Method and device for performing wireless communication

Abstract

In one embodiment, a method performed by a first device is provided. For example: in the embodiment in which the first device includes information about a blocking area related to one or more candidate blocking objects, a method performed by the first device is provided; the first device can generate road lane topology information including (i) first information related to one or more nodes corresponding to one or more waypoints in each lane from among one or more lanes, and (ii) second information related to one or more links connecting the one or more nodes; the first device can transmit the road lane topology information; and the first information and / or the second information can be based on (i) the number of the one or more lanes and / or (ii) the speed permitted within each lane.

Description

Method and device for performing wireless communication

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

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

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

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

[0005] In one embodiment, a method is provided performed by a first device. For example, the first device may generate load lane topology information, the load lane topology information including (i) first information relating to at least one node corresponding to at least one waypoint within each lane among at least one lane, and (ii) second information relating to at least one link connecting the at least one node. For example, the first device may transmit the load lane topology information. For example, at least one of the first information or the second information may be based on at least one of (i) the number of the at least one lane, or (ii) an allowable speed within each of the lanes.

[0006] FIG. 1 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure.

[0007] FIG. 2 illustrates an example of a communication scenario based on a 6G system according to an embodiment of the present disclosure.

[0008] FIG. 3 illustrates an example of a sensing operation according to one embodiment of the present disclosure.

[0009] FIG. 4 is a diagram for comparing and explaining V2X communication based on RAT prior to NR and V2X communication based on NR according to one embodiment of the present disclosure.

[0010] FIG. 5 is a diagram illustrating a data structure according to an embodiment of the present disclosure.

[0011] FIG. 6 illustrates a method for performing wireless communication according to one embodiment of the present disclosure.

[0012] FIG. 7 illustrates a method for performing wireless communication according to one embodiment of the present disclosure.

[0013] FIG. 8 illustrates a method for performing wireless communication according to an embodiment of the present disclosure.

[0014] FIG. 9 illustrates a method performed by a first device according to one embodiment of the present disclosure.

[0015] FIG. 10 illustrates a method performed by a second device according to one embodiment of the present disclosure.

[0016] FIG. 11 illustrates a communication system (1) according to one embodiment of the present disclosure.

[0017] FIG. 12 illustrates a wireless device according to one embodiment of the present disclosure.

[0018] FIG. 13 illustrates a signal processing circuit for a transmission signal according to one embodiment of the present disclosure.

[0019] FIG. 14 illustrates a wireless device according to an embodiment of the present disclosure.

[0020] FIG. 15 illustrates a mobile device according to one embodiment of the present disclosure.

[0021] FIG. 16 illustrates a vehicle or autonomous vehicle according to one embodiment of the present disclosure.

[0022] As used herein, "A or B" can mean "only A," "only B," or "both A and B." In other words, as used herein, "A or B" can be interpreted as "A and / or B." For example, as used herein, "A, B or C" can mean "only A," "only B," "only C," or "any combination of A, B and C."

[0023] As used herein, a slash ( / ) or a comma can mean "and / or." For example, "A / B" can mean "A and / or B." Accordingly, "A / B" can mean "only A," "only B," or "both A and B." For example, "A, B, C" can mean "A, B, or C."

[0024] In this specification, "at least one of A and B" may mean "only A", "only B" or "both A and B". Additionally, in this specification, the expressions "at least one of A or B" or "at least one of A and / or B" may be interpreted identically to "at least one of A and B".

[0025] Additionally, in this specification, “at least one of A, B and C” can mean “only A,” “only B,” “only C,” or “any combination of A, B and C.” Additionally, “at least one of A, B or C” or “at least one of A, B and / or C” can mean “at least one of A, B and C.”

[0026] Additionally, parentheses used herein may mean "for example." Specifically, when indicated as "control information (PDCCH)", "PDCCH" may be proposed as an example of "control information." In other words, "control information" in this specification is not limited to "PDCCH," and "PDCCH" may be proposed as an example of "control information." Furthermore, even when indicated as "control information (i.e., PDCCH)", "PDCCH" may be proposed as an example of "control information."

[0027] In the following explanation, ‘when, if, in case of’ can be replaced with ‘based on’.

[0028] Technical features individually described in a single drawing in this specification may be implemented individually or simultaneously.

[0029] In this specification, higher layer parameters may be parameters that are set for the terminal, preset, or predefined. For example, a base station or network may transmit higher layer parameters to the terminal. For example, higher layer parameters may be transmitted via radio resource control (RRC) signaling or medium access control (MAC) signaling.

[0030] In this specification, "configured or defined" may be interpreted as being configured or preset to a device through predefined signaling (e.g., SIB, MAC, RRC) from a base station or network. In this specification, "configured or defined" may be interpreted as being preset to a device.

[0031] The technology proposed in this specification can be used in various wireless communication systems such as CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), and SC-FDMA (single carrier frequency division multiple access). CDMA can be implemented with wireless technologies such as UTRA (universal terrestrial radio access) or CDMA2000. TDMA can be implemented with wireless technologies such as GSM (global system for mobile communications) / GPRS (general packet radio service) / EDGE (enhanced data rates for GSM evolution). OFDMA can be implemented with wireless technologies such as IEEE (Institute of Electrical and Electronics Engineers) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802-20, E-UTRA (evolved UTRA), LTE (long term evolution), and 5G NR.

[0032] The technology proposed in this specification can be implemented with 6G wireless technology and applied to various 6G systems. For example, 6G systems can have key factors such as enhanced mobile broadband (eMBB), ultra-reliable low latency communications (URLLC), massive machine-type communication (mMTC), artificial intelligence (AI) integrated communication, tactile internet, high throughput, high network capacity, high energy efficiency, low backhaul and access network congestion, and enhanced data security.

[0033] Figure 1 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure. The embodiment of Figure 1 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0034] As core implementation technologies of the 6G system, technologies such as artificial intelligence (AI), THz (terahertz) communication, optical wireless technology, free-space optical transmission (FSO) backhaul networks, massive MIMO (multiple input multiple output) technology, blockchain, 3D networking, quantum communication, unmanned aerial vehicles, cell-free communication, wireless information and energy transfer (WIET), integration of sensing and communication, integration of access backhaul networks, holographic beamforming, big data analysis, and large intelligent surface (LIS) can be adopted.

[0035] - 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. For example, 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. AI can also 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.

[0036] - 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. Key characteristics of THz communications include (i) the widely available bandwidth to support very high data rates and (ii) the high path loss that occurs at high frequencies (requiring highly directional antennas). The narrow beamwidths generated by highly directional antennas reduce interference. The small wavelength of THz signals allows for a significantly larger number of antenna elements to be integrated into devices and base stations operating in this band. This enables the use of advanced adaptive array technologies to overcome range limitations.

[0037] - Large-scale MIMO technology

[0038] - Hologram beamforming (HBF)

[0039] - Optical wireless technology

[0040] - Free-space optical transmission backhaul network (FSO backhaul network)

[0041] - Quantum communication

[0042] - Cell-free communication

[0043] - Integration of wireless information and power transmission

[0044] - Integration of wireless communication and sensing

[0045] - Integrated access and backhaul network

[0046] - Big data analysis

[0047] - Reconfigurable intelligent surface

[0048] - metaverse

[0049] - Blockchain

[0050] Advanced Air Mobility (AAM): AAM can be a broad concept encompassing urban air mobility (UAM), regional air mobility (RAM), and uncrewed aerial systems (UAS). For example, AAM can include UAM, RAM, UAS, and uncrewed aerial vehicles (UAVs).

[0051] - 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) wireless communication and vehicle to infrastructure (V2I) wireless communication.

[0052] Non-terrestrial network (NTN): NTN can refer to a network or network segment that utilizes radio frequency (RF) resources mounted on satellites (or UAS platforms). NTN services may be considered to secure wider coverage or provide wireless communication services in locations where the installation of wireless communication base stations is difficult.

[0053] - 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.

[0054] - Reconfigurable intelligent surface (RIS): RIS can be used to manipulate and enhance signal propagation in wireless communication environments. For example, a RIS can be composed of many small antennas, or metasurfaces, arranged on a surface, each of which can actively control the phase, amplitude, polarization, etc. of the reflected signal. For example, a RIS can improve signal reception by controlling the path, phase, and / or intensity of the propagating signal. For example, in the case of a RIS, power consumption can be very low because power is consumed only for controlling the phase and amplitude of the small antennas. For example, because a RIS can be reconfigured to suit different environments, it can meet diverse communication requirements and operate effectively in dynamic network environments.

[0055] FIG. 2 illustrates an example of a communication scenario based on a 6G system, according to an embodiment of the present disclosure. The embodiment of FIG. 2 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0056] Referring to FIG. 2, NTN communication can be performed based on satellite networks, high-altitude platform stations (HAPS) as international mobile telecommunications (IMT) base stations (BS), terminals capable of aerial communication (e.g., AAM), etc. For example, to improve coverage, etc., devices such as satellite networks, HIBS, terminals capable of aerial communication (e.g., AAM), etc. can act as relays. For example, AAMs can communicate with base stations, satellite networks, etc., and / or AAMs can communicate directly with terminals, other AAMs, etc.

[0057] Below, the integrated sensing and communication (ISAC) mentioned above is described in detail.

[0058] Integrated Sensing and Communications (ISAC) 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 environment and / or the characteristics of objects within the environment. Because radio frequency sensing does not require a device to connect to the object through a network, it can provide services 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., unmanned aerial vehicles, 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, e.g., a sensing operation, may depend on the transmission, reflection, and scattering processing 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. 3 illustrates an example of a sensing operation according to an embodiment of the present disclosure. The embodiment of FIG. 3 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted. Specifically, FIG. 3 (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. 3 (b) illustrates an example of sensing using a separated sensing receiver and a sensing transmitter (e.g., bistatic sensing).

[0059] FIG. 4 is a diagram for explaining and comparing V2X communication based on RAT prior to NR and V2X communication based on NR according to one embodiment of the present disclosure. The embodiment of FIG. 4 can be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] FIG. 5 is a diagram illustrating a data structure according to an embodiment of the present disclosure. The embodiment of FIG. 5 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0069] Referring to FIG. 5, according to one embodiment of the present disclosure, a (road lane) topology information data structure according to one embodiment of the present disclosure may be configured as a graph or tree composed of nodes and links (or edges) and a method of solving a problem such as a shortest path algorithm or a traveling salesman problem (TSP) may be performed. For example, like robotics SLAM (Simultaneous Localization and Mapping), the surrounding environment may be recognized by sensors and a spatial map may be configured, and for example, the spatial map may be configured as a cost map or an occupancy grid map (OGM), and autonomous driving or spatial driving technology may be implemented through the A* (A* algorithm) or the Dijkstra algorithm.

[0070] According to one embodiment of the present disclosure, a topology map can be developed into a high-definition map (HD map), and a 2D costmap or OGM (Occupancy Grid Map) can be developed into a 3D spatial map using 3D occupancy prediction technology, enabling precise driving. For example, point cloud data can be acquired using a sensor such as 3D LiDAR, and a high-definition map can be constructed by securing absolute coordinate data of each point cloud. However, for example, the amount of data may still be enormous for real-time processing of point cloud data as recognition or autonomous driving data in addition to direct positioning, and for example, it can be implemented by converting and processing or storing simplified data such as a semantic segmentation layer of a high-definition map or vector data. For example, an Octomap as in <Fig. 5> may be proposed as a technology according to an embodiment of the present disclosure for reducing 3D spatial information data, and for example, an Octree, which is a data structure that stores an Octomap in a tree format, may also be utilized in a codec. For example, an Octomap can perform downsampling such as node pruning or voxelizing for the same value, so that memory or storage devices can be used efficiently. For example, a Trie structure as a similar data structure can be used for string search in the field of natural language processing. For example, an M-ary Tree data structure can add, delete, or modify data with a computational complexity of O(logN).

[0071] According to one embodiment of the present disclosure, Road and Lane Topology (RLT) service (information) handling road lane topology information may be transmitted and received, and for example, the Road and Lane Topology (RLT) information may be transmitted via a MAPEM (MAP (topology) Extended Message). For example, map data may be transmitted via a map data (MAP) message, and for example, the MAPEM (MAP (topology) Extended Message), which is a map data (MAP) extension message, may be transmitted including a SPATEM (Signal Phase And Timing Extended Message) for a Traffic Light Maneuver service in addition to the RLT service (information), so that the amount of data to be transmitted may be large, and therefore, the traffic system may need to be designed and implemented in a way that minimizes transmission of duplicated or unnecessary messages.

[0072] In the present disclosure, a data structure and a message transmission method may be proposed that take into account the density of lane change possibility and / or lane topology information for node and link layer information or topology map of a high-precision map according to an embodiment of the present disclosure. For example, since node and link information may not be necessary for the boundary of each lane, nodes may be arranged at specific intervals based on the centerline of each lane, and, for example, there may be a data structure that arranges link information only when lane change is possible between each node. In addition, for example, assuming right-hand traffic, in the case of the first lane of a road, for example, the leftmost road, there may be no possibility of changing to the left unless it is an intersection, and for example, in the case of the rightmost road, there may be no possibility of changing to the right unless it is an intersection, and thus there may or may not be a change link.

[0073] According to a data structure proposed according to an embodiment of the present disclosure, in order to reduce lane phase information data according to an embodiment of the present disclosure, there may be a method of increasing lane segment spacing, for example, the spacing between each node, and in addition, there may be a method of reducing the number of nodes and links indicating the possibility of lane change to bring about a data reduction effect.

[0074] According to an embodiment of the present disclosure, the proposed data structure allows lane topology information data to be transmitted as a MAPEM (MAP (topology) Extended Message) message, and when transmitted, the payload of the MAPEM (MAP (topology) Extended Message) message can be reduced.

[0075] According to one embodiment of the present disclosure, when collision detection is performed based on lane phase information, a point where a collision is predicted may be transmitted as an absolute latitude / longitude coordinate or an offset value for the absolute coordinate, and a method for identifying a collision prediction point may be proposed by transmitting, for example, node or link (identification) information of each lane segment.

[0076] FIG. 6 illustrates a method for performing wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 6 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0077] Referring to FIG. 6, according to one embodiment of the present disclosure, the solid line in the middle of <FIG. 6> may be the centerline of a lane (e.g., a road), and for example, assuming that an object on the lane drives on the right side, and an object on the left lane (e.g., a road) drives downward and an object on the right lane (e.g., a road) drives upward based on the centerline, the node and link structure of each lane may be diagrammed as in <FIG. 6>. For example, in addition to the centerline of each lane (as in the upper diagram of <FIG. 6>), nodes and links may also exist on segments of each lane, and for example, when nodes and links exist, link information may also be required for nodes on the lane, and for example, the data density of lane topology information may increase and path calculation or estimation operations may also become complicated. For example, this structure can be changed so that nodes and links exist only along the centerline of each lane based on the centerline of each lane, and if this structure is changed, for example, the number of nodes and links of each lane topology information can be reduced, and the data density can be reduced, so that the amount of data that needs to be transmitted through path calculation or estimation operation or MAPEM (MAP (topology) Extended Message) can also be reduced.

[0078] FIG. 7 illustrates a method for performing wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 7 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0079] Referring to FIG. 7, according to one embodiment of the present disclosure, one lane may be diagrammed as a graph data structure, like the upper and lower portions of FIG. 6. For example, it can be seen that the number of nodes and links (or edges) of the graph structure is reduced according to the operation according to one embodiment of the present disclosure. For example, lane topology information may be represented as an m-ary tree structure, and when represented as an m-ary tree structure, for example, if the height is h, the maximum number of nodes is m. h (m=5 or m=3). For example, in the case of a full m-ary tree, the maximum number of nodes N can be expressed as follows:

[0080]

[0081]

[0082]

[0083]

[0084] For example, according to the Big-Ω definition, the maximum depth D of an m-ary tree can be expressed as follows:

[0085]

[0086] According to one embodiment of the present disclosure, (e.g., an incomplete M-ary tree) all levels except the last level may be completely filled, and for example, the height h of a complete m-ary tree of n nodes, where all nodes of the last level are leftmost, may be:

[0087]

[0088] For example, the number of possible m-ary trees of n nodes could be:

[0089]

[0090] FIG. 8 illustrates a method for performing wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 8 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0091] Referring to FIG. 8, according to one embodiment of the present disclosure, for example, when an object on a lane moves at a high speed (e.g., acceleration / speed above a threshold value), such as an object on a high-speed section of a lane (e.g., a highway, a national expressway), the length of the lane change section may be longer compared to going straight, so that the road lane service (information) may be efficiently operated by widening the interval (or depth interval) of the link (or edge) for lane change compared to a general national road or intersection (e.g., movement of an object on a lane at an acceleration / speed below a threshold value).

[0092] According to one embodiment of the present disclosure, MAPEM (MAP (topology) Extended Message) transmission data can be reduced, and in addition, when a collision risk is detected as a result of performing a collision risk estimation, only identification information (e.g., Node ID, Link ID, etc.) for a node or link where a collision risk is detected can be transmitted, and if transmitted, the transmission data can be reduced compared to transmitting latitude / longitude coordinates or their offsets on a GNSS (Global Navigation Satellite System) or a high-precision map. For example, the data for identifying a risk location in a message (e.g., DENM, RSM, etc.) warning an object (e.g., a vehicle) of a collision risk can also be reduced or simplified.

[0093] According to one embodiment of the present disclosure, for example, when transmitted via MAPEM (MAP (topology) Extended Message), road lane topology (RLT) information composed of nodes and links (or edges) of the present disclosure, such as the ASN.1 (abstract syntax notation one) specification of Table 2, can be generated, and when RLT information is generated as in the present disclosure, the density of high-speed sections can be reduced, or, for example, when composed of difference values ​​between nodes instead of absolute latitude / longitude coordinates, the data size of map or map data (MapData) can be reduced.

[0094] According to one embodiment of the present disclosure, apart from reducing the size of the map or map data (MapData), the transmitted map data (MapData) may be processed differently. In one embodiment of the present disclosure, among the information (e.g., payload) including a message (e.g., MAPEM), a header (e.g., ItsPduHeader) may be configured with a version of the payload (e.g., protocolVersion), identification information of the message (type of payload) (e.g., messageID), identification information of the device that generates the message (e.g., stationID), etc., and, for example, as a data structure (e.g., structure of an m-ary tree) constituting a road lane topology (RLT), information on the number of children (m) that each node (e.g., root node, internal node, leaf node) can have and the interval between links (or the interval of depth (the number of nodes on the path from the root node of the tree to a specific node)) may be added, and, for example, the number of children (m) that each node (e.g., root node, internal node, leaf node) can have and the interval between links (or the interval of depth (the number of nodes on the path from the root node of the tree)) may be added to a header included in a MAPEM (MAP (topology) Extended Message). Field information of interval (or interval of depth (the number of nodes on the path from the root node of the tree to a specific node)) can be added, and for example, when added, a data structure (e.g., m-ary tree structure) constituting the road lane topology (RLT) of the map data (MapData) being transmitted can be formed, or the connected nodes can be processed with link interval information.

[0095] ASN.1 specification of MAPEMMAPEM-PDU-Descriptions { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) en (103301) mapem (1)version1 (1)}DEFINITIONS AUTOMATIC TAGS ::=BEGINIMPORTSMapData FROM DSRC { iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version(1)}ItsPduHeader FROM ITS-Container { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1(1) ts (102894) cdd (2) version (1)};MAPEM ::= SEQUENCE {header ItsPduHeader,map MapData}END

[0096] According to one embodiment of the present disclosure, for example, infrastructure (e.g., intelligent transport system (ITS) station (e.g., cooperative (C)-ITS station, roadside (R)-ITS station)) can transmit / receive infrastructure service (data) to / from at least one device within a destination area. For example, the infrastructure service (data) can include road / lane topology (RLT) service (data) (and / or message identification information capable of identifying a message including the service (information) and / or device identification information capable of identifying a device generating a message including the service (data)). For example, the road / lane topology (RLT) service (data) can be transmitted / received to / from at least one device within the destination area via map (MAP) data or map extended message (MAPEM) (e.g., a message including road / lane topology information and / or traffic maneuver information).

[0097] According to one embodiment of the present disclosure, for example, the road lane topology information may include topology-related information about a (known location) road segment or area (e.g., an intersection area, a conflict area, etc.) or at least one lane within said road segment / area. For example, each lane of the at least one lane may include one or more waypoints (e.g., a starting point of the lane, an ending point of the lane, a starting point of a path of movement of a device moving along the lane (e.g., a vehicle, a pedestrian, see wireless devices of FIGS. 11-16), a ending point of a path of movement of a device moving along the lane (e.g., a vehicle, a pedestrian, see wireless devices of FIGS. 11-16), etc.). For example, the one or more waypoints may be located on a middle line of the lane. For example, the one or more waypoints may be located on the side of a lane or on the boundary between a lane and an adjacent lane. For example, each lane (each waypoint above) may be represented as a node. For example, a connection between each lane (each waypoint above) may be represented as a link. For example, a first connection between a 1-1 waypoint on a first lane and a 1-2 waypoint on a first lane, and / or a second connection between a 1-1 / 1-2 waypoint on a first lane and a second waypoint on a second lane / a third lane adjacent to the first lane may be represented as a separate link. For example, the relationship between the nodes and the links may be represented via a data structure. For example, the data structure may include a tree structure (e.g., an M-ary tree structure).For example, a tree structure can be a data structure that contains a root node (a top-level node that has no parents and only children), internal nodes (intermediate-level nodes that have parents and children), leaf nodes (lowest-level nodes that have parents but no children), and links between them. For example, a tree structure can include a tree structure in which each node (e.g., a root node, internal nodes, or leaf nodes) has (different or the same) M child nodes and / or (different or the same) depth h (the number of nodes on the path from the root node to a particular node in the tree). For example, a tree structure can include at least one of a full tree (a tree in which all nodes have either 0 or M child nodes), a perfect tree (a tree in which all leaf nodes have the same depth h), and an incomplete tree (a tree in which all nodes at all levels except the last level are complete).

[0098] According to one embodiment of the present disclosure, for example, the number of lanes can be expressed through the number of root nodes. For example, whether a lane has changed (e.g., without change: 0, change to an adjacent lane: 1, change to a lane adjacent to an adjacent lane: 2, 쪋) can be expressed through links. For example, the distance between adjacent nodes (e.g., the unit length of a link (by depth and / or by whether a lane has changed)) can be expressed singly or differently through weights. For example, the distance between each node can be expressed through the depth, the distance between the adjacent nodes, or whether a lane has changed.

[0099] According to one embodiment of the present disclosure, if, for example, load lane topology information for all lanes within a destination area is continuously broadcasted to road users, etc., decoding the information may consume too much time or too much signaling overhead. For example, if load lane topology information including the absolute (relative) positions (e.g., latitude / longitude) of all road users for all lanes within the destination area is cast to at least one device within the destination area, too many resources may be consumed in decoding all unnecessary load lane topology information, even though the at least one device only needs the topology with devices within its adjacent lane or the topology for collision areas for driving (e.g., lane keeping / changing, speed maintaining / changing, etc.) for autonomous driving. For example, a data structure containing the absolute (relative) positions (e.g., latitude / longitude) of all road users for all lanes within a destination area may not change despite changes in the road user's requests or the environment of the road lane, resulting in unnecessary resource consumption and delays in decoding time, which may prevent smooth operation of collision avoidance or autonomous driving.

[0100] According to one embodiment of the present disclosure, when the number of at least one lane (within a destination area) is greater than or equal to a threshold value, data constituting load lane topology information may be transmitted in a variable manner (e.g., node identification information for identifying each node constituting the reduced total nodes, a data structure in which a data structure representing nodes / links (e.g., an (M-ary) tree structure) is pruned). For example, when the number of at least one lane (within a destination area) is greater than or equal to a threshold value, data constituting load lane topology information may be transmitted in a variable manner (e.g., node identification information for identifying each node constituting the reduced total nodes, a data structure in which a data structure representing nodes / links (e.g., an (M-ary) tree structure) is pruned) for nodes for at least one waypoint within a side of each lane among at least one waypoint within each lane. For example, if the number of at least one lane (within the destination area) is greater than or equal to a threshold, data constituting load lane topology information may be transmitted in a variable manner (e.g., a reduced number of nodes, node identification information for identifying each node constituting the reduced total nodes, a pruned data structure representing nodes / links (e.g., an (M-ary) tree structure)) for at least one waypoint within the middle line of each lane among at least one waypoint within each lane.For example, if the number of at least one lane (within the destination area) is greater than or equal to a threshold, data constituting load lane topology information may be transmitted in a variable manner (e.g., the number of nodes for each lane at the side / end is reduced, node identification information for identifying each node constituting the reduced total nodes, a data structure representing the nodes / links (e.g., an (M-ary) tree structure) is pruned) for nodes for each lane (at least one waypoint within) at the side / end of at least one lane.

[0101] According to one embodiment of the present disclosure, if the allowable speed or the speed of at least one device (e.g., a representative value of speed such as an average speed, a maximum speed, a minimum speed, a mode speed, etc.) within the destination area (within the destination area) or within at least one lane is greater than or equal to a threshold, data constituting load lane topology information may be transmitted in a variable form (e.g., a reduced number of nodes, node identification information for identifying each node constituting the reduced total nodes, a pruned data structure representing nodes / links (e.g., an (M-ary) tree structure). For example, if the number of at least one lane (within the destination area) is greater than or equal to a threshold, data constituting load lane topology information may be transmitted in a variable manner (e.g., a reduced number of nodes, node identification information for identifying each node constituting the reduced total nodes, a pruned data structure representing nodes / links (e.g., an (M-ary) tree structure)) for nodes for at least one waypoint within the side of each lane among at least one waypoint within each lane. For example, if the allowable speed or the speed of at least one device (e.g., a representative value of speed such as average speed, maximum speed, minimum speed, mode speed, etc.) within the destination area (within the destination area) or within at least one lane is greater than or equal to a threshold, data constituting the load lane topology information may be transmitted in a variable manner (e.g., a reduced number of nodes, node identification information for identifying each node constituting the reduced total nodes, a pruned data structure representing the nodes / links (e.g., an (M-ary) tree structure)) for at least one waypoint within the middle line of each lane among at least one waypoint within each lane.For example, if the allowable speed or the speed of at least one device (e.g., a representative value of speed such as average speed, maximum speed, minimum speed, mode speed, etc.) within the destination area (within the destination area) or within at least one lane is greater than or equal to a threshold, data constituting the load lane topology information may be transmitted in a variable manner (e.g., the number of nodes for each lane at the side / end is reduced, node identification information for identifying each node constituting the reduced total nodes, a data structure representing the nodes / links (e.g., an (M-ary) tree structure) is pruned) for each lane (at least one waypoint within) at the side / end of at least one lane.

[0102] Therefore, according to one embodiment of the present disclosure, the amount of data to be transmitted and received via messages used in, for example, a road lane topology (RLT) service can be reduced. For example, by conditionally compressing the structure of data to be transmitted and received via messages used in a road lane topology (RLT) service, the road lane topology (RLT) service can be operated efficiently.

[0103] FIG. 9 illustrates a method performed by a first device according to an embodiment of the present disclosure. The embodiment of FIG. 9 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0104] Referring to FIG. 9, according to one embodiment of the present disclosure, in step S910, for example, the first device may generate load lane topology information including (i) first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane, and (ii) second information related to at least one link connecting the at least one node. In step S910, for example, the first device may transmit the load lane topology information. For example, at least one of the first information or the second information may be based on at least one of (i) the number of the at least one lane, or (ii) an allowed speed within each of the lanes.

[0105] Additionally or alternatively, the load lane topology information may be transmitted in a map extended message (MAPEM).

[0106] Additionally or alternatively, the at least one waypoint may include at least one of a first waypoint within a middle line of each of the lanes or a second waypoint within a boundary of each of the lanes.

[0107] Additionally or alternatively, the first information may include information related to the number of the at least one node.

[0108] Additionally or alternatively, the first information may include node identification information for identifying each node among the at least one node.

[0109] Additionally or alternatively, the first information may include information regarding a data structure associated with the at least one node.

[0110] Additionally or alternatively, the information about the data structure may include an M-ary tree.

[0111] Additionally or alternatively, the second information may include information relating to the number of the at least one link.

[0112] Additionally or alternatively, the second information may include link identification information for identifying each link among the at least one link.

[0113] Additionally or alternatively, the second information may include distance information between each of the at least one link.

[0114] Additionally or alternatively, based on the number of said at least one lane being greater than or equal to a threshold value, said load lane topology information may be generated including said first information and said second information, said first information including at least one of a reduced number of said at least one node or node identification information for identifying each node among said at least one reduced node.

[0115] Additionally or alternatively, based on the number of said at least one lane being greater than or equal to a threshold value, said load lane topology information may be generated including said first information and said second information including information about a pruned data structure associated with said at least one node.

[0116] Additionally or alternatively, the load lane topology information may be generated including second information including at least one of information related to the number of at least one reduced link, link identification information for identifying each link among the at least one reduced link, or increased distance information between each link among the at least one link, based on the speed allowed within each of the lanes being greater than or equal to a threshold.

[0117] The proposed method can be applied to devices according to various embodiments of the present disclosure. First, the memory (104) of the first device (100) may have instructions recorded therein that cause the first device (e.g., the processor (102), the transceiver (106)) to perform operations based on being executed by the processor (102). For example, the operations may include: the step of the first device (e.g., the processor (102), the transceiver (106)) generating road lane topology information, which includes: (i) first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane, and (ii) second information related to at least one link connecting the at least one node; and / or a step of transmitting said load lane topology information; wherein at least one of said first information or said second information may be based on at least one of (i) the number of said at least one lane, or (ii) a speed allowed within each of said lanes.

[0118] In one embodiment, a first device performing wireless communication is provided. The first device may include at least one transceiver; at least one processor; and at least one memory executably connected to the at least one processor and storing instructions that cause the first device to perform operations based on being executed by the at least one processor. For example, the operations may include: (i) generating road lane topology information, the road lane topology information including first information associated with at least one node corresponding to at least one waypoint within each of at least one lane, and (ii) second information associated with at least one link connecting the at least one node; and / or transmitting the road lane topology information; wherein at least one of the first information and the second information may be based on at least one of (i) the number of the at least one lane, or (ii) an allowable speed within each of the lanes.

[0119] In one embodiment, a processing device adapted to control a first device is provided. The processing device may include at least one processor; and at least one memory executable to the at least one processor and having instructions recorded thereon, the instructions being executed by the at least one processor to cause the first device to perform operations. For example, the operations may include: (i) generating road lane topology information, the road lane topology information including first information associated with at least one node corresponding to at least one waypoint within each of at least one lane, and (ii) second information associated with at least one link connecting the at least one node; and / or transmitting the road lane topology information; wherein at least one of the first information and the second information may be based on at least one of (i) the number of the at least one lane, or (ii) an allowable speed within each of the at least one lane.

[0120] In one embodiment, a non-transitory computer-readable storage medium having instructions recorded thereon is proposed. The instructions, when executed, may cause a first device to perform operations. For example, the operations may include: (i) generating road lane topology information, the road lane topology information including first information relating to at least one node corresponding to at least one waypoint within each of at least one lane, and (ii) second information relating to at least one link connecting the at least one node; and / or transmitting the road lane topology information; wherein at least one of the first information and the second information may be based on at least one of (i) the number of the at least one lane, or (ii) an allowed speed within each of the lanes.

[0121] FIG. 10 illustrates a method performed by a second device according to an embodiment of the present disclosure. The embodiment of FIG. 10 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0122] Referring to FIG. 10, in step S1010, for example, the second device may receive road lane topology information including (i) first information related to at least one node corresponding to at least one waypoint within each of at least one lane, and (ii) second information related to at least one link connecting the at least one node. For example, the second device may determine that at least one of the first information or the second information is based on at least one of (i) the number of the at least one lane, or (ii) a speed allowed within each of the lanes.

[0123] Additionally or alternatively, the load lane topology information may be transmitted in a map extended message (MAPEM).

[0124] Additionally or alternatively, the at least one waypoint may include at least one of a first waypoint within a middle line of each of the lanes or a second waypoint within a boundary of each of the lanes.

[0125] Additionally or alternatively, the first information may include information related to the number of the at least one node.

[0126] Additionally or alternatively, the first information may include node identification information for identifying each node among the at least one node.

[0127] Additionally or alternatively, the first information may include information regarding a data structure associated with the at least one node.

[0128] Additionally or alternatively, the information about the data structure may include an M-ary tree.

[0129] Additionally or alternatively, the second information may include information relating to the number of the at least one link.

[0130] Additionally or alternatively, the second information may include link identification information for identifying each link among the at least one link.

[0131] Additionally or alternatively, the second information may include distance information between each of the at least one link.

[0132] Additionally or alternatively, based on the number of said at least one lane being greater than or equal to a threshold value, said load lane topology information may be generated including said first information and said second information, said first information including at least one of a reduced number of said at least one node or node identification information for identifying each node among said at least one reduced node.

[0133] Additionally or alternatively, based on the number of said at least one lane being greater than or equal to a threshold value, said load lane topology information may be generated including said first information and said second information including information about a pruned data structure associated with said at least one node.

[0134] Additionally or alternatively, the load lane topology information may be generated including second information including at least one of information related to the number of at least one reduced link, link identification information for identifying each link among the at least one reduced link, or increased distance information between each link among the at least one link, based on the speed allowed within each of the lanes being greater than or equal to a threshold.

[0135] The above proposed method can be applied to devices according to various embodiments of the present disclosure. First, the memory (204) of the second device (200) may have instructions recorded therein that cause the second device (e.g., processor (202), transceiver (206)) to perform operations based on being executed by the processor (202). For example, the operations may include the step of the second device (e.g., processor (202), transceiver (206)) receiving road lane topology information, wherein the road lane topology information comprises: (i) first information associated with at least one node corresponding to at least one waypoint within each of the at least one lane, and (ii) second information associated with at least one link connecting the at least one node; wherein at least one of the first information or the second information may be based on at least one of (i) the number of the at least one lane, or (ii) an allowed speed within each of the at least one lane.

[0136] In one embodiment, a second device is provided. The second device may include at least one transceiver; at least one processor; and at least one memory executably connected to the at least one processor and having instructions recorded thereon that cause the second device to perform operations based on being executed by the at least one processor. For example, the operations may include: receiving road lane topology information, the road lane topology information including (i) first information associated with at least one node corresponding to at least one waypoint within each of at least one lane, and (ii) second information associated with at least one link connecting the at least one node, wherein at least one of the first information and the second information may be based on at least one of (i) the number of the at least one lane, or (ii) an allowable speed within each of the at least one lane.

[0137] In one embodiment, a processing apparatus is provided that is configured to control a second device. The apparatus may include at least one processor; and at least one memory that is executable and connected to the at least one processor and that records instructions that, when executed by the at least one processor, cause the second device to perform operations. For example, the operations may include: receiving road lane topology information, the road lane topology information comprising (i) first information associated with at least one node corresponding to at least one waypoint within each of at least one lane, and (ii) second information associated with at least one link connecting the at least one node; wherein at least one of the first information and the second information may be based on at least one of (i) the number of the at least one lane, or (ii) an allowable speed within each of the at least one lane.

[0138] In one embodiment, a non-transitory computer-readable storage medium having instructions recorded thereon is proposed. The instructions, when executed by at least one processor, may cause a second device to perform operations. For example, the operations may include: receiving road lane topology information, the road lane topology information comprising: (i) first information relating to at least one node corresponding to at least one waypoint within each of at least one lane, and (ii) second information relating to at least one link connecting the at least one node; wherein at least one of the first information or the second information may be based on at least one of: (i) the number of the at least one lane, or (ii) an allowed speed within each of the at least one lane.

[0139] The various embodiments of the present disclosure may be combined with each other, and some descriptions, functions, procedures, proposals, methods and / or operations of the embodiments may be omitted.

[0140] Below, a description is given of devices to which various embodiments of the present disclosure can be applied.

[0141] Although not limited thereto, the various descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed in this document may be applied to various fields requiring wireless communication / connectivity (e.g., 5G) between devices.

[0142] 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.

[0143] Fig. 11 illustrates a communication system (1) according to one embodiment of the present disclosure. The embodiment of Fig. 11 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0144] Referring to FIG. 11, a communication system (1) to which various embodiments of the present disclosure are applied includes a wireless device, a base station, and a network. Here, the wireless device refers to a device that performs communication using a wireless access technology (e.g., 5G NR (New RAT), LTE (Long Term Evolution)) and may be referred to as a communication / wireless / 5G device. Although not limited thereto, the wireless device may include a robot (100a), a vehicle (100b-1, 100b-2), an XR (eXtended Reality) device (100c), a hand-held device (100d), a home appliance (100e), an IoT (Internet of Things) device (100f), and an AI device / server (400). For example, the vehicle may include a vehicle equipped with a wireless communication function, an autonomous vehicle, a vehicle capable of performing vehicle-to-vehicle communication, etc. Here, the vehicle may include an Unmanned Aerial Vehicle (UAV) (e.g., a drone) and / or an Aerial Vehicle (AV) (e.g., an Advanced Air Mobility (AAM)). The XR device may include an Augmented Reality (AR) / Virtual Reality (VR) / Mixed Reality (MR) device, and may be implemented in the form of a Head-Mounted Device (HMD), a Head-Up Display (HUD) equipped in a vehicle, a television, a smartphone, a computer, a wearable device, a home appliance, a digital signage, a vehicle, a robot, etc. The portable device may include a smartphone, a smart pad, a wearable device (e.g., a smart watch, smart glasses), a computer (e.g., a laptop, etc.), etc. The home appliance may include a TV, a refrigerator, a washing machine, etc. The IoT device may include a sensor, a smart meter, etc. For example, a base station and a network may also be implemented as a wireless device, and a specific wireless device (200a) may operate as a base station / network node to other wireless devices.

[0145] Here, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification may include not only LTE, NR, and 6G, but also Narrowband Internet of Things for low-power communication. At this time, for example, NB-IoT technology may be an example of LPWAN (Low Power Wide Area Network) technology, and may be implemented with standards such as LTE Cat NB1 and / or LTE Cat NB2, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification may perform communication based on LTE-M technology. At this time, for example, LTE-M technology may be an example of LPWAN technology, and may be called by various names such as eMTC (enhanced Machine Type Communication). For example, LTE-M technology can be implemented by at least one of various standards such as 1) LTE CAT 0, 2) LTE Cat M1, 3) LTE Cat M2, 4) LTE non-BL (non-Bandwidth Limited), 5) LTE-MTC, 6) LTE Machine Type Communication, and / or 7) LTE M, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification can include at least one of ZigBee, Bluetooth, and Low Power Wide Area Network (LPWAN) considering low-power communication, and is not limited to the above-described names. For example, ZigBee technology can create personal area networks (PAN) related to small / low-power digital communication based on various standards such as IEEE 802.15.4, and can be called by various names.

[0146] 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).

[0147] 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 base station-to-base station communication (150c) (e.g., relay, IAB (Integrated Access Backhaul). Through wireless communication / connection (150a, 150b, 150c), wireless devices and base stations / wireless devices, and base stations and base stations can transmit / receive wireless signals to each other. For example, wireless communication / connection (150a, 150b, 150c) can transmit / receive signals through various physical channels. To this end, at least some of various configuration information setting processes for transmitting / receiving wireless signals, various signal processing processes (e.g., channel encoding / decoding, modulation / demodulation, resource mapping / demapping, etc.), and resource allocation processes can be performed based on various proposals of the present disclosure.

[0148] FIG. 12 illustrates a wireless device according to an embodiment of the present disclosure. The embodiment of FIG. 12 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0149] Referring to FIG. 12, the first wireless device (100) and the second wireless device (200) can transmit and receive wireless signals via various wireless access technologies (e.g., LTE, NR). Here, {the first wireless device (100), the second wireless device (200)} can correspond to {the wireless device (100x), the base station (200)} and / or {the wireless device (100x), the wireless device (100x)} of FIG. 11.

[0150] A first wireless device (100) includes one or more processors (102) and one or more memories (104), and may further include one or more transceivers (106) and / or one or more antennas (108). The processor (102) controls the memories (104) and / or the transceivers (106), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (102) may process information in the memory (104) to generate first information / signal, and then transmit a wireless signal including the first information / signal via the transceiver (106). Furthermore, the processor (102) may receive a wireless signal including second information / signal via the transceiver (106), and then store information obtained from signal processing of the second information / signal in the memory (104). The memory (104) may be connected to the processor (102) and may store various information related to the operation of the processor (102). For example, the memory (104) may perform some or all of the processes controlled by the processor (102), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (102) and the memory (104) may be part of a communication modem / circuit / chip designed to implement a wireless communication technology (e.g., LTE, NR). The transceiver (106) may be connected to the processor (102) and may transmit and / or receive wireless signals via one or more antennas (108). The transceiver (106) may include a transmitter and / or a receiver. The transceiver (106) may be used interchangeably with an RF (Radio Frequency) unit. In the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0151] A second wireless device (200) includes one or more processors (202), one or more memories (204), and may further include one or more transceivers (206) and / or one or more antennas (208). The processor (202) controls the memories (204) and / or the transceivers (206), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (202) may process information in the memory (204) to generate third information / signals, and then transmit a wireless signal including the third information / signals via the transceivers (206). In addition, the processor (202) may receive a wireless signal including fourth information / signals via the transceivers (206), and then store information obtained from signal processing of the fourth information / signals in the memory (204). The memory (204) may be connected to the processor (202) and may store various information related to the operation of the processor (202). For example, the memory (204) may perform some or all of the processes controlled by the processor (202), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (202) and the memory (204) may be part of a communication modem / circuit / chip designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (206) may be connected to the processor (202) and may transmit and / or receive wireless signals via one or more antennas (208). The transceiver (206) may include a transmitter and / or a receiver. The transceiver (206) may be used interchangeably with an RF unit. In the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] FIG. 13 illustrates a signal processing circuit for a transmission signal according to an embodiment of the present disclosure. The embodiment of FIG. 13 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0157] Referring to FIG. 13, the signal processing circuit (1000) may include a scrambler (1010), a modulator (1020), a layer mapper (1030), a precoder (1040), a resource mapper (1050), and a signal generator (1060). Although not limited thereto, the operations / functions of FIG. 13 may be performed in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 12. The hardware elements of FIG. 13 may be implemented in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 12. For example, blocks 1010 to 1060 may be implemented in the processor (102, 202) of FIG. 12. Additionally, blocks 1010 to 1050 may be implemented in the processor (102, 202) of FIG. 12, and block 1060 may be implemented in the transceiver (106, 206) of FIG. 12.

[0158] The codeword can be converted into a wireless signal through the signal processing circuit (1000) of FIG. 13. Here, the codeword is an encoded bit sequence of an information block. The information block may include a transport block (e.g., an UL-SCH transport block, a DL-SCH transport block). The wireless signal may be transmitted through various physical channels (e.g., a PUSCH or a PDSCH).

[0159] Specifically, the codeword can be converted into a bit sequence scrambled by a scrambler (1010). The scramble sequence used for scrambling is generated based on an initialization value, and the initialization value may include ID information of the wireless device, etc. The scrambled bit sequence can be modulated into a modulation symbol sequence by a modulator (1020). The modulation method may include pi / 2-BPSK (pi / 2-Binary Phase Shift Keying), m-PSK (m-Phase Shift Keying), m-QAM (m-Quadrature Amplitude Modulation), etc. The complex modulation symbol sequence can be mapped to one or more transmission layers by a layer mapper (1030). The modulation symbols of each transmission layer can be mapped to the corresponding antenna port(s) by a precoder (1040) (precoding). The output z of the precoder (1040) can be obtained by multiplying the output y of the layer mapper (1030) by a precoding matrix W of N*M. Here, N is the number of antenna ports, and M is the number of transmission layers. Here, the precoder (1040) can perform precoding after performing transform precoding (e.g., DFT transform) on complex modulation symbols. In addition, the precoder (1040) can perform precoding without performing transform precoding.

[0160] The resource mapper (1050) can map modulation symbols of each antenna port to time-frequency resources. The time-frequency resources can include multiple symbols (e.g., CP-OFDMA symbols, DFT-s-OFDMA symbols) in the time domain and multiple subcarriers in the frequency domain. The signal generator (1060) generates a wireless signal from the mapped modulation symbols, and the generated wireless signal can be transmitted to another device through each antenna. To this end, the signal generator (1060) can include an Inverse Fast Fourier Transform (IFFT) module, a Cyclic Prefix (CP) inserter, a Digital-to-Analog Converter (DAC), a frequency uplink converter, etc.

[0161] The signal processing process for receiving signals in a wireless device can be configured in reverse order of the signal processing process (1010 to 1060) of FIG. 13. For example, a wireless device (e.g., 100, 200 of FIG. 12) can receive wireless signals from the outside through an antenna port / transceiver. The received wireless signals can be converted into baseband signals through a signal restorer. For this purpose, the signal restorer can include a frequency downlink converter, an analog-to-digital converter (ADC), a CP remover, and a fast Fourier transform (FFT) module. Thereafter, the baseband signal can be restored to a codeword through a resource demapper process, a postcoding process, a demodulation process, and a descrambling process. The codewords can be restored to the original information blocks through decoding. Accordingly, a signal processing circuit (not shown) for a received signal may include a signal restorer, a resource de-mapper, a postcoder, a demodulator, a de-scrambler, and a decoder.

[0162] Figure 14 illustrates a wireless device according to an embodiment of the present disclosure. The wireless device may be implemented in various forms depending on the use case / service (see Figure 11). The embodiment of Figure 14 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0163] Referring to FIG. 14, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 12 and may be composed of various elements, components, units / units, and / or modules. For example, the wireless device (100, 200) may include a communication unit (110), a control unit (120), a memory unit (130), and an additional element (140). The communication unit may include a communication circuit (112) and a transceiver(s) (114). For example, the communication circuit (112) may include one or more processors (102, 202) and / or one or more memories (104, 204) of FIG. 12. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 12. 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).

[0164] The additional element (140) may be configured in various ways depending on the type of the wireless device. For example, the additional element (140) may include at least one of a power unit / battery, an input / output unit (I / O unit), a driving unit, and a computing unit. Although not limited thereto, the wireless device may be implemented in the form of a robot (Fig. 11, 100a), a vehicle (Fig. 11, 100b-1, 100b-2), an XR device (Fig. 11, 100c), a portable device (Fig. 11, 100d), a home appliance (Fig. 11, 100e), an IoT device (Fig. 11, 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. 11, 400), a base station (Fig. 11, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0165] In FIG. 14, various elements, components, units / parts, and / or modules within the wireless device (100, 200) may be entirely interconnected via a wired interface, or at least some may be wirelessly connected via a communication unit (110). For example, within the wireless device (100, 200), the control unit (120) and the communication unit (110) may be wired, and the control unit (120) and the first unit (e.g., 130, 140) may be wirelessly connected via the communication unit (110). In addition, each element, component, unit / part, and / or module within the wireless device (100, 200) may further include one or more elements. For example, the control unit (120) may be composed of one or more processor sets. For example, the control unit (120) may be composed of a set of a communication control processor, an application processor, an electronic control unit (ECU), a graphics processing processor, a memory control processor, etc. As another example, the memory unit (130) may be composed of a random access memory (RAM), a dynamic RAM (DRAM), a read only memory (ROM), a flash memory, a volatile memory, a non-volatile memory, and / or a combination thereof.

[0166] Below, the implementation example of Fig. 14 is described in more detail with reference to the drawings.

[0167] FIG. 15 illustrates a mobile device according to an embodiment of the present disclosure. The mobile device may include a smartphone, a smart pad, a wearable device (e.g., a smartwatch, smartglasses), or a portable computer (e.g., a laptop, etc.). The mobile device may be referred to as a Mobile Station (MS), a User Terminal (UT), a Mobile Subscriber Station (MSS), a Subscriber Station (SS), an Advanced Mobile Station (AMS), or a Wireless Terminal (WT). The embodiment of FIG. 15 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0168] Referring to FIG. 15, the portable device (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a memory unit (130), a power supply unit (140a), an interface unit (140b), and an input / output unit (140c). The antenna unit (108) may be configured as a part of the communication unit (110). Blocks 110 to 130 / 140a to 140c correspond to blocks 110 to 130 / 140 of FIG. 14, respectively.

[0169] The communication unit (110) can transmit and receive signals (e.g., data, control signals, etc.) with other wireless devices and base stations. The control unit (120) can control components of the mobile device (100) to perform various operations. The control unit (120) can include an AP (Application Processor). The memory unit (130) can store data / parameters / programs / codes / commands required for operating the mobile device (100). In addition, the memory unit (130) can store input / output data / information, etc. The power supply unit (140a) supplies power to the mobile device (100) and can include a wired / wireless charging circuit, a battery, etc. The interface unit (140b) can support connection between the mobile device (100) and other external devices. The interface unit (140b) can include various ports (e.g., audio input / output ports, video input / output ports) for connection with external devices. The input / output unit (140c) can input or output video information / signals, audio information / signals, data, and / or information input from a user. The input / output unit (140c) may include a camera, a microphone, a user input unit, a display unit (140d), a speaker, and / or a haptic module.

[0170] For example, in the case of data communication, the input / output unit (140c) obtains information / signals (e.g., touch, text, voice, image, video) input by the user, and the obtained information / signals can be stored in the memory unit (130). The communication unit (110) converts the information / signals stored in the memory into wireless signals, and can directly transmit the converted wireless signals to other wireless devices or to a base station. In addition, the communication unit (110) can receive wireless signals from other wireless devices or base stations, and then restore the received wireless signals to the original information / signals. The restored information / signals can be stored in the memory unit (130) and then output in various forms (e.g., text, voice, image, video, haptic) through the input / output unit (140c).

[0171] FIG. 16 illustrates a vehicle or autonomous vehicle according to one embodiment of the present disclosure. The vehicle or autonomous vehicle may be implemented as a mobile robot, a car, a train, a manned / unmanned aerial vehicle (AV), a ship, etc. The embodiment of FIG. 16 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0172] Referring to FIG. 16, 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. 14, respectively.

[0173] 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.

[0174] 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.

[0175] The claims set forth in this specification may be combined in various ways. For example, the technical features of the method claims of this specification may be combined and implemented as a device, and the technical features of the device claims of this specification may be combined and implemented as a method. Furthermore, the technical features of the method claims and the technical features of the device claims of this specification may be combined and implemented as a device, and the technical features of the method claims and the technical features of the device claims of this specification may be combined and implemented as a method.

Claims

1. In the method, (i) generating road lane topology information, comprising first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane, and (ii) second information related to at least one link connecting the at least one node; and A step of transmitting the above load lane topology information; including: A method wherein at least one of the first information or the second information is based on at least one of (i) the number of the at least one lane, or (ii) the speed allowed within each of the lanes.

2. In paragraph 1, A method in which the above load lane topology information is transmitted by being included in a map extended message (MAPEM).

3. In paragraph 1, A method wherein the at least one waypoint comprises at least one of a first waypoint within a middle line of each lane or a second waypoint within a boundary of each lane.

4. In paragraph 1, A method wherein the first information includes information related to the number of at least one node.

5. In paragraph 1, A method wherein the first information includes node identification information for identifying each node among the at least one node.

6. In paragraph 1, A method wherein the first information includes information about a data structure associated with the at least one node.

7. In paragraph 6, A method wherein the information regarding the above data structure comprises an M-ary tree.

8. In paragraph 1, A method wherein the second information includes information related to the number of at least one link.

9. In paragraph 1, A method wherein the second information includes link identification information for identifying each link among the at least one link.

10. In paragraph 1, A method wherein the second information includes distance information between each link among the at least one link.

11. In paragraph 1, A method in which the load lane topology information is generated, including the first information and the second information, wherein the first information includes at least one of a reduced number of at least one node or node identification information for identifying each node among the reduced at least one node, based on the number of at least one lane being greater than or equal to a threshold value.

12. In paragraph 1, A method in which the load lane topology information is generated, the first information including information about a pruned data structure associated with the at least one node and the second information including information about the at least one lane being greater than or equal to a threshold value.

13. In paragraph 1, A method in which the load lane topology information is generated, the second information including at least one of information related to the number of at least one reduced link, link identification information for identifying each link among the at least one reduced link, or increased distance information between each link among the at least one link, based on the speed allowed within each of the lanes being greater than or equal to a threshold value.

14. In the first device, At least one transmitter / receiver; at least one processor; and At least one memory executable connected to said at least one processor and having instructions recorded thereon that cause said first device to perform operations based on being executed by said at least one processor, said operations comprising: (i) generating road lane topology information, comprising first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane, and (ii) second information related to at least one link connecting the at least one node; and A step of transmitting the above load lane topology information; including: A first device, wherein at least one of the first information or the second information is based on at least one of (i) the number of the at least one lane, or (ii) the speed allowed within each of the lanes.

15. In a processing device adapted to control a first device, The above processing device, at least one processor; and At least one memory executable connected to said at least one processor and having instructions recorded thereon that cause said first device to perform operations based on being executed by said at least one processor, said operations comprising: (i) generating road lane topology information, comprising first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane, and (ii) second information related to at least one link connecting the at least one node; and A step of transmitting the above load lane topology information; including: A processing device, wherein at least one of the first information or the second information is based on at least one of (i) the number of the at least one lane, or (ii) the speed allowed within each of the lanes.

16. A non-transitory computer-readable storage medium that records commands, The above instructions, when executed, cause the first device to perform actions, wherein the actions are: (i) generating road lane topology information, comprising first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane, and (ii) second information related to at least one link connecting the at least one node; and A step of transmitting the above load lane topology information; including: A non-transitory computer-readable storage medium, wherein at least one of the first information or the second information is based on at least one of (i) the number of the at least one lane, or (ii) the speed allowed within each of the lanes.

17. In a method performed by a second device, (i) receiving road lane topology information, comprising: (i) first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane; and (ii) second information related to at least one link connecting the at least one node; A method wherein at least one of the first information or the second information is based on at least one of (i) the number of the at least one lane, or (ii) the speed allowed within each of the lanes.

18. In the second device, At least one transmitter / receiver; at least one processor; and At least one memory executable connected to said at least one processor and having instructions recorded thereon that cause said second device to perform operations based on being executed by said at least one processor, said operations comprising: (i) receiving road lane topology information, comprising: (i) first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane; and (ii) second information related to at least one link connecting the at least one node; A second device, wherein at least one of the first information or the second information is based on at least one of (i) the number of the at least one lane, or (ii) the speed allowed within each of the lanes.

19. In a processing apparatus adapted to control a second device, the processing apparatus comprises: at least one processor; and At least one memory executable connected to said at least one processor and having instructions recorded thereon that cause said second device to perform operations based on being executed by said at least one processor, said operations comprising: (i) receiving road lane topology information, comprising: (i) first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane; and (ii) second information related to at least one link connecting the at least one node; A processing device, wherein at least one of the first information or the second information is based on at least one of (i) the number of the at least one lane, or (ii) the speed allowed within each of the lanes.

20. A non-transitory computer-readable storage medium that records commands, The above instructions, when executed, cause the second device to perform actions, wherein the actions are: (i) receiving road lane topology information, comprising: (i) first information related to at least one node corresponding to at least one waypoint within each lane among at least one lane; and (ii) second information related to at least one link connecting the at least one node; A non-transitory computer-readable storage medium, wherein at least one of the first information or the second information is based on at least one of (i) the number of the at least one lane, or (ii) the speed allowed within each of the lanes.

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