0403] Furthermore, the signaling may be performed between a plurality of reception devices (Step S301c).

[0404] For example, it is assumed that one of the plurality of reception devices is the base station 30. Here, the signaling unit 331 of the base station 30 may perform signaling related to sensing with one or a plurality of other reception devices (for example, the terminal device 40 and / or another base station 30).

[0405] Furthermore, for example, it is assumed that one of the plurality of reception devices related to the multi-static sensing is the terminal device 40. Here, the signaling unit 431 of the terminal device 40 may perform signaling related to sensing with one or a plurality of other reception devices (the base station 30 and / or another terminal device 40).

[0406] Various examples are conceivable for the signaling shown in Steps S301a to S301c. For example, it is assumed that one of one or a plurality of transmission devices is a terminal device that performs sidelink communication with another terminal device 40, and one of one or a plurality of reception devices is another terminal device 40. Then, it is assumed that one or a plurality of other communication devices include the base station 30 that controls the sidelink communication. The terminal device 40 and / or the other terminal device 40 may confirm whether the terminal device 40 and / or the other terminal device 40 is within the coverage of the base station 30 by signaling with other communication devices (for example, the base station 30). The other communication device to be a signaling counterpart is not limited to the base station 30, and may be, for example, the terminal device 40 to be a sidelink communication counterpart.

[0407] Note that the information acquired by the signaling is not limited to the above. For example, the information acquired by the signaling may be capability information on the multi-static sensing of one or a plurality of communication devices. For example, at least one of a plurality of communication entities related to the multi-static sensing (one or a plurality of transmission devices and one or a plurality of reception devices) may acquire capability information on multi-static sensing of one or a plurality of other communication devices by signaling. Here, at least one of the plurality of communication entities may acquire the capability information from a communication device that can be a communication entity of the sensing signal (for example, the base station 30 and / or the terminal device 40), or from a communication device that does not become a communication entity of the sensing signal (for example, the server 10 and / or the management device 20). Furthermore, at least one of the plurality of communication entities related to the multi-static sensing may transmit capability information on its own multi-static sensing to one or a plurality of other communication devices by signaling.

[0408] Note that the transmission device and / or the reception device may perform signaling with a communication device other than the transmission device and the reception device among one or a plurality of other communication devices. For example, the transmission device and / or the reception device may perform signaling with a communication device other than the transmission device and the reception device among one or a plurality of other communication devices in the same cell. Here, the transmission device and / or the reception device may notify a communication device other than the transmission device and the reception device among one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by signaling. Accordingly, confusion of sensing and / or cellular communication can be prevented.

[0409] Subsequently, the one or a plurality of transmission devices set radio communication resources for transmitting sensing signals (Step S302a and / or Step S302b). Furthermore, the one or a plurality of reception devices set radio communication resources for receiving sensing signals (Step S302c and / or Step S302d). Here, the one or a plurality of transmission devices and the one or a plurality of reception devices may set the resource allocated by the method described in <4. Resource Allocation> as the radio communication resource for transmitting and receiving the sensing signal.

[0410] Subsequently, the one or a plurality of transmission devices transmit sensing signals using the radio communication resources set in Step S302a and / or Step S302b (Step S303). The one or a plurality of reception devices receive the sensing signals transmitted by using the radio communication resources.

[0411] Note that it is assumed that one of the one or a plurality of transmission devices is a terminal device that performs sidelink communication with another terminal device 40, and one of the one or a plurality of reception devices is another terminal device 40. Then, it is assumed that one or a plurality of other communication devices include the base station 30 that controls the sidelink communication. As described above, the terminal device 40 and / or the other terminal device 40 may confirm whether the terminal device 40 and / or the other terminal device 40 is within the coverage of the base station 30 by signaling. Here, the terminal device 40 and / or the other terminal device 40 may transmit the sensing signal when at least one of the terminal device 40 and the other terminal device 40 is within the coverage of the base station 30, and may not transmit the sensing signal when at least one of the terminal device 40 and the other terminal device 40 is not within the coverage of the base station 30. Accordingly, irregular use of the radio communication resource can be prevented.

[0412] Furthermore, at least one of the one or a plurality of transmission devices may acquire capability information on the multi-static sensing of a plurality of other communication devices by signaling. Then, the one or a plurality of transmission devices may select a communication device to be the reception device from among a plurality of other communication devices based on the capability information. Then, at least one of the one or a plurality of transmission devices may transmit the sensing signal to the selected one or a plurality of devices.

[0413] Furthermore, at least one of the one or a plurality of transmission devices may dynamically select one or a plurality of devices to be reception devices from among a plurality of other communication devices. Then, at least one of the one or a plurality of transmission devices may transmit the sensing signal to the selected one or a plurality of devices.

[0414] Subsequently, the one or a plurality of reception devices perform object detection processing based on the reception result of the sensing signal (Step S304a and / or Step S304b). The one or a plurality of reception devices may change the setting of its own communication parameter based on the object detection result. Furthermore, the sensing device may transmit the object detection result to another communication device (for example, the server 10 and / or the management device 20).

[0415] Note that at least one of the one or a plurality of reception devices may feed back a result of the reception of the sensing signal to at least one of one or a plurality of other communication devices (Step S305). For example, the one or a plurality of reception devices may feed back a result of receiving the sensing signal to one or a plurality of transmission devices. Here, the one or a plurality of reception devices may feed back a result of receiving the sensing signal by using a resource determined based on at least one of the sensing signal and the radio communication resource for transmitting the sensing signal. In addition, the one or a plurality of reception devices may feed back the result of the reception of the sensing signal using the resource allocated by the method described in <5. Feedback>.

[0416] Note that the one or a plurality of reception devices may be a terminal device 40 that performs sidelink communication with another terminal device 40. Then, one or a plurality of other communication devices may include the base station 30 that controls sidelink communication. Here, the one or a plurality of reception devices may feed back a result of the reception of the sensing signal to the base station 30.

[0417] <<7. Specific Example of Sensing Operation>> Each example related to the sensing operation of the communication system 1 has been described above, and a specific example of the sensing operation executed by one or a plurality of communication devices included in the communication system 1 will be described next. The communication device that performs sensing is, for example, one or a plurality of base stations 30 and / or one or a plurality of terminal devices 40. Hereinafter, two operation examples of a first operation example and a second operation example will be described, but the sensing operation executed by the communication device is not limited to the following two operation examples.

[0418] <7-1. First Operation Example> First, a sensing operation according to a first operation example will be described.

[0419] <7-1-1. Outline of First Operation Example> In the first operation example, the communication device detects an object based on an angle (at least one of bearing, direction, and vector). The communication device detects an object based on information on a transmission angle of a sensing signal transmitted from a transmission device and / or information on a reception angle of a sensing signal received by a reception device. That is, in the first example, the communication device detects (recognizes) an object based on the detection result (measurement result) of the transmission angle and / or the reception angle of the sensing signal.

[0420] In the first operation example, the communication device that detects the object is, for example, one or a plurality of base stations 30 and / or one or a plurality of terminal devices 40. Furthermore, in the first operation example, the transmission device that transmits the sensing signal is, for example, one or a plurality of base stations 30 and / or one or a plurality of terminal devices 40. Furthermore, in the first operation example, the reception device that receives the sensing signal is, for example, one or a plurality of base stations 30 and / or one or a plurality of terminal devices 40. The communication device that detects the object may be one or a plurality of transmission devices, one or a plurality of reception devices, or a communication device other than the transmission device and the reception device.

[0421] <7-1-2. Specific Operation Example> Fig. 22 is a diagram for explaining the sensing operation according to the first operation example. Hereinafter, the sensing operation according to the first operation example will be described using the third sensing scenario as an example.

[0422] Note that the sensing operation according to the first operation example is also applicable to the sensing scenarios other than the third sensing scenario. For example, the sensing operation according to the first operation example is applicable to all of the first sensing scenario to the sixth sensing scenario. Furthermore, the sensing operation according to the first operation example can be applied not only to the sensing scenarios related to the mono-static sensing and the bi-static sensing, but also to the sensing scenarios related to the multi-static sensing.

[0423] Hereinafter, the sensing operation according to the first operation example will be described with reference to Fig. 22.

[0424] In the example of Fig. 22, the base station 30 is a transmission device, and the terminal device 40 is a reception device. As described above, the sensing operation according to the first operation example is also applicable to the sensing scenarios other than the third sensing scenario. Therefore, the description of the base station 30 illustrated in the present operation example can be replaced with a description indicating a communication device other than the base station 30 (for example, "terminal device 40" or "transmission device"). The description of the terminal device 40 illustrated in the present operation example can be replaced with a description indicating a communication device other than the terminal device 40 (for example, "base station 30" or "reception device").

[0425] In the example of Fig. 22, the terminal device 40 which is a reception device generates a sensing result. The terminal device 40 can recognize at least a reception angle θr of the sensing signal from the base station 30. That is, the terminal device 40 can recognize at which angle the object exists as viewed from itself.

[0426] Here, when a transmission angle θt of the sensing signal and / or the position information (for example, latitude, longitude, and altitude) of the base station 30 that transmits the sensing signal are known, the terminal device 40 (reception device) can recognize that a target is at an intersection of a transmission beam and a reception beam. Therefore, the terminal device 40 preferably acquires information on transmission of the sensing signal. The information on the transmission of the sensing signal may be, for example, position information of the sensing signal transmission device and / or information of the transmission angle of the sensing signal.

[0427] The terminal device 40 (reception device) can acquire information on transmission of the sensing signal using various methods.

[0428] For example, it is assumed that the sensing signal is configured to be able to specify information on transmission of the sensing signal from a part or all of the sensing signals. Here, the terminal device 40 may specify information on transmission of the sensing signal from a part of all of the received sensing signals.

[0429] Furthermore, the terminal device 40 may acquire information on the transmission of the sensing signal by signaling with other communication devices (for example, the base station 30 (reception device)). The other communication device may be the base station 30 (transmission device) or a communication device other than the transmission device. For example, the terminal device 40 may acquire the information on the transmission of the sensing signal from another communication device using the above-described method for notifying the resource for transmitting the sensing signal and / or the resource for transmitting the feedback information. That is, the resource notification method described above can be read as a method for notifying information on transmission of the sensing signal.

[0430] <7-1-3. Transmission Angle and Reception Angle> In the present embodiment (including embodiments other than the first operation example), the angle may be an angle indicated by an absolute value or an angle indicated by a relative value. Here, the angle (hereinafter, referred to as an angle of the present embodiment) is, for example, a transmission angle of the sensing signal and / or a reception angle of the sensing signal.

[0431] For example, the angle of the present embodiment may be an absolute angle based on the north direction. Furthermore, for example, the angle of the present embodiment may be a relative angle based on a direction determined by the transmission device, the reception device, or another communication device (for example, at least one of the server 10, the management device 20, the base station 30, and the terminal device 40).

[0432] In addition, the angle of the present embodiment may be an angle determined based on a transmission configuration indicator (TCI) for a sensing signal. Fig. 23 is a diagram for explaining TCI. Fig. 23 illustrates an example in which a sensing signal having a wide beam width (in the example of Fig. 23, SSB) and a sensing signal having a narrow beam width (in the example of Fig. 23, CSI-RS) are used as sensing signals. Each sensing signal is assigned or defined with individual TCI. If the TCI and / or the sensing signal is associated with the angle of the beam, the reception device can recognize the angle of the transmission beam by recognizing the TCI and / or the sensing signal.

[0433] For example, the reception device may acquire TCI for a received sensing signal by signaling (for example, control information from the transmission device, and the like). As a result, the reception device can recognize the transmission angle with respect to the sensing signal.

[0434] Furthermore, the transmission device may further notify the reception device of information indicating the offset angle with respect to the angle of the sensing signal defined or set in advance. The transmission device and / or the reception device may correct the actual transmission angle using the information indicating the offset angle.

[0435] The transmission device may further notify the reception device of information on accuracy of the transmission angle of the sensing signal by signaling. Note that the accuracy of the transmission angle of the sensing signal is determined according to the beam width. Therefore, the transmission device may notify the reception device of information on the beam width of the sensing signal as the information on the accuracy of the transmission angle of the sensing signal.

[0436] Note that definition or setting may be made so that the accuracy of the transmission angle (or information on accuracy of the transmission angle, such as the beam width) can be recognized according to the information on the sensing signal (for example, information on the type of the sensing signal). Here, the reception device may recognize the accuracy of the transmission angle of the sensing signal (or information on accuracy of the transmission angle, such as the beam width) based on the information on the sensing signal (for example, information on the type of the sensing signal).

[0437] <7-2. Second Operation Example> First, a sensing operation according to a second operation example will be described.

[0438] In the second operation example, the communication device detects an object based on a time from a timing at which the transmission device transmits the sensing signal to a timing at which the reception device receives the sensing signal.

[0439] In the second operation example, the communication device that detects the object is, for example, one or a plurality of base stations 30 and / or one or a plurality of terminal devices 40. Furthermore, in the second operation example, the transmission device that transmits the sensing signal is, for example, one or a plurality of base stations 30 and / or one or a plurality of terminal devices 40. Furthermore, in the second operation example, the reception device that receives the sensing signal is, for example, one or a plurality of base stations 30 and / or one or a plurality of terminal devices 40. The communication device that detects the object may be one or a plurality of transmission devices, one or a plurality of reception devices, or a communication device other than the transmission device and the reception device.

[0440] The reception device can recognize at least the reception angle. If the reception device can recognize the position information of the transmission device, the reception device can detect the object based on the time from the transmission to the reception. Therefore, it is preferable that the reception device recognizes information on the transmission timing of the sensing signal (for example, the time when the transmission device transmits the sensing signal).

[0441] The reception device can acquire information on the transmission timing of the sensing signal using various methods.

[0442] For example, it is assumed that the sensing signal is configured to be able to specify information on transmission timing of the sensing signal from a part or all of the sensing signals. Here, the terminal device 40 may specify information on transmission timing of the sensing signal from a part of all of the received sensing signals.

[0443] Furthermore, the terminal device 40 may acquire information on the transmission of the sensing signal by signaling with other communication devices (for example, the reception device). The other communication device may be the transmission device or a communication device other than the transmission device. For example, the terminal device 40 may acquire the information on the transmission timing of the sensing signal from another communication device using the above-described method for notifying the resource for transmitting the sensing signal and / or the resource for transmitting the feedback information. That is, the resource notification method described above can be read as a method for notifying information on transmission timing of the sensing signal.

[0444] The transmission device may further notify the reception device of information on accuracy of the transmission timing of the sensing signal by signaling. Here, the reception device may recognize the accuracy of the transmission timing of the sensing signal based on the information on the accuracy of the transmission timing of the sensing signal.

[0445] Note that the accuracy of the transmission timing of the sensing signal depends on a synchronization level between the transmission device and the reception device. Therefore, the reception device may recognize the accuracy of the transmission timing of the sensing signal based on the information on the synchronization level between the transmission device and the reception device. Here, the information on the synchronization level between the transmission device and the reception device may be, for example, information indicating which technology is used as a synchronization method between the transmission device and the reception device (for example, information indicating which one of a GNSS (for example, GPS), a time sensitive network (TSN) and a timing advance (TA) is used).

[0446] Note that, the sensing operation according to the second operation example is applicable to all of the first sensing scenario to the sixth sensing scenario. Furthermore, the sensing operation according to the second operation example can be applied not only to the sensing scenarios related to the mono-static sensing and the bi-static sensing, but also to the sensing scenarios related to the multi-static sensing.

[0447] <<8. Modification>> The above-described embodiments are examples, and various modifications and applications are possible.

[0448] <8-1. Modification Regarding Sensing Device> In the above-described embodiment, one or a plurality of communication devices (transmission device and / or reception device) serving as a sensing device are one or a plurality of base stations 30 and / or one or a plurality of terminal devices 40. However, one or a plurality of communication devices serving as a sensing device may include a communication device other than the base station 30 and the terminal device 40. For example, the one or a plurality of communication devices serving as a sensing device may include, for example, the server 10 and / or the management device 20. In addition, one or a plurality of communication devices that perform a sensing operation may include a roadside unit, a relay device, a reconfigurable intelligent surface (RIS), and a sensor device.

[0449] <8-2. Modification Regarding Sensing> Furthermore, in the above-described embodiment, sensing using an RF-based sensing function (for example, an RF-based sensing function supported by a 3GPP transceiver) was exemplified as sensing executed by the communication device. For example, in the above-described embodiment, sensing executed by the communication device is sensing using an RF-based sensing function supported by a 3GPP transceiver (for example, the radio communication unit 31 of the base station 30 and / or the radio communication unit 41 of the terminal device 40). However, the sensing executed by the communication device is not limited to the above example.

[0450] For example, the sensing executed by the communication device may be sensing using a communication function (for example, Wi-Fi or Bluetooth) other than cellular communication. Here, the communication device may transmit the sensing signal using radio communication resources for Wi-Fi communication and / or Bluetooth communication. In addition, the communication device may transmit the sensing signal by using a radio communication resource for LPWA communication.

[0451] In addition, the sensing executed by the communication device may be sensing using radio waves (radio communication resources) used for communication other than the above. Furthermore, the sensing executed by the communication device may be sensing using radio waves other than radio waves used for communication. The sensing performed by the communication device may be sensing using radio waves for radar (for example, object detection by radar). Data acquired by the sensing may be non-3GPP sensing data.

[0452] Furthermore, for example, the sensing executed by the communication device may be sensing using one or a plurality of sensors included in the communication device. Here, the one or a plurality of sensors may be one or a plurality of sensors included in the sensor unit 34 of the base station 30, or may be one or a plurality of sensors included in the sensor unit 46 of the terminal device 40. Also here, the communication device may perform signaling with other communication devices before sensing. For example, the communication device may notify other communication devices that sensing is performed using one or a plurality of sensors by signaling. Interference with sensing from other communication devices is reduced. Furthermore, communication or sensing of other communication devices is less likely to be interfered by sensing of the communication device.

[0453] <8-3. Modification Regarding Transmission of Information / Signal> The method for transmitting information (for example, feedback information) / signal (for example, sensing signal) according to the present embodiment is not limited to the above.

[0454] For example, in the above embodiment, a method using the PSCCH as the method for transmitting the information / signal in the sidelink (for example, a transmission method of control information of a physical layer) was described. However, the method for notifying information is not limited thereto. For example, when the communication device notifies sidelink control information (SCI) in two stages, the communication device may transmit the first SCI by using the PSCCH and transmit the second SCI by using the PSSCH. For example, the communication device may multiplex the second SCI into the sidelink transport block and transmit the SCI, or may transmit the SCI alone. That is, in the present embodiment, transmission of the SCI by the PSCCH may include transmission using the PSSCH.

[0455] Similarly, the information / signal transmission method in the downlink is not limited to the method using the PDCCH. For example, the communication device may transmit information / signals using the PDSCH. The information / signal transmission method in the uplink is not limited to the method using the PUCCH. For example, the communication device may transmit information / signals using the PUSCH.

[0456] Such transmission methods are also applicable to signaling (for example, transmission of control information). For example, such transmission methods are also applicable to signaling performed prior to transmission and / or reception of sensing signals. Furthermore, such transmission methods are also applicable to transmission of sensing results.

[0457] Note that the sensing result may be transmitted to a communication device other than the sensing device (transmission device and / or reception device).

[0458] <8-4. Modification Regarding Use of Sensing Result> In the above-described embodiment, the sensing result (object detection result) is used by the sensing device (for example, a transmission device and / or a reception device). For example, the sensing result (object detection result) is used to set communication parameters of the sensing device. However, the sensing result may be used in a communication device other than the sensing device.

[0459] Here, the communication device other than the sensing device may be the terminal device 40 or the base station 30. Here, the terminal device 40 may set its own communication parameter based on a result of sensing performed by another communication device. Furthermore, the base station 30 may set its own communication parameter based on a result of sensing performed by another communication device, or may perform communication control (for example, setting of communication parameters, and the like) of a subordinate terminal device 40.

[0460] Furthermore, the communication device other than the sensing device may be the management device 20. Here, the management device 20 may perform communication control of the base station 30 and / or the terminal device 40 based on a result of sensing performed by another communication device.

[0461] Furthermore, the communication device other than the sensing device may be the server 10. Here, the server 10 may perform a sensing service based on a result of sensing performed by another communication device. The sensing service is, for example, a service performed based on data detected by one or a plurality of sensors of one or a plurality of communication devices.

[0462] The sensing service is typically a providing service for sensing data of one or a plurality of sensors (for example, a sensing result of the sensing device). However, the sensing service is not limited to the providing service for sensing data. The sensing service may be a providing service for processing executed using sensing data, or may be a providing service for information generated using the sensing data. For example, the sensing service may be a providing service for processing based on image data or shape data detected by a camera, LiDAR, or the like (for example, an automatic driving service of the vehicle), or may be a providing service for information generated based on position information detected by a positioning sensor (for example, a providing service for information on an area / facility specified by sensing data). Of course, the sensing service is not limited to such services. The sensing service may be a service provided based on a sensor that detects an object color, an object speed, an object acceleration, an object temperature, an object reflectance, and an object transmittance.

[0463] Note that the sensing service is not limited to a service performed by directly using the sensing data. The sensing service may be a service performed by indirectly using the sensing data. For example, the sensing service may be a service performed by using data obtained by processing sensing data (for example, an analysis result based on the sensing data or data obtained by combining a plurality of pieces of the sensing data).

[0464] The sensing service of the present embodiment may be, for example, at least one of the following (1) to (4).

[0465] (1) Service Related to Automatic Driving The sensing service may be a service related to automatic driving. Here, the service related to the automatic driving may include, for example, a providing service for processing or information (data) necessary for implementing the automatic driving of a moving object (for example, a vehicle such as an automobile, a flying object such as a drone, or the like). Here, the server 10 may provide one or a plurality of pieces of sensing data selected based on a predetermined standard related to the processing of the automatic driving as a service related to the automatic driving. Alternatively, the server 10 may provide information generated by fusing a plurality of pieces of sensing data selected based on a predetermined standard related to the processing of the automatic driving as a service related to the automatic driving. Here, the information generated by fusing the plurality of pieces of sensing data may include, for example, at least one of information on a route, control information on steering, control information on acceleration, control information on braking, and high-precision three-dimensional map information that are necessary for automatic driving of the moving object. The information on the route may include, for example, information on the position of the next point with respect to the current position or speed information.

[0466] (2) Service Related to Automatic Operation The sensing service of the present embodiment may be a service related to automatic operation of one or a plurality of devices / systems (for example, devices / systems in a factory, a hospital, or an operating room). Here, the service related to the automatic operation of one or a plurality of devices / systems may include, for example, a providing service for processing or information (data) necessary for implementing the automatic operation of one or a plurality of devices / systems related to a predetermined facility. The predetermined facility may be production facility installed in a factory or facility installed in a hospital / operating room. Here, the server 10 may provide one or a plurality of pieces of sensing data selected based on a predetermined standard related to the processing of the automatic operation as a service related to the automatic operation. Alternatively, the server 10 may provide information generated by fusing a plurality of pieces of sensing data selected based on a predetermined standard related to the processing of the automatic operation as a service related to the automatic operation. For example, the server 10 may provide information generated by fusing data detected by a plurality of sensors included in one or a plurality of devices in a factory or a hospital / operating room (for example, control information necessary for the automatic operation).

[0467] (3) Service Related to XR Content The sensing service of the present embodiment may be a service related to XR content (for example, display content of XR such as a game of XR or a moving image of XR). Here, the service related to the XR content may include, for example, a providing service for processing or information (data) necessary for implementing processing of the XR content. Here, the server 10 may provide one or a plurality of pieces of sensing data selected based on a predetermined standard related to the processing of the XR content as a service related to the XR content. Furthermore, the server 10 may provide, for example, information (for example, spatiotemporal information of XR content) generated by fusing a plurality of pieces of sensing data mounted on the terminal device 40 for XR (for example, XR devices such as smart glasses).

[0468] (4) Service Related to Provision of Sensing Data The sensing service of the present embodiment may be a service related to provision of sensing data. For example, the sensing service of the present embodiment may be a providing service of sensing data used in a predetermined use case (for example, processing related to automatic driving of a moving object, processing related to automatic operation of a device / system, or processing related to XR content). For example, the sensing service of the present embodiment may be a service in which a core network CN (for example, the management device 20) provides detection data to an application of the terminal device 40 or the server 10.

[0469] Note that each of the services exemplified here is an example. The sensing service is not limited to the services described in (1) to (4) above. For example, the sensing service may include a location service. The location service is a service performed using location information of a communication device (for example, the terminal device 40).

[0470] Furthermore, in the above description or the following description, an example of a position regarding a signal transmission or reception timing has been described as an adaptation example of the present invention regarding a "position". However, the adaptation example of the present invention is not limited thereto. Information on the position may include information in which a position at a future time point is estimated based on the sensing information. Furthermore, the information on the position may include speed information estimated and / or calculated based on a plurality of pieces of position information.

[0471] <8-5. Other Modifications> A control device that controls the server 10, the management device 20, the base station 30, and the terminal device 40 of the present embodiment may be implemented by a dedicated computer system or may be implemented by a general-purpose computer system.

[0472] For example, a program for executing the above-described operation is stored and distributed in a computer-readable recording medium such as an optical disk, a semiconductor memory, a magnetic tape, or a flexible disk. Then, for example, the program is installed in a computer, and the above-described processing is executed to configure the control device. Here, the control device may be a device outside the server 10, the management device 20, the base station 30, or the terminal device 40 (for example, a personal computer). Furthermore, the control device may be a device inside the server 10, the management device 20, the base station 30, or the terminal device 40 (for example, the controller 13, the controller 23, the controller 33, or the controller 43).

[0473] In addition, the communication program may be stored in a disk device included in a server device on a network such as the Internet so that the communication program can be downloaded to a computer. In addition, the above-described functions may be implemented by cooperation of an operating system (OS) and application software. Here, a portion other than the OS may be stored in a medium and distributed, or a portion other than the OS may be stored in a server device and downloaded to a computer.

[0474] Among the processes described in the above embodiments, all or a part of the processes described as being performed automatically can be performed manually, or all or a part of the processes described as being performed manually can be performed automatically by a known method. In addition, the processing procedure, specific name, and information including various types of data and parameters illustrated in the document and the drawings can be optionally changed unless otherwise specified. For example, the various types of information illustrated in each drawing are not limited to the illustrated information.

[0475] In addition, each component of each device illustrated in the drawings is functionally conceptual, and is not necessarily physically configured as illustrated in the drawings. That is, a specific form of distribution or integration of each device is not limited to the illustrated form, and all or a part thereof can be functionally or physically distributed or integrated in an optional unit according to various loads, usage conditions, and the like. Note that the configuration by distribution or integration may be performed dynamically.

[0476] In addition, the above-described embodiments can be appropriately combined in a region in which the processing contents do not contradict each other. Furthermore, the order of each step illustrated in the flowchart and the sequence diagram of the above-described embodiment can be appropriately changed.

[0477] Functions implemented by the components described in the present specification may be implemented in a circuitry or a processing circuitry programmed to implement the described functions. Here, the circuitry or the processing circuitry may be a general-purpose processor, an application-specific processor, an integrated circuit, application specific integrated circuits (ASICs), a central processing unit (CPU), a known circuit, and / or a combination thereof. The processor includes a transistor and other circuits. The processor may be regarded as a circuitry or a processing circuitry. The processor may be a programmed processor that executes a program stored in a memory.

[0478] In the present specification, the circuitry, the unit, and the means may be hardware programmed to implement the described functions or hardware executing the functions. The hardware may be any hardware disclosed herein or any hardware programmed or known to perform the described functions. When the hardware is a processor regarded as a type of circuitry, the circuitry, means, or unit may be a combination of hardware and software used to configure the hardware and / or the processor.

[0479] Furthermore, for example, the present embodiment can be implemented as any configuration included in a device or a system. For example, the present embodiment can be implemented as a processor as a system large scale integration (LSI) or the like, a module using a plurality of processors or the like, a unit using a plurality of modules or the like, a set obtained by further adding other functions to a unit, or the like. That is, the present embodiment can be implemented as a part of the configuration of the device.

[0480] The system LSI may be referred to as a system on chip (SOC). In other words, each of the above-described or later-described devices (for example, the server 10, the management device 20, the base station 30, and the terminal device 40) may be interpreted as a processor (for example, a CPU) as a system LSI (for example, SoC) or a module that uses or configures the processor. Additionally or alternatively, the present embodiment may be implemented by any configuration included in a device or a system (for example, a modem chip (baseband chip) or a radio frequency (RF) unit, or a combination thereof). The RF unit may include at least one of an RF circuit and an RF front-end. In other words, each of the devices described above or below may be interpreted as a modem chip (baseband chip) or an RF unit, or a combination thereof. Additionally or alternatively, each of the devices described above or below may be interpreted as a module using or configuring a modem chip or an RF unit.

[0481] The modem chip performs signal processing related to communication in the device (a device described above or below). The modem chip may have a function of at least a modulator or a demodulator. The RF unit may have a function of at least one of an RF transceiver (RF upconverter, RF downconverter), a power amplifier, and a low noise amplifier. The RF transceiver converts a baseband signal and an RF frequency. The power amplifier performs amplification for transmitting a signal from the antenna. The low noise amplifier amplifies a weak signal received from the antenna. Further or alternatively, the RF unit (in particular, the RF front end) may include at least one of the above-described power amplifier, low noise amplifier, envelope tracker, filter, duplexer, multiplexer, antenna switch, and antenna tuner.

[0482] The combination of the modem chip and the RF unit may be referred to as a modem RF system. At least a part of the modem chip, the RF unit, or a combination thereof may be included in a system LSI (for example, SoC). For example, processing performed by at least a part of a modem chip, an RF unit, or a combination thereof (for example, at least part of processing of MAC layer processing / PHY layer processing) may be implemented by a system LSI. Here, the MAC layer processing or the PHY layer processing may be processing of at least a part of processing executed by the device in the above-described or later-described embodiment (for example, the server 10, the management device 20, the base station 30, and the terminal device 40).

[0483] Note that, in the present embodiment, the system means a set of a plurality of components (devices, modules (parts), and the like), and it does not matter whether all the components are in the same housing. For example, a plurality of devices housed in separate housings and connected via a network or the like and one device in which a plurality of modules is housed in one housing are both systems.

[0484] Furthermore, for example, the present embodiment can adopt a configuration of cloud computing in which one function is shared and processed in cooperation by a plurality of devices via a network.

[0485] The dedicated channel for transmitting the sensing signal may be referred to as a physical uplink sensing channel (PUSECH), a physical downlink sensing channel (PDSECH), and a physical sidelink sensing channel (PSSECH).

[0486] <<9. Conclusion>> As described above, the communication system 1 of the present embodiment is a cellular communication system including a plurality of communication devices. The communication device (for example, the base station 30 or the terminal device 40) performs signaling related to at least one of transmission and reception of a sensing signal transmitted by using a radio communication resource with one or a plurality of other communication devices included in the communication system 1. Then, the communication device performs at least one of transmission and reception of the sensing signal after the signaling. Since the communication device performs signaling with one or a plurality of other communication devices prior to transmission and / or reception of the sensing signal, the communication system 1 can smoothly perform cellular communication and / or sensing.

[0487] For example, it is assumed that sensing performed by the communication device is mono-static sensing. Here, the communication device may notify one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by signaling. Since the notification is performed in advance, interference with sensing from other communication devices is reduced. Furthermore, cellular communication or sensing of other communication devices is less likely to be interfered by sensing of the communication device.

[0488] Furthermore, for example, it is assumed that sensing performed by the communication device is mono-static sensing. Then, it is assumed that the communication device is the terminal device 40. Here, the terminal device 40 may check whether the terminal device 40 itself is within the coverage of the base station 30 by signaling. Then, the terminal device 40 may transmit and receive the sensing signal when the terminal device 40 itself is within the coverage of the base station 30, and may not transmit and receive the sensing signal when the terminal device 40 itself is not within the coverage of the base station 30. As a result, irregular radio wave use (radio wave transmission outside the control of the base station 30) by the terminal device 40 is prevented. As a result, cellular communication or sensing of other communication devices is less likely to be interfered by sensing of the terminal device 40.

[0489] Furthermore, for example, it is assumed that sensing performed by the communication device is bi-static sensing. Here, the communication device may notify a communication device other than the transmission device and the reception device among one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by signaling. Since the notification is performed in advance, interference with sensing from other communication devices is reduced. Furthermore, cellular communication or sensing of other communication devices is less likely to be interfered by sensing of the communication device.

[0490] Furthermore, for example, it is assumed that sensing performed by the communication device is bi-static sensing. Then, it is assumed that the communication device is the terminal device 40 that performs sidelink communication with another terminal device 40. Here, the terminal device 40 may perform signaling as to whether at least one of the terminal device 40 itself and the other terminal device 40 is within the coverage of the base station 30. Then, the terminal device 40 may transmit the sensing signal to the other terminal device 40 when at least one of the terminal device 40 itself and another terminal device 40 is within the coverage of the base station 30, and may not transmit the sensing signal to the other terminal device 40 when at least one of the terminal device 40 itself and another terminal device 40 is not within the coverage of the base station 30. As a result, irregular radio wave use (radio wave transmission outside the control of the base station 30) by the terminal device 40 is prevented. As a result, cellular communication or sensing of other communication devices is less likely to be interfered by sensing of the terminal device 40.

[0491] Furthermore, for example, it is assumed that sensing performed by the communication device is multi-static sensing. Here, the communication device may notify a communication device other than the transmission device and the reception device among one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by signaling. Since the notification is performed in advance, interference with sensing from other communication devices is reduced. Furthermore, cellular communication or sensing of other communication devices is less likely to be interfered by sensing of the communication device.

[0492] Furthermore, for example, it is assumed that sensing performed by the communication device is multi-static sensing. Here, the communication device acquires capability information on the multi-static sensing of each of the plurality of other communication devices by signaling. Then, the communication device transmits the sensing signal to a plurality of devices selected from among the plurality of other communication devices based on the capability information. Since a communication device capable of the multi-static sensing is selected in advance, the multi-static sensing is smoothly performed.

[0493] Furthermore, for example, it is assumed that sensing performed by the communication device is multi-static sensing. Then, it is assumed that the communication device is the terminal device 40 that performs sidelink communication with another terminal device 40. Here, the terminal device 40 may perform signaling as to whether at least one of the terminal device 40 itself and the other terminal device 40 is within the coverage of the base station 30. Then, the terminal device 40 may transmit the sensing signal to the other terminal device 40 when at least one of the terminal device 40 itself and another terminal device 40 is within the coverage of the base station 30, and may not transmit the sensing signal to the other terminal device 40 when at least one of the terminal device 40 itself and another terminal device 40 is not within the coverage of the base station 30. As a result, irregular radio wave use (radio wave transmission outside the control of the base station 30) by the terminal device 40 is prevented. As a result, cellular communication or sensing of other communication devices is less likely to be interfered by sensing of the terminal device 40.

[0494] Furthermore, for example, it is assumed that sensing performed by the communication device is multi-static sensing. Here, the communication device may dynamically select a plurality of communication devices that perform the multi-static sensing from among the plurality of other communication devices based on a result of signaling with at least one of the plurality of other communication devices. Accordingly, highly accurate sensing is possible.

[0495] Although the embodiments of the present disclosure have been described above, the technical scope of the present disclosure is not limited to the above-described embodiments as it is, and various modifications can be made without departing from the gist of the present disclosure. In addition, components of different embodiments and modifications may be appropriately combined.

[0496] Furthermore, the effects of each embodiment described in the present specification are merely examples and are not limited, and other effects may be provided.

[0497] Note that the present technology can also have the following configurations. (1) 　　A communication device comprising circuitry configured to: 　　perform signaling related to at least one of transmission and reception of a sensing signal transmitted by using a radio communication resource with one or a plurality of other communication devices; and 　　perform at least one of transmission and reception of the sensing signal after the signaling. (2) 　　The communication device according to (1), wherein 　　the sensing signal is a signal for multi-static sensing transmitted from a plurality of communication entities or transmitted to the plurality of communication entities, and 　　the plurality of communication entities include at least one of the one or a plurality of other communication devices. (3) 　　The communication device according to (2), wherein 　　the plurality of communication entities are a plurality of devices among the plurality of other communication devices, and 　　the circuitry is configured to 　　perform signaling related to at least one of transmission and reception of the sensing signal with at least one of the plurality of communication entities, and 　　transmit the sensing signal to the plurality of communication entities or receives the sensing signal from the plurality of communication entities after the signaling. (4) 　　The communication device according to (3), wherein the circuitry is configured to 　　acquire capability information on the multi-static sensing of each of the plurality of other communication devices by the signaling, and 　　transmit the sensing signal to the plurality of devices selected from the plurality of other communication devices based on the capability information. (5) 　　The communication device according to (3), wherein the circuitry is configured to 　　the signaling unit transmits transmit capability information on the multi-static sensing of the communication device to at least one of the plurality of devices by the signaling. (6) 　　The communication device according to any one of (3) to (5), wherein 　　the circuitry is configured to notify a device other than the plurality of communication entities among the one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by the signaling. (7) 　　The communication device according to any one of (3) to (6), wherein 　　the communication device is a terminal device that performs sidelink communication with another terminal device, 　　the plurality of communication entities include the another terminal device, 　　the one or a plurality of other communication devices include a base station that controls the sidelink communication, 　　the circuitry is configured to confirm whether the terminal device or the another terminal device is within coverage of the base station by the signaling, and 　　the circuitry is configured to transmit the sensing signal to the another terminal device when at least one of the terminal device and the another terminal device is within the coverage of the base station, and not transmit the sensing signal to the another terminal device when at least one of the communication device and the another terminal device is not within the coverage of the base station. (8) 　　The communication device according to any one of (3) to (7), wherein the circuitry is further configured to 　　dynamically select a plurality of devices from the plurality of other communication devices as the plurality of communication entities based on a result of signaling with at least one of the plurality of other communication devices. (9) 　　The communication device according to any one of (3) to (8), wherein 　　the communication device is a base station or a terminal device, and 　　the plurality of other communication devices include at least one of a base station and a terminal device. (10) 　　The communication device according to (1), wherein 　　the sensing signal is a signal for mono-static sensing transmitted and received by the communication device. (11) 　　The communication device according to (10), wherein 　　the circuitry is configured to notify the one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by the signaling. (12) 　　The communication device according to (10) or (11), wherein 　　the communication device is a terminal device, 　　the one or a plurality of other communication devices include a base station, 　　the circuitry is configure to confirm whether the communication device is within coverage of the base station by the signaling, and 　　the circuitry is configured to transmit and receive the sensing signal when the communication device is within the coverage of the base station, and not transmit and receive the sensing signal when the communication device is not within the coverage of the base station. (13) 　　The communication device according to (1), wherein 　　the sensing signal is a signal for bi-static sensing transmitted from the communication device to one communication entity or transmitted to the communication device from one communication entity. (14) 　　The communication device according to (13), wherein 　　the circuitry is configured to transmit a device other than the one communication entity among the one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by the signaling. (15) 　　The communication device according to (13) or (14), wherein 　　the communication device is a base station or a terminal device, and 　　the one communication entity is another base station or another terminal device. (16) 　　The communication device according to (15), wherein 　　the communication device is a terminal device that performs sidelink communication with another terminal device, 　　the one communication entity is the another terminal device, 　　the one or a plurality of other communication devices include a base station that controls the sidelink communication, 　　the circuitry is configured to confirm whether the terminal device or the another terminal device is within coverage of the base station by the signaling, and 　　the circuitry is configured to transmit the sensing signal to the another terminal device when at least one of the terminal device and the another terminal device is within the coverage of the base station, and not transmit the sensing signal to the another terminal device when at least one of the terminal device and the another terminal device is not within the coverage of the base station. (17) 　　The communication device according to (1), wherein the circuitry is further configured to 　　feed back a result of reception of the sensing signal to at least one of the one or a plurality of other communication devices. (18) 　　The communication device according to (17), wherein 　　the circuitry is configured to feed back a result of reception of the sensing signal by using a resource determined based on at least one of the sensing signal and a radio communication resource for transmitting the sensing signal. (19) 　　The communication device according to (17) or (18), wherein 　　the communication device is a terminal device that performs sidelink communication with another terminal device, 　　the one or a plurality of other communication devices include a base station that controls the sidelink communication, and 　　the circuitry is configured to feed back a result of reception of the sensing signal from the another terminal device to the base station. (20) 　　A communication method comprising: 　　performing signaling related to at least one of transmission and reception of a sensing signal transmitted by using a radio communication resource with one or a plurality of other communication devices; and 　　performing, with circuitry, at least one of transmission and reception of the sensing signal after the signaling with the one or a plurality of other communication devices.

[0498] 1 Communication system 10 Server 20 Management device 30 Base station 40 Terminal device 11, 21 Communication unit 31, 41 Radio communication unit 12, 22, 32, 42 Storage unit 13, 23, 33, 43 Controller 34, 46 Sensor unit 44 Input unit 45 Output unit 311, 411 Transmission processing unit 312, 412 Reception processing unit 313, 413 Antenna 331, 431 Signaling unit 332, 432 Sensing unit 333, 433 Feedback unit 334, 434 Selection unit CN Core network RAN Radio access network

Claims

1. A communication device comprising circuitry configured to: 　　perform signaling related to at least one of transmission and reception of a sensing signal transmitted by using a radio communication resource with one or a plurality of other communication devices; and 　　at least one of transmits and receives the sensing signal after the signaling.

2. The communication device according to claim 1, wherein 　　the sensing signal is a signal for multi-static sensing transmitted from a plurality of communication entities or transmitted to the plurality of communication entities, and 　　the plurality of communication entities include at least one of the one or a plurality of other communication devices.

3. The communication device according to claim 2, wherein 　　the plurality of communication entities are a plurality of devices among the plurality of other communication devices, and 　　the circuitry is further configured to 　　perform signaling related to at least one of transmission and reception of the sensing signal with at least one of the plurality of communication entities, and 　　transmit the sensing signal to the plurality of communication entities or receives the sensing signal from the plurality of communication entities after the signaling.

4. The communication device according to claim 3, wherein the circuitry is further configured to 　　acquire capability information on the multi-static sensing of each of the plurality of other communication devices by the signaling, and 　　transmit the sensing signal to the plurality of devices selected from the plurality of other communication devices based on the capability information.

5. The communication device according to claim 3, wherein the circuitry is further configured to 　　transmit capability information on the multi-static sensing of the communication device to at least one of the plurality of devices by the signaling.

6. The communication device according to claim 3, wherein the circuitry is further configured to 　　notify a device other than the plurality of communication entities among the one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by the signaling.

7. The communication device according to claim 3, wherein 　　the communication device is a terminal device that performs sidelink communication with another terminal device, 　　the plurality of communication entities include the another terminal device, 　　the one or a plurality of other communication devices include a base station that controls the sidelink communication, 　　the circuitry is configured to confirm whether the terminal device or the another terminal device is within coverage of the base station by the signaling, and 　　the circuitry is configured to transmit the sensing signal to the another terminal device when at least one of the terminal device and the another terminal device is within the coverage of the base station, and not transmit the sensing signal to the another terminal device when at least one of the communication device and the another terminal device is not within the coverage of the base station.

8. The communication device according to claim 3, wherein the circuitry is further configured to 　　dynamically select a plurality of devices from the plurality of other communication devices as the plurality of communication entities based on a result of signaling with at least one of the plurality of other communication devices.

9. The communication device according to claim 3, wherein 　　the communication device is a base station or a terminal device, and 　　the plurality of other communication devices include at least one of a base station and a terminal device.

10. The communication device according to claim 1, wherein 　　the sensing signal is a signal for mono-static sensing transmitted and received by the communication device.

11. The communication device according to claim 10, wherein 　　the circuitry is configured to notify the one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by the signaling.

12. The communication device according to claim 10, wherein 　　the communication device is a terminal device, 　　the one or a plurality of other communication devices include a base station, 　　the circuitry is configured to confirm whether the communication device is within coverage of the base station by the signaling, and 　　the circuitry is configured to transmit and receive the sensing signal when the communication device is within the coverage of the base station, and not transmit and receive the sensing signal when the communication device is not within the coverage of the base station.

13. The communication device according to claim 1, wherein 　　the sensing signal is a signal for bi-static sensing transmitted from the communication device to one communication entity or transmitted to the communication device from one communication entity.

14. The communication device according to claim 13, wherein 　　the circuitry is configured to notify a device other than the one communication entity among the one or a plurality of other communication devices not to use the radio communication resource to be used for transmission of the sensing signal by the signaling.

15. The communication device according to claim 13, wherein 　　the communication device is a base station or a terminal device, and 　　the one communication entity is another base station or another terminal device.

16. The communication device according to claim 15, wherein 　　the communication device is a terminal device that performs sidelink communication with another terminal device, 　　the one communication entity is the another terminal device, 　　the one or a plurality of other communication devices include a base station that controls the sidelink communication, 　　the circuitry is configured to confirm whether the terminal device or the another terminal device is within coverage of the base station by the signaling, and 　　the circuitry is configured to transmit the sensing signal to the another terminal device when at least one of the terminal device and the another terminal device is within the coverage of the base station, and not transmit the sensing signal to the another terminal device when at least one of the terminal device and the another terminal device is not within the coverage of the base station.

17. The communication device according to claim 1, wherein the circuitry is further configured to 　　feed back a result of reception of the sensing signal to at least one of the one or a plurality of other communication devices.

18. The communication device according to claim 17, wherein 　　the circuitry is configured to feed back a result of reception of the sensing signal by using a resource determined based on at least one of the sensing signal and a radio communication resource for transmitting the sensing signal.

19. The communication device according to claim 17, wherein 　　the communication device is a terminal device that performs sidelink communication with another terminal device, 　　the one or a plurality of other communication devices include a base station that controls the sidelink communication, and 　　the circuitry is configured to feed back a result of reception of the sensing signal from the another terminal device to the base station.

20. A communication method comprising: 　　performing signaling related to at least one of transmission and reception of a sensing signal transmitted by using a radio communication resource with one or a plurality of other communication devices; and 　　performing, with circuitry, at least one of transmission and reception of the sensing signal after the signaling with the one or a plurality of other communication devices.

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