Method for transmitting and receiving data in wireless communication system, and apparatus performing same

Abstract

A method performed by a network node, according to at least one of various embodiments, may comprise: receiving, from a plurality of devices each having a sensor, a plurality of sensor data messages including sensing information about objects detected by the sensors; generating an aggregation message on the basis of aggregation of the plurality of sensor data messages; and transmitting the aggregation message.

Description

Method for transmitting and receiving data in a wireless communication system and device for performing the same

[0001] This specification relates to a wireless communication system, and more specifically, to a method for transmitting and receiving data on awareness in an intelligent transport system (ITS) and a device for performing the same.

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

[0003] Intelligent Transport Systems (ITS) are a form of transportation management that utilizes wireless communication technologies to improve efficiency and safety. ITS systems can monitor traffic conditions in real time and collect and process data through CCTV, sensor networks, GPS devices, and wireless communication systems. ITS systems can also support vehicle-to-vehicle communication, enabling vehicles to communicate with each other and share information about their surroundings to enhance autonomous driving and traffic safety. Messages are defined for sensor-equipped devices to transmit information about objects detected through sensors. These messages are referred to as SDSM (sensor data sharing message) in the SAE standard and CPM (Collective Perception Message) in the ETSI standard.

[0004] The technical challenge is to transmit and receive sensing data more accurately and efficiently in a wireless communication system. As an example, a method and device for more accurately and efficiently combining and transmitting sensing data acquired from multiple sensor-equipped devices are provided.

[0005] The technical challenges are not limited to those mentioned above, and other technical challenges not mentioned can be derived from the description below.

[0006] A method performed by a network node according to one aspect of the present disclosure comprises: receiving a plurality of sensor data messages including sensing information about objects detected by a sensor from a plurality of devices, each of which has a sensor; generating a combined message based on an aggregation of the plurality of sensor data messages; and transmitting the combined message, wherein, in generating the combined message, (i) a first sensor data message received from a first device among the plurality of devices and a second sensor data message received from a second device each include object information about the same object, and (ii) based on the first device and the second device being different types of devices, the network node may: generate the combined message based on object information about the object included in a sensor data message received from a device having a higher priority type among the first device and the second device.

[0007] According to another aspect of the present disclosure, a non-transitory storage medium may be provided that stores instructions that, when executed by a processor of a network node, cause the network node to perform operations. The operations include: receiving a plurality of sensor data messages from a plurality of devices, each of the devices having a sensor, the plurality of sensor data messages including sensing information about objects detected by the sensors; generating a combined message based on an aggregation of the plurality of sensor data messages; and transmitting the combined message, wherein, in generating the combined message, (i) a first sensor data message received from a first device among the plurality of devices and a second sensor data message received from a second device each include object information about the same object, and (ii) based on the first device and the second device being different types of devices, the network node may: generate the combined message based on object information about the object included in a sensor data message received from a device having a higher priority type among the first device and the second device.

[0008] According to another aspect of the present disclosure, a network node comprises: a memory for storing instructions; and a processor for performing operations by executing the instructions, wherein the operations performed by the processor include: receiving a plurality of sensor data messages including sensing information about objects detected by a sensor from a plurality of devices each having a sensor; generating a combined message based on aggregation of the plurality of sensor data messages; and transmitting the combined message, wherein in generating the combined message, (i) a first sensor data message received from a first device among the plurality of devices and a second sensor data message received from a second device each include object information about the same object, and (ii) based on the fact that the first device and the second device are different types of devices, the network node may: generate the combined message based on object information about the object included in a sensor data message received from a device having a higher priority type among the first device and the second device.

[0009] Based on the fact that the first device is of the RSU (road side unit) type and the second device is of the OBU (On-Board Unit) type or the VRU (Vulnerable Road User) type, the first device may have a higher priority than the second device.

[0010] Based on the fact that the first device is of the OBU (On-Board Unit) type and the second device is of the VRU (Vulnerable Road User) type, the first device may have a higher priority than the second device.

[0011] The network node can determine whether the first object information and the second object information are related to the same object based on the detection time, time, and location information included in the first object information of the first sensor data message and the detection time, time, and location information included in the second object information of the second sensor data message.

[0012] Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message may further include time offset information in addition to information about a first time point at which the first object information was detected from the first device. The time offset information may be related to a delay from the first time point to a second time point at which the combined message is transmitted.

[0013] Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message may include time information determined based on a combination of a first time point at which the first object information is detected in the first device and a second time point at which the combined message is transmitted.

[0014] Based on the fact that the above combined message is generated based on the first object information of the first sensor data message, the combined message may further include location offset information in addition to information about a first location of the first device that detected the first object information. The location offset information may relate to a difference from the first location to a second location of the network node.

[0015] Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message may include location information determined based on a combination of a first location for the first device that detected the first object information and a second location of the network node.

[0016] The above network node may be a central server in an intelligent transportation system (ITS).

[0017] The above plurality of sensor data messages may be related to at least one of a sensor data sharing message (SDSM) or a collective perception message (CPM).

[0018] According to one embodiment of the present disclosure, sensing data transmission and reception in a wireless communication system can be performed more accurately and efficiently. For example, when sensing data received from multiple devices contains duplicate object information, the duplicate object information is selected based on priority and the sensor data is aggregated to form a message, thereby optimizing message size and providing a more reliable message.

[0019] The effects that can be obtained in various embodiments are not limited to the effects mentioned above, and other effects not mentioned can be derived from the description below.

[0020] Figure 1 is a diagram for explaining V2X communication.

[0021] Figure 2 shows a radio protocol architecture for SL communication.

[0022] Figure 3 shows a terminal performing V2X or SL communication.

[0023] Figure 4 is a drawing for explaining the SDSM message defined in the SAE standard.

[0024] Figure 5 is a diagram for explaining the CPM message defined in the ETSI standard.

[0025] Figure 6 illustrates an example of a V2X service environment using a cellular network.

[0026] FIG. 7 is a diagram for explaining the V2N2X Function in the protocol layer of Central ITS-S according to one embodiment.

[0027] FIG. 8 is a diagram for explaining sensor data sharing message aggregation time and location information of Central ITS-S according to one embodiment.

[0028] FIG. 9 is a diagram for explaining the operation of Central ITS-S according to one embodiment.

[0029] FIG. 10 illustrates a procedure performed in an intelligent transportation system according to one embodiment.

[0030] FIG. 11 illustrates a flow of a method performed in a network node according to one embodiment.

[0031] Figure 12 illustrates a communication system applicable to the present disclosure.

[0032] Figure 13 illustrates a wireless device applicable to the present disclosure.

[0033] Figure 14 shows another example of a wireless device applicable to the present disclosure.

[0034] FIG. 15 illustrates a vehicle or autonomous vehicle applicable to the present disclosure.

[0035] Sidelink (SL) refers to a communication method that establishes a direct link between user equipment (UE), allowing voice or data to be exchanged directly between terminals without going through a base station (BS). SL is being considered as a solution to address the burden on base stations due to rapidly increasing data traffic.

[0036] V2X (vehicle-to-everything) refers to a communication technology that exchanges information with other vehicles, pedestrians, and infrastructure-based objects through wired / wireless communication. V2X can be divided into four types: V2V (vehicle-to-vehicle), V2I (vehicle-to-infrastructure), V2N (vehicle-to-network), and V2P (vehicle-to-pedestrian). V2X communication can be provided through the PC5 interface and / or Uu interface.

[0037] Figure 1 is a diagram for comparing and explaining V2X communication based on RAT before NR and V2X communication based on NR.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Figure 2 illustrates a radio protocol architecture for SL communication. Specifically, Figure 2 (a) illustrates a user plane protocol stack of NR, and Figure 2 (b) illustrates a control plane protocol stack of NR.

[0047] Figure 3 shows a terminal performing V2X or SL communication.

[0048] Referring to FIG. 3, the term "terminal" in V2X or SL communications may primarily refer to a user's terminal. However, if a network device, such as a base station, transmits and receives signals according to a communication method between terminals, the base station may also be considered a type of terminal. For example, terminal 1 may be a first device (100), and terminal 2 may be a second device (200).

[0049] For example, terminal 1 can select a resource unit corresponding to a specific resource within a resource pool, which represents a set of resources. Then, terminal 1 can transmit an SL signal using the resource unit. For example, terminal 2, which is a receiving terminal, can be configured with a resource pool in which terminal 1 can transmit a signal, and can detect a signal from terminal 1 within the resource pool.

[0050] Here, if terminal 1 is within the connection range of the base station, the base station can inform terminal 1 of the resource pool. On the other hand, if terminal 1 is outside the connection range of the base station, another terminal can inform terminal 1 of the resource pool, or terminal 1 can use a pre-configured resource pool.

[0051] In general, a resource pool can be composed of multiple resource units, and each terminal can select one or multiple resource units to use for its SL signal transmission.

[0052] Messages about sensor data

[0053] A message is defined for a sensor-equipped device to transmit object information detected by the sensor. This message is called the SDSM (sensor data sharing message) in the SAE standard and the CPM (Collective Perception Message) in the ETSI standard.

[0054] In the following description, SDSM and CPM are collectively referred to as sensor data messages. A sensor data message may mean at least one of SDSM or CPM. In addition, the formats of sensor data messages received by a network node (server) in the following description may be different from each other. For example, a network node (server) may receive an SDSM as a first sensor data message from a first device, receive a CPM as a second sensor data message from a second device, and aggregate them. To this end, the network node (server) may convert the CPM to SDSM or vice versa. Alternatively, the network node may convert to a separate format for aggregation or extract information for aggregation from the CPM / SDSM. A network node may combine and transmit received sensor data messages, and a message in this combined form will be referred to as a sensor data combined message, or simply a combined message. In addition, the network node (server) will be referred to as Central IT-S for convenience.

[0055] In the following description, a network node (server) may include one or more subordinate nodes / servers. Such a network node (server) may be referred to as a Central ITS-S (ITS station).

[0056] In addition, in the description to be described later, the device transmitting the sensor data message is a device equipped with a sensor, and may include at least one of a Vulnerable Road User (VRU), an On-Board Unit (OBU), or a Road Side Unit (RSU) that transmits sensor data detected through the sensor, but is not limited thereto. Alternatively, the device may also transmit a sensor data message received from another device to a network node (server) and / or another device.

[0057] VRUs can refer to users whose protection devices are weaker than those of vehicles, making them more susceptible to serious injury in the event of a traffic accident. Pedestrians, cyclists, and electric scooter users are examples of VRUs, and they can connect to ITS via user equipment (UE) and exchange sensor data messages. In this specification, the term "VRU" refers to the UEs provided by the users.

[0058] OBU is a communication device installed inside a vehicle that can transmit and receive sensor data messages containing information such as the vehicle's location, speed, and driving direction.

[0059] RSU is a communication device installed on the roadside or in traffic facilities. It can sense various information such as road infrastructure information and pedestrian status information through communication with OBU / VRU / network nodes and transmit and receive sensor data messages.

[0060] As examples of sensor data messages, the SDSM message and CPM message defined in the current SAE standard are described.

[0061] Figure 4 is a diagram illustrating the SDSM message defined in the SAE standard. Figure 4 is an example to aid understanding of SDSM, and the actual structure, including the arrangement / name / size and number of components, may be changed as needed.

[0062] Referring to FIG. 4, SDSM may include 1) management and host data (Mgmt & Host Data) information and 2) detection object data information.

[0063] 1) Host data information includes information about the host device (e.g., OBU, RSU, VRU), including (i) host type information (HostType) and (ii) host characteristic information (HostCharacteristics). (i) HostType indicates whether the device is an OBU, RSU, or VRU. (ii) Host Characteristics includes the host's reference position and the time at which the position was measured (detection time). For example, message count, source ID, equipment type, time stamp, reference position, and position accuracy may be included, and additionally, position confidence (optional field) may be included.

[0064] 2) The detected object data information may include 1 to 256 object instances. The detected object data information may include (i) common data and (ii) type-specific data.

[0065] (i) With respect to Common Data, each object instance may contain the following data:

[0066] - object type, object type confidence, object ID

[0067] - measurement time, time confidence

[0068] - position, position confidence

[0069] - speed, speed confidence, speed Z (optional), speed Z confidence (optional)

[0070] - heading, heading confidence

[0071] - accelerations (optional), acceleration confidence (optional)

[0072] -yaw rate confidence (optional)

[0073] (ii) Type-Specific Data is data that is additionally included depending on the type of the object, and may include the following data.

[0074] - Vehicle: lights, attitude, angular velocity, size, height, vehicle class

[0075] - VRU: VRU type, propulsion info, attachment status, attachment radius

[0076] -Obstacle: size

[0077] In this way, the previously defined SDSM includes information about the type of Originator Equipment, which is the device transmitting the SDSM (e.g., HostType information).

[0078] Figure 5 is a diagram illustrating a CPM message defined in an ETSI standard (e.g., TS 103 324). Figure 5 is an example to aid understanding of CPM, and the actual structure, including the arrangement / name / size and number of components, may be changed as needed.

[0079] Referring to FIG. 5, CPM may include 1) management data (Mgmt Data) information, 2) host data (Host Data) information, and 3) perceived object data (Perceived Object Data) information.

[0080] 1) Management data includes a header and a Management container. The header includes the Protocol version, message ID, station ID, etc. The Management container includes a time stamp, reference position, message segment info (optional), and message rate range (optional).

[0081] 2) Host data describes the state and sensor characteristics of the device transmitting the CPM, and may include (i) OriginatingVehicleContainer (position, detection time), (ii) OriginatingRSUContainer (position, detection time), and / or (iii) SensorInformationContainer. (i) OriginatingVehicleContainer may include at least one of Orientation angle, Pitch angle (optional), Roll angle (optional), Trailer data set (optional). (ii) OriginatingRSUContainer may include MAP reference (optional). (iii) SensorInformationContainer may include at least one of the following:

[0082] - Sensor ID, Sensor type

[0083] - Perception region shape (optional)

[0084] - Perception region confidence (optional)

[0085] - Shadowing applies

[0086] 3) Perceived Object Data may include (i) a Perceived Object Container and / or (ii) a Perceived Region Container. (i) Each Perceived Object Instance (0...255) with static or dynamic characteristics in relation to the Perceived Object Container may include the following information:

[0087] - Object ID (optional)

[0088] - Measurement time, Position

[0089] -Velocity (optional), Acceleration (optional), Angles (optional), Z-angular velocity (optional), Lower Triangular Correlation Matrices (optional), Object dimensions (optional), Object age (optional), Object perception quality (optional), Sensor ID list (optional), Classification (optional), Map position (optional)

[0090] (ii) For each perceived region instance (0...255) in relation to the Perceived Region Container, the following information may be provided:

[0091] - Measurement time, perception region shape

[0092] - Perception region confidence, shadowing applies

[0093] - Sensor ID list (optional), Number of perceived objects (optional), Perceived object IDs (optional)

[0094] In this way, the previously defined CPM includes information about the sensor-equipped originator device by including a separate container (e.g., (i) OriginatingVehicleContainer, (ii) OriginatingRSUContainer, and / or (iii) SensorInformationContainer) for each Originator type.

[0095] Aggregation of sensor data message(s)

[0096] Rather than transmitting sensor data messages by equipping sensors, the Central ITS-S can aggregate sensor data messages received from other ITS-Ss and transmit them to other devices, such as another Central ITS-S.

[0097] As previously discussed, when an RSU ITS-S or Vehicle ITS-S is installed directly at a station and uses linked sensors to construct sensor data messages, the sensor data messages can be configured to include time and location information related to detected objects. However, for a Central ITS-S without sensors to aggregate, construct, and transmit messages, a different procedure may be required than that performed by existing RSUs / Vehicles.

[0098] In this specification, a method is proposed for determining the priority of information to be included in a message (e.g., a sensor data combined message) when a Central ITS-S (e.g., a server or a road traffic control center, etc.) transmits a message (e.g., a sensor data combined message) to another device / server (e.g., another Central ITS-S) based on the sensor data messages received, and adding an aggregation function for the sensor data messages in the V2N2X Layer. According to the proposed method, the overhead required for message signaling can be efficiently managed / reduced. For example, the Central ITS-S can efficiently configure / combine time and location information of a detected object included in a sensor data message received from another ITS-S directly equipped with a sensor, and transmit the sensor data combined message.

[0099] Fig. 6 illustrates an example of a V2X service environment utilizing a cellular network. Specifically, Fig. 6 illustrates a connection structure of different types of Central ITS-Ss connected to a cellular network, and a V2X service structure capable of receiving messages from or transmitting messages to other Central ITS-Ss connected thereto.

[0100] Referring to Fig. 6, the RSU ITS-S (D4, D6) is equipped with sensors, and can recognize information about VRU (D3), vehicles (D1, D2), obstacles (potholes), etc. on the road through the sensors. The RSU ITS-S (D4, D6) can configure object information detected by the sensors into sensor data sharing messages (A1, A2). The RSU ITS-S (D4, D6), which is an infrastructure installed on the roadside, can be connected to the Central ITS-S (A3), which is a central control center that controls road traffic. The messages generated by the RSU ITS-S (D4, D6) are transmitted to the Central ITS-S (A3), and the Central ITS-S (A3) can analyze the messages received from the RSU ITS-S (D4, D6) and provide the information to another server (e.g., another service providing server, a vehicle OEM server that provides information to vehicles).

[0101] FIG. 7 is a diagram for explaining the V2N2X Function in the protocol layer of Central ITS-S according to one embodiment.

[0102] Referring to Fig. 7, a new V2N2X function layer is added to the protocol layer of the Central ITS-S, and the V2N2X function layer can be responsible for transmitting combined messages according to the proposals described below. By operating the function under the leadership of the Central ITS-S within the V2N2X function layer, message transmission traffic between the Central ITS-S can be efficiently reduced.

[0103] Below, we will examine specific implementation examples of the above-described proposals. The distinction between the following embodiments is for convenience of explanation. Each embodiment does not necessarily need to be implemented independently. Depending on the implementation, the embodiments may be implemented at least partially in combination.

[0104] Example 1

[0105] When the Central ITS-S aggregates sensor data messages received and transmits them to other devices / nodes (e.g., other Central ITS-S), the format of the sensor data combined message composed by the Central ITS-S is proposed.

[0106] In the process of aggregating and configuring sensor data messages received from other RSU, OBU or VRU ITS-Ss, the Central ITS-S can detect that there are multiple originator devices for one detected object.

[0107] For example, as explained above through Figures 4 / 5, SDSM includes information about the host, and CPM includes originating vehicle / RSU information or sensor information. In this way, information about the device / sensor that detected the object can be included in the sensor data message, and for convenience, this will be referred to as the original author.

[0108] Meanwhile, although the Central ITS-S receives the first sensor data message from the first device, the original author of the object information included in the first sensor data message may not necessarily be limited to the first device. This is because it cannot be ruled out that the first device transmits sensor data information received from another original author device to the Central ITS-S.

[0109] When the Central ITS-S receives multiple sensor data messages, it can analyze them to determine whether there is at least one duplicate object among the different messages. There may be various methods for determining whether there is a duplicate object, for example, the Central ITS-S can determine whether there is a duplicate object using at least one of the type, location, time, and / or velocity of the detected object. For example, based on information about a first object included in a first sensor data message received from a first device (e.g., type, location, time, and / or velocity) and information about a second object included in a second sensor data message received from a second device (e.g., type, location, time, and / or velocity), the Central ITS-S can determine whether the first object and the second object are the same object. Based on the fact that the time and location of generation of the information about the first object and the information about the second object, as well as the original device, may not be the same, the Central ITS-S can determine that there is a duplicate object if the information about the first object and the information about the second object have a similarity level above a certain threshold even if the information about the first object and the information about the second object do not completely match.

[0110] If there are duplicate objects, the Central ITS-S can determine whether the original author device of the duplicate object is identical. The Central ITS-S can generate a merge message by considering whether the original author of the duplicate object is identical.

[0111] In one embodiment, the Central ITS-S can generate a combined message including original author information (equipmentType, position / accuracy) for each object. Table 1 shows an example of this.

[0112] SensorDataSharingMessage ::= SEQUENCE {msgCnt MsgCount, -- message sequence numbersourceID TemporaryID, -- temporary ID of Central ITS-S[["equipmentType EquipmentType, -- Sender type" 삭제됨]]sDSMTimeStamp DDateTime, -- aggregation message transmission time of Central ITS-S[["refPos Position3D, -- Sender reference position" 삭제됨]][["refPosXYConf PositionalAccuracy,refPosElConf ElevationConfidence OPTIONAL," 삭제됨]]objects DetectedObjectList-- detected objects}DetectedObjectList::= SEQUENCE (SIZE(1..256)) OF DetectedObjectDataDetectedObjectData::= SEQUENCE {detObjCommon DetectedObjectCommonData,-- Common data for detected objectdetObjOptData DetectedObjectOptionalData OPTIONAL-- Type specific optional data}DetectedObjectCommonData::= SEQUENCE {objType ObjectType,objTypeCfd ClassificationConfidence,objectID ObjectID, -- temporary ID assigned by Central IS-S...,equipments DetectionEquipmentList OPTIONAL, -- Original Sender Info...}DetectionEquipmentList::= SEQUENCE (SIZE(1..256)) OF DetectionEquipmentDetectionEquipment::= SEQUENCE {equipmentType EquipmentType, -- Original Sender typerefPos Position3D, -- Original Sender reference positionrefPosXYConf PositionalAccuracyrefPosElConf ElevationConfidence OPTIONAL,...}.

[0113] Table 1 assumes a case where a combined message is generated based on a modification to an existing SDSM message. Referring to Table 1, the combined message generated by the Central ITS-S omits the following fields from the existing SDSM: (i) equipmentType EquipmentType, -- Sender type, (ii) refPos Position3D, -- Sender reference position, (iii) refPosXYConf PositionalAccuracy, (iv) refPosElConf ElevationConfidence OPTIONAL. In addition, unlike the existing SDSM, the combined message generated by the Central ITS-S includes the sDSMTimeStamp DDateTime field for the time point at which the Central ITS-S transmits the combined message.

[0114] Meanwhile, DetectedObjectData, which is data about detected objects, includes DetectedObjectCommonData, and DetectedObjectCommonData can include equipments DetectionEquipmentList. equipments DetectionEquipmentList is a list of original DetectionEquipments, which are object detection devices.

[0115] For example, according to the method of Table 1, if there are multiple original authors for a duplicate object, information about the original authors can be included in the combined message in the form of a list (equipments DetectionEquipmentList).

[0116] Meanwhile, equipments DetectionEquipmentList is an optional field, so it does not necessarily need to be included in every combined message and can be omitted. For example, Central ITS-S can provide equipments DetectionEquipmentList for duplicate objects that it determines are not needed only upon explicit / separate request from the device / node receiving the combined message.

[0117] For example, when a Central ITS-S aggregates sensor data messages received from an RSU or OBU and transmits them to another Central ITS-S in the V2N2X Function operation, information related to the original author included in each detected object can be omitted and transmitted.

[0118] Alternatively, as described in Example 2, for duplicate objects, priorities may be assigned based on the type and / or reliability of the original author device, so that only the original author information with the highest priority or a priority level above a certain level may be used in composing a combined message.

[0119] By at least partially omitting the original author information for duplicate objects in this way, the size of the combined message can be reduced and signaling overhead can be reduced.

[0120] Meanwhile, the Central ITS-S can also send the detection time and location information of the object included in the message it received by including it in the combined message.

[0121] For example, referring to Table 2, the combined message generated by the Central ITS-S includes the originated SDSM Time Stamp included in the message generated by the sensor-equipped original ITS-S (RSU, OBU, or VRU), and may additionally include a measurement time offset (-1500 to 1500 msec) newly added by the Central ITS-S. For example, the measurement time offset may be related to the delay value caused in the process of generating and transmitting the combined message through processing after the Central ITS-S receives the sensor data message. For example, the measurement time offset may be related to the total delay value from the detection time of the original ITS-S to the transmission of the combined message. Consequently, when the receiver of the combined message determines the time information of the detected object, it can calculate the originated SDSM Time Stamp included in the message generated by the sensor-equipped original ITS-S (RSU, OBU, or VRU) + the measurement time offset (-1500 to 1500 msec).

[0122] SensorDataSharingMessage ::= SEQUENCE {msgCnt MsgCount, -- message sequence numbersourceID TemporaryID, -- Central ITS-S의 temporary IDsDSMTimeStamp DDateTime, -- aggregation message transmission time of Central ITS-Sobjects DetectedObjectList -- detected objects}DetectedObjectList::= SEQUENCE (SIZE(1..256)) OF DetectedObjectDataDetectedObjectData::= SEQUENCE {detObjCommon DetectedObjectCommonData,-- Common data for detected objectdetObjOptData DetectedObjectOptionalData OPTIONAL-- Type specific optional data}DetectedObjectCommonData::= SEQUENCE {objType ObjectType,objTypeCfd ClassificationConfidence,objectID ObjectID, -- temporary ID assigned by Central IS-SoriginatedSDSMTimeStamp DDateTimemeasurementTime MeasurementTimeOffset,timeConfidence TimeConfidence, ...,refPos Position3D, -- Original Sender reference positionrefPosXYConf PositionalAccuracyrefPosElConf ElevationConfidence OPTIONAL,pos PositionOffsetXYZ,posConfidence PositionConfidenceSet...}MeasurementTimeOffset ::= INTEGER (-1500..1500)) -LSB units of 1ms (signed).

[0123] Meanwhile, when the Central ITS-S aggregates sensor data messages received from other ITS-Ss, it may include a position offset value in addition to the originated reference position included in the message generated by the sensor-equipped original author (RSU, OBU, or VRU) ITS-S. When determining the location information of a detected object, the receiver of the combined message can calculate it using the originated reference position + position offset value included in the message generated by the sensor-equipped original author (RSU, OBU, or VRU) ITS-S.

[0124] Alternatively, the Central ITS-S can update the time and location information and include it in each object detection information of the combined message.

[0125] SensorDataSharingMessage ::= SEQUENCE {msgCnt MsgCount, -- message sequence numbersourceID TemporaryID, -- Central ITS-S의 temporary IDsDSMTimeStamp DDateTime, -- message transmission time of Central ITS-Sobjects DetectedObjectList -- detected objects}DetectedObjectList::= SEQUENCE (SIZE(1..256)) OF DetectedObjectDataDetectedObjectData::= SEQUENCE {detObjCommon DetectedObjectCommonData,-- Common data for detected objectdetObjOptData DetectedObjectOptionalData OPTIONAL-- Type specific optional data}DetectedObjectCommonData::= SEQUENCE {objType ObjectType,objTypeCfd ClassificationConfidence,objectID ObjectID, -- temporary ID assigned by Central IS-SrefTimeIncOffset DDateTimetimeConfidence TimeConfidence, ...,refPosIncOffset Position3D, -- Original Sender reference positionrefPosIncOffset PositionalAccuracy...}MeasurementTimeOffset ::= INTEGER (-1500..1500)) -LSB units of 1ms (signed)

[0126] In Table 3, the refTimeIncOffset time information represents the time information obtained by adding the time at which the original RSU, OBU, or VRU sent the sensor data message and the offset time described in the message.

[0127] The refPosIncOffset position information represents the position information obtained by adding the position information when the original RSU, OBU, or VRU sent the center data sharing message and the position offset information of the object based on the position described in the message.

[0128] Example 2

[0129] When composing a combined message based on the original author of a sensor data message received by a Central ITS-S (e.g., the equipment type of the Originating ITS-S of the message), a method for selecting / determining priorities for information included in the combined message is proposed.

[0130] The ITS-S capable of generating the original sensor data message can be an OBU, RSU, or VRU type ITS-S equipped with a sensor. The original author information is specified in the sensor data message, so that the Central ITS-S receiving the sensor data message can determine which type of ITS-S composed the message.

[0131] When the Central ITS-S is trying to transmit a combined message based on received sensor data messages, and the number of received sensor data messages is greater than a certain number or duplicate detection objects may exist across multiple different sensor data messages, the Central ITS-S can use this original author information to determine the priority of information to be included in the combined message composition.

[0132] For example, the priority of sensor data messages may be determined using methods such as, but not limited to, the following:

[0133] Priority 1. If the RSU ITS-S is the originator of the sensor data message, the Central ITS-S can prioritize that message.

[0134] Priority 2. If the OBU ITS-S is the originator of the sensor data message, the Central ITS-S may lower the priority of that message compared to the sensor data message transmitted by the RSU ITS-S.

[0135] Priority 3. If a VRU ITS-S is the originator of a sensor data message, the Central ITS-S may lower the priority of that message compared to sensor data messages transmitted by an OBU ITS-S.

[0136] For example, if there is a difference in information in sensor data messages from different originators even though the detected objects are the same object, the Central ITS-S can measure / determine the reliability of the information in the order of RSU > OBU > VRU and include the information in the sensor data combination message configured by the Central ITS-S.

[0137] Central ITS-S assigns priorities in the order of RSU > OBU > VRU according to the type of the original author, and if the size of the composed sensor data combined message exceeds the specified maximum size, it can omit the detected objects included in the original sensor data message of the original author type (e.g., VRU) with the lowest priority.

[0138] FIG. 8 is a diagram for explaining sensor data sharing message aggregation time and location information of Central ITS-S according to one embodiment.

[0139] Referring to Fig. 8, the Central ITS-S, which receives a sensor data message (M1) generated by an OBU (E4) as the original author and a sensor data message (M2) generated by an RSU (E6) as the original author, can aggregate the two sensor data messages to generate a combined message (M3). The combined message (M3) can include information about the time and location information of the detected object.

[0140] It is assumed that the sensor data message (M1) generated by the OBU (E4) and the sensor data message (M2) generated by the RSU (E6) include detection information for the same object VRU (E5). In this case, if there is a difference in the detection results of the RSU (E6) and the OBU (E4) with respect to the location of the object VRU (E5), and if the Central ITS-S determines that the VRU (E5) is a duplicated object, the Central ITS-S may give a higher priority to the detection result of the RSU (E6) so that the object information for the VRU (E5) can be included in the sensor data combination message generated by the Central ITS-S.

[0141] FIG. 9 is a diagram for explaining the operation of Central ITS-S according to one embodiment.

[0142] Referring to Fig. 9, Central ITS-S starts a sensor recognition detection object information service (B01).

[0143] The Central ITS-S can receive sensor data messages from ITS-Ss equipped with various types of sensors (B05).

[0144] The Central ITS-S determines whether to perform combining of received sensor data messages (B03), and if it determines to perform combining (B03, Yes), it can determine time and location information for the detected object included in each sensor data message (B04).

[0145] Central ITS-S can analyze the difference values ​​when different sensor data messages for the same detected object report different times / locations (B05).

[0146] Central ITS-S can determine the priority of object information based on the original author type (B06).

[0147] The Central ITS-S can construct and transmit a sensor data combination message containing time / location information for a detected object based on the determined priority (B07).

[0148] FIG. 10 illustrates a procedure performed in an intelligent transportation system according to one embodiment.

[0149] In Fig. 10, the first device / second device may be at least one of an RSU, a VRU, and / or an OBU. The first network node / second network node may be a Central ITS-S.

[0150] Referring to FIG. 10, a first device can sense at least one object using its own sensor (1005). Based on the sensing result, the first device can transmit a first sensor data message to a first network node (1010).

[0151] The second device can sense at least one object using its own sensors (1015). The first device can transmit a second sensor data message to the first network node based on the sensing results (1020).

[0152] The first network can analyze sensor data messages received from multiple devices, including a first device and a second device (1025). For example, the network node can determine whether a first sensor data message received from the first device and a second sensor data message received from the second device contain object information about the same object. The network node can determine the device types of the first device and the second device, respectively.

[0153] The network node may generate a combined message based on the analysis results (1030). If object information for the same object is included in both the first sensor data message and the second sensor data message, and the first and second devices are different types of devices, the network node may generate a sensor data message received from a device of a higher priority type among the first and second devices.

[0154] Based on the fact that the first device is of the RSU (road side unit) type and the second device is of the OBU (On-Board Unit) type or the VRU (Vulnerable Road User) type, the first device may have a higher priority than the second device.

[0155] Based on the fact that the first device is of the OBU (On-Board Unit) type and the second device is of the VRU (Vulnerable Road User) type, the first device may have a higher priority than the second device.

[0156] The network node can determine whether the first object information and the second object information are related to the same object based on the detection time, time, and location information included in the first object information of the first sensor data message and the detection time, time, and location information included in the second object information of the second sensor data message.

[0157] Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message may further include time offset information in addition to information about a first time point at which the first object information was detected from the first device. The time offset information may be related to a delay from the first time point to a second time point at which the combined message is transmitted.

[0158] Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message may include time information determined based on a combination of a first time point at which the first object information is detected in the first device and a second time point at which the combined message is transmitted.

[0159] Based on the fact that the above combined message is generated based on the first object information of the first sensor data message, the combined message may further include location offset information in addition to information about a first location of the first device that detected the first object information. The location offset information may relate to a difference from the first location to a second location of the network node.

[0160] Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message may include location information determined based on a combination of a first location for the first device that detected the first object information and a second location of the network node.

[0161] The above plurality of sensor data messages may be related to at least one of a sensor data sharing message (SDSM) or a collective perception message (CPM).

[0162] FIG. 11 illustrates a flow of a method performed in a network node according to one embodiment.

[0163] Referring to FIG. 11, a network node can receive a plurality of sensor data messages including sensing information about objects detected by a sensor from a plurality of devices each equipped with a sensor (1105).

[0164] The network node can generate a combined message based on the aggregation of the plurality of sensor data messages (1110).

[0165] A network node can transmit the above combination message (1115).

[0166] In generating the combined message, (i) a first sensor data message received from a first device among the plurality of devices and a second sensor data message received from a second device each include object information for the same object, and (ii) based on the fact that the first device and the second device are different types of devices, the network node may generate the combined message based on object information for the object included in a sensor data message received from a device of a type having a higher priority among the first device and the second device.

[0167] Based on the fact that the first device is of the RSU (road side unit) type and the second device is of the OBU (On-Board Unit) type or the VRU (Vulnerable Road User) type, the first device may have a higher priority than the second device.

[0168] Based on the fact that the first device is of the OBU (On-Board Unit) type and the second device is of the VRU (Vulnerable Road User) type, the first device may have a higher priority than the second device.

[0169] The network node can determine whether the first object information and the second object information are related to the same object based on the detection time, time, and location information included in the first object information of the first sensor data message and the detection time, time, and location information included in the second object information of the second sensor data message.

[0170] Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message may further include time offset information in addition to information about a first time point at which the first object information was detected from the first device. The time offset information may be related to a delay from the first time point to a second time point at which the combined message is transmitted.

[0171] Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message may include time information determined based on a combination of a first time point at which the first object information is detected in the first device and a second time point at which the combined message is transmitted.

[0172] Based on the fact that the above combined message is generated based on the first object information of the first sensor data message, the combined message may further include location offset information in addition to information about a first location of the first device that detected the first object information. The location offset information may relate to a difference from the first location to a second location of the network node.

[0173] Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message may include location information determined based on a combination of a first location for the first device that detected the first object information and a second location of the network node.

[0174] The above network node may be a central server in an intelligent transportation system (ITS).

[0175] The above plurality of sensor data messages may be related to at least one of a sensor data sharing message (SDSM) or a collective perception message (CPM).

[0176] Figure 12 illustrates a communication system applicable to this embodiment.

[0177] Referring to FIG. 12, a communication system (1) applicable to the present embodiment includes a wireless device, a base station, and a network. Here, the wireless device refers to a device that performs communication using a wireless access technology (e.g., 5G NR (New RAT), LTE (Long Term Evolution)) and may be referred to as a communication / wireless / 5G device. Although not limited thereto, the wireless device may include a robot (100a), a vehicle (100b-1, 100b-2), an XR (eXtended Reality) device (100c), a hand-held device (100d), a home appliance (100e), an IoT (Internet of Things) device (100f), and an AI device / server (400). For example, the vehicle may include a vehicle equipped with a wireless communication function, an autonomous vehicle, a vehicle capable of performing vehicle-to-vehicle communication, etc. Here, the vehicle may include an Unmanned Aerial Vehicle (UAV) (e.g., a drone). XR devices include AR (Augmented Reality) / VR (Virtual Reality) / MR (Mixed Reality) devices, and can be implemented in the form of HMD (Head-Mounted Device), HUD (Head-Up Display) installed in a vehicle, television, smartphone, computer, wearable device, home appliance, digital signage, vehicle, robot, etc. Mobile devices can include smartphone, smart pad, wearable device (e.g., smart watch, smart glass), computer (e.g., laptop, etc.), etc. Home appliances can include TV, refrigerator, washing machine, etc. IoT devices can include sensors, smart meters, etc. For example, base stations and networks can also be implemented as wireless devices, and a specific wireless device (200a) can act as a base station / network node to other wireless devices.

[0178] 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).

[0179] Wireless communication / connection (150a, 150b, 150c) can be established between wireless devices (100a~100f) / base stations (200), and base stations (200) / base stations (200). Here, wireless communication / connection can be achieved through various wireless access technologies (e.g., 5G NR) such as uplink / downlink communication (150a), sidelink communication (150b) (or, D2D communication), and communication between base stations (150c) (e.g., relay, IAB (Integrated Access Backhaul). Through wireless communication / connection (150a, 150b, 150c), wireless devices and base stations / wireless devices, and base stations and base stations can transmit / receive wireless signals to each other. For example, wireless communication / connection (150a, 150b, 150c) can transmit / receive signals through various physical channels. To this end, at least some of various configuration information setting processes for transmitting / receiving wireless signals, various signal processing processes (e.g., channel encoding / decoding, modulation / demodulation, resource mapping / demapping, etc.), and resource allocation processes can be performed based on various proposals of the present disclosure.

[0180] Figure 13 illustrates a wireless device applicable to the present disclosure.

[0181] Referring to FIG. 13, the first wireless device (100) and the second wireless device (200) can transmit and receive wireless signals through various wireless access technologies (e.g., LTE, NR). Here, {the first wireless device (100), the second wireless device (200)} can correspond to {the wireless device (100x), the base station (200)} and / or {the wireless device (100x), the wireless device (100x)} of FIG. 27.

[0182] A first wireless device (100) includes one or more processors (102) and one or more memories (104), and may further include one or more transceivers (106) and / or one or more antennas (108). The processor (102) controls the memories (104) and / or the transceivers (106), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (102) may process information in the memory (104) to generate first information / signal, and then transmit a wireless signal including the first information / signal via the transceiver (106). In addition, the processor (102) may receive a wireless signal including second information / signal via the transceiver (106), and then store information obtained from signal processing of the second information / signal in the memory (104). The memory (104) may be connected to the processor (102) and may store various information related to the operation of the processor (102). For example, the memory (104) may perform some or all of the processes controlled by the processor (102), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (102) and the memory (104) may be part of a communication modem / circuit / chipset designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (106) may be connected to the processor (102) and may transmit and / or receive wireless signals via one or more antennas (108). The transceiver (106) may include a transmitter and / or a receiver. The transceiver (106) may be used interchangeably with an RF (Radio Frequency) unit. In this specification, wireless device may also mean a communication modem / circuit / chipset.

[0183] Specifically, the UE may include a processor (102) and a memory (104) connected to the RF transceiver. The memory (104) may include at least one program capable of performing operations related to the embodiments described in FIGS. 12 to 27.

[0184] Alternatively, a chipset may be configured that includes a processor (102) and a memory (104). In this case, the chipset may include at least one processor and at least one memory operably connected to the at least one processor and, when executed, causing the at least one processor to perform operations.

[0185] The second wireless device (200) includes one or more processors (202), one or more memories (204), and may further include one or more transceivers (206) and / or one or more antennas (208). The processor (202) controls the memories (204) and / or the transceivers (206), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (202) may process information in the memory (204) to generate third information / signals, and then transmit a wireless signal including the third information / signals via the transceivers (206). Furthermore, the processor (202) may receive a wireless signal including fourth information / signals via the transceivers (206), and then store information obtained from signal processing of the fourth information / signals in the memory (204). The memory (204) may be connected to the processor (202) and may store various information related to the operation of the processor (202). For example, the memory (204) may perform some or all of the processes controlled by the processor (202), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (202) and the memory (204) may be part of a communication modem / circuit / chip designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (206) may be connected to the processor (202) and may transmit and / or receive wireless signals via one or more antennas (208). The transceiver (206) may include a transmitter and / or a receiver. The transceiver (206) may be used interchangeably with an RF unit. In this specification, a wireless device may also mean a communication modem / circuit / chip.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] 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.

[0190] Figure 14 illustrates another example of a wireless device applicable to this embodiment. The wireless device may be implemented in various forms depending on the use case / service (see Figure 27).

[0191] Referring to FIG. 14, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 13 and may be composed of various elements, components, units / units, and / or modules. For example, the wireless device (100, 200) may include a communication unit (110), a control unit (120), a memory unit (130), and an additional element (140). The communication unit may include a communication circuit (112) and a transceiver(s) (114). For example, the communication circuit (112) may include one or more processors (102, 202) and / or one or more memories (104, 204) of FIG. 14. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 13. 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).

[0192] 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. 12, 100a), a vehicle (Fig. 12, 100b-1, 100b-2), an XR device (Fig. 12, 100c), a portable device (Fig. 12, 100d), a home appliance (Fig. 12, 100e), an IoT device (Fig. 12, 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. 12, 400), a base station (Fig. 12, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0193] 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 a first unit (e.g., 130, 140) may be wirelessly connected via the communication unit (110). In addition, each element, component, unit / part, and / or module within the wireless device (100, 200) may further include one or more elements. For example, the control unit (120) may be composed of a set of one or more processors. For example, the control unit (120) may be composed of a set of a communication control processor, an application processor, an electronic control unit (ECU), a graphics processing processor, a memory control processor, etc. As another example, the memory unit (130) may be composed of RAM (Random Access Memory), DRAM (Dynamic RAM), ROM (Read Only Memory), flash memory, volatile memory, non-volatile memory, and / or a combination thereof.

[0194] Figure 15 illustrates a vehicle or autonomous vehicle applicable to this embodiment. The vehicle or autonomous vehicle may be implemented as a mobile robot, car, train, manned / unmanned aerial vehicle (AV), ship, etc.

[0195] Referring to FIG. 15, 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. 13, respectively.

[0196] 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.

[0197] 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.

[0198] Here, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification may include not only LTE, NR, and 6G, but also Narrowband Internet of Things for low-power communication. At this time, for example, NB-IoT technology may be an example of LPWAN (Low Power Wide Area Network) technology, and may be implemented with standards such as LTE Cat NB1 and / or LTE Cat NB2, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification may perform communication based on LTE-M technology. At this time, for example, LTE-M technology may be an example of LPWAN technology, and may be called by various names such as eMTC (enhanced Machine Type Communication). For example, LTE-M technology can be implemented by at least one of various standards such as 1) LTE CAT 0, 2) LTE Cat M1, 3) LTE Cat M2, 4) LTE non-BL (non-Bandwidth Limited), 5) LTE-MTC, 6) LTE Machine Type Communication, and / or 7) LTE M, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless device (XXX, YYY) of the present specification can include at least one of ZigBee, Bluetooth, and Low Power Wide Area Network (LPWAN) considering low-power communication, and is not limited to the above-described names. For example, ZigBee technology can create PAN (personal area networks) related to small / low-power digital communication based on various standards such as IEEE 802.15.4, and can be called by various names.

[0199] The embodiments described above are combinations of components and features of the present disclosure in a predetermined form. Each component or feature should be considered optional unless explicitly stated otherwise. Each component or feature may be implemented without being combined with other components or features. Furthermore, it is also possible to form embodiments of the present disclosure by combining some components and / or features. The order of operations described in the embodiments of the present disclosure may be changed. Some components or features of one embodiment may be included in another embodiment or may be replaced with corresponding components or features of another embodiment. It is self-evident that claims that do not have an explicit citation relationship in the patent claims may be combined to form embodiments or incorporated as new claims through post-application amendments.

[0200] In this document, the embodiments of the present disclosure have been described primarily focusing on the signal transmission and reception relationship between a terminal and a base station. This transmission and reception relationship is equally / similarly extended to signal transmission and reception between a terminal and a relay or a base station and a relay. Certain operations described as being performed by a base station in this document may, in some cases, be performed by its upper node. That is, it is obvious that various operations performed for communication with a terminal in a network composed of multiple network nodes including a base station may be performed by the base station or other network nodes other than the base station. The base station may be replaced by terms such as a fixed station, a Node B, an eNode B (eNB), an access point, etc. The terminal may also be replaced by terms such as a User Equipment (UE), a Mobile Station (MS), or a Mobile Subscriber Station (MSS).

[0201] Embodiments according to the present disclosure may be implemented by various means, for example, hardware, firmware, software, or a combination thereof. In the case of hardware implementation, an embodiment of the present disclosure may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, etc.

[0202] When implemented via firmware or software, one embodiment of the present disclosure may be implemented in the form of a module, procedure, function, or the like that performs the functions or operations described above. The software code may be stored in a memory unit and executed by a processor. The memory unit may be located within or outside the processor and may exchange data with the processor via various known means.

[0203] It will be apparent to those skilled in the art that the present disclosure may be embodied in other specific forms without departing from the technical features described herein. Therefore, the above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the scope of equivalents of the present invention are intended to be included within the scope of the present invention.

[0204] The embodiments of the present disclosure as described above can be applied to various devices of an intelligent transportation system.

Claims

1. In a method performed by a network node, Receiving a plurality of sensor data messages including sensing information about objects detected by a sensor from a plurality of devices each having a sensor; Generating a combined message based on the aggregation of the plurality of sensor data messages; and Including transmitting the above combined message, In generating the above combined message, (i) the first sensor data message received from the first device among the plurality of devices and the second sensor data message received from the second device each include object information for the same object, and (ii) based on the fact that the first device and the second device are different types of devices, the network node: A method for generating the combined message based on object information about the object included in a sensor data message received from a device having a higher priority type among the first device and the second device.

2. In paragraph 1, A method wherein the first device has a higher priority than the second device based on the first device being of the RSU (road side unit) type and the second device being of the OBU (On-Board Unit) type or the VRU (Vulnerable Road User) type.

3. In paragraph 1, A method wherein the first device has a higher priority than the second device based on the fact that the first device is of the OBU (On-Board Unit) type and the second device is of the VRU (Vulnerable Road User) type.

4. In paragraph 1, A method in which the network node determines whether the first object information and the second object information are related to the same object based on the detection time, time, and location information included in the first object information of the first sensor data message and the detection time, time, and location information included in the second object information of the second sensor data message.

5. In paragraph 1, Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message further includes time offset information in addition to information about the first point in time at which the first object information was detected from the first device, A method wherein the time offset information relates to a delay from the first time point to the second time point at which the combined message is transmitted.

6. In paragraph 1, A method wherein the combined message is generated based on the first object information of the first sensor data message, wherein the combined message includes time information determined based on a combination of a first time point at which the first object information is detected from the first device and a second time point at which the combined message is transmitted.

7. In paragraph 1, Based on the fact that the combined message is generated based on the first object information of the first sensor data message, the combined message further includes location offset information in addition to information about the first location for the first device that detected the first object information, A method wherein the above location offset information relates to a difference from the first location to the second location of the network node.

8. In paragraph 1, A method wherein the combined message is generated based on the first object information of the first sensor data message, wherein the combined message includes location information determined based on a combination of a first location of the first device that detected the first object information and a second location of the network node.

9. In paragraph 1, The above network node is a central server in an intelligent transportation system (ITS).

10. In paragraph 1, A method wherein the plurality of sensor data messages relate to at least one of a sensor data sharing message (SDSM) or a collective perception message (CPM).

11. A non-transitory storage medium storing instructions that, when executed by a processor of a network node, cause the network node to perform operations, wherein the operations are: Receiving a plurality of sensor data messages including sensing information about objects detected by a sensor from a plurality of devices each having a sensor; Generating a combined message based on the aggregation of the plurality of sensor data messages; and Including transmitting the above combined message, In generating the above combined message, (i) the first sensor data message received from the first device among the plurality of devices and the second sensor data message received from the second device each include object information for the same object, and (ii) based on the fact that the first device and the second device are different types of devices, the network node: A non-transitory recording medium that generates the combined message based on object information about the object included in a sensor data message received from a device having a higher priority type among the first device and the second device.

12. In network nodes, memory that stores commands; and A processor that performs operations by executing the above instructions, The operations performed by the above processor are: Receiving a plurality of sensor data messages including sensing information about objects detected by a sensor from a plurality of devices each having a sensor; Generating a combined message based on the aggregation of the plurality of sensor data messages; and Including transmitting the above combined message, In generating the above combined message, (i) the first sensor data message received from the first device among the plurality of devices and the second sensor data message received from the second device each include object information for the same object, and (ii) based on the fact that the first device and the second device are different types of devices, the network node: A network node that generates the combined message based on object information about the object included in a sensor data message received from a device having a higher priority type among the first device and the second device.

13. In paragraph 12, A network node in which the first device has a higher priority than the second device based on the first device being of the RSU (road side unit) type and the second device being of the OBU (On-Board Unit) type or the VRU (Vulnerable Road User) type.

14. In paragraph 12, A network node in which the first device has a higher priority than the second device based on the fact that the first device is of the OBU (On-Board Unit) type and the second device is of the VRU (Vulnerable Road User) type.

15. In paragraph 12, The above network node is a network node that is a central server in an intelligent transportation system (ITS).

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