Method and apparatus for transmitting messages in wireless communication system

Abstract

Disclosed according to various embodiments are a method by which a first apparatus transmits messages in a wireless communication system, and an apparatus therefor. Disclosed are a method and an apparatus therefor, the method comprising the steps of: obtaining state information about a first apparatus by means of a sensor; controlling the driving of the first apparatus on the basis of the state information; and transmitting, to peripheral apparatuses, a first message including the state information.

Description

Method for transmitting a message in a wireless communication system and device therefor

[0001] A method for an autonomous robot to transmit a message in a wireless communication system and a device therefor are disclosed.

[0002] Wireless communication systems are multiple access systems that support communication with multiple users by sharing available system resources (e.g., bandwidth, transmission power, etc.). Examples of multiple access systems include code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), single carrier frequency division multiple access (SC-FDMA), and multi-carrier frequency division multiple access (MC-FDMA).

[0003] Sidelink (SL) refers to a communication method that establishes a direct link between user equipment (UE), allowing voice or data to be exchanged directly between terminals without going through a base station (BS). SL is being considered as a solution to address the burden on base stations due to rapidly increasing data traffic.

[0004] V2X (vehicle-to-everything) refers to a communication technology that exchanges information with other vehicles, pedestrians, and infrastructure-based objects through wired / wireless communication. V2X can be divided into four types: V2V (vehicle-to-vehicle), V2I (vehicle-to-infrastructure), V2N (vehicle-to-network), and V2P (vehicle-to-pedestrian). V2X communication can be provided through the PC5 interface and / or Uu interface.

[0005] Meanwhile, as more and more communication devices demand greater communication capacity, the need for improved mobile broadband communication compared to existing radio access technology (RAT) is emerging. Accordingly, communication systems that consider services or terminals sensitive to reliability and latency are being discussed. Next-generation wireless access technologies that consider improved mobile broadband communication, massive machine type communication (MTC), and ultra-reliable and low latency communication (URLLC) can be called new radio access technology (RAT) or new radio (NR). NR can also support vehicle-to-everything (V2X) communication.

[0006] Figure 1 is a diagram for comparing and explaining V2X communication based on RAT before NR and V2X communication based on NR.

[0007] In relation to V2X communication, in RATs prior to NR, methods for providing safety services based on V2X messages such as Basic Safety Message (BSM), Cooperative Awareness Message (CAM), and Decentralized Environmental Notification Message (DENM) were mainly discussed. V2X messages may include location information, dynamic information, attribute information, etc. For example, a terminal may transmit a CAM of a periodic message type and / or a DENM of an event triggered message type to another terminal.

[0008] For example, a CAM may include basic vehicle information such as dynamic vehicle status information, such as direction and speed, static vehicle data, such as dimensions, external lighting conditions, and route history. For example, a terminal may broadcast a CAM, and the latency of the CAM may be less than 100 ms. For example, in the event of an emergency, such as a vehicle breakdown or accident, a terminal may generate a DENM and transmit it to other terminals. For example, all vehicles within the transmission range of the terminal may receive the CAM and / or DENM. In this case, the DENM may have a higher priority than the CAM.

[0009] Since then, various V2X scenarios have been proposed in NR in relation to V2X communications. For example, various V2X scenarios may include vehicle platooning, advanced driving, extended sensors, and remote driving.

[0010] For example, based on vehicle platooning, vehicles can dynamically form groups and move together. For example, to perform platoon operations based on vehicle platooning, vehicles in the group can receive periodic data from the lead vehicle. For example, vehicles in the group can use this periodic data to narrow or widen the gap between vehicles.

[0011] For example, based on improved driving, vehicles can become semi-autonomous or fully automated. For example, each vehicle can adjust its trajectories or maneuvers based on data acquired from local sensors of nearby vehicles and / or nearby logical entities. Furthermore, for example, each vehicle can share driving intentions with nearby vehicles.

[0012] For example, based on extended sensors, raw data, processed data, or live video data acquired through local sensors can be exchanged between vehicles, logical entities, pedestrian terminals, and / or V2X application servers. Thus, for example, a vehicle can perceive its environment better than it can perceive using its own sensors.

[0013] For example, based on remote driving, a remote driver or V2X application can operate or control the remote vehicle for people who cannot drive or for remote vehicles located in hazardous environments. For example, in cases where the route is predictable, such as public transportation, cloud computing-based driving can be utilized to operate or control the remote vehicle. Additionally, access to a cloud-based back-end service platform, for example, can be considered for remote driving.

[0014] Meanwhile, a method to specify service requirements for various V2X scenarios, such as vehicle platooning, enhanced driving, expanded sensors, and remote driving, is being discussed in NR-based V2X communication.

[0015] The technical challenge to be achieved is to provide a method for efficiently transmitting messages by a device in a wireless communication system and a device therefor.

[0016] The technical challenges are not limited to the technical challenges mentioned above, and other technical challenges not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the description below.

[0017] A wireless communication system according to one aspect includes a step of obtaining status information about a first device through a sensor by a first device; a step of controlling driving of the first device based on the status information; and a step of transmitting a first message including the status information to peripheral devices, wherein the status information may include information about the weight of the first device.

[0018] Alternatively, the method is characterized in that at least one of the transmission period and transmission power of the first message is adjusted based on whether the weight increases or decreases by a preset threshold or more.

[0019] Alternatively, the driving control of the first device includes controlling a maneuver between at least one device and the first device, and a safety distance related to the maneuver is set based on the weight.

[0020] Alternatively, the status information further includes information about the surrounding objects and information about the road condition obtained through the sensor, and the transmission period or transmission power of the first message is adjusted based on whether the driving path of the first device is changed by the surrounding objects or the road condition.

[0021] Alternatively, the method further comprises: calculating an object recognition accuracy of the sensor; and requesting a network for control support for driving of the first device based on the object recognition accuracy being less than a preset threshold accuracy.

[0022] Alternatively, the first message further includes information about a braking distance and a turning radius associated with the first device, wherein the braking distance and the turning radius are calculated based on the weight.

[0023] Alternatively, based on the predicted movement of a Vulnerable Road User (VRU) within the braking distance, the first message is characterized in that it further includes collision warning information for the VRU.

[0024] Alternatively, the driving control of the first device includes controlling a maneuver between at least one device and the first device, and the first device is characterized in that it adjusts a safety distance related to the maneuver based on the predicted movement of a Vulnerable Road User (VRU) within the braking distance.

[0025] Alternatively, the first device is characterized as being an autonomous delivery robot.

[0026] According to another aspect, a computer-readable recording medium having recorded thereon a program for performing the method of transmitting a message by the first device described above may be provided.

[0027] According to another aspect, a first device may be provided that performs the method of transmitting the message described above.

[0028] According to another aspect, a processing device may be provided for controlling a first device that performs the method of transmitting the message described above.

[0029] According to another aspect, the method comprises: a step of a network receiving a message including status information about a first device; a step of the network controlling driving of the first device based on the status information; and a step of the network forwarding the status information to peripheral devices, wherein the status information includes information about a weight of the first device.

[0030] According to one embodiment, a device in a wireless communication system can efficiently transmit and receive messages.

[0031] The effects that can be obtained in various embodiments are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the description below.

[0032] The drawings attached to this specification are intended to provide an understanding of the present invention, illustrate various embodiments of the present invention, and together with the description of the specification serve to explain the principles of the present invention.

[0033] Figure 1 is a diagram for comparing and explaining V2X communication based on RAT before NR and V2X communication based on NR.

[0034] Figure 2 shows the structure of the LTE system.

[0035] Figure 3 shows the structure of the NR system.

[0036] Figure 4 shows the structure of a radio frame of NR.

[0037] Figure 5 shows the slot structure of an NR frame.

[0038] FIG. 6 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure.

[0039] FIG. 7 illustrates an electromagnetic spectrum according to one embodiment of the present disclosure.

[0040] FIG. 8 illustrates an example of a typical scenario of an NTN based on a transparent payload, according to one embodiment of the present disclosure.

[0041] FIG. 9 illustrates an example of a typical scenario of an NTN based on a regenerative payload, according to one embodiment of the present disclosure.

[0042] FIG. 10 illustrates an example of a sensing operation according to one embodiment of the present disclosure.

[0043] Figure 11 shows a radio protocol architecture for SL communication.

[0044] Figure 12 shows a terminal performing V2X or SL communication.

[0045] Figure 13 shows resource units for V2X or SL communication.

[0046] FIG. 14 illustrates an example of a BWP according to one embodiment of the present disclosure.

[0047] FIG. 15 illustrates a procedure for a terminal to perform V2X or SL communication according to a resource allocation mode, according to one embodiment of the present disclosure.

[0048] Figure 16 is a diagram illustrating how an autonomous delivery robot and a server exchange messages.

[0049] Figure 17 is a diagram illustrating a method for exchanging messages between ADV and a server.

[0050] Figure 18 is a drawing for explaining how ADV performs longitudinal avoidance.

[0051] Figure 19 is a diagram for explaining a method for controlling transmission of an ADV message based on the status of the ADV.

[0052] Figure 20 is a drawing for explaining how the first device transmits the first message.

[0053] Figure 21 is a diagram illustrating how a network communicates with a first device.

[0054] Figure 22 illustrates a communication system applied to the present invention.

[0055] Figure 23 illustrates a wireless device applicable to the present invention.

[0056] Fig. 24 shows another example of a wireless device applied to the present invention.

[0057] Figure 25 illustrates a vehicle or autonomous vehicle to which the present invention is applied.

[0058] A wireless communication system is a multiple access system that supports communication with multiple users by sharing available system resources (e.g., bandwidth, transmission power, etc.). Examples of multiple access systems include code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), single carrier frequency division multiple access (SC-FDMA), and multi-carrier frequency division multiple access (MC-FDMA).

[0059] Sidelink refers to a communication method that establishes a direct link between user equipment (UE), allowing voice or data to be exchanged directly between terminals without going through a base station (BS). Sidelink is being considered as a solution to address the burden on base stations due to rapidly increasing data traffic.

[0060] V2X (vehicle-to-everything) refers to a communication technology that exchanges information with other vehicles, pedestrians, and infrastructure-based objects through wired / wireless communication. V2X can be divided into four types: V2V (vehicle-to-vehicle), V2I (vehicle-to-infrastructure), V2N (vehicle-to-network), and V2P (vehicle-to-pedestrian). V2X communication can be provided through the PC5 interface and / or Uu interface.

[0061] Meanwhile, as more and more communication devices demand greater communication capacity, the need for improved mobile broadband communication compared to existing radio access technology (RAT) is emerging. Accordingly, communication systems that consider services or terminals sensitive to reliability and latency are being discussed. Next-generation wireless access technologies that consider improved mobile broadband communication, massive MTC, and URLLC (Ultra-Reliable and Low Latency Communication) can be called new radio access technology (RAT) or new radio (NR). NR can also support V2X (vehicle-to-everything) communication.

[0062] The following technologies can be used in various wireless communication systems, such as CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), and SC-FDMA (single carrier frequency division multiple access). CDMA can be implemented with wireless technologies such as UTRA (universal terrestrial radio access) or CDMA2000. TDMA can be implemented with wireless technologies such as GSM (global system for mobile communications) / GPRS (general packet radio service) / EDGE (enhanced data rates for GSM evolution). OFDMA can be implemented with wireless technologies such as IEEE (Institute of Electrical and Electronics Engineers) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802-20, and E-UTRA (evolved UTRA). IEEE 802.16m is an evolution of IEEE 802.16e, providing backward compatibility with systems based on IEEE 802.16e. UTRA is part of UMTS (universal mobile telecommunications system). 3GPP (3rd generation partnership project) LTE (long term evolution) is a part of E-UMTS (evolved UMTS) that uses E-UTRA (evolved-UMTS terrestrial radio access), employing OFDMA in the downlink and SC-FDMA in the uplink.LTE-A (advanced) is an evolution of 3GPP LTE.

[0063] 5G NR, the successor to LTE-A, is a new clean-slate mobile communications system featuring high performance, low latency, and high availability. 5G NR can utilize all available spectrum resources, from low-frequency bands below 1 GHz, mid-frequency bands between 1 GHz and 10 GHz, and high-frequency (millimeter wave) bands above 24 GHz.

[0064] For clarity, the description will focus on LTE-A or 5G NR, but the technical ideas of the embodiment(s) are not limited thereto.

[0065] Figure 2 illustrates the architecture of an applicable LTE system. This may be referred to as an Evolved-UMTS Terrestrial Radio Access Network (E-UTRAN) or a Long Term Evolution (LTE) / LTE-A system.

[0066] Referring to FIG. 2, the E-UTRAN includes a base station (20; BS) that provides a control plane and a user plane to a terminal (10). The terminal (10) may be fixed or mobile, and may be referred to by other terms such as a mobile station (MS), a user terminal (UT), a subscriber station (SS), a mobile terminal (MT), a wireless device, etc. The base station (20) refers to a fixed station that communicates with the terminal (10), and may be referred to by other terms such as an evolved-NodeB (eNB), a base transceiver system (BTS), an access point, etc.

[0067] Base stations (20) can be connected to each other via the X2 interface. The base station (20) is connected to an EPC (Evolved Packet Core, 30) via the S1 interface, more specifically, to an MME (Mobility Management Entity) via the S1-MME, and to an S-GW (Serving Gateway) via the S1-U.

[0068] The EPC (30) consists of an MME, an S-GW, and a P-GW (Packet Data Network-Gateway). The MME holds information about terminal access and capabilities, and this information is primarily used for terminal mobility management. The S-GW is a gateway with the E-UTRAN as its endpoint, and the P-GW is a gateway with the PDN as its endpoint.

[0069] The layers of the radio interface protocol between the terminal and the network can be divided into L1 (Layer 1), L2 (Layer 2), and L3 (Layer 3) based on the three lower layers of the Open System Interconnection (OSI) standard model, which is widely known in communication systems. Among these, the physical layer belonging to Layer 1 provides an information transfer service using a physical channel, and the RRC (Radio Resource Control) layer located in Layer 3 controls radio resources between the terminal and the network. To this end, the RRC layer exchanges RRC messages between the terminal and the base station.

[0070] Figure 3 shows the structure of the NR system.

[0071] Referring to FIG. 3, the NG-RAN may include a gNB and / or an eNB that provides user plane and control plane protocol termination to the UE. FIG. 7 illustrates a case where only a gNB is included. The gNB and eNB are connected to each other via an Xn interface. The gNB and eNB are connected to the 5th generation core network (5G Core Network: 5GC) via the NG interface. More specifically, the gNB is connected to the access and mobility management function (AMF) via the NG-C interface, and the gNB is connected to the user plane function (UPF) via the NG-U interface.

[0072] Figure 4 shows the structure of a radio frame of NR.

[0073] Referring to FIG. 4, radio frames can be used for uplink and downlink transmission in NR. A radio frame has a length of 10 ms and can be defined as two 5 ms half-frames (Half-Frames, HF). A half-frame can include five 1 ms sub-frames (Subframes, SF). A sub-frame can be divided into one or more slots, and the number of slots within a sub-frame can be determined by the Subcarrier Spacing (SCS). Each slot can include 12 or 14 OFDM (A) symbols depending on the cyclic prefix (CP).

[0074] When normal CP is used, each slot can contain 14 symbols. When extended CP is used, each slot can contain 12 symbols. Here, the symbols can include OFDM symbols (or CP-OFDM symbols), SC-FDMA (Single Carrier - FDMA) symbols (or DFT-s-OFDM (Discrete Fourier Transform-spread-OFDM) symbols).

[0075] Table 1 below shows the number of symbols per slot ((N)) depending on the SCS setting (u) when normal CP is used. slot symb ), number of slots per frame ((N frame,u slot ) and the number of slots per subframe ((N subframe,u slot ) is an example.

[0076] SCS (15*2 u )N slot symb N frame,u slot N subframe,u slot 15KHz (u=0)1410130KHz (u=1)1420260KHz (u=2)14404120KHz (u=3)14808240KHz (u=4)1416016

[0077] Table 2 illustrates the number of symbols per slot, the number of slots per frame, and the number of slots per subframe according to SCS when extended CP is used.

[0078] SCS (15*2 u )N slot symb N frame,u slot N subframe,u slot 60KHz (u=2)12404

[0079] In an NR system, OFDM(A) numerology (e.g., SCS, CP length, etc.) may be set differently between multiple cells that are merged into a single terminal. Accordingly, the (absolute time) interval of a time resource (e.g., subframe, slot, or TTI) (conveniently referred to as TU (Time Unit)) consisting of the same number of symbols may be set differently between the merged cells.

[0080] In NR, multiple numerologies, or SCSs, can be supported to support various 5G services. For example, a 15 kHz SCS can support wide areas in traditional cellular bands, while a 30 kHz / 60 kHz SCS can support dense urban areas, lower latency, and wider carrier bandwidth. A 60 kHz or higher SCS can support bandwidths greater than 24.25 GHz to overcome phase noise.

[0081] The NR frequency band can be defined by two types of frequency ranges. The two types of frequency ranges can be FR1 and FR2. The numerical values ​​of the frequency ranges can be changed, and for example, the two types of frequency ranges can be as shown in Table 3 below. Among the frequency ranges used in the NR system, FR1 can mean the "sub 6 GHz range", and FR2 can mean the "above 6 GHz range" and can be called millimeter wave (mmW).

[0082] Frequency Range designationCorresponding frequency rangeSubcarrier Spacing (SCS)FR1450MHz - 6000MHz15, 30, 60kHzFR224250MHz - 52600MHz60, 120, 240kHz

[0083] As described above, the numerical value of the frequency range of the NR system can be changed. For example, FR1 may include a band from 410 MHz to 7125 MHz, as shown in Table 4 below. That is, FR1 may include a frequency band above 6 GHz (or 5850, 5900, 5925 MHz, etc.). For example, the frequency band above 6 GHz (or 5850, 5900, 5925 MHz, etc.) included within FR1 may include an unlicensed band. The unlicensed band may be used for various purposes, such as for vehicular communications (e.g., autonomous driving).

[0084] Frequency Range designationCorresponding frequency rangeSubcarrier Spacing (SCS)FR1410MHz - 7125MHz15, 30, 60kHzFR224250MHz - 52600MHz60, 120, 240kHz

[0085] Figure 5 shows the slot structure of an NR frame.

[0086] Referring to Figure 5, a slot includes multiple symbols in the time domain. For example, in the case of a normal CP, one slot may include 14 symbols, but in the case of an extended CP, one slot may include 12 symbols. Alternatively, in the case of a normal CP, one slot may include 7 symbols, but in the case of an extended CP, one slot may include 6 symbols.

[0087] A carrier includes multiple subcarriers in the frequency domain. An RB (Resource Block) can be defined as multiple (e.g., 12) consecutive subcarriers in the frequency domain. A BWP (Bandwidth Part) can be defined as multiple consecutive (P)RBs ((Physical) Resource Blocks) in the frequency domain, and can correspond to one numerology (e.g., SCS, CP length, etc.). A carrier can include up to N (e.g., 5) BWPs. Data communication can be performed through activated BWPs. Each element can be referred to as a Resource Element (RE) in the resource grid, and one complex symbol can be mapped to it.

[0088] Meanwhile, the wireless interface between terminals or between terminals and a network may be composed of an L1 layer, an L2 layer, and an L3 layer. In various embodiments of the present disclosure, the L1 layer may refer to a physical layer. Furthermore, for example, the L2 layer may refer to at least one of a MAC layer, an RLC layer, a PDCP layer, and an SDAP layer. Furthermore, for example, the L3 layer may refer to an RRC layer.

[0089] FIG. 6 illustrates a communication structure that can be provided in a 6G system according to an embodiment of the present disclosure. The embodiment of FIG. 6 can be combined with various embodiments of the present disclosure.

[0090] New network characteristics in 6G may include:

[0091] - Satellite integrated network

[0092] - Connected Intelligence: Unlike previous generations of wireless communication systems, 6G is revolutionary, upgrading the wireless evolution from "connected objects" to "connected intelligence." AI can be applied at every stage of the communication process (or at every signal processing step, as described below).

[0093] - Seamless integration of wireless information and energy transfer

[0094] - Ubiquitous super 3D connectivity: Access to networks and core network functions of drones and very low Earth orbit satellites will create super 3D connectivity in 6G ubiquitous.

[0095] Some general requirements for the new network characteristics of 6G, such as the above, may be as follows:

[0096] - small cell networks

[0097] - Ultra-dense heterogeneous network

[0098] - High-capacity backhaul

[0099] - Radar technology integrated with mobile technology: High-precision localization (or location-based services) through communications is a key feature of 6G wireless communication systems. Therefore, radar systems will be integrated with 6G networks.

[0100] - Softwarization and virtualization

[0101] Below, the core implementation technologies of the 6G system are described.

[0102] - Artificial Intelligence: Incorporating AI into communications can streamline and improve real-time data transmission. AI can use numerous analytics to determine how complex target tasks should be performed. This means AI can increase efficiency and reduce processing delays. Time-consuming tasks such as handovers, network selection, and resource scheduling can be performed instantly using AI. AI can also play a crucial role in machine-to-machine (M2M), machine-to-human, and human-to-machine communications. Furthermore, AI can facilitate rapid communication in brain-computer interfaces (BCIs). AI-based communication systems can be supported by metamaterials, intelligent structures, intelligent networks, intelligent devices, intelligent cognitive radios, self-sustaining wireless networks, and machine learning.

[0103] - THz communication (terahertz communication): Data rates can be increased by increasing the bandwidth. This can be achieved by using sub-THz communication with wide bandwidths and applying advanced massive MIMO technology. THz waves, also known as sub-millimeter waves, typically refer to the frequency range between 0.1 THz and 10 THz, with corresponding wavelengths ranging from 0.03 mm to 3 mm. The 100 GHz to 300 GHz band (sub-THz band) is considered a key part of the THz spectrum for cellular communications. Adding the sub-THz band to the mmWave band will increase the capacity of 6G cellular communications. Among the defined THz bands, 300 GHz to 3 THz lies in the far infrared (IR) frequency band. While part of the optical band, the 300 GHz to 3 THz band lies at the boundary of the optical band, immediately following the RF band. Therefore, this 300 GHz to 3 THz band exhibits similarities to RF.

[0104] Figure 7 illustrates the electromagnetic spectrum according to one embodiment of the present disclosure. The embodiment of Figure 7 can be combined with various embodiments of the present disclosure. Key characteristics of THz communications include (i) a widely available bandwidth to support very high data rates, and (ii) high path loss at high frequencies (highly directional antennas are essential). The narrow beamwidth generated by the highly directional antenna reduces interference. The small wavelength of THz signals allows for a much larger number of antenna elements to be integrated into devices and base stations operating in this band. This enables the use of advanced adaptive array techniques to overcome range limitations.

[0105] - Large-scale MIMO technology

[0106] - Hologram beamforming (HBF)

[0107] - Optical wireless technology

[0108] - Free-space optical transmission backhaul network (FSO backhaul network)

[0109] - Quantum communication

[0110] - Cell-free communication

[0111] - Integration of wireless information and power transmission

[0112] - Integration of wireless communication and sensing

[0113] - Integrated access and backhaul network

[0114] - Big data analysis

[0115] - Reconfigurable intelligent surface

[0116] - metaverse

[0117] - Block chain

[0118] Unmanned aerial vehicles (UAVs): UAVs, or drones, will be a key element in 6G wireless communications. In most cases, high-speed data wireless connectivity can be provided using UAV technology. Base stations (BSs) can be installed on UAVs to provide cellular connectivity. UAVs may offer specific capabilities not found in fixed BS infrastructure, such as easy deployment, robust line-of-sight links, and controlled mobility. During emergencies such as natural disasters, deploying terrestrial communications infrastructure is not economically feasible and sometimes cannot provide services in volatile environments. UAVs can easily handle these situations. UAVs will become a new paradigm in wireless communications. This technology facilitates three fundamental requirements for wireless networks: enhanced mobile broadband (eMBB), URLLC, and mMTC. UAVs can also support various purposes, such as enhancing network connectivity, fire detection, disaster emergency services, security and surveillance, pollution monitoring, parking monitoring, and accident monitoring. Therefore, UAV technology is recognized as one of the most important technologies for 6G communications.

[0119] - Autonomous driving (self-driving): V2X (vehicle to everything), a key element in building autonomous driving infrastructure, can be a technology that allows cars to communicate and share with various elements on the road for autonomous driving, such as vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) wireless communication. Fast transmission speeds and low-latency technologies are essential to maximize autonomous driving performance and ensure high safety. Furthermore, in the future, autonomous driving will go beyond simply providing warnings or guidance messages to drivers and may require active intervention in vehicle operation and direct control of the vehicle in dangerous situations. To this end, the amount of information that needs to be transmitted and received may become enormous, so 6G is expected to maximize autonomous driving with faster transmission speeds and lower latency than 5G.

[0120] - Non-terrestrial networks (NTN): NTN may refer to a network or network segment that uses radio frequency (RF) resources mounted on a satellite (or unmanned aerial system (UAS) platform). FIG. 8 illustrates an example of a typical NTN scenario based on a transparent payload according to an embodiment of the present disclosure. FIG. 9 illustrates an example of a typical NTN scenario based on a regenerative payload according to an embodiment of the present disclosure. The embodiments of FIG. 8 or FIG. 9 may be combined with various embodiments of the present disclosure. Referring to FIG. 8, a satellite (or UAS platform) may create a service link with a UE. The satellite (or UAS platform) may be connected to a gateway via a feeder link. The satellite may be connected to a data network via the gateway. A beam footprint may refer to an area where a signal transmitted by a satellite can be received. Referring to Figure 9, a satellite (or UAS platform) can establish a service link with a UE. A satellite (or UAS platform) connected to a UE can be connected to another satellite (or UAS platform) via an inter-satellite link (ISL). The other satellite (or UAS platform) can be connected to a gateway via a feeder link. Based on the replay payload, a satellite can be connected to a data network through another satellite and the gateway. If an ISL does not exist between a satellite and another satellite, a feeder link between the satellite and the gateway may be required. Figures 8 and 9 are merely examples of NTN scenarios, and NTN can be implemented based on various scenarios.For example, a satellite (or UAS platform) may implement a transparent or regenerative (with onboard processing) payload. For example, a satellite (or UAS platform) may generate multiple beams over a designated service area depending on the field of view of the satellite (or UAS platform). For example, the field of view of the satellite (or UAS platform) may vary depending on the onboard antenna diagram and minimum elevation angle. For example, a transparent payload may include radio frequency filtering, frequency conversion, and amplification. Therefore, the waveform signal repeated by the payload may not be altered. For example, a regenerative payload may include radio frequency filtering, frequency conversion and amplification, demodulation / decoding, switching and / or routing, and coding / modulation. For example, a regenerative payload may be substantially equivalent to equipping the satellite (or UAS platform) with all or part of the base station functionality.

[0121] - Integrated Sensing and Communication (ISAC): Wireless sensing is a technology that uses radio frequencies to determine the instantaneous linear velocity, angle, distance (range), etc. of an object, thereby obtaining information about the characteristics of the environment and / or objects within the environment. Because radio frequency sensing does not require a device to connect to the object through a network, it can provide a service for object positioning without a device. The ability to obtain range, velocity, and angle information from radio frequency signals can enable a wide range of new capabilities, such as various object detection, object recognition (e.g., vehicles, humans, animals, UAVs), and high-precision localization, tracking, and activity recognition. Wireless sensing services can provide information to a variety of industries (e.g., drones, smart homes, V2X, factories, railways, public safety, etc.), enabling applications such as intruder detection, assisted vehicle steering and navigation, trajectory tracking, collision avoidance, traffic management, and health and traffic management. In some cases, wireless sensing can utilize non-3GPP type sensors (e.g., radar, cameras) to further support 3GPP-based sensing. For example, the operation of a wireless sensing service, i.e., a sensing operation, may depend on the transmission, reflection, and scattering of wireless sensing signals. Therefore, wireless sensing may provide an opportunity to enhance existing communication systems from a communication network to a wireless communication and sensing network. FIG. 10 illustrates an example of a sensing operation according to an embodiment of the present disclosure. The embodiment of FIG. 10 may be combined with various embodiments of the present disclosure. Specifically, FIG. 10 (a) illustrates an example of sensing using a sensing receiver and a sensing transmitter located at the same location (e.g., monostatic sensing), and FIG. 10 (b) illustrates an example of sensing using a separated sensing receiver and a sensing transmitter (e.g., bistatic sensing).

[0122] Figure 11 illustrates a radio protocol architecture for SL communication. Specifically, Figure 11 (a) illustrates the user plane protocol stack of NR, and Figure 11 (b) illustrates the control plane protocol stack of NR.

[0123] Below, the SL synchronization signal (Sidelink Synchronization Signal, SLSS) and synchronization information are described.

[0124] SLSS is an SL-specific sequence and may include a Primary Sidelink Synchronization Signal (PSSS) and a Secondary Sidelink Synchronization Signal (SSSS). The PSSS may be referred to as a Sidelink Primary Synchronization Signal (S-PSS), and the SSSS may be referred to as a Sidelink Secondary Synchronization Signal (S-SSS). For example, length-127 M-sequences may be used for the S-PSS, and length-127 Gold sequences may be used for the S-SSS. For example, a terminal may detect an initial signal and acquire synchronization using the S-PSS. For example, a terminal may acquire detailed synchronization and detect a synchronization signal ID using the S-PSS and the S-SSS.

[0125] PSBCH (Physical Sidelink Broadcast Channel) may be a (broadcast) channel that transmits basic (system) information that a terminal must know first before transmitting or receiving an SL signal. For example, the basic information may be information related to SLSS, duplex mode (DM), TDD UL / DL (Time Division Duplex Uplink / Downlink) configuration, resource pool-related information, type of application related to SLSS, subframe offset, broadcast information, etc. For example, in NR V2X, for evaluating PSBCH performance, the payload size of PSBCH may be 56 bits, including a 24-bit CRC.

[0126] S-PSS, S-SSS and PSBCH may be included in a block format supporting periodic transmission (e.g., SL SS (Synchronization Signal) / PSBCH block, hereinafter referred to as S-SSB (Sidelink-Synchronization Signal Block)). The S-SSB may have the same numerology (i.e., SCS and CP length) as the PSCCH (Physical Sidelink Control Channel) / PSSCH (Physical Sidelink Shared Channel) in the carrier, and the transmission bandwidth may be within a (pre-)configured SL BWP (Sidelink BWP). For example, the bandwidth of the S-SSB may be 11 RBs (Resource Blocks). For example, the PSBCH may span 11 RBs. And, the frequency location of the S-SSB may be (pre-)configured. Therefore, the terminal does not need to perform hypothesis detection in the frequency to discover the S-SSB in the carrier.

[0127] Meanwhile, in the NR SL system, multiple numerologies having different SCS and / or CP lengths may be supported. In this case, as the SCS increases, the length of the time resource for a transmitting terminal to transmit an S-SSB may become shorter. Accordingly, the coverage of the S-SSB may decrease. Therefore, in order to ensure the coverage of the S-SSB, the transmitting terminal may transmit one or more S-SSBs to a receiving terminal within one S-SSB transmission period according to the SCS. For example, the number of S-SSBs that the transmitting terminal transmits to the receiving terminal within one S-SSB transmission period may be pre-configured or configured for the transmitting terminal. For example, the S-SSB transmission period may be 160 ms. For example, an S-SSB transmission period of 160 ms may be supported for all SCSs.

[0128] For example, when the SCS is 15 kHz at FR1, the transmitting terminal can transmit one or two S-SSBs to the receiving terminal within one S-SSB transmission period. For example, when the SCS is 30 kHz at FR1, the transmitting terminal can transmit one or two S-SSBs to the receiving terminal within one S-SSB transmission period. For example, when the SCS is 60 kHz at FR1, the transmitting terminal can transmit one, two, or four S-SSBs to the receiving terminal within one S-SSB transmission period.

[0129] For example, when the SCS is 60 kHz at FR2, the transmitting terminal can transmit 1, 2, 4, 8, 16, or 32 S-SSBs to the receiving terminal within one S-SSB transmission period. For example, when the SCS is 120 kHz at FR2, the transmitting terminal can transmit 1, 2, 4, 8, 16, 32, or 64 S-SSBs to the receiving terminal within one S-SSB transmission period.

[0130] Meanwhile, when the SCS is 60 kHz, two types of CP may be supported. In addition, the structure of the S-SSB transmitted by the transmitting terminal to the receiving terminal may be different depending on the CP type. For example, the CP type may be Normal CP (NCP) or Extended CP (ECP). Specifically, for example, when the CP type is NCP, the number of symbols to which the PSBCH is mapped within the S-SSB transmitted by the transmitting terminal may be 9 or 8. On the other hand, for example, when the CP type is ECP, the number of symbols to which the PSBCH is mapped within the S-SSB transmitted by the transmitting terminal may be 7 or 6. For example, the PSBCH may be mapped to the first symbol within the S-SSB transmitted by the transmitting terminal. For example, the receiving terminal receiving the S-SSB may perform an Automatic Gain Control (AGC) operation in the first symbol section of the S-SSB.

[0131] Figure 12 shows a terminal performing V2X or SL communication.

[0132] Referring to FIG. 12, the term "terminal" in V2X or SL communication may primarily refer to a user's terminal. However, if a network device such as a base station transmits and receives signals according to a communication method between terminals, the base station may also be considered a type of terminal. For example, terminal 1 may be a first device (100), and terminal 2 may be a second device (200).

[0133] For example, terminal 1 can select a resource unit corresponding to a specific resource within a resource pool, which represents a set of resources. Then, terminal 1 can transmit an SL signal using the resource unit. For example, terminal 2, which is a receiving terminal, can be configured with a resource pool in which terminal 1 can transmit a signal, and can detect a signal from terminal 1 within the resource pool.

[0134] Here, if terminal 1 is within the connection range of the base station, the base station can inform terminal 1 of the resource pool. On the other hand, if terminal 1 is outside the connection range of the base station, another terminal can inform terminal 1 of the resource pool, or terminal 1 can use a pre-configured resource pool.

[0135] In general, a resource pool can be composed of multiple resource units, and each terminal can select one or multiple resource units to use for its SL signal transmission.

[0136] Figure 13 shows resource units for V2X or SL communication.

[0137] Referring to Figure 13, the entire frequency resources of the resource pool can be divided into NF units, and the entire time resources of the resource pool can be divided into NT units. Therefore, a total of NF * NT resource units can be defined within the resource pool. Figure 13 illustrates an example where the resource pool repeats with a cycle of NT subframes.

[0138] As illustrated in Figure 13, a single resource unit (e.g., Unit #0) may appear periodically and repeatedly. Alternatively, to achieve diversity effects in the time or frequency dimensions, the index of the physical resource unit to which a single logical resource unit is mapped may change in a predetermined pattern over time. In this resource unit structure, a resource pool may refer to a set of resource units that a terminal wishing to transmit an SL signal can use for transmission.

[0139] Resource pools can be subdivided into several categories. For example, based on the content of the SL signal transmitted from each resource pool, resource pools can be categorized as follows:

[0140] (1) Scheduling Assignment (SA) may be a signal that includes information such as the location of resources used by a transmitting terminal for transmission of an SL data channel, MCS (Modulation and Coding Scheme) or MIMO (Multiple Input Multiple Output) transmission method required for demodulation of other data channels, and TA (Timing Advance). SA may also be transmitted multiplexed with SL data on the same resource unit, in which case the SA resource pool may mean a resource pool in which SA is multiplexed with SL data and transmitted. SA may also be called an SL control channel.

[0141] (2) The SL data channel (Physical Sidelink Shared Channel, PSSCH) may be a resource pool used by a transmitting terminal to transmit user data. If SA is multiplexed and transmitted together with SL data on the same resource unit, only the SL data channel excluding SA information may be transmitted from the resource pool for the SL data channel. In other words, the REs (Resource Elements) that were used to transmit SA information on individual resource units within the SA resource pool may still be used to transmit SL data in the resource pool of the SL data channel. For example, the transmitting terminal may transmit the PSSCH by mapping it to consecutive PRBs.

[0142] (3) A discovery channel may be a resource pool for transmitting terminals to transmit information such as their IDs. Through this, transmitting terminals can enable neighboring terminals to discover them.

[0143] Even if the content of the SL signal described above is the same, different resource pools may be used depending on the transmission and reception properties of the SL signal. For example, even if it is the same SL data channel or discovery message, it may be again divided into different resource pools depending on the transmission timing determination method of the SL signal (for example, whether it is transmitted at the time of reception of a synchronization reference signal or whether it is transmitted by applying a certain timing advance at the time of reception), the resource allocation method (for example, whether the base station designates transmission resources for individual signals to individual transmitting terminals or whether individual transmitting terminals independently select individual signal transmission resources within the resource pool), the signal format (for example, the number of symbols each SL signal occupies in one subframe or the number of subframes used for transmission of one SL signal), the signal strength from the base station, the transmission power strength of the SL terminal, etc.

[0144] FIG. 14 illustrates an example of a BWP according to an embodiment of the present disclosure. The embodiment of FIG. 14 can be combined with various embodiments of the present disclosure. In the embodiment of FIG. 14, it is assumed that there are three BWPs.

[0145] Referring to Figure 14, a common resource block (CRB) may be a carrier resource block numbered from one end of a carrier band to the other. Furthermore, a PRB may be a numbered resource block within each BWP. Point A may indicate a common reference point for the resource block grid.

[0146] The BWP can be set by Point A, an offset from Point A (NstartBWP), and a bandwidth (NsizeBWP). For example, Point A can be an outer reference point of a PRB of a carrier where subcarrier 0 of all numerologies (e.g., all numerologies supported by the network on that carrier) are aligned. For example, the offset can be the PRB spacing between the lowest subcarrier in a given numerology and Point A. For example, the bandwidth can be the number of PRBs in a given numerology.

[0147] SLSS (Sidelink Synchronization Signal) is a SL (sidelink) specific sequence and may include PSSS (Primary Sidelink Synchronization Signal) and SSSS (Secondary Sidelink Synchronization Signal). The PSSS may be referred to as S-PSS (Sidelink Primary Synchronization Signal) and the SSSS may be referred to as S-SSS (Sidelink Secondary Synchronization Signal). For example, length-127 M-sequences may be used for S-PSS and length-127 Gold sequences may be used for S-SSS. For example, a terminal may detect an initial signal (signal detection) and obtain synchronization using S-PSS. For example, the terminal can obtain detailed synchronization using S-PSS and S-SSS and detect a synchronization signal ID.

[0148] PSBCH (Physical Sidelink Broadcast Channel) may be a (broadcast) channel that transmits basic (system) information that a terminal must know first before transmitting or receiving an SL signal. For example, the basic information may be information related to SLSS, duplex mode (DM), TDD UL / DL (Time Division Duplex Uplink / Downlink) configuration, resource pool-related information, type of application related to SLSS, subframe offset, broadcast information, etc. For example, in order to evaluate PSBCH performance, in NR V2X, the payload size of PSBCH may be 56 bits, including a 24-bit CRC (Cyclic Redundancy Check).

[0149] S-PSS, S-SSS and PSBCH may be included in a block format supporting periodic transmission (e.g., SL SS (Synchronization Signal) / PSBCH block, hereinafter referred to as S-SSB (Sidelink-Synchronization Signal Block)). The S-SSB may have the same numerology (i.e., SCS and CP length) as the PSCCH (Physical Sidelink Control Channel) / PSSCH (Physical Sidelink Shared Channel) in the carrier, and the transmission bandwidth may be within a (pre-)configured SL BWP (Sidelink BWP). For example, the bandwidth of the S-SSB may be 11 RBs (Resource Blocks). For example, the PSBCH may span 11 RBs. And, the frequency location of the S-SSB may be (pre-)configured. Therefore, the terminal does not need to perform hypothesis detection in the frequency to discover the S-SSB in the carrier.

[0150] FIG. 15 illustrates a procedure for a terminal to perform V2X or SL communication according to a resource allocation mode, according to one embodiment of the present disclosure. The embodiment of FIG. 15 may be combined with various embodiments of the present disclosure.

[0151] Referring to (a) of FIG. 15, in resource allocation mode 1, the base station may schedule SL resources to be used by the terminal for SL transmission. For example, in step S1500, the base station may transmit information related to SL resources and / or information related to UL resources to the first terminal. For example, the UL resources may include PUCCH resources and / or PUSCH resources. For example, the UL resources may be resources for reporting SL HARQ feedback to the base station.

[0152] For example, a first terminal may receive information related to a dynamic grant (DG) resource and / or information related to a configured grant (CG) resource from a base station. For example, a CG resource may include a CG type 1 resource or a CG type 2 resource. In this specification, a DG resource may be a resource that a base station configures / allocates to the first terminal via downlink control information (DCI). In this specification, a CG resource may be a (periodic) resource that a base station configures / allocates to the first terminal via DCI and / or an RRC message. For example, in the case of a CG type 1 resource, the base station may transmit an RRC message including information related to the CG resource to the first terminal. For example, in the case of a CG type 2 resource, the base station may transmit an RRC message including information related to the CG resource to the first terminal, and the base station may transmit a DCI related to activation or release of the CG resource to the first terminal.

[0153] In step S1510, the first terminal may transmit a PSCCH (e.g., Sidelink Control Information (SCI) or 1st-stage SCI) to the second terminal based on the resource scheduling. In step S1520, the first terminal may transmit a PSSCH (e.g., 2nd-stage SCI, MAC PDU, data, etc.) related to the PSCCH to the second terminal. In step S1530, the first terminal may receive a PSFCH related to the PSCCH / PSSCH from the second terminal. For example, HARQ feedback information (e.g., NACK information or ACK information) may be received from the second terminal via the PSFCH. In step S1540, the first terminal may transmit / report HARQ feedback information to the base station via a PUCCH or a PUSCH. For example, the HARQ feedback information reported to the base station may be information generated by the first terminal based on the HARQ feedback information received from the second terminal. For example, the HARQ feedback information reported to the base station may be information generated by the first terminal based on a rule set in advance. For example, the DCI may be DCI for scheduling SL.

[0154] Referring to (b) of FIG. 15, in resource allocation mode 2, a terminal can determine SL transmission resources within SL resources set by a base station / network or preset SL resources. For example, the set SL resources or preset SL resources may be a resource pool. For example, the terminal can autonomously select or schedule resources for SL transmission. For example, the terminal can perform SL communication by selecting resources by itself within the set resource pool. For example, the terminal can select resources by itself within a selection window by performing sensing and resource (re)selection procedures. For example, the sensing can be performed on a subchannel basis. For example, in step S1510, a first terminal that has selected resources by itself within a resource pool can transmit a PSCCH (e.g., Sidelink Control Information (SCI) or 1st-stage SCI) to a second terminal using the resources. In step S1520, the first terminal may transmit a PSSCH (e.g., 2nd-stage SCI, MAC PDU, data, etc.) related to the PSCCH to the second terminal. In step S1530, the first terminal may receive a PSFCH related to the PSCCH / PSSCH from the second terminal.

[0155] Referring to (a) or (b) of FIG. 15, for example, a first terminal may transmit an SCI to a second terminal on a PSCCH. Alternatively, for example, the first terminal may transmit two consecutive SCIs (e.g., 2-stage SCIs) to the second terminal on the PSCCH and / or the PSSCH. In this case, the second terminal may decode the two consecutive SCIs (e.g., 2-stage SCIs) to receive the PSSCH from the first terminal. In this specification, an SCI transmitted on a PSCCH may be referred to as a 1st SCI, a 1st SCI, a 1st-stage SCI, or a 1st-stage SCI format, and an SCI transmitted on a PSSCH may be referred to as a 2nd SCI, a 2nd SCI, a 2nd-stage SCI, or a 2nd-stage SCI format.

[0156] Referring to (a) or (b) of FIG. 15, in step S1530, the first terminal may receive a PSFCH. For example, the first terminal and the second terminal may determine PSFCH resources, and the second terminal may use the PSFCH resources to transmit HARQ feedback to the first terminal.

[0157] Referring to (a) of FIG. 15, in step S1540, the first terminal may transmit SL HARQ feedback to the base station via PUCCH and / or PUSCH.

[0158] Meanwhile, the aforementioned sidelink can be defined as terminal-to-terminal communication or direct communication between terminals. In this case, the PSCCH can be defined as a physical control channel for terminal-to-terminal communication, the PSSCH as a physical data channel or physical shared channel for terminal-to-terminal communication, and the PSFCH as a physical feedback transmission channel between terminals.

[0159] Sharing maneuver information of delivery robot vehicles using V2X

[0160] Unmanned autonomous vehicles, such as delivery robots and autonomous shuttles, where drivers are absent or uninvolved, rely on sensors like cameras, lidar, and radar attached to the device or vehicle to determine and recognize the field of view along the driving path and drive accordingly. However, in various situations, such as when visibility is reduced due to inclement weather or when a VRU (Vehicle Unmanned Unit) obscured by an obstacle suddenly appears, unmanned autonomous vehicles may face limitations in recognizing and responding to obstacles solely based on the device or its own sensing capabilities.

[0161] Accordingly, unmanned autonomous vehicles may need to receive location information about vulnerable road users (VRUs) or obstacles in advance using V2X communication devices, and control the maneuver of the robot or change the route based on the identified location information of the VRU or obstacle. At this time, a method may be needed for the unmanned autonomous vehicle or the terminal included in the unmanned autonomous vehicle to share information about the current movement status, changed driving status, and route with the surroundings. In particular, terminals related to unmanned autonomous driving, such as delivery robot vehicles, may have different driving behaviors from general vehicles. Therefore, a new message structure and a method for operating the new message may be needed to share the changed status and driving information of the terminal with the surrounding devices so that the surrounding VRUs can be avoided based on the driving form or driving performance of the unmanned autonomous vehicle. For example, in the case of an autonomous delivery robot, the maximum speed, average speed, acceleration / deceleration capabilities, etc. may be designed more conservatively than those of a general vehicle, and the driving capabilities may vary depending on the weight of the loaded or held delivery items, etc.

[0162] Specifically, unmanned autonomous vehicles, such as autonomous delivery robots, may have driving characteristics that differ from those of typical vehicles. These driving characteristics of autonomous delivery robots may be difficult to detect through existing vehicle-to-vehicle messaging. Therefore, a new message structure or set of messages that define the characteristics of such autonomous delivery robots may be required. For example, in situations where a VRU suddenly approaches the road between parked cars or buildings, where sensor performance degrades in adverse weather conditions, or where pedestrian awareness is impaired, such as when a special pedestrian, such as an umbrella, crosses the road, the autonomous delivery vehicle (ADV) can recognize the location, direction, and movement status of the VRU through message exchanges with surrounding devices.

[0163] Accordingly, the following describes in detail a method for an autonomous driving robot (or terminal) such as a delivery robot vehicle or an autonomous driving shuttle, in which a driver does not exist or does not intervene in driving, to receive location / status information of a VRU or obstacle, etc. collected from a server / RSU, etc. using an M2X (Machine-to-Everything) / V2X communication device, to recognize a dangerous situation in advance based on the received information, to control maneuvering or change a driving path based on the recognized dangerous situation, and to share a message including information on a changed driving path and maneuvering to peripheral devices in order to prevent collisions with peripheral devices.

[0164] Furthermore, the following describes newly defined messages for delivery robots and other vehicles, defined as ADV (Autonomous Delivery Vehicle) messages. While the proposed methods below use the term ADV to refer to devices and messages related to delivery robots, this is merely a convenience for explanation. Therefore, the proposed method can be applied to a variety of terminology, as long as the message structure is related to delivery robots.

[0165] Figure 16 is a diagram illustrating how an autonomous delivery robot and a server exchange messages.

[0166] Referring to FIG. 16 (a), the server (110) can exchange messages with at least one autonomous delivery robot (120) and a plurality of VRUs (or VRU devices). For example, the server (110) can receive / collect PSMs (personal safety messages) containing location and status information of the VRUs transmitted via VRUs or VRU devices (such as smartphones possessed by the VRUs). Alternatively, the server (110) can collect information about the VRU, vehicle, and / or obstacles based on sensing information sensed by a road side unit (RSU) in the case of a VRU or vehicle that cannot generate a PSM. In addition, the server (110) can transmit the collected information (PSM, basic safety message (BSM), Sensor Data Sharing Message (SDSM)), etc. to an autonomous delivery robot (ADV). The ADV can perform an operation to change the movement status or movement path of the ADV (within a certain range from a predetermined driving path) based on the information transmitted from the server. Alternatively, the ADV (120) may transmit an ADV message containing status information (or mobility information, recognition information) about the ADV to the server to receive support for analysis related to changes in the driving route from the server. In addition, if driving of the ADV (120) is difficult due to a hazard situation such as a severe bad weather condition, a road obstruction / dangerous condition, or a pothole on the scheduled driving route of the ADV, the server (110) may perform instructions such as guiding the ADV (120) to an alternative route other than the set driving route.

[0167] When the server (110) controls the driving of the ADV (120), such as changing the speed of the ADV (120) or changing the path of the ADV (120) based on the received VRU or obstacle information, it is necessary to update the changed status information of the ADV and share it with the peripheral devices. To this end, as illustrated in FIG. 16 (b), the ADV (120) transmits an ADV message including the updated information to the server (110), and the server (110) can transmit or forward the transmitted ADV message to the peripheral devices. Alternatively, the ADV (120) or the server (110) can broadcast the updated ADV message to the peripheral devices.

[0168] ADVs (120) can drive in different behaviors or driving patterns than general vehicles. Therefore, for VRU collision avoidance, etc., messages containing ADV information related to the driving patterns of such ADVs (120) need to be shared / exchanged between devices. For example, autonomous delivery robots (ADVs) may be designed more conservatively than general vehicles in terms of maximum speed, average speed, acceleration / deceleration capabilities, etc., and their driving capabilities may also vary depending on the weight of passengers currently on board or the weight of the delivered items. Therefore, to help understand the driving performance of the ADV, information on the designed driving performance (e.g., maximum speed, maximum weight, etc.) of the ADV and the current driving performance, as well as current status information of the ADV (120) similar to information included in the BSM / CAM (Cooperative Awareness Message), need to be shared. ADVs (delivery robot vehicles, autonomous shuttles, etc.; 120) have the characteristic of driving along a planned route according to a set routine. Therefore, considering the current driving performance of the ADV (120), future position information for each time unit on the planned route can be easily predicted. The predicted position information by time unit can be shared to avoid collisions with surrounding VRUs, etc. In addition, ADV (120) can share path prediction information for the changed path only when the terminal's movement path changes due to various causes (avoidance of VRU / Hazard / obstacles, bad weather, etc.). Table 5 below provides examples of information included in the ADV message. The information defined in Table 5 is exemplary information, and additional information may be added or some of the information defined in Table 5 may be excluded depending on road traffic conditions, standards, communication methods (PC5, Uu, etc.). In other words, the mandatory inclusion or non-required nature of the information defined in Table 5 may also change.

[0169] MessageData ComponentDescriptionMandatory / OptionalADVMessage Design driving performance of the terminal - Speed ​​range (maximum / minimum) - Maximum acceleration / deceleration - Maximum passenger / load weight - Other design performance elements Driving performance under design specification conditions without any restrictions such as passengers or cargo, road or weather environmentO Current driving performance of the terminal - Speed ​​range (maximum / minimum) - Maximum acceleration / deceleration - Current passenger / load weight - Other current performance elements Predicted driving performance considering restrictions due to passenger / cargo weight and road or weather environmentO Terminal status - Current driving status (speed, acceleration, yaw, etc.) - Weight (including passengers / cargo) - Coefficient of friction - Other terminal status Current terminal status information (similar to information included in terminal status information messages such as BSM / CAM)M Planned route information - Path history - Path prediction Past driving history, predicted location information for each time step on the planned routeM Changed route information - Path prediction Predicted location for each time step on the changed route InformationO Collision avoidance-related parameters-longitudinal braking distance-lateral turning radius-Collision avoidance-related parameters calculated from the current state of TTCADVM

[0170] Figure 17 is a diagram illustrating a method for exchanging messages between ADV and a server.

[0171] The above-described proposed method can be supported / implemented through the exchange of conventional messages and ADV message sets in various devices (ADV, terminal, VRU, server, RSU, etc.).

[0172] First, it may be a method to collect VRU information through personal terminals such as smartphones without intervention of RSU on the server, and to transmit the VRU information collected from the server to ADV to change the status or path of ADV.

[0173] Specifically, referring to FIG. 17 (a), the server can collect messages such as PSM and VAM (VRU Awareness Message) from multiple VRUs (VRU1, VRU2, 쪋, VRU#), and transmit information (VRU information) about the collected messages to the ADV. The ADV can calculate and update the design performance and current performance level, current status, route information, etc. of the ADV by itself or with the support of the server. The ADV can cooperatively recognize surrounding VRUs and, if necessary, slow down or slightly modify the route. In this case, the ADV can generate an ADV message comprehensively including the status information and modification information of the ADV, and transmit the generated ADV message to the server. The server can transmit the ADV information included in the ADV message to surrounding VRUs of the ADV. In this case, multiple VRUs (VRU1, VRU2, ..., VRU#) can compare / analyze their own positions and paths with the path (predicted path) of the ADV to calculate the collision probability, and perform collision avoidance actions based on the calculated collision probability, etc.

[0174] Secondly, when there is a VRU (Unconnected user) among the plurality of VRUs that can generate and transmit recognition messages such as PSM or VAM, the server may additionally collect sensing information of the RSU and provide the recognition messages such as PSM received from the VRUs and the sensing information to the ADV.

[0175] Specifically, referring to FIG. 17 (b), the RSU can collect device information obtained from messages collected from surrounding terminals (BSM, CAM, PSM, VAM, etc.) and sensing information (SDSM, CPM, etc.) sensed through sensors (cameras, lidars, radars, etc.) of the RSU and transmit them to the server. The server can collect information from recognition messages such as PSMs received from VRUs and information provided by the RSU and transmit them to the ADV. The ADV can calculate and update the design and current performance level, current status, path information, etc. of the ADV by itself or with the support of the server. The ADV can recognize the surrounding VRUs or obstacle situations and slow down or correct the path if necessary. In addition, the ADV can generate an ADV message comprehensively including such calculated / updated information (e.g., ADV information) and transmit it to the server. The server can transmit the ADV information included in the ADV message to VRUs surrounding the ADV. In this case, multiple VRUs (VRU1, VRU2, ..., VRU#) can compare / analyze their own positions and paths with the path (predicted path) of the ADV to calculate the collision probability, and perform collision avoidance actions based on the calculated collision probability, etc. By comparing and analyzing the positions and paths of the VRUs with the predicted path information of the ADV, the probability of collision can be identified and collision avoidance can be supported.

[0176] The technical effect of exchanging messages / information with servers, etc. according to the proposed method is that in situations where the recognition ability of sensors is weakened due to various reasons such as bad weather, ADV device malfunction, or VRU, etc. cannot be recognized due to surrounding obstacles, the server can effectively support the ADV's avoidance of VRU or obstacles, etc. through cooperative recognition based on M2X / V2X communication, and by sharing messages containing ADV information with VRU, etc., information that can be used to evaluate collision warnings, collision probability, etc. can be effectively provided. In this way, the driving safety of ADV is expected to be enhanced through the bidirectional VRU avoidance support effect.

[0177] Below, we detail how ADV quantifies longitudinal avoidance capabilities to support evasion against VRUs.

[0178] Figure 18 is a drawing for explaining how ADV performs longitudinal avoidance.

[0179] Referring to Fig. 18 (a), the ADV (120) can calculate a longitudinal braking distance (LBD), and trigger an ADV message to additionally include information about a collision risk situation when the calculated LBD is within the movement radius of the VRU. In addition, a method of differentiating the warning level according to the difference between the movement radius of the VRU and the LBD can also be considered.

[0180] Specifically, ADV (120) can calculate the braking distance LBD(D) using the following mathematical equations 1 and 2 based on the law of kinetic energy.

[0181]

[0182]

[0183] Here, w represents the weight of the ADV (120), which can be the sum of the weight of passengers or cargo, etc., to the specification weight of the ADV (120). v represents the speed of the ADV (120), and f can represent friction. The friction can be the sum of the road friction between the tire and the road surface, the friction between the brake drum and the lining, etc. Here, the LBD is directly proportional to the weight and speed of the terminal, and inversely proportional to the friction. For example, the higher the driving speed of the ADV (120) or the heavier the weight, the longer the braking distance, and the lower the friction (the slippery road surface), the longer the braking distance. In this way, D can change dynamically depending on the weather and the state of the ADV (speed, weight, etc.). Therefore, the ADV (120) can continuously or periodically calculate the LBD of the current state and transmit it to an ADV message including the calculated LBD to support the evasive actions of the VRUs. Alternatively, ADV (120) may perform the calculation of the LBD when its weight changes beyond a certain threshold.

[0184] Alternatively, the ADV (120) can predict the position per time unit according to its current state / route while driving, and transmit the predicted position per time unit in an ADV message including the position information. The ADV (120) can receive information about VRUs on the ADV driving path from a server, and analyze the predicted path of the ADV and the movement path and radius (red range in the figure above) of the VRU to determine whether there is a risk of collision with the VRU. If a risk of collision with the VRU is detected, the ADV (120) can calculate the LBD, which is the longitudinal braking distance in the current state, and transmit an ADV message including the calculated LBD and information about a collision risk warning. At this time, the level of warning provided and the level of adjustment of the ADV's maneuvering can be controlled according to the level of the current longitudinal braking distance. For example, the warning level and maneuvering can be controlled as follows. The adjustment level and threshold range below can be variously changed.

[0185] - D > VRU movement range: Only longitudinal braking distance information is included in the ADV message without changing the ADV's maneuver.

[0186] - D = VRU movement range: Controls (decelerates) the speed of the ADV from the point when the braking distance is included within the VRU movement radius, and transmits an ADV message containing the changed predicted path (path prediction) and braking distance information and collision warning information.

[0187] - D < VRU movement range: If the VRU movement radius is continuously included within the braking distance even when the ADV performs deceleration, an ADV message containing information on the changed predicted path (path prediction) and braking distance and collision warning information is transmitted while adjusting the ADV's maneuver (maneuver) such as emergency stop or lateral avoidance.

[0188] Additionally, if the ADV's driving behavior changes, such as deceleration, the ADV can transmit messages (regarding the change in driving behavior) to surrounding terminals through various communication methods (V2V, V2N, etc.). For example, if the ADV suddenly decelerates or brakes, the risk of collision with the vehicle behind increases, so the ADV can transmit a message containing information such as the changed path plan and the forward / rear safety distance calculated based on this to surrounding vehicles / devices (especially, the vehicles behind).

[0189] Referring to Fig. 18 (b), the ADV (120) can calculate a lateral turning radius (LTR), and if the calculated LTR indicates that the VRU is within the movement radius, it can trigger the transmission of an ADV message containing information on the risk of collision. Furthermore, there may be a method for differentiating the warning level depending on the difference between the movement radius of the VRU and the LBD.

[0190] Specifically, the turning radius LTR(R) of ADV (120) can be calculated using mathematical equations 3 and 4 based on centripetal force (turning force) and centrifugal force.

[0191]

[0192]

[0193] Here, w represents the weight of the ADV (120), which can be the sum of the weight of passengers or cargo, etc., to the specification weight of the ADV (120). v represents the speed of the ADV (120). may denote a transverse friction coefficient. Here, LTR is directly proportional to the speed of the ADV (120), and may be inversely proportional to the friction coefficient and the weight of the terminal. For example, the turning radius may increase as the driving speed of the ADV (120) increases, and the turning radius may increase as the weight of the ADV (120) decreases or the friction force decreases (when the road surface is slippery). Since R changes dynamically depending on the weather and the condition of the ADV (speed, weight, etc.), the ADV (120) may continuously / periodically calculate R for the current condition, and transmit an ADV message including information on the calculated R to support avoidance of VRUs.

[0194] Lateral avoidance may be necessary when an obstacle or abnormal road condition occurs on the driving path of the ADV (120), or when there is a risk of collision with the VRU despite the VRU performing maneuver control such as deceleration. In addition, when the ADV (120) changes its path, messages can be transmitted to surrounding terminals (vehicles, VRUs) that may have an influence through various communication methods. For example, when the ADV (120) changes its path to avoid a parked vehicle or a VRU, the possibility of collision with a vehicle driving in a side lane increases, so the ADV (120) can transmit a message including information about the changed path plan of the ADV to surrounding vehicles / devices.

[0195] Figure 19 is a diagram for explaining a method for controlling transmission of an ADV message based on the status of the ADV.

[0196] The communication of ADV messages can be controlled based on the status of the ADV. For example, the data elements included in the ADV message can be determined based on the status of the ADV, or the transmission cycle, transmission power, etc. can be controlled. Alternatively, whether the ADV message is delivered to infrastructure such as a server can be determined based on the status of the ADV.

[0197] Below, a method for controlling transmission parameters of an ADV message based on the status of the ADV and a method for sending and receiving ADV messages between infrastructure such as an ADV and a server are described in detail.

[0198] 1. Transmission control conditions for ADV messages (broadcast transmission control conditions)

[0199] An ADV can periodically transmit ADV messages or awareness messages containing its current status and driving performance information to surrounding road devices (vehicles, terminals, RSUs, VRUs, etc.). Since an ADV, which is an autonomous driving robot, plans to drive along a predetermined route according to its specific driving performance, accurate path prediction information can be included in the ADV messages. Here, the surrounding devices can receive the ADV messages, etc. simply to obtain driving-related status information. In this case, the surrounding devices can predict future driving-related information, paths, and / or locations of the ADV based on the driving performance, driving status, and path prediction information (location information by time period) included in the ADV message. Therefore, the parameters of the ADV message can be set to default values ​​of lower transmission cycles and transmission power values ​​than those of awareness messages (BSMs, CAMs, etc.) of surrounding devices (devices controlled by users) based on the amount of data in the path prediction information included in the ADV message.

[0200] In addition, as per the conditions below, when the ADV's path plan is changed or a change in the path plan is required, the transmission power / transmission cycle of the message for awareness (e.g., ADV message) can be dynamically changed / controlled to a higher value than the basic setting value. The conditions below can be changed / added / removed depending on the circumstances of the terminal, road, infrastructure, etc.

[0201] - ① When the weight of the ADV changes (e.g., changes in the capacity and / or weight of the loaded / boarded object) or when the driving performance of the ADV changes due to the change in weight (e.g., when the driving performance of the ADV is predicted to decrease (or increase) by a predetermined threshold value due to the change in weight)

[0202] - ② When the ADV stops to load / board goods or when the ADV changes driving behavior (acceleration / deceleration, lane change, etc.)

[0203] - ③ When the ADV's driving behavior (speed, acceleration, etc.) changes due to road obstacles, abnormal road conditions, etc.

[0204] - ④ When the ADV's driving route changes due to road obstacles, abnormal road conditions, etc.

[0205] - ⑤ When the distance between ADV and peripheral devices (vehicles, objects, VRUs, dynamic objects, etc.) is below the threshold value (m) (the threshold value (m) can be adjusted according to the possibility of collision with peripheral devices (especially VRUs) by considering LBD, LTR, etc. calculated based on the current state of ADV)

[0206] For example, referring to FIG. 19 (a), the ADV can drive while maintaining a route plan for delivery, etc. (S181). While driving, the ADV can collect information about surrounding devices from its own sensors and / or infrastructure (S182). Alternatively, the ADV can determine whether at least one condition among ① to ⑤ described above is satisfied based on the collected information (S193). For example, with respect to "①", the ADV can determine whether the weight of the ADV increases due to loading of items, etc. If at least one condition among ① to ⑤ described above is not satisfied, the ADV can maintain the existing route plan and transmit the ADV message without changing the transmission parameters of the ADV message (S183, No). Alternatively, if at least one condition among ① to ⑤ described above is satisfied, the ADV can change the existing route plan and / or adjust the transmission parameters of the ADV message (S183, Yes; S184). For example, if the weight of the ADV changes or the driving performance (braking performance, etc.) changes due to the weight change, the ADV may adjust the transmission period and / or transmission power of the ADV message. For example, if the weight of the ADV is greater than a predetermined threshold weight, the ADV may reduce the transmission period of the ADV message or increase the transmission power. If at least one of the conditions ① to ⑤ described above is not satisfied for a certain period of time (or, if there is no additional change in the route plan for a certain period of time), the ADV may reset the transmission parameters of the ADV message to default values ​​and drive according to the route plan (S185).

[0207] 2. ADV-Infrastructure Transmission and Reception Conditions

[0208] If the ADV continuously provides ADV messages to the infrastructure (server, network, RSU, etc.) even when support from the infrastructure is unnecessary, the signaling load of the ADV may increase or the load or efficiency of the communication channel may decrease. If the infrastructure determines that there is no change in the ADV's planned movement route and driving behavior, it may not need to frequently receive messages to determine the ADV's location information. Therefore, the ADV may transmit an ADV message to the infrastructure or reduce the transmission cycle of the ADV message (increase the frequency of the transmission cycle) if at least one of the conditions described below is satisfied. If at least one of the conditions described below is satisfied, the ADV may share / report its current status and surrounding road environment information to the infrastructure, and may request specific information or applications from the infrastructure as needed. Meanwhile, the conditions described below may be flexibly changed / added / removed depending on the circumstances of the terminal / road / infrastructure, etc.

[0209] - ① When the distance between ADV and surrounding objects (VRU, obstacles, etc.) is below a certain threshold value (m) (the threshold value (m) can be adjusted according to the possibility of collision by considering the calculated LBD, LTR, etc. for the current ADV)

[0210] - ② When the object recognition and detection rate of ADV’s sensor is below a certain threshold value (%)

[0211] - ③ When the object recognition distance from ADV’s sensor is below a certain threshold value (m)

[0212] - ④ When an obstacle or abnormal condition is detected on the road (for reporting purposes)

[0213] - ⑤ When a risk event of ADV occurs

[0214] - ⑥ When the ADV status or short-term path plan changes (such as changing lanes within a set route)

[0215] - ⑦ When a long-term path plan change is needed for ADV

[0216] - ⑧ When requesting services / applications required for infrastructure

[0217] For example, referring to FIG. 19 (b), the infrastructure can collect road conditions and traffic information about surrounding devices from various devices (S191). If there are surrounding VRUs that match the ADV's route plan, the infrastructure can transmit a message including the collected traffic information to the ADV and VRUs (S193). If the infrastructure receives an ADV message including information about a change in the existing route plan from the ADV, the infrastructure can update status information related to the ADV (S195). Based on the changed route plan of the ADV, the infrastructure can request additional necessary information from the ADV or determine whether to control the driving of the ADV through control intervention (e.g., changing the route of the ADV, changing the transmission parameters of the ADV message) (S197).

[0218] As described above, if the infrastructure determines that providing information is necessary along the planned driving route of the ADV based on sensor information, abnormal conditions, and / or information collected and reported by the ADV, and / or through communication with other peripheral devices (e.g., other terminals (VRU terminals, etc.), RSUs, road management vehicles, reports, etc.), the infrastructure may support the driving of the ADV. For example, the infrastructure may select information that the ADV may need now or in the future from among the collected information, and provide the selected information to the ADV. In this case, the safe driving of the ADV may be supported, or the location and driving information of the ADV may be shared with the VRUs around the ADV, thereby preventing collisions between the ADV and VRUs. Alternatively, if the ADV determines that driving solely relies on the ADV's sensors is difficult due to the severity of the event, such as a serious change in the road environment, such as bad weather, or an unexpected situation, such as a sensor failure, the ADV may receive support / remote control (e.g., remote driving, etc.) from the infrastructure (server, RSU, etc.) and drive.

[0219] ADV and VRU can provide mutual recognition and warnings through V2X terminals, but the specific TTC-based collision risk analysis / detection method can be classified into various cases depending on the subject of the processing terminal, such as 1) analysis / detection at ADV, 2) analysis / detection at VRU terminal, 3) analysis / detection by assigning both ADV and VRU terminals, and 4) analysis / detection through server support.

[0220] Figure 20 is a drawing for explaining how the first device transmits the first message.

[0221] The first device may be an ADV, an autonomous delivery robot, as described above. Alternatively, the first device may be a terminal included in the ADV. The first device may transmit a first message containing information about its status, and the first message may be the ADV message described above.

[0222] Referring to FIG. 20, the first device can obtain status information about the first device through a sensor (S201). The status information may include information about the location, direction of movement, and driving performance (speed, acceleration, yaw) of the first device. Furthermore, the status information may further include information about the weight of the first device (a weight that reflects the weight of cargo, passengers, etc.) considering the characteristics of the autonomous delivery robot.

[0223] Alternatively, the first device may obtain road environment information about the surrounding environment (road conditions, obstacles, VRUs) of the first device through the sensor, in addition to the status information of the first device. Alternatively, the first device may obtain the road environment information through messages received from devices performing communication such as V2X and / or messages from infrastructure (server, network), in addition to the sensor.

[0224] Next, the first device can control the driving of the first device based on the status information about the first device (S203). As described above, the first device may be an autonomous delivery robot capable of driving on its own without driver intervention. The first device can drive along a preset driving route based on the status information and the road environment information.

[0225] Alternatively, as described above, the first device may perform a maneuver with at least one device. In this case, the first device may adjust a safe distance (distance between devices or distance between vehicles) associated with the maneuver based on the weight or a change in the weight of the first device. For example, when the weight of the first device is greater than or equal to a preset threshold weight, the safe distance may be adjusted to be longer than the safe distance when the weight of the first device is less than the preset threshold weight.

[0226] Next, the first device can transmit a first message including the status information to the peripheral devices and / or infrastructure (S205). As described above, the first message may have a newly defined message format considering the characteristics of ADV. For example, the first message may be a newly defined ADV message including the information defined in Table 5. In particular, the first device is an autonomous delivery robot, and unlike a general vehicle, additional information regarding the weight of the first device needs to be provided. For example, the weight of the first device may vary significantly due to loaded cargo and / or passengers, and the driving performance may vary depending on the change in weight. In particular, when the first device performs maneuvering or platooning with other devices, the distance from the other devices needs to be adjusted based on the weight of the first device or the change in weight. Therefore, the first device can transmit a first message including information regarding the weight of the first device to the peripheral devices, thereby providing an opportunity to adjust the distance between the devices according to the change in weight.

[0227] Alternatively, the first device may periodically calculate a braking distance and a turning radius related to the first device using the above-described mathematical equations 1 to 4 based on the weight, and may transmit the first message further including information about the calculated braking distance and turning radius. At this time, the first device may transmit the first message further including collision warning information about a VRU (Vulnerable Road User) located or detected in the vicinity if the VRU is predicted to be located within the braking distance based on a predicted movement range for the VRU. Alternatively, the first device may adjust a safety distance related to maneuvering based on a predicted movement range for a VRU (Vulnerable Road User) located or detected in the vicinity. For example, the first device may adjust the safety distance to a larger value than before, and transmit the adjusted value to a following device during maneuvering.

[0228] Alternatively, the first device may adjust at least one of the transmission period and transmission power of the first message based on whether the weight increases or decreases beyond a preset threshold. For example, if the weight increases beyond a preset threshold, the first device may set the transmission period set to a default value to be shorter or the transmission power set to a default value to be larger. This is because as the weight of the first device increases, driving performance may deteriorate, such as an increase in braking distance or a decrease in turning ability.

[0229] Alternatively, as described above, the first device may adjust the transmission period or transmission power of the first message based on changes in the driving path of the first device due to the surrounding objects or the road conditions. For example, the first device may shorten the transmission period or increase the transmission power in response to changes in the driving path.

[0230] Alternatively, the first device may request the network to control the driving or maneuvering of the first device in response to a decline in driving performance when the object recognition accuracy of the sensor falls below a preset accuracy due to weather or road conditions.

[0231] Figure 21 is a diagram illustrating how a network communicates with a first device.

[0232] The above network may be an infrastructure or server that provides V2X or M2X services related to road devices as described above. As described above, the network may receive messages from RSU (Roadside Unit), VRU, V2X devices, terminals, ADVs, and vehicles to collect information about road objects and road conditions, and provide the collected information to road devices.

[0233] Referring to FIG. 21, the network may receive a message containing status information for a first device (S211). As described above, the message may be a newly defined ADV message related to ADV, or an existing recognition message (CAM, BSM, CPM, VAM) with additional fields defined for ADV-related characteristics.

[0234] Next, the network can control / monitor the driving of the first device based on the status information (S213). As described above, if the first device determines that autonomous driving through sensors is difficult due to the surrounding road environment, weather conditions, etc., the network can request the network to control or monitor the driving or maneuvering of the first device. In this case, the network can control / monitor the driving of the first device based on the status information of the first device included in the message.

[0235] Alternatively, the network may adjust transmission parameters for the message of the first device based on the fact that the status information of the message further includes information about the weight of the first device. For example, the network may transmit configuration information for adjusting transmission parameters of the message of the first device to the first device if the network determines that the weight of the first device has increased or decreased by a preset threshold weight or more.

[0236] Next, the network can forward the status information of the message to peripheral devices adjacent to the first device (S215). For example, if the message includes information regarding a change in the driving route of the first device, as described above, the network can forward the message including the status information to the peripheral devices.

[0237] In this way, the proposed invention can provide safer and more efficient V2X or M2X services by additionally providing weight information of the autonomous delivery robot through a message so as to reflect the characteristics of the autonomous delivery robot. Alternatively, the proposed invention can effectively respond to changes in the driving performance of the autonomous delivery robot due to changes in weight by controlling the transmission parameters of the message according to the weight information of the autonomous delivery robot. Alternatively, the proposed invention can effectively ensure the safe driving of the autonomous delivery robot in situations where it is difficult to recognize road conditions through cooperative support of infrastructure based on V2X or M2X, while minimizing collisions between the autonomous delivery robot and the surrounding VRU.

[0238] Examples of communication systems to which the invention applies

[0239] Although not limited thereto, the various descriptions, functions, procedures, proposals, methods and / or operational flowcharts of the present invention disclosed in this document may be applied to various fields requiring wireless communication / connection (e.g., 5G) between devices.

[0240] Hereinafter, more specific examples will be provided with reference to the drawings. In the drawings / descriptions below, the same drawing reference numerals may represent identical or corresponding hardware blocks, software blocks, or functional blocks, unless otherwise described.

[0241] Figure 22 illustrates a communication system applied to the present invention.

[0242] Referring to FIG. 22, a communication system (1) applied to the present invention includes a wireless device, a base station, and a network. Here, the wireless device refers to a device that performs communication using a wireless access technology (e.g., 5G NR (New RAT), LTE (Long Term Evolution)) and may be referred to as a communication / wireless / 5G device. Although not limited thereto, the wireless device may include a robot (100a), a vehicle (100b-1, 100b-2), an XR (eXtended Reality) device (100c), a hand-held device (100d), a home appliance (100e), an IoT (Internet of Things) device (100f), and an AI device / server (400). For example, the vehicle may include a vehicle equipped with a wireless communication function, an autonomous vehicle, a vehicle capable of performing vehicle-to-vehicle communication, etc. Here, the vehicle may include an Unmanned Aerial Vehicle (UAV) (e.g., a drone). XR devices include AR (Augmented Reality) / VR (Virtual Reality) / MR (Mixed Reality) devices, and can be implemented in the form of HMD (Head-Mounted Device), HUD (Head-Up Display) installed in a vehicle, television, smartphone, computer, wearable device, home appliance, digital signage, vehicle, robot, etc. Mobile devices can include smartphone, smart pad, wearable device (e.g., smart watch, smart glass), computer (e.g., laptop, etc.), etc. Home appliances can include TV, refrigerator, washing machine, etc. IoT devices can include sensors, smart meters, etc. For example, base stations and networks can also be implemented as wireless devices, and a specific wireless device (200a) can act as a base station / network node to other wireless devices.

[0243] Wireless devices (100a to 100f) can be connected to a network (300) via a base station (200). Artificial Intelligence (AI) technology can be applied to the wireless devices (100a to 100f), and the wireless devices (100a to 100f) can be connected to an AI server (400) via the network (300). The network (300) can be configured using a 3G network, a 4G (e.g., LTE) network, a 5G (e.g., NR) network, etc. The wireless devices (100a to 100f) can communicate with each other via the base station (200) / network (300), but can also communicate directly (e.g., sidelink communication) without going through the base station / network. For example, vehicles (100b-1, 100b-2) can communicate directly (e.g., V2V (Vehicle to Vehicle) / V2X (Vehicle to Everything) communication). In addition, IoT devices (e.g., sensors) can communicate directly with other IoT devices (e.g., sensors) or other wireless devices (100a to 100f).

[0244] Wireless communication / connection (150a, 150b, 150c) can be established between wireless devices (100a~100f) / base stations (200), and base stations (200) / base stations (200). Here, wireless communication / connection can be achieved through various wireless access technologies (e.g., 5G NR) such as uplink / downlink communication (150a), sidelink communication (150b) (or, D2D communication), and communication between base stations (150c) (e.g., relay, IAB (Integrated Access Backhaul). Through wireless communication / connection (150a, 150b, 150c), wireless devices and base stations / wireless devices, and base stations and base stations can transmit / receive wireless signals to each other. For example, wireless communication / connection (150a, 150b, 150c) can transmit / receive signals through various physical channels. To this end, at least some of various configuration information setting processes for transmitting / receiving wireless signals, various signal processing processes (e.g., channel encoding / decoding, modulation / demodulation, resource mapping / demapping, etc.), and resource allocation processes can be performed based on various proposals of the present invention.

[0245] Examples of wireless devices to which the present invention is applied

[0246] Figure 23 illustrates a wireless device applicable to the present invention.

[0247] Referring to FIG. 23, the first wireless device (100) and the second wireless device (200) can transmit and receive wireless signals through various wireless access technologies (e.g., LTE, NR). Here, {the first wireless device (100), the second wireless device (200)} can correspond to {the wireless device (100x), the base station (200)} and / or {the wireless device (100x), the wireless device (100x)} of FIG. 22.

[0248] A first wireless device (100) includes one or more processors (102) and one or more memories (104), and may further include one or more transceivers (106) and / or one or more antennas (108). The processor (102) controls the memories (104) and / or the transceivers (106), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (102) may process information in the memory (104) to generate first information / signal, and then transmit a wireless signal including the first information / signal via the transceiver (106). In addition, the processor (102) may receive a wireless signal including second information / signal via the transceiver (106), and then store information obtained from signal processing of the second information / signal in the memory (104). The memory (104) may be connected to the processor (102) and may store various information related to the operation of the processor (102). For example, the memory (104) may perform some or all of the processes controlled by the processor (102), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (102) and the memory (104) may be part of a communication modem / circuit / chipset designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (106) may be connected to the processor (102) and may transmit and / or receive wireless signals via one or more antennas (108). The transceiver (106) may include a transmitter and / or a receiver. The transceiver (106) may be used interchangeably with an RF (Radio Frequency) unit. In the present invention, a wireless device may also mean a communication modem / circuit / chipset.

[0249] Specifically, the first wireless device or first apparatus (100) may include a processor (102) and a memory (104) connected to a transceiver (106). The memory (104) may include at least one program capable of performing operations related to the embodiments described in FIGS. 16 to 21.

[0250] The processor (102) can control a sensor to obtain status information about the first device, control the driving of the first device based on the status information, and control a transceiver (106) to transmit a first message including the status information to peripheral devices. Here, the status information can include information about the weight of the first device.

[0251] Alternatively, a processing device may be configured to control a first device including a processor (102) and a memory (104). The processing device may include at least one processor and at least one memory connected to the at least one processor and storing instructions, wherein the instructions, based on being executed by the at least one processor, cause the first device to: obtain status information about the first device through a sensor of the first device, control driving of the first device based on the status information, and transmit a first message including the status information to peripheral devices. Here, the status information may include information about a weight of the first device.

[0252] The second wireless device (200) includes one or more processors (202), one or more memories (204), and may further include one or more transceivers (206) and / or one or more antennas (208). The processor (202) controls the memories (204) and / or the transceivers (206), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (202) may process information in the memory (204) to generate third information / signals, and then transmit a wireless signal including the third information / signals via the transceivers (206). Furthermore, the processor (202) may receive a wireless signal including fourth information / signals via the transceivers (206), and then store information obtained from signal processing of the fourth information / signals in the memory (204). The memory (204) may be connected to the processor (202) and may store various information related to the operation of the processor (202). For example, the memory (204) may perform some or all of the processes controlled by the processor (202), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (202) and the memory (204) may be part of a communication modem / circuit / chip designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (206) may be connected to the processor (202) and may transmit and / or receive wireless signals via one or more antennas (208). The transceiver (206) may include a transmitter and / or a receiver. The transceiver (206) may be used interchangeably with an RF unit. In the present invention, a wireless device may also mean a communication modem / circuit / chip.

[0253] Hereinafter, the hardware elements of the wireless device (100, 200) will be described in more detail. Although not limited thereto, one or more protocol layers may be implemented by one or more processors (102, 202). For example, one or more processors (102, 202) may implement one or more layers (e.g., functional layers such as PHY, MAC, RLC, PDCP, RRC, SDAP). One or more processors (102, 202) may generate one or more Protocol Data Units (PDUs) and / or one or more Service Data Units (SDUs) according to the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. One or more processors (102, 202) may generate messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. One or more processors (102, 202) can generate signals (e.g., baseband signals) including PDUs, SDUs, messages, control information, data or information according to the functions, procedures, proposals and / or methods disclosed herein, and provide the signals to one or more transceivers (106, 206). One or more processors (102, 202) can receive signals (e.g., baseband signals) from one or more transceivers (106, 206) and obtain PDUs, SDUs, messages, control information, data or information according to the descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed herein.

[0254] One or more processors (102, 202) may be referred to as a controller, a microcontroller, a microprocessor, or a microcomputer. One or more processors (102, 202) may be implemented by hardware, firmware, software, or a combination thereof. For example, one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), one or more Digital Signal Processing Devices (DSPDs), one or more Programmable Logic Devices (PLDs), or one or more Field Programmable Gate Arrays (FPGAs) may be included in one or more processors (102, 202). The descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document may be implemented using firmware or software, and the firmware or software may be implemented to include modules, procedures, functions, etc. The descriptions, functions, procedures, suggestions, methods and / or operation flowcharts disclosed in this document may be implemented using firmware or software configured to perform one or more processors (102, 202) or stored in one or more memories (104, 204) and executed by one or more processors (102, 202). The descriptions, functions, procedures, suggestions, methods and / or operation flowcharts disclosed in this document may be implemented using firmware or software in the form of codes, instructions and / or sets of instructions.

[0255] One or more memories (104, 204) may be coupled to one or more processors (102, 202) and may store various forms of data, signals, messages, information, programs, codes, instructions, and / or commands. The one or more memories (104, 204) may be configured as ROM, RAM, EPROM, flash memory, hard drives, registers, cache memory, computer-readable storage media, and / or combinations thereof. The one or more memories (104, 204) may be located internally and / or externally to the one or more processors (102, 202). Additionally, the one or more memories (104, 204) may be coupled to the one or more processors (102, 202) via various technologies, such as wired or wireless connections.

[0256] One or more transceivers (106, 206) can transmit user data, control information, wireless signals / channels, etc., as mentioned in the methods and / or flowcharts of this document, to one or more other devices. One or more transceivers (106, 206) can receive user data, control information, wireless signals / channels, etc., as mentioned in the descriptions, functions, procedures, proposals, methods and / or flowcharts of this document, from one or more other devices. For example, one or more transceivers (106, 206) can be connected to one or more processors (102, 202) and can transmit and receive wireless signals. For example, one or more processors (102, 202) can control one or more transceivers (106, 206) to transmit user data, control information, or wireless signals to one or more other devices. Additionally, one or more processors (102, 202) may control one or more transceivers (106, 206) to receive user data, control information, or wireless signals from one or more other devices. Additionally, one or more transceivers (106, 206) may be coupled to one or more antennas (108, 208), and one or more transceivers (106, 206) may be configured to transmit and receive user data, control information, wireless signals / channels, or the like, as referred to in the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed herein, via one or more antennas (108, 208). In this document, one or more antennas may be multiple physical antennas or multiple logical antennas (e.g., antenna ports). One or more transceivers (106, 206) can convert received user data, control information, wireless signals / channels, etc. from RF band signals to baseband signals in order to process the received user data, control information, wireless signals / channels, etc. using one or more processors (102, 202).One or more transceivers (106, 206) may convert user data, control information, wireless signals / channels, etc. processed by one or more processors (102, 202) from baseband signals to RF band signals. For this purpose, one or more transceivers (106, 206) may include an (analog) oscillator and / or filter.

[0257] Examples of wireless devices to which the present invention is applied

[0258] Figure 24 illustrates another example of a wireless device applicable to the present invention. The wireless device may be implemented in various forms depending on the use case / service (see Figure 22).

[0259] Referring to FIG. 24, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 23 and may be composed of various elements, components, units / units, and / or modules. For example, the wireless device (100, 200) may include a communication unit (110), a control unit (120), a memory unit (130), and additional elements (140). The communication unit may include a communication circuit (112) and a transceiver(s) (114). For example, the communication circuit (112) may include one or more processors (102, 202) and / or one or more memories (104, 204) of FIG. 24. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 23. The control unit (120) is electrically connected to the communication unit (110), the memory unit (130), and the additional elements (140) and controls the overall operation of the wireless device. For example, the control unit (120) may control the electrical / mechanical operation of the wireless device based on the program / code / command / information stored in the memory unit (130). In addition, the control unit (120) may transmit information stored in the memory unit (130) to an external device (e.g., another communication device) via a wireless / wired interface through the communication unit (110), or store information received from an external device (e.g., another communication device) via a wireless / wired interface in the memory unit (130).

[0260] The additional element (140) may be configured in various ways depending on the type of the wireless device. For example, the additional element (140) may include at least one of a power unit / battery, an input / output (I / O) unit, a driving unit, and a computing unit. Although not limited thereto, the wireless device may be implemented in the form of a robot (Fig. 22, 100a), a vehicle (Fig. 22, 100b-1, 100b-2), an XR device (Fig. 22, 100c), a portable device (Fig. 22, 100d), a home appliance (Fig. 22, 100e), an IoT device (Fig. 22, 100f), a digital broadcasting terminal, a hologram device, a public safety device, an MTC device, a medical device, a fintech device (or a financial device), a security device, a climate / environmental device, an AI server / device (Fig. 22, 400), a base station (Fig. 22, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0261] In FIG. 24, various elements, components, units / parts, and / or modules within the wireless device (100, 200) may be entirely interconnected via a wired interface, or at least some may be wirelessly connected via a communication unit (110). For example, within the wireless device (100, 200), the control unit (120) and the communication unit (110) may be wired, and the control unit (120) and a first unit (e.g., 130, 140) may be wirelessly connected via the communication unit (110). In addition, each element, component, unit / part, and / or module within the wireless device (100, 200) may further include one or more elements. For example, the control unit (120) may be composed of a set of one or more processors. For example, the control unit (120) may be composed of a set of a communication control processor, an application processor, an electronic control unit (ECU), a graphics processing processor, a memory control processor, etc. As another example, the memory unit (130) may be composed of RAM (Random Access Memory), DRAM (Dynamic RAM), ROM (Read Only Memory), flash memory, volatile memory, non-volatile memory, and / or a combination thereof.

[0262] Examples of vehicles or autonomous vehicles to which the present invention is applied

[0263] Figure 25 illustrates a vehicle or autonomous vehicle applicable to the present invention. The vehicle or autonomous vehicle may be implemented as a mobile robot, car, train, manned / unmanned aerial vehicle (AV), ship, etc.

[0264] Referring to FIG. 25, a vehicle or autonomous vehicle (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a driving unit (140a), a power supply unit (140b), a sensor unit (140c), and an autonomous driving unit (140d). The antenna unit (108) may be configured as a part of the communication unit (110). Blocks 110 / 130 / 140a to 140d correspond to blocks 110 / 130 / 140 of FIG. 24, respectively.

[0265] The communication unit (110) can transmit and receive signals (e.g., data, control signals, etc.) with external devices such as other vehicles, base stations (e.g., base stations, road side units, etc.), and servers. The control unit (120) can control elements of the vehicle or autonomous vehicle (100) to perform various operations. The control unit (120) can include an ECU (Electronic Control Unit). The drive unit (140a) can drive the vehicle or autonomous vehicle (100) on the ground. The drive unit (140a) can include an engine, a motor, a power train, wheels, brakes, a steering device, etc. The power supply unit (140b) supplies power to the vehicle or autonomous vehicle (100) and can include a wired / wireless charging circuit, a battery, etc. The sensor unit (140c) can obtain vehicle status, surrounding environment information, user information, etc. The sensor unit (140c) may include an IMU (inertial measurement unit) sensor, a collision sensor, a wheel sensor, a speed sensor, an incline sensor, a weight detection sensor, a heading sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illuminance sensor, a pedal position sensor, etc. The autonomous driving unit (140d) may implement a technology for maintaining a driving lane, a technology for automatically controlling speed such as adaptive cruise control, a technology for automatically driving along a set path, a technology for automatically setting a path and driving when a destination is set, etc.

[0266] For example, the communication unit (110) can receive map data, traffic information data, etc. from an external server. The autonomous driving unit (140d) can generate an autonomous driving route and driving plan based on the acquired data. The control unit (120) can control the drive unit (140a) so that the vehicle or autonomous vehicle (100) moves along the autonomous driving route according to the driving plan (e.g., speed / direction control). During autonomous driving, the communication unit (110) can irregularly / periodically acquire the latest traffic information data from an external server and can acquire surrounding traffic information data from surrounding vehicles. In addition, during autonomous driving, the sensor unit (140c) can acquire vehicle status and surrounding environment information. The autonomous driving unit (140d) can update the autonomous driving route and driving plan based on newly acquired data / information. The communication unit (110) can transmit information regarding the vehicle location, autonomous driving route, driving plan, etc. to the external server. External servers can predict traffic information data in advance using AI technology or other technologies based on information collected from vehicles or autonomous vehicles, and provide the predicted traffic information data to the vehicles or autonomous vehicles.

[0267] Here, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification may include not only LTE, NR, and 6G, but also Narrowband Internet of Things for low-power communication. At this time, for example, NB-IoT technology may be an example of LPWAN (Low Power Wide Area Network) technology, and may be implemented with standards such as LTE Cat NB1 and / or LTE Cat NB2, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification may perform communication based on LTE-M technology. At this time, for example, LTE-M technology may be an example of LPWAN technology, and may be called by various names such as eMTC (enhanced Machine Type Communication). For example, LTE-M technology can be implemented by at least one of various standards such as 1) LTE CAT 0, 2) LTE Cat M1, 3) LTE Cat M2, 4) LTE non-BL (non-Bandwidth Limited), 5) LTE-MTC, 6) LTE Machine Type Communication, and / or 7) LTE M, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification can include at least one of ZigBee, Bluetooth, and Low Power Wide Area Network (LPWAN) considering low-power communication, and is not limited to the above-described names. For example, ZigBee technology can create PAN (personal area networks) related to small / low-power digital communication based on various standards such as IEEE 802.15.4, and can be called by various names.

[0268] The embodiments described above are combinations of components and features of the present invention in a predetermined form. Each component or feature should be considered optional unless explicitly stated otherwise. Each component or feature may be implemented without being combined with other components or features. Furthermore, it is also possible to form an embodiment of the present invention by combining some components and / or features. The order of operations described in the embodiments of the present invention may be changed. Some components or features of one embodiment may be included in another embodiment or may be replaced with corresponding components or features of another embodiment. It is self-evident that claims that do not have an explicit citation relationship in the patent claims may be combined to form an embodiment or may be incorporated as a new claim through a post-application amendment.

[0269] In this document, embodiments of the present invention have been described primarily focusing on the signal transmission and reception relationship between a terminal and a base station. This transmission and reception relationship is equally / similarly extended to signal transmission and reception between a terminal and a relay or a base station and a relay. Certain operations described as being performed by a base station in this document may, in some cases, be performed by its upper node. That is, it is obvious that various operations performed for communication with a terminal in a network composed of multiple network nodes including a base station may be performed by the base station or other network nodes other than the base station. The base station may be replaced by terms such as fixed station, Node B, eNode B (eNB), and access point. In addition, the terminal may be replaced by terms such as UE (User Equipment), MS (Mobile Station), MSS (Mobile Subscriber Station).

[0270] Embodiments of the present invention may be implemented by various means, for example, hardware, firmware, software, or a combination thereof. In the case of hardware implementation, an embodiment of the present invention may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, etc.

[0271] When implemented via firmware or software, an embodiment of the present invention may be implemented in the form of modules, procedures, functions, etc. that perform the functions or operations described above. The software code may be stored in a memory unit and executed by a processor. The memory unit may be located within or outside the processor and may exchange data with the processor via various known means.

[0272] It will be apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the scope of the invention. Therefore, the above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the scope of equivalents of the present invention are intended to be included within the scope of the present invention.

[0273] The embodiments of the present invention as described above can be applied to various mobile communication systems.

Claims

1. A step of obtaining status information about a first device through a sensor; A step of controlling the driving of the first device based on the above status information; and Comprising a step of transmitting a first message including the above status information to peripheral devices, A method wherein the status information includes information about the weight of the first device.

2. In paragraph 1, A method characterized in that at least one of the transmission period and the transmission power of the first message is adjusted based on whether the weight increases or decreases beyond a preset threshold.

3. In paragraph 1, The driving control of the first device includes controlling the maneuver between at least one device and the first device, A method, characterized in that the safety distance related to the above-mentioned maneuver is set based on the above-mentioned weight.

4. In paragraph 1, The above status information further includes information about surrounding objects obtained through the sensor and information about road conditions, A method, characterized in that the transmission period or transmission power of the first message is adjusted based on a change in the driving path of the first device due to the surrounding objects or the road conditions.

5. In paragraph 1, A step of calculating the object recognition accuracy of the above sensor; and A method characterized in that it further comprises a step of requesting a network for control support for driving of the first device based on the object recognition accuracy being less than a preset threshold accuracy.

6. In paragraph 1, The first message further includes information about the braking distance and turning radius associated with the first device, A method, characterized in that the braking distance and the turning radius are calculated based on the weight.

7. In paragraph 6, A method, characterized in that the first message further includes collision warning information for a Vulnerable Road User (VRU), based on the predicted movement of a VRU within the braking distance.

8. In paragraph 6, The driving control of the first device includes controlling the maneuver between at least one device and the first device, A method characterized in that the first device adjusts a safety distance associated with the maneuvering driving based on the predicted movement of a Vulnerable Road User (VRU) within the braking distance.

9. In paragraph 1, A method, characterized in that the first device is an autonomous delivery robot.

10. A computer-readable recording medium having recorded thereon a program for performing the method described in Article 1. 11.RF(Radio Frequency) Transmitter / Receiver; sensor; and A processor connected to the sensor and the RF transceiver, The processor controls the sensor to obtain status information about the first device, controls driving of the first device based on the status information, and controls the RF transceiver to transmit a first message including the status information to peripheral devices. A first device, wherein the status information includes information about the weight of the first device.

12. In paragraph 11, A first device characterized in that at least one of the transmission period and transmission power of the first message is adjusted based on whether the weight increases or decreases beyond a preset threshold.

13. In paragraph 11, The driving control of the first device includes controlling the maneuver between at least one device and the first device, A first device, characterized in that the safety distance related to the above-mentioned maneuvering is set based on the above-mentioned weight.

14. In a processing device controlling the first device, at least one processor; and At least one memory coupled to said at least one processor and storing instructions, said instructions causing said first device to: Obtain status information about the first device through a sensor of the first device, control driving of the first device based on the status information, and transmit a first message including the status information to peripheral devices. A processing device, wherein the status information includes information about the weight of the first device.

15. The step of the network receiving a message containing status information about the first device; a step in which the network controls the driving of the first device based on the status information; and The above network comprises a step of forwarding the above state information to peripheral devices, A method wherein the status information includes information about the weight of the first device.

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