Method for device to perform communication in wireless communication system, and device therefor

Abstract

Disclosed is a method by which a device operates in a wireless communication system according to various embodiments. The device may obtain sensor data for a plurality of sensors for recognizing a surrounding environment, determine at least one sensor in which interference greater than or equal to a preconfigured threshold is detected among the plurality of sensors on the basis of the sensor data, generate degradation data for the at least one sensor on the basis of the sensor data, and transmit a message including the degradation data.

Description

Method for performing communication by a device in a wireless communication system and device therefor

[0001] A method for a device to perform communication based on deterioration data of a sensor in a wireless communication system and a device therefor are provided.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0015] The technical problem to be solved by the present invention is to provide a method for efficiently transmitting and receiving messages in a wireless communication system and a device therefor.

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

[0017] A method according to an aspect of the present invention comprises the steps of: acquiring sensor data for a plurality of sensors for recognizing a surrounding environment; determining, based on the sensor data, at least one sensor among the plurality of sensors in which interference greater than a preset threshold is detected; generating deterioration data for the at least one sensor based on the sensor data; and transmitting a message including the deterioration data, wherein the deterioration data may include information on a deterioration level for each geographical section and time section for each of the at least one sensor.

[0018] Alternatively, the degradation data is characterized in that it further includes sensor type information for the at least one sensor.

[0019] Alternatively, the method further comprises receiving a degradation status message including shared degradation data; wherein the device is characterized in that it determines or updates a confidence level for the degradation data based on the shared degradation data.

[0020] Alternatively, the method further includes a step of applying a weight set for each sensor type to each of the sensor values ​​obtained from the plurality of sensors, and determining a control parameter used for extraction of a surrounding object based on a combined value of the sensor values ​​to which the weight is applied; wherein the weight is adjusted for each sensor type based on the deterioration data.

[0021] Alternatively, the method further comprises: determining whether the device belongs to a specific geographic section and a specific time section included in the degradation data based on the time and location at which the device is operating; and reducing the value of a weight for a sensor in which interference occurs in the specific geographic section and the specific time section from a first value to a second value based on the device being operating within the specific geographic section and the specific time section.

[0022] Alternatively, the method further includes a step of applying a weight set for each sensor type to each of the sensor values ​​obtained from the plurality of sensors, and determining at least one parameter used for controlling a vehicle related to the device based on a combined value of the sensor values ​​to which the weight is applied; wherein the weight is determined for each sensor type based on the deterioration data.

[0023] Alternatively, the at least one parameter is characterized in that it includes parameters for the driving speed of the vehicle, the distance between vehicles, and the braking level.

[0024] Alternatively, based on the at least one sensor being an acoustic sensor, the degradation level is characterized in that it is calculated based on the sound wave frequency band and interference power where interference occurs.

[0025] Alternatively, based on the at least one sensor being an image sensor, the degradation level is characterized in that it is calculated based on the position, direction and interference power of the image sensor.

[0026] According to another aspect, at least one non-transitory computer-readable medium includes instructions that, when executed by at least one processor, perform operations, including: acquiring sensor data for a plurality of sensors for recognizing a surrounding environment; determining at least one sensor among the plurality of sensors that detects interference greater than a preset threshold based on the sensor data; generating deterioration data for the at least one sensor; and transmitting a message including the deterioration data, wherein the deterioration data may include information about a deterioration level for each geographic section and time section for each of the at least one sensor.

[0027] According to another aspect, a device includes: a radio frequency (RF) transceiver; a processor connected to the RF transceiver; and a memory including at least one program that performs operations when executed by the processor, wherein the operations include: acquiring sensor data for a plurality of sensors for recognizing a surrounding environment; determining at least one sensor among the plurality of sensors that detects interference greater than a preset threshold based on the sensor data; generating deterioration data for the at least one sensor; and transmitting a message including the deterioration data, wherein the deterioration data may include information on a deterioration level for each geographical section and time section for each of the at least one sensor.

[0028] A processing device for controlling a device according to another aspect comprises at least one processor; and at least one memory connected to the at least one processor and storing instructions that perform operations when executed by the at least one processor, the operations comprising: acquiring sensor data for a plurality of sensors for recognizing a surrounding environment; determining at least one sensor among the plurality of sensors in which interference greater than a preset threshold is detected based on the sensor data; generating deterioration data for the at least one sensor; and transmitting a message including the deterioration data, wherein the deterioration data may include information on a deterioration level for each geographical section and time section for each of the at least one sensor.

[0029] According to another aspect, a network method comprises the steps of: receiving messages including degradation data from a plurality of devices; generating shared degradation data based on the degradation data included in the messages; and transmitting a degradation status message including the shared degradation data to peripheral devices, wherein the shared degradation data may include information on degradation levels for each geographical section and time section for each of at least one sensor among a plurality of sensors for recognizing a peripheral environment in which interference exceeding a preset threshold is detected.

[0030] In another aspect, at least one non-transitory computer-readable medium comprises instructions that, when executed by at least one processor, perform operations, the operations comprising: receiving messages including degradation data from a plurality of devices; generating shared degradation data based on the degradation data included in the messages; and transmitting a degradation status message including the shared degradation data to peripheral devices, wherein the shared degradation data may include information on a degradation level for each geographical section and time section for each of at least one sensor among a plurality of sensors for recognizing the surrounding environment in which interference greater than a preset threshold is detected.

[0031] In another aspect, a network includes a radio frequency (RF) transceiver; a processor connected to the RF transceiver; and a memory including at least one program that performs operations when executed by the processor, the operations including receiving messages including degradation data from a plurality of devices; generating shared degradation data based on the degradation data included in the messages; and transmitting a degradation status message including the shared degradation data to peripheral devices, wherein the shared degradation data may include information on a degradation level for each geographical section and time section for each of at least one sensor that detects interference exceeding a preset threshold among a plurality of sensors for recognizing a peripheral environment.

[0032] According to another aspect, a processing device for controlling a network comprises at least one processor; and at least one memory connected to the at least one processor and storing instructions that perform operations when executed by the at least one processor, the operations including: receiving messages including degradation data from a plurality of devices; generating shared degradation data based on the degradation data included in the messages; and transmitting a degradation status message including the shared degradation data to peripheral devices, wherein the shared degradation data may include information on a degradation level for each geographical section and time section for each of at least one sensor that detects interference greater than a preset threshold among a plurality of sensors for recognizing the surrounding environment.

[0033] According to various embodiments, a device in a wireless communication system can efficiently transmit and receive messages. For example, the device can transmit and receive messages based on sensor degradation data or recognize the surrounding environment, thereby maximally preventing incorrect sensor recognition or transmission of erroneous messages.

[0034] The effects that can be obtained in various embodiments are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the description below.

[0035] The drawings attached to this specification are intended to provide an understanding of the present invention, illustrate various embodiments of the present invention, and together with the description of the specification serve to explain the principles of the present invention.

[0036] Figure 1 is a diagram for comparing and explaining V2X communication based on RAT before NR and V2X communication based on NR.

[0037] Figure 2 shows the structure of the LTE system.

[0038] Figure 3 shows the structure of the NR system.

[0039] Figure 4 shows the structure of a radio frame of NR.

[0040] Figure 5 shows the slot structure of an NR frame.

[0041] FIG. 6 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure.

[0042] FIG. 7 illustrates an electromagnetic spectrum according to one embodiment of the present disclosure.

[0043] FIG. 8 illustrates an example of a typical scenario of an NTN based on a transparent payload, according to one embodiment of the present disclosure.

[0044] FIG. 9 illustrates an example of a typical scenario of an NTN based on a regenerative payload, according to one embodiment of the present disclosure.

[0045] FIG. 10 illustrates an example of a sensing operation according to one embodiment of the present disclosure.

[0046] Figure 11 shows a radio protocol architecture for SL communication.

[0047] Figure 12 shows a terminal performing V2X or SL communication.

[0048] Figure 13 shows resource units for V2X or SL communication.

[0049] FIG. 14 illustrates an example of a BWP according to one embodiment of the present disclosure.

[0050] FIG. 15 illustrates a procedure for a terminal to perform V2X or SL communication according to a resource allocation mode, according to one embodiment of the present disclosure.

[0051] Figures 16 to 21 are drawings for explaining a method of generating deterioration data.

[0052] Figures 22 to 30 are drawings for explaining the operation technology of the main autonomous vehicle and the secondary autonomous vehicle.

[0053] Figures 31 to 39 are drawings for explaining an acoustic positioning synchronization system using an acoustic device.

[0054] FIG. 40 is a diagram illustrating a method for a device to generate degradation data related to multiple sensors.

[0055] Figure 41 is a diagram illustrating how a network transmits a degradation status message containing degradation data.

[0056] Figure 42 illustrates a communication system applied to the present invention.

[0057] Figure 43 illustrates a wireless device applicable to the present invention.

[0058] Figure 44 shows another example of a wireless device applied to the present invention.

[0059] Figure 45 illustrates a vehicle or autonomous vehicle to which the present invention applies.

[0060] 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).

[0061] Sidelink refers to a communication method that establishes a direct link between user equipment (UE), allowing voice or data to be exchanged directly between terminals without going through a base station (BS). Sidelink is being considered as a solution to address the burden on base stations due to rapidly increasing data traffic.

[0062] 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.

[0063] Meanwhile, as more and more communication devices demand greater communication capacity, the need for improved mobile broadband communication compared to existing radio access technology (RAT) is emerging. Accordingly, communication systems that consider services or terminals sensitive to reliability and latency are being discussed. Next-generation wireless access technologies that consider improved mobile broadband communication, massive MTC, and URLLC (Ultra-Reliable and Low Latency Communication) can be called new radio access technology (RAT) or new radio (NR). NR can also support V2X (vehicle-to-everything) communication.

[0064] The following technologies can be used in various wireless communication systems, such as CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), and SC-FDMA (single carrier frequency division multiple access). CDMA can be implemented with wireless technologies such as UTRA (universal terrestrial radio access) or CDMA2000. TDMA can be implemented with wireless technologies such as GSM (global system for mobile communications) / GPRS (general packet radio service) / EDGE (enhanced data rates for GSM evolution). OFDMA can be implemented with wireless technologies such as IEEE (Institute of Electrical and Electronics Engineers) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802-20, and E-UTRA (evolved UTRA). IEEE 802.16m is an evolution of IEEE 802.16e, providing backward compatibility with systems based on IEEE 802.16e. UTRA is part of UMTS (universal mobile telecommunications system). 3GPP (3rd generation partnership project) LTE (long term evolution) is a part of E-UMTS (evolved UMTS) that uses E-UTRA (evolved-UMTS terrestrial radio access), employing OFDMA in the downlink and SC-FDMA in the uplink.LTE-A (advanced) is an evolution of 3GPP LTE.

[0065] 5G NR, the successor to LTE-A, is a new clean-slate mobile communications system featuring high performance, low latency, and high availability. 5G NR can utilize all available spectrum resources, from low-frequency bands below 1 GHz, mid-frequency bands between 1 GHz and 10 GHz, and high-frequency (millimeter wave) bands above 24 GHz.

[0066] For clarity, the description will focus on LTE-A or 5G NR, but the technical ideas of the embodiment(s) are not limited thereto.

[0067] Figure 2 illustrates the architecture of an applicable LTE system. This may be referred to as an Evolved-UMTS Terrestrial Radio Access Network (E-UTRAN) or a Long Term Evolution (LTE) / LTE-A system.

[0068] Referring to FIG. 2, the E-UTRAN includes a base station (20; BS) that provides a control plane and a user plane to a terminal (10). The terminal (10) may be fixed or mobile, and may be referred to by other terms such as a mobile station (MS), a user terminal (UT), a subscriber station (SS), a mobile terminal (MT), a wireless device, etc. The base station (20) refers to a fixed station that communicates with the terminal (10), and may be referred to by other terms such as an evolved-NodeB (eNB), a base transceiver system (BTS), an access point, etc.

[0069] Base stations (20) can be connected to each other via the X2 interface. The base station (20) is connected to an EPC (Evolved Packet Core, 30) via the S1 interface, more specifically, to an MME (Mobility Management Entity) via the S1-MME, and to an S-GW (Serving Gateway) via the S1-U.

[0070] The EPC (30) consists of an MME, an S-GW, and a P-GW (Packet Data Network-Gateway). The MME holds information about terminal access and capabilities, and this information is primarily used for terminal mobility management. The S-GW is a gateway with the E-UTRAN as its endpoint, and the P-GW is a gateway with the PDN as its endpoint.

[0071] The layers of the radio interface protocol between the terminal and the network can be divided into L1 (Layer 1), L2 (Layer 2), and L3 (Layer 3) based on the three lower layers of the Open System Interconnection (OSI) standard model, which is widely known in communication systems. Among these, the physical layer belonging to Layer 1 provides an information transfer service using a physical channel, and the RRC (Radio Resource Control) layer located in Layer 3 controls radio resources between the terminal and the network. To this end, the RRC layer exchanges RRC messages between the terminal and the base station.

[0072] Figure 3 shows the structure of the NR system.

[0073] Referring to FIG. 3, the NG-RAN may include a gNB and / or an eNB that provides user plane and control plane protocol termination to the UE. FIG. 7 illustrates a case where only a gNB is included. The gNB and eNB are connected to each other via an Xn interface. The gNB and eNB are connected to the 5th generation core network (5G Core Network: 5GC) via the NG interface. More specifically, the gNB is connected to the access and mobility management function (AMF) via the NG-C interface, and the gNB is connected to the user plane function (UPF) via the NG-U interface.

[0074] Figure 4 shows the structure of a radio frame of NR.

[0075] Referring to FIG. 4, radio frames can be used for uplink and downlink transmission in NR. A radio frame has a length of 10 ms and can be defined as two 5 ms half-frames (Half-Frames, HF). A half-frame can include five 1 ms sub-frames (Subframes, SF). A sub-frame can be divided into one or more slots, and the number of slots within a sub-frame can be determined by the Subcarrier Spacing (SCS). Each slot can include 12 or 14 OFDM (A) symbols depending on the cyclic prefix (CP).

[0076] When normal CP is used, each slot can contain 14 symbols. When extended CP is used, each slot can contain 12 symbols. Here, the symbols can include OFDM symbols (or CP-OFDM symbols), SC-FDMA (Single Carrier - FDMA) symbols (or DFT-s-OFDM (Discrete Fourier Transform-spread-OFDM) symbols).

[0077] Table 1 below shows the number of symbols per slot ((N)) depending on the SCS setting (u) when normal CP is used. slot symb ), number of slots per frame ((N frame,u slot ) and the number of slots per subframe ((N subframe,u slot ) is an example.

[0078] SCS (15*2 u )N slot symb N frame,u slot N subframe,u slot 15KHz (u=0)1410130KHz (u=1)1420260KHz (u=2)14404120KHz (u=3)14808240KHz (u=4)1416016

[0079] Table 2 illustrates the number of symbols per slot, the number of slots per frame, and the number of slots per subframe according to SCS when extended CP is used.

[0080] SCS (15*2 u )N slot symb N frame,u slot N subframe,u slot 60KHz (u=2)12404

[0081] In an NR system, OFDM(A) numerology (e.g., SCS, CP length, etc.) may be set differently between multiple cells that are merged into a single terminal. Accordingly, the (absolute time) interval of a time resource (e.g., subframe, slot, or TTI) (conveniently referred to as TU (Time Unit)) consisting of the same number of symbols may be set differently between the merged cells.

[0082] In NR, multiple numerologies, or SCSs, can be supported to support various 5G services. For example, a 15 kHz SCS can support wide areas in traditional cellular bands, while a 30 kHz / 60 kHz SCS can support dense urban areas, lower latency, and wider carrier bandwidth. A 60 kHz or higher SCS can support bandwidths greater than 24.25 GHz to overcome phase noise.

[0083] The NR frequency band can be defined by two types of frequency ranges. The two types of frequency ranges can be FR1 and FR2. The numerical values ​​of the frequency ranges can be changed, and for example, the two types of frequency ranges can be as shown in Table 3 below. Among the frequency ranges used in the NR system, FR1 can mean the "sub 6 GHz range", and FR2 can mean the "above 6 GHz range" and can be called millimeter wave (mmW).

[0084] Frequency Range designationCorresponding frequency rangeSubcarrier Spacing (SCS)FR1450MHz - 6000MHz15, 30, 60kHzFR224250MHz - 52600MHz60, 120, 240kHz

[0085] As described above, the numerical value of the frequency range of the NR system can be changed. For example, FR1 may include a band from 410 MHz to 7125 MHz, as shown in Table 4 below. That is, FR1 may include a frequency band above 6 GHz (or 5850, 5900, 5925 MHz, etc.). For example, the frequency band above 6 GHz (or 5850, 5900, 5925 MHz, etc.) included within FR1 may include an unlicensed band. The unlicensed band may be used for various purposes, such as for vehicular communications (e.g., autonomous driving).

[0086] Frequency Range designationCorresponding frequency rangeSubcarrier Spacing (SCS)FR1410MHz - 7125MHz15, 30, 60kHzFR224250MHz - 52600MHz60, 120, 240kHz

[0087] Figure 5 shows the slot structure of an NR frame.

[0088] Referring to Figure 5, a slot includes multiple symbols in the time domain. For example, in the case of a normal CP, one slot may include 14 symbols, but in the case of an extended CP, one slot may include 12 symbols. Alternatively, in the case of a normal CP, one slot may include 7 symbols, but in the case of an extended CP, one slot may include 6 symbols.

[0089] A carrier includes multiple subcarriers in the frequency domain. An RB (Resource Block) can be defined as multiple (e.g., 12) consecutive subcarriers in the frequency domain. A BWP (Bandwidth Part) can be defined as multiple consecutive (P)RBs ((Physical) Resource Blocks) in the frequency domain, and can correspond to one numerology (e.g., SCS, CP length, etc.). A carrier can include up to N (e.g., 5) BWPs. Data communication can be performed through activated BWPs. Each element can be referred to as a Resource Element (RE) in the resource grid, and one complex symbol can be mapped to it.

[0090] Meanwhile, the wireless interface between terminals or between terminals and a network may be composed of an L1 layer, an L2 layer, and an L3 layer. In various embodiments of the present disclosure, the L1 layer may refer to a physical layer. Furthermore, for example, the L2 layer may refer to at least one of a MAC layer, an RLC layer, a PDCP layer, and an SDAP layer. Furthermore, for example, the L3 layer may refer to an RRC layer.

[0091] FIG. 6 illustrates a communication structure that can be provided in a 6G system according to an embodiment of the present disclosure. The embodiment of FIG. 6 can be combined with various embodiments of the present disclosure.

[0092] New network characteristics in 6G may include:

[0093] - Satellite integrated network

[0094] - Connected Intelligence: Unlike previous generations of wireless communication systems, 6G is revolutionary, upgrading the wireless evolution from "connected objects" to "connected intelligence." AI can be applied at every stage of the communication process (or at every signal processing step, as described below).

[0095] - Seamless integration of wireless information and energy transfer

[0096] - Ubiquitous super 3D connectivity: Access to networks and core network functions of drones and very low Earth orbit satellites will create super 3D connectivity in 6G ubiquitous.

[0097] Some general requirements for the new network characteristics of 6G, such as the above, may be as follows:

[0098] - small cell networks

[0099] - Ultra-dense heterogeneous network

[0100] - High-capacity backhaul

[0101] - Radar technology integrated with mobile technology: High-precision localization (or location-based services) through communications is a key feature of 6G wireless communication systems. Therefore, radar systems will be integrated with 6G networks.

[0102] - Softwarization and virtualization

[0103] Below, the core implementation technologies of the 6G system are described.

[0104] - Artificial Intelligence: Incorporating AI into communications can streamline and improve real-time data transmission. AI can use numerous analytics to determine how complex target tasks should be performed. This means AI can increase efficiency and reduce processing delays. Time-consuming tasks such as handovers, network selection, and resource scheduling can be performed instantly using AI. AI can also play a crucial role in machine-to-machine (M2M), machine-to-human, and human-to-machine communications. Furthermore, AI can facilitate rapid communication in brain-computer interfaces (BCIs). AI-based communication systems can be supported by metamaterials, intelligent structures, intelligent networks, intelligent devices, intelligent cognitive radios, self-sustaining wireless networks, and machine learning.

[0105] - 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.

[0106] Figure 7 illustrates the electromagnetic spectrum according to one embodiment of the present disclosure. The embodiment of Figure 7 can be combined with various embodiments of the present disclosure. Key characteristics of THz communications include (i) a widely available bandwidth to support very high data rates, and (ii) high path loss at high frequencies (highly directional antennas are essential). The narrow beamwidth generated by the highly directional antenna reduces interference. The small wavelength of THz signals allows for a much larger number of antenna elements to be integrated into devices and base stations operating in this band. This enables the use of advanced adaptive array techniques to overcome range limitations.

[0107] - Large-scale MIMO technology

[0108] - Hologram beamforming (HBF)

[0109] - Optical wireless technology

[0110] - Free-space optical transmission backhaul network (FSO backhaul network)

[0111] - Quantum communication

[0112] - Cell-free communication

[0113] - Integration of wireless information and power transmission

[0114] - Integration of wireless communication and sensing

[0115] - Integrated access and backhaul network

[0116] - Big data analysis

[0117] - Reconfigurable intelligent surface

[0118] - metaverse

[0119] - Blockchain

[0120] Unmanned aerial vehicles (UAVs): UAVs, or drones, will be a key element in 6G wireless communications. In most cases, high-speed data wireless connectivity can be provided using UAV technology. Base stations (BSs) can be installed on UAVs to provide cellular connectivity. UAVs may offer specific capabilities not found in fixed BS infrastructure, such as easy deployment, robust line-of-sight links, and controlled mobility. During emergencies such as natural disasters, deploying terrestrial communications infrastructure is not economically feasible and sometimes cannot provide services in volatile environments. UAVs can easily handle these situations. UAVs will become a new paradigm in wireless communications. This technology facilitates three fundamental requirements for wireless networks: enhanced mobile broadband (eMBB), URLLC, and mMTC. UAVs can also support various purposes, such as enhancing network connectivity, fire detection, disaster emergency services, security and surveillance, pollution monitoring, parking monitoring, and accident monitoring. Therefore, UAV technology is recognized as one of the most important technologies for 6G communications.

[0121] - Autonomous driving (self-driving): V2X (vehicle to everything), a key element in building autonomous driving infrastructure, can be a technology that allows cars to communicate and share with various elements on the road for autonomous driving, such as vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) wireless communication. Fast transmission speeds and low-latency technologies are essential to maximize autonomous driving performance and ensure high safety. Furthermore, in the future, autonomous driving will go beyond simply providing warnings or guidance messages to drivers and may require active intervention in vehicle operation and direct control of the vehicle in dangerous situations. To this end, the amount of information that needs to be transmitted and received may become enormous, so 6G is expected to maximize autonomous driving with faster transmission speeds and lower latency than 5G.

[0122] - Non-terrestrial networks (NTN): NTN may refer to a network or network segment that uses radio frequency (RF) resources mounted on a satellite (or unmanned aerial system (UAS) platform). FIG. 8 illustrates an example of a typical NTN scenario based on a transparent payload according to an embodiment of the present disclosure. FIG. 9 illustrates an example of a typical NTN scenario based on a regenerative payload according to an embodiment of the present disclosure. The embodiments of FIG. 8 or FIG. 9 may be combined with various embodiments of the present disclosure. Referring to FIG. 8, a satellite (or UAS platform) may create a service link with a UE. The satellite (or UAS platform) may be connected to a gateway via a feeder link. The satellite may be connected to a data network via the gateway. A beam footprint may refer to an area where a signal transmitted by a satellite can be received. Referring to Figure 9, a satellite (or UAS platform) can establish a service link with a UE. A satellite (or UAS platform) connected to a UE can be connected to another satellite (or UAS platform) via an inter-satellite link (ISL). The other satellite (or UAS platform) can be connected to a gateway via a feeder link. Based on the replay payload, a satellite can be connected to a data network through another satellite and the gateway. If an ISL does not exist between a satellite and another satellite, a feeder link between the satellite and the gateway may be required. Figures 8 and 9 are merely examples of NTN scenarios, and NTN can be implemented based on various scenarios.For example, a satellite (or UAS platform) may implement a transparent or regenerative (with onboard processing) payload. For example, a satellite (or UAS platform) may generate multiple beams over a designated service area depending on the field of view of the satellite (or UAS platform). For example, the field of view of the satellite (or UAS platform) may vary depending on the onboard antenna diagram and minimum elevation angle. For example, a transparent payload may include radio frequency filtering, frequency conversion, and amplification. Therefore, the waveform signal repeated by the payload may not be altered. For example, a regenerative payload may include radio frequency filtering, frequency conversion and amplification, demodulation / decoding, switching and / or routing, and coding / modulation. For example, a regenerative payload may be substantially equivalent to equipping the satellite (or UAS platform) with all or part of the base station functionality.

[0123] - Integrated Sensing and Communication (ISAC): Wireless sensing is a technology that uses radio frequencies to determine the instantaneous linear velocity, angle, distance (range), etc. of an object, thereby obtaining information about the characteristics of the environment and / or objects within the environment. Because radio frequency sensing does not require a device to connect to the object through a network, it can provide a service for object positioning without a device. The ability to obtain range, velocity, and angle information from radio frequency signals can enable a wide range of new capabilities, such as various object detection, object recognition (e.g., vehicles, humans, animals, UAVs), and high-precision localization, tracking, and activity recognition. Wireless sensing services can provide information to a variety of industries (e.g., drones, smart homes, V2X, factories, railways, public safety, etc.), enabling applications such as intruder detection, assisted vehicle steering and navigation, trajectory tracking, collision avoidance, traffic management, and health and traffic management. In some cases, wireless sensing can utilize non-3GPP type sensors (e.g., radar, cameras) to further support 3GPP-based sensing. For example, the operation of a wireless sensing service, i.e., a sensing operation, may depend on the transmission, reflection, and scattering of wireless sensing signals. Therefore, wireless sensing may provide an opportunity to enhance existing communication systems from a communication network to a wireless communication and sensing network. FIG. 10 illustrates an example of a sensing operation according to an embodiment of the present disclosure. The embodiment of FIG. 10 may be combined with various embodiments of the present disclosure. Specifically, FIG. 10 (a) illustrates an example of sensing using a sensing receiver and a sensing transmitter located at the same location (e.g., monostatic sensing), and FIG. 10 (b) illustrates an example of sensing using a separated sensing receiver and a sensing transmitter (e.g., bistatic sensing).

[0124] Figure 11 illustrates a radio protocol architecture for SL communication. Specifically, Figure 11 (a) illustrates the user plane protocol stack of NR, and Figure 11 (b) illustrates the control plane protocol stack of NR.

[0125] Below, the SL synchronization signal (Sidelink Synchronization Signal, SLSS) and synchronization information are described.

[0126] SLSS is an SL-specific sequence and may include a Primary Sidelink Synchronization Signal (PSSS) and a Secondary Sidelink Synchronization Signal (SSSS). The PSSS may be referred to as a Sidelink Primary Synchronization Signal (S-PSS), and the SSSS may be referred to as a Sidelink Secondary Synchronization Signal (S-SSS). For example, length-127 M-sequences may be used for the S-PSS, and length-127 Gold sequences may be used for the S-SSS. For example, a terminal may detect an initial signal and acquire synchronization using the S-PSS. For example, a terminal may acquire detailed synchronization and detect a synchronization signal ID using the S-PSS and the S-SSS.

[0127] PSBCH (Physical Sidelink Broadcast Channel) may be a (broadcast) channel that transmits basic (system) information that a terminal must know first before transmitting or receiving an SL signal. For example, the basic information may be information related to SLSS, duplex mode (DM), TDD UL / DL (Time Division Duplex Uplink / Downlink) configuration, resource pool-related information, type of application related to SLSS, subframe offset, broadcast information, etc. For example, in NR V2X, for evaluating PSBCH performance, the payload size of PSBCH may be 56 bits, including a 24-bit CRC.

[0128] S-PSS, S-SSS and PSBCH may be included in a block format supporting periodic transmission (e.g., SL SS (Synchronization Signal) / PSBCH block, hereinafter referred to as S-SSB (Sidelink-Synchronization Signal Block)). The S-SSB may have the same numerology (i.e., SCS and CP length) as the PSCCH (Physical Sidelink Control Channel) / PSSCH (Physical Sidelink Shared Channel) in the carrier, and the transmission bandwidth may be within a (pre-)configured SL BWP (Sidelink BWP). For example, the bandwidth of the S-SSB may be 11 RBs (Resource Blocks). For example, the PSBCH may span 11 RBs. And, the frequency location of the S-SSB may be (pre-)configured. Therefore, the terminal does not need to perform hypothesis detection in the frequency to discover the S-SSB in the carrier.

[0129] Meanwhile, in the NR SL system, multiple numerologies having different SCS and / or CP lengths may be supported. In this case, as the SCS increases, the length of the time resource for a transmitting terminal to transmit an S-SSB may become shorter. Accordingly, the coverage of the S-SSB may decrease. Therefore, in order to ensure the coverage of the S-SSB, the transmitting terminal may transmit one or more S-SSBs to a receiving terminal within one S-SSB transmission period according to the SCS. For example, the number of S-SSBs that the transmitting terminal transmits to the receiving terminal within one S-SSB transmission period may be pre-configured or configured for the transmitting terminal. For example, the S-SSB transmission period may be 160 ms. For example, an S-SSB transmission period of 160 ms may be supported for all SCSs.

[0130] For example, when the SCS is 15 kHz at FR1, the transmitting terminal can transmit one or two S-SSBs to the receiving terminal within one S-SSB transmission period. For example, when the SCS is 30 kHz at FR1, the transmitting terminal can transmit one or two S-SSBs to the receiving terminal within one S-SSB transmission period. For example, when the SCS is 60 kHz at FR1, the transmitting terminal can transmit one, two, or four S-SSBs to the receiving terminal within one S-SSB transmission period.

[0131] For example, when the SCS is 60 kHz at FR2, the transmitting terminal can transmit 1, 2, 4, 8, 16, or 32 S-SSBs to the receiving terminal within one S-SSB transmission period. For example, when the SCS is 120 kHz at FR2, the transmitting terminal can transmit 1, 2, 4, 8, 16, 32, or 64 S-SSBs to the receiving terminal within one S-SSB transmission period.

[0132] Meanwhile, when the SCS is 60 kHz, two types of CP may be supported. In addition, the structure of the S-SSB transmitted by the transmitting terminal to the receiving terminal may be different depending on the CP type. For example, the CP type may be Normal CP (NCP) or Extended CP (ECP). Specifically, for example, when the CP type is NCP, the number of symbols to which the PSBCH is mapped within the S-SSB transmitted by the transmitting terminal may be 9 or 8. On the other hand, for example, when the CP type is ECP, the number of symbols to which the PSBCH is mapped within the S-SSB transmitted by the transmitting terminal may be 7 or 6. For example, the PSBCH may be mapped to the first symbol within the S-SSB transmitted by the transmitting terminal. For example, the receiving terminal receiving the S-SSB may perform an Automatic Gain Control (AGC) operation in the first symbol section of the S-SSB.

[0133] Figure 12 shows a terminal performing V2X or SL communication.

[0134] Referring to FIG. 12, the term "terminal" in V2X or SL communication may primarily refer to a user's terminal. However, if a network device such as a base station transmits and receives signals according to a communication method between terminals, the base station may also be considered a type of terminal. For example, terminal 1 may be a first device (100), and terminal 2 may be a second device (200).

[0135] 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.

[0136] 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.

[0137] 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.

[0138] Figure 13 shows resource units for V2X or SL communication.

[0139] Referring to Figure 13, the entire frequency resources of the resource pool can be divided into NF units, and the entire time resources of the resource pool can be divided into NT units. Therefore, a total of NF * NT resource units can be defined within the resource pool. Figure 13 illustrates an example where the resource pool repeats with a cycle of NT subframes.

[0140] As illustrated in Figure 13, a single resource unit (e.g., Unit #0) may appear periodically and repeatedly. Alternatively, to achieve diversity effects in the time or frequency dimensions, the index of the physical resource unit to which a single logical resource unit is mapped may change in a predetermined pattern over time. In this resource unit structure, a resource pool may refer to a set of resource units that a terminal wishing to transmit an SL signal can use for transmission.

[0141] Resource pools can be subdivided into several categories. For example, based on the content of the SL signal transmitted from each resource pool, resource pools can be categorized as follows:

[0142] (1) Scheduling Assignment (SA) may be a signal that includes information such as the location of resources used by a transmitting terminal for transmission of an SL data channel, MCS (Modulation and Coding Scheme) or MIMO (Multiple Input Multiple Output) transmission method required for demodulation of other data channels, and TA (Timing Advance). SA may also be transmitted multiplexed with SL data on the same resource unit, in which case the SA resource pool may mean a resource pool in which SA is multiplexed with SL data and transmitted. SA may also be called an SL control channel.

[0143] (2) The SL data channel (Physical Sidelink Shared Channel, PSSCH) may be a resource pool used by a transmitting terminal to transmit user data. If SA is multiplexed and transmitted together with SL data on the same resource unit, only the SL data channel excluding SA information may be transmitted from the resource pool for the SL data channel. In other words, the REs (Resource Elements) that were used to transmit SA information on individual resource units within the SA resource pool may still be used to transmit SL data in the resource pool of the SL data channel. For example, the transmitting terminal may transmit the PSSCH by mapping it to consecutive PRBs.

[0144] (3) A discovery channel may be a resource pool for transmitting terminals to transmit information such as their IDs. Through this, transmitting terminals can enable neighboring terminals to discover them.

[0145] Even if the content of the SL signal described above is the same, different resource pools may be used depending on the transmission and reception properties of the SL signal. For example, even if it is the same SL data channel or discovery message, it may be again divided into different resource pools depending on the transmission timing determination method of the SL signal (for example, whether it is transmitted at the time of reception of a synchronization reference signal or whether it is transmitted by applying a certain timing advance at the time of reception), the resource allocation method (for example, whether the base station designates transmission resources for individual signals to individual transmitting terminals or whether individual transmitting terminals independently select individual signal transmission resources within the resource pool), the signal format (for example, the number of symbols each SL signal occupies in one subframe or the number of subframes used for transmission of one SL signal), the signal strength from the base station, the transmission power strength of the SL terminal, etc.

[0146] FIG. 14 illustrates an example of a BWP according to an embodiment of the present disclosure. The embodiment of FIG. 14 can be combined with various embodiments of the present disclosure. In the embodiment of FIG. 14, it is assumed that there are three BWPs.

[0147] Referring to Figure 14, a common resource block (CRB) may be a carrier resource block numbered from one end of a carrier band to the other. Furthermore, a PRB may be a numbered resource block within each BWP. Point A may indicate a common reference point for the resource block grid.

[0148] The BWP can be set by Point A, an offset from Point A (NstartBWP), and a bandwidth (NsizeBWP). For example, Point A can be an outer reference point of a PRB of a carrier where subcarrier 0 of all numerologies (e.g., all numerologies supported by the network on that carrier) are aligned. For example, the offset can be the PRB spacing between the lowest subcarrier in a given numerology and Point A. For example, the bandwidth can be the number of PRBs in a given numerology.

[0149] SLSS (Sidelink Synchronization Signal) is a SL (sidelink) specific sequence and may include PSSS (Primary Sidelink Synchronization Signal) and SSSS (Secondary Sidelink Synchronization Signal). The PSSS may be referred to as S-PSS (Sidelink Primary Synchronization Signal) and the SSSS may be referred to as S-SSS (Sidelink Secondary Synchronization Signal). For example, length-127 M-sequences may be used for S-PSS and length-127 Gold sequences may be used for S-SSS. For example, a terminal may detect an initial signal (signal detection) and obtain synchronization using S-PSS. For example, the terminal can obtain detailed synchronization using S-PSS and S-SSS and detect a synchronization signal ID.

[0150] PSBCH (Physical Sidelink Broadcast Channel) may be a (broadcast) channel that transmits basic (system) information that a terminal must know first before transmitting or receiving an SL signal. For example, the basic information may be information related to SLSS, duplex mode (DM), TDD UL / DL (Time Division Duplex Uplink / Downlink) configuration, resource pool-related information, type of application related to SLSS, subframe offset, broadcast information, etc. For example, in order to evaluate PSBCH performance, in NR V2X, the payload size of PSBCH may be 56 bits, including a 24-bit CRC (Cyclic Redundancy Check).

[0151] S-PSS, S-SSS and PSBCH may be included in a block format supporting periodic transmission (e.g., SL SS (Synchronization Signal) / PSBCH block, hereinafter referred to as S-SSB (Sidelink-Synchronization Signal Block)). The S-SSB may have the same numerology (i.e., SCS and CP length) as the PSCCH (Physical Sidelink Control Channel) / PSSCH (Physical Sidelink Shared Channel) in the carrier, and the transmission bandwidth may be within a (pre-)configured SL BWP (Sidelink BWP). For example, the bandwidth of the S-SSB may be 11 RBs (Resource Blocks). For example, the PSBCH may span 11 RBs. And, the frequency location of the S-SSB may be (pre-)configured. Therefore, the terminal does not need to perform hypothesis detection in the frequency to discover the S-SSB in the carrier.

[0152] FIG. 15 illustrates a procedure for a terminal to perform V2X or SL communication according to a resource allocation mode, according to one embodiment of the present disclosure. The embodiment of FIG. 15 may be combined with various embodiments of the present disclosure.

[0153] Referring to (a) of FIG. 15, in resource allocation mode 1, the base station may schedule SL resources to be used by the terminal for SL transmission. For example, in step S1500, the base station may transmit information related to SL resources and / or information related to UL resources to the first terminal. For example, the UL resources may include PUCCH resources and / or PUSCH resources. For example, the UL resources may be resources for reporting SL HARQ feedback to the base station.

[0154] For example, a first terminal may receive information related to a dynamic grant (DG) resource and / or information related to a configured grant (CG) resource from a base station. For example, a CG resource may include a CG type 1 resource or a CG type 2 resource. In this specification, a DG resource may be a resource that a base station configures / allocates to the first terminal via downlink control information (DCI). In this specification, a CG resource may be a (periodic) resource that a base station configures / allocates to the first terminal via DCI and / or an RRC message. For example, in the case of a CG type 1 resource, the base station may transmit an RRC message including information related to the CG resource to the first terminal. For example, in the case of a CG type 2 resource, the base station may transmit an RRC message including information related to the CG resource to the first terminal, and the base station may transmit a DCI related to activation or release of the CG resource to the first terminal.

[0155] In step S1510, the first terminal may transmit a PSCCH (e.g., Sidelink Control Information (SCI) or 1st-stage SCI) to the second terminal based on the resource scheduling. In step S1520, the first terminal may transmit a PSSCH (e.g., 2nd-stage SCI, MAC PDU, data, etc.) related to the PSCCH to the second terminal. In step S1530, the first terminal may receive a PSFCH related to the PSCCH / PSSCH from the second terminal. For example, HARQ feedback information (e.g., NACK information or ACK information) may be received from the second terminal via the PSFCH. In step S1540, the first terminal may transmit / report HARQ feedback information to the base station via a PUCCH or a PUSCH. For example, the HARQ feedback information reported to the base station may be information generated by the first terminal based on the HARQ feedback information received from the second terminal. For example, the HARQ feedback information reported to the base station may be information generated by the first terminal based on a rule set in advance. For example, the DCI may be DCI for scheduling SL.

[0156] Referring to (b) of FIG. 15, in resource allocation mode 2, a terminal can determine SL transmission resources within SL resources set by a base station / network or preset SL resources. For example, the set SL resources or preset SL resources may be a resource pool. For example, the terminal can autonomously select or schedule resources for SL transmission. For example, the terminal can perform SL communication by selecting resources by itself within the set resource pool. For example, the terminal can select resources by itself within a selection window by performing sensing and resource (re)selection procedures. For example, the sensing can be performed on a subchannel basis. For example, in step S1510, a first terminal that has selected resources by itself within a resource pool can transmit a PSCCH (e.g., Sidelink Control Information (SCI) or 1st-stage SCI) to a second terminal using the resources. In step S1520, the first terminal may transmit a PSSCH (e.g., 2nd-stage SCI, MAC PDU, data, etc.) related to the PSCCH to the second terminal. In step S1530, the first terminal may receive a PSFCH related to the PSCCH / PSSCH from the second terminal.

[0157] Referring to (a) or (b) of FIG. 15, for example, a first terminal may transmit an SCI to a second terminal on a PSCCH. Alternatively, for example, the first terminal may transmit two consecutive SCIs (e.g., 2-stage SCIs) to the second terminal on the PSCCH and / or the PSSCH. In this case, the second terminal may decode the two consecutive SCIs (e.g., 2-stage SCIs) to receive the PSSCH from the first terminal. In this specification, an SCI transmitted on a PSCCH may be referred to as a 1st SCI, a 1st SCI, a 1st-stage SCI, or a 1st-stage SCI format, and an SCI transmitted on a PSSCH may be referred to as a 2nd SCI, a 2nd SCI, a 2nd-stage SCI, or a 2nd-stage SCI format.

[0158] Referring to (a) or (b) of FIG. 15, in step S1530, the first terminal may receive a PSFCH. For example, the first terminal and the second terminal may determine PSFCH resources, and the second terminal may use the PSFCH resources to transmit HARQ feedback to the first terminal.

[0159] Referring to (a) of FIG. 15, in step S1540, the first terminal may transmit SL HARQ feedback to the base station via PUCCH and / or PUSCH.

[0160] Meanwhile, the aforementioned sidelink can be defined as terminal-to-terminal communication or direct communication between terminals. In this case, the PSCCH can be defined as a physical control channel for terminal-to-terminal communication, the PSSCH as a physical data channel or physical shared channel for terminal-to-terminal communication, and the PSFCH as a physical feedback transmission channel between terminals.

[0161] Meanwhile, the SoftV2X service or SoftV2X system is a system in which a SoftV2X server receives a VRU message or a PSM (Personal Safety Message) from a VRU (Vulnerable Road User) or a V2X vehicle through a UU interface for V2X communication, and transmits information on surrounding VRUs or vehicles based on the VRU message or PSM message, or analyzes the road conditions on which surrounding VRUs or vehicles are moving, and transmits a message to notify surrounding VRUs or vehicles of a collision warning based on the analyzed information. Here, the VRU message or PSM message is a message transmitted to the SoftV2X server through the UU interface, and may include mobility information on the VRU, such as the location, moving direction, moving path, and speed of the VRU. In other words, the SoftV2X system receives mobility information on VRUs and / or vehicles related to V2X communication through the UU interface, and a softV2X server, such as a network, controls the driving path of the VRU, the VRU movement flow, etc. based on the received mobility information. Alternatively, the SoftV2X system can be configured in relation to V2N communications.

[0162] Sensor data deterioration section management and sharing techniques

[0163] Autonomous mobility devices, such as delivery robots, rely on self-mounted sensors (such as stereo cameras, radar, lidar, RF-based modems, RF sensors, and acoustic sensors) to detect autonomous driving and hazards. For these sensors, the impact of environmental factors on sensor deterioration must be assessed after the fact, and driving algorithms must be implemented based on this assessment. This approach can lead to delays in recognizing sensor deterioration, or even delays in incorporating it into autonomous driving algorithms.

[0164] Hereinafter, a method for sharing and managing information (e.g., deterioration data / deterioration information) based on the deterioration section and time of sensors mounted on autonomous driving mobility devices and / or a method for controlling the utilization of sensors during sensor fusion (e.g., driving control based on the output of a function with multiple sensors as input) or changing a driving algorithm in advance based on the possibility of deterioration of sensors confirmed in advance before entering a specific area based on deterioration data or deterioration information, for safe driving will be described in detail.

[0165] Below, we propose a method for digitizing the areas (geographical intervals) and times of performance degradation for each sensor, and propose a technique for transmitting and updating the digitized degradation data to peripheral devices or a management server (or network). Furthermore, we define and propose data structures and message structures used for data sharing. Furthermore, we propose a technique for utilizing degradation data in autonomous driving algorithms.

[0166] Figures 16 to 21 are drawings for explaining a method of generating deterioration data.

[0167] Referring to FIG. 16, an autonomous delivery robot or terminal (110; hereinafter, terminal) can be connected to a connectivity platform server or network (210) via a base station (410) using a Uu interface method and receive services from the connectivity platform server or network (210; hereinafter, server). The server (210) can be connected to surrounding V2X terminals (310, 320) via the base station (410), and can provide not only mobility safety services to surrounding V2X terminals (310, 320), but also safety services to terminals (330, 340) connected via another base station (420).

[0168] Referring to Fig. 17, a terminal operating in a vehicle can periodically generate a BSM as in the conventional method, and periodically transmit the BSM. To this end, the terminal extracts its location through a GNSS device / block such as GPS, and generates a BSM message based on the status information and location information of the device / terminal in the application block, and transmits information (e.g., information about the BSM message) to a server connected via a Uu interface modem. In the following, in order to provide parking information, it may be necessary to additionally configure a driving state analysis block and an object creation block connected to the UX / UI block. The driving state analysis block can analyze the difference between a driving vehicle (or driving state) and a parked vehicle (or parking state) by comparing the speed, height, and impact amount of the terminal. In addition, the UX / UI (User Experience / User Interface) block can collect information that can distinguish between the parking status and the driving status based on the user's touch of the parking button, usage pattern, and / or the presence or absence of connection with the vehicle and connectivity (Bluetooth, USB, etc.), and can transmit the collected information to the object creation block. In the object creation block, when the parking of the vehicle is confirmed, the transmission of the BSM message can be stopped and additional parking information can be transmitted to the mobility platform server (210).

[0169] The mobility platform server can provide connectivity mobility services through a conventional modem, V2X stack, and platform application. In addition, the proposed method can manage information on parked vehicles and provide services by configuring an object management block and a parking database (Parking DB). The object management block receives messages from parked terminals, identifies objects, registers them in the DB, and (even if the terminal is not present) periodically transmits information on parked vehicles / terminals to nearby terminals. Alternatively, when a change in the status of a parked vehicle is detected, the object management block can also manage and modify / update the DB.

[0170] An autonomous driving mobility device (or a terminal included in the autonomous driving mobility device) can measure the deterioration level of at least one installed sensor. For example, a terminal related to the autonomous driving mobility device can measure the deterioration level of at least one installed sensor. If the at least one sensor is an RF (radio-frequency) device, the terminal can measure RF interference sources measured by the RF device or the used sensor over time. For example, if the at least one sensor is an RF-based radar or LiDAR (Light Detection And Ranging; LiDAR), the terminal can measure continuous interference occurring within a frequency band in which the RF-based radar operates, and can create a database of the frequency band, interference power, time of interference occurrence, and / or geographical section of the continuous interference.

[0171] And / or, the at least one sensor may include acoustic-based sensors that utilize sound waves, such as a sonic sensor or an ultrasonic sensor. In this case, the terminal may calculate a deterioration level for the sonic sensor based on the sound wave frequency band and / or interference power in which interference occurs with respect to the sonic sensor, and may store the calculated deterioration level in a database by interference time and / or geographical section.

[0172] And / or, the at least one sensor may include an image-based image sensor. The image sensor may be degraded in performance due to the surrounding environment, such as direct sunlight occurring in the case of sunset and sunrise. In the case of image, the direction and installation height of the sensor receiving interference are notified to indicate the direction of the interference, and the influence of direct sunlight is calculated as a deterioration level and the interference time and section are stored in a database. For example, the terminal may identify the direction in which interference occurs based on the direction and installation height of the image sensor, calculate the intensity and / or direction of the interference, and store this in a database by interference time and / or geographical section.

[0173] For example, as illustrated in FIG. 18, the terminal (or autonomous delivery device #1 or autonomous delivery device #2) may calculate the image interference intensity due to sunset / sunrise, and store the image interference intensity in a database for each sensor deterioration section (reference position and length; refpoint, length) in which such image interference occurs and for each deterioration time section in which the sensor deteriorates. The deterioration data stored in the database in this manner is included in a deterioration status message indicating deterioration of the sensor, and may be reported to surrounding vehicles, surrounding devices, and / or a connectivity platform server (or management system) through the deterioration status message.

[0174] Referring to FIG. 19, the above-described degradation status message may be a message utilizing BSM (basic safety message) or may be a new type of message. When utilizing BSM as illustrated in FIG. 19 (a), SensorInfor and DistortionInfor may be additionally defined in the extension field of the conventional BSM message. Alternatively, when defined as a new type of message, the degradation status message may be composed of a header including a message ID, time, and sensor type, and a payload including SensorInfor and DistortionInfor. Both of the above-described message types may define SensorInfor, which is interference-affected sensor installation information, and DistortionInfor, which is interference-based location and time-affected interference information.

[0175] For example, as illustrated in FIG. 19, a degradation status message is composed of a header and a payload, and the header may include the message generation time, the location and type of the device transmitting the message, and the type / type of the sensor in which degradation occurred. For example, SensorType may include information on the type of sensor, such as RF, MIC, ultrasonic, radar, lidar, or camera. In distortionInfor, a degradation stage (or degradation level), sensor parameters, degradation section, and / or degradation time may be defined for each type / type of the deteriorated sensor. SensorInfor may include information on parameters for each type / type of the sensor, and the parameters may be defined differently for each sensor type. For example, when the sensor type is related to an RF-based device, a frequency band may be defined as the parameter, when the sensor type is an acoustic sensor type, an acoustic frequency band and FoV (Field of view) may be defined as the parameter, and when the sensor type is an image sensor type such as a camera, FoV (Field of view) and installation height may be defined as the parameter.

[0176] The above degradation data may include information about the location (geographic location, reference location) where degradation exceeding a predetermined threshold occurs, the distance from the location, and / or the degradation level by time period. For example, FIG. 20 illustrates a diagram of degradation data representing the interference level by time / location interval in an environment where a stereo camera is interfered with by direct sunlight.

[0177] In this way, the deterioration status message including the deterioration data can be transmitted to the management system (or server) or the surrounding mobility vehicles / devices so that the deterioration data can be shared. The surrounding devices or servers can increase the reliability of the deterioration data by accumulating data corresponding to the same (type) sensor by time / location section based on the deterioration status message transmitted in this way. The surrounding devices or devices can configure a sensor deterioration map (as shown in FIGS. 20 and / or 21) based on the deterioration data included in the deterioration status message. For example, as shown in FIGS. 20 and / or 21, the deterioration data can define a deterioration level for each specific unit and / or each specific time zone. When the deterioration status messages are collected, the server or device can continuously update the deterioration map or the deterioration data by increasing or decreasing the reliability of the deterioration level in the deterioration data or the deterioration map based on the collected deterioration status messages. For example, referring to FIG. 21, the deterioration data / deterioration map may define deterioration levels due to light interference by location and / or time interval. Here, the light interference may be differently DBed depending on whether it is caused by a building or a parked vehicle. In this way, autonomous driving mobility devices may perform an operation to modify a driving algorithm based on a message containing deterioration data DBed by a server and / or a deterioration status message received from a peripheral device.

[0178] For example, when the device performs an operation related to autonomous driving by combining sensor information of a plurality of sensors (e.g., sensor fusion) (e.g., calculating a parameter related to autonomous driving through a function that uses sensor values ​​of a plurality of sensors as input values), the device can reduce the influence of a deteriorated sensor on the operation related to autonomous driving by adjusting the weight applied in the combination of the sensor information / sensor values ​​based on the deterioration data. For example, the conventional method of combining sensor information according to Equation 1 can be modified to a method of combining the values ​​of a plurality of sensors by applying weights determined based on deterioration data, as in Equation 2. In this case, the device can calculate a value for an operation related to autonomous driving (e.g., an operation of extracting a surrounding object) based on Equation 2. For example, among the plurality of sensors, the weight for a specific type of sensor in which deterioration above a specific level is detected based on deterioration data can be reduced, thereby reducing the influence of the specific type of sensor on the determination of a value for the operation related to autonomous driving.

[0179] [Mathematical Formula 1]

[0180]

[0181] [Equation 2]

[0182]

[0183] Alternatively, the device may change / adjust at least one parameter related to autonomous driving based on the aforementioned deterioration data. For example, the device may adjust data / parameters required for autonomous driving according to the sensor deterioration level. Here, the parameters for autonomous driving may include driving speed, gap from the preceding vehicle for braking, braking activation level, etc. The values ​​of such parameters may be adjusted / determined by adding a weight according to sensor deterioration, as shown in Mathematical Expression 3 below.

[0184] [Equation 3]

[0185]

[0186] In this way, the device / server can identify the deterioration status of the sensor operation by region and time zone, and utilize the sensor data or provide safety services based on the identified deterioration status. For example, as described above, the device / server can analyze the performance of sensor processing to collect / DB information on the sensor deterioration status per hour. The device / server can determine / determine the sensor type, sensor installation location, FoV, interference time, deterioration stage / deterioration level related to the deterioration status. In addition, based on the collected deterioration level / sensor type, etc., the deterioration level by interference source and / or interference time zone can be defined by geographical region or geographical section, and the accumulated database can be managed in this manner. For example, the device / server can analyze whether the interference source has disappeared or whether it is a sensor malfunction through the accumulation of deterioration data, and can update the accumulated database or deterioration data based on the analysis results. As described above, the deterioration data compiled in this way can be shared with neighboring devices / servers through a deterioration status message. Such deterioration status messages can include information about the type, sensor type, sensor orientation, deterioration time, deterioration interval, deterioration stage, and accumulated count (reliability). In such receivers, interference information or deterioration data can be utilized in operational methods such as lowering the object confidence of the SDSM, changing parameters of the collision risk algorithm, adjusting sensor weights during sensor fusion, or changing parameters of the autonomous driving algorithm.

[0187] Operation technology for autonomous and semi-autonomous vehicles

[0188] Figures 22 to 30 are drawings for explaining the operation technology of the main autonomous vehicle and the secondary autonomous vehicle.

[0189] Autonomous vehicles, such as delivery robots, are directly or indirectly managed by a control center. Referring to Fig. 22 (a), an autonomous delivery robot (110) connects to a connectivity platform server (210) via a base station (410) using the Uu interface method and receives services. The server not only provides mobility safety services by connecting to nearby V2X terminals (310, 320) via the base station (410), but can also provide safety services to terminals (330, 340) connected via other base stations (420). Specifically, as illustrated in Fig. 22 (b), devices that link and operate a secondary autonomous driving device from a primary autonomous driving device, such as a delivery robot, must be developed and operated. To this end, the operation of the primary autonomous driving device and the secondary autonomous driving device managed through the control system and the operation of the control system may be required, and operation methods related to this are proposed. For example, device-to-device remote driving refers to a service where a remote driving control system operates delivery robots and autonomous shuttles via a mobile network. At the control center, an administrator sets device-to-device remote driving mode and manages the primary and secondary remote vehicles.

[0190] The mobility platform server provides connectivity mobility services through a conventional modem, V2X stack, and platform application. In addition, according to the proposed method, a terminal device of an additional autonomous vehicle can be added to manage the autonomous vehicle through the primary autonomous vehicle. For this purpose, a terminal device as illustrated in Fig. 23 can be configured. The autonomous vehicle terminal device has an antenna, modem, and communication stack for secondary communication, and communicates with the primary autonomous vehicle terminal device through these. In addition, it determines its own location through GPS. The application block controls the device through the autonomous driving operation device and mode management block.

[0191] The primary autonomous vehicle's terminal device consists of a secondary communication system for communication with the secondary autonomous vehicle and a primary communication device for communication with the control server. The application consists of autonomous operation and mode management blocks for managing the secondary autonomous vehicle and operating the primary autonomous vehicle.

[0192] The control server manages the remote driving and operation of the primary / subordinate autonomous vehicles through the mode operation block.

[0193] Autonomous vehicles drive autonomously under the control of a control server. They then switch to remote driving mode to respond to dangerous or event situations. For example, referring to Figure 24, the remote driving mode of an autonomous vehicle can be switched between five states. The "Remote Driving Off" state, where remote driving is turned off, indicates that autonomous driving is not in operation. The "Remote Driving Standby Mode" is the stage in which autonomous driving begins. The "Observation Mode" is a mode that collects and monitors the vehicle's status during autonomous driving. The "Assisted Driving Mode" is a stage in which the autonomous vehicle indirectly participates, continuously updating driving goals and methods. Finally, the "Direct Driving Mode" can be a stage in which the control center directly operates the vehicle when autonomous driving is not possible.

[0194] The proposed method defines a situation in which a remote-driving target vehicle operating in observation or assist mode must operate a secondary remote-driving vehicle. The primary remote-driving vehicle operating the secondary remote-driving vehicle switches to assist mode at the location where the secondary remote-driving vehicle is operating to prepare for the operation of the secondary remote-driving vehicle. Once operation begins, the secondary remote-driving vehicle begins driving in observation mode and operates according to the method defined in the preceding scenarios according to the situation. At this time, the primary remote-driving vehicle not only monitors the surrounding environment and directly detects the situation in a long-term parking / stopping environment, but also switches to direct driving mode to continuously observe and assist the status of the secondary remote-driving vehicle and is continuously managed by the control system.

[0195] After the control system determines that the primary remote-driving target vehicle is operating the secondary remote-driving target vehicle, it manages the direct driving of the primary remote-driving vehicle and the secondary remote-driving vehicle while it is stationary through the primary remote-driving vehicle. The primary remote-driving target vehicle that is stationary while the secondary remote-driving service is in progress switches to direct driving and continuously transmits the status of the surroundings and the secondary remote-driving vehicle to the control system, and if necessary, continuously manages any problems that may arise due to the stationary vehicle through direct driving mode.

[0196] For example, referring to FIG. 25, when a target vehicle that is remotely driving in observation mode (or auxiliary mode) needs to operate a secondary remote-driving vehicle, it switches to auxiliary mode (t2) and positions the vehicle in a safe location where the secondary remote-driving vehicle can operate. After stopping (t3), the primary remote-driving vehicle starts the secondary remote-driving vehicle and switches itself to direct driving mode to manage emergency movements that may occur after stopping and remote driving of the secondary device. The secondary remote-driving vehicle is operated according to the remote driving service described above through the primary remote-driving vehicle. If the secondary remote-driving vehicle encounters a driving problem (t4), it switches to auxiliary mode and receives control from the control center or the primary remote-driving vehicle. The primary remote-driving vehicle also changes its location and status under the control of the control system from the direct driving mode it is operating in when necessary (t5) due to a stop sign or various events (road blockage, detection of a dangerous situation, etc.).

[0197] The specific operation can be performed as illustrated in FIGS. 26 and 27.

[0198] Referring to Figure 26, when the system starts, the first autonomous driving device enters autonomous driving mode and waits for the auxiliary vehicle to drive. If the auxiliary autonomous vehicle is operated, the device is stopped in a location within the surrounding area where the auxiliary autonomous vehicle can easily operate. Afterwards, the first autonomous driving device switches to direct driving mode to avoid the risk of the vehicle being stopped at risk and to enable rapid control of the second autonomous driving device. Thereafter, the device periodically transmits surrounding sensor values ​​to the control center, and if an abnormality occurs, it receives direct driving control from the control center and moves to a safe location nearby. Furthermore, status information collected from the second autonomous vehicle in operation is directly transmitted to the control center through direct driving mode, enabling rapid control of the auxiliary autonomous vehicle.

[0199] Referring to Figure 27, when the system is initiated by the first autonomous driving device, the second autonomous driving device is set to observation mode for mission execution and proceeds with the autonomous driving mission. If it receives control from the control center (or the first autonomous driving vehicle), it switches to assisted driving mode or direct driving mode as appropriate.

[0200] Below, the composition of messages in a method for managing control messages for managing a second autonomous vehicle is described in detail.

[0201] Referring to Fig. 28 (a), the first device (or the first autonomous vehicle) can upload the operating status and sensor information of the second device (or the second autonomous vehicle), and can directly receive control of the second device from the control server. This method can be utilized when the communication methods of the first device and the second device are different, and has the advantage of not requiring the control capability of the first device. For this purpose, a method for exchanging communication packets between the first device and the second device may be required. As illustrated in Fig. 28 (a), the header can be removed from the control message received from the control center, the header for the second communication can be reconstructed, and communication can proceed based on the reconstructed header. In cases where the first device entirely controls the second device, the first device can directly transmit the control message through the second communication.

[0202] Another method is to exchange connection configuration information between the first device and the control center, which enables direct connection between the second device and the control center, for faster operation when the second device has the same communication method as the first communication device. The message structure for this can be as shown in Figure 28 (b). This message is transmitted as is to the second device, which then establishes a second communication connection and receives the second device's control data through direct communication with the control center.

[0203] The proposed invention proposes a method for managing devices through a machine-to-machine driving mode. The sub-target vehicle used in this scenario is an autonomous vehicle that is directly controlled and observed by the primary target vehicle via wireless communication. A situation is defined in which a remote-driving primary target vehicle operating in observation / assisted driving / direct driving mode must operate a sub-target vehicle. The operation of the remote-driving primary target vehicle switches to machine-to-machine remote driving mode when a situation arises in which the primary target vehicle must operate the sub-target vehicle (when it arrives at the operating location or receives a control signal from the control system). In this mode, the communication status information and control signal status information between the primary target vehicle and the sub-target vehicle are transmitted to the control system. When the machine-to-machine remote driving mode ends, the vehicle can revert to the previous mode.

[0204] The operation of the remote driving sub-target vehicle is that the sub-target vehicle performs autonomous driving by utilizing the information transmitted and received with the control system through the primary target vehicle. The operation of the control system is that the control system performs remote driving of the sub-target vehicle through the primary target vehicle. At this time, when the device-to-device remote driving service is in progress, the primary target vehicle switches to device-to-device remote driving mode and continuously transmits the surrounding status and the status of the sub-target vehicle to the control system, and if necessary, issues a direct driving command to continuously manage any problems that may arise due to the stopped primary target vehicle.

[0205] Referring to FIG. 29, when a primary target vehicle (or primary device) that is remotely driving in observation mode (or auxiliary mode, direct driving mode) needs to operate a secondary target vehicle (or secondary device), the primary target vehicle switches to the device-to-device remote driving mode (t2) and positions the vehicle in a safe location where the secondary target vehicle can be operated through remote driving starting from the control center's driving operation. After stopping (t3), the primary target vehicle that has started the secondary target vehicle manages any emergency movement that may occur after stopping and the secondary device's remote driving. At this time, the secondary target vehicle is operated according to the remote driving service (scenario 1 to scenario 8). When the driving of the secondary target vehicle is completed (t4), the primary target vehicle switches from the device-to-device remote driving mode to the previous driving mode.

[0206] The control system manages the primary and secondary target vehicles that operate remote driving between devices.

[0207] - Role of the control system: In addition to the role of the control system in observation mode / assisted driving mode / direct driving mode, it transmits information that enables remote driving of the sub-target vehicle.

[0208] The following information is received from the subject vehicle performing remote driving between devices and the vehicle status is observed.

[0209] - Role of the primary target vehicle: It uses the information received in the auxiliary driving mode / direct driving mode to control the primary target vehicle that is parked, and transmits the following information to transmit the remote driving status between the primary target vehicle and the secondary target vehicle to the control system.

[0210] -- Communication status of the mobile communication network between the primary and secondary target vehicles

[0211] -- Control signal status information between the primary and secondary target vehicles

[0212] Additionally, the primary target vehicle transmits remote driving information received from the control system to the secondary target vehicle, and transmits information received from the secondary target vehicle to the control system.

[0213] - Role of the secondary target vehicle: Receives information transmitted from the primary target vehicle and uses it for autonomous driving, and transmits information from the secondary target vehicle to the primary target vehicle.

[0214] To this end, the second device configures the status information it has measured into a second communication packet as illustrated in Figure 30 and transmits it to the first device. Based on the received information and the information it has sensed, the first device compiles the status information of the second device and the mobile communication network status information and transmits them to the control center.

[0215] In this way, the proposed method can change the remote driving mode in a service using a sub-autonomous vehicle (or, the response speed of the first device and the autonomous operation of the second device can be increased by setting the mode of the first device to a high-priority direct driving mode). And / or, the sub-autonomous vehicle can change the mode for autonomous driving and remote driving under the control of the primary autonomous vehicle through the second communication device. And / or, the primary autonomous vehicle can manage the sub-autonomous vehicle through the second communication device and change the mode by communicating with the control center through the first communication device. And / or, the mode of the primary autonomous vehicle can be changed to a direct driving mode to enable an immediate response of the primary autonomous vehicle that is stopped. And / or, the sub-autonomous vehicle can be quickly managed through the mode of the primary autonomous vehicle. And / or, the technology and communication link that transmits information coming from the control center to the second device can be directly connected and managed.

[0216] Microphone-based sonic positioning synchronization system

[0217] Figures 31 to 39 are drawings for explaining an acoustic positioning synchronization system using an acoustic device.

[0218] Acoustic positioning using acoustic devices can be used to improve V2X positioning performance through auxiliary devices of ground stations in areas where GPS has large errors or does not work. For example, ground stations that assist GPS use ultrasonic (or high-frequency) sound wave signals for positioning to compensate for the disadvantage of conventional radio wave travel speed. V2X devices can receive the signals using a simple microphone (microphone or acoustic receiving device) mounted on the device and measure the reception time of the signal to determine their own location. Since this system utilizes TDoA technology based on synchronization, a method for synchronizing between RSU devices may be required.

[0219] In the proposed method, ground stations assisting GPS use ultrasonic (or high-frequency) sound wave signals to identify their location, compensating for the limitations of conventional radio waves' limited speed. V2X devices receive the signals using a simple microphone mounted on the device and measure the reception time of the signals to determine their own location.

[0220] Referring to Fig. 31, a system for protecting VRUs (U2, U1) in an environment where there is a crosswalk in front of a school zone can be applied. In order to protect children from jaywalking or to prevent pedestrians from being easily seen due to parked vehicles, the VRUs (U2, U1) can transmit their presence through PSM (or Vulnerable Road User Awareness Message; VAM) messages based on GPS. However, if the location is inaccurate, the effectiveness of the service is drastically reduced. To improve the location measurement performance without this problem, RSUs (road side units, RSU1, RSU2, RSU3, RSU4) are installed at the corners of the area, and the devices continuously transmit sound waves that are inaudible to pedestrians through speaker units. The VRU devices perform relative positioning with each RSU (RSU1, RSU2, RSU3, RSU4) based on the signal, and can estimate the absolute location of the VRU based on the absolute location of the RSU that is known in advance. To this end, the proposed method proposes a device configuration for efficient operation or for exchanging prior information through communication with a locally installed RSU that generates ultrasonic waves by a V2X system.

[0221] The proposed method uses the TDOA method to measure the location by using the signal difference (or the signal reception time difference) received by the microphone of the V2X device through the signal transmitted through the speaker installed in the RSU. To this end, the speaker device installed in the RSU device transmits an acoustic signal generated by a local server as shown in Fig. 32. The local server is connected to a V2N server (or SoftV2X server) and connected to the V2X device, thereby expanding the service.

[0222] However, due to the road environment where the installation is being carried out, it may be difficult to connect wires for synchronization between RSUs. In such environments where wired connections between RSUs are difficult, a system capable of wireless synchronization between RSUs, as illustrated in Figure 32 (a), is required. In the following description, RSU1, RSU2, RSU3, and RSU4 are also defined as anchors 1, 2, 3, and 4.

[0223] Accordingly, the proposed invention proposes a method for synchronizing time between RSUs through a microphone (MIC), as illustrated in FIG. 32 (b). Before providing services to a VRU device, V2X terminal, or terminal (U1), synchronization can be performed between RSUs (Anchor nodes) using a speaker and an additionally installed microphone. The distance and location between RSUs are already established during installation, allowing for the identification of mutual signal characteristics.

[0224] A device configuration that performs such an operation may be as illustrated in Fig. 33.

[0225] Referring to Fig. 33 (a), the RSU device corresponding to the Tx device that generates the ultrasonic signal basically consists of a V2X radio modem (220) for V2X communication, a V2X device processor (230), and an Application ECU (240) that generates messages and provides safety services. In addition, it consists of a Positioning Block (250) for providing Position services. The Positioning Block is connected to the Application ECU and connected to the V2X system to provide position recognition services. The signal generated in this block transmits an acoustic Beacon signal to surrounding V2X devices through the connected Speaker (260).

[0226] Referring to Fig. 33 (b), a V2X terminal corresponding to an Rx device that receives an ultrasonic signal and estimates a location is basically composed of a V2X radio modem (220) for V2X communication, a V2X device processor (230), and an Application ECU (240) that generates messages and provides safety services. In addition, it is composed of a Positioning Block (250) for providing position services. The V2X terminal basically has a GNSS device such as GPS, but in cases where the error is high or it does not operate indoors, it obtains auxiliary position information through the Positioning Block (180). The Positioning Block is connected to the application ECU and connected to the V2X system to provide a position recognition service. The ultrasonic signal received through the MIC (190) is transmitted to the corresponding block to recognize its own location using the TDoA algorithm as in mathematical equation 4.

[0227] [Equation 4]

[0228]

[0229] The specific operation of the system may be as illustrated in Fig. 34. When the system starts (S341), Anchors (or RSUs) transmit acoustic signals (S343), and based on the characteristics of the signals received by the Anchors (or RSUs), the time information between the two Anchors (or RSUs) is corrected (S345). In addition, the influence of temperature and humidity on the acoustic transmission speed can be eliminated during this process. When the synchronization task begins, a service that continuously transmits periodic signals to terminals to inform them of their locations can be started. Afterwards, a system correction task can be performed to prevent location errors due to temperature and humidity changes by continuously measuring the signals between Anchors (or RSUs).

[0230] Time synchronization can be achieved by considering a technique for synchronizing based on a pre-installed distance and a technique for synchronizing based on the distance between pre-installed Anchors (or RSUs). After each of the two installed Anchors (or RSUs) is set as a pair, the propagation time (TF) according to the distance between each of the two Anchors (or RSUs) can be measured. As illustrated in FIG. 35, Anchor 1 and Anchor 2 can initiate synchronization based on the above-described method. The times of each of Anchor 1 and Anchor 2 can be set based on the time of one representative Anchor. The reference Anchor first transmits an acoustic signal at a specific frequency at a designated time. Surrounding Anchors that receive the signal from the reference Anchor recognize the time frame or synchronization reference time based on the signal reception time and the pre-calculated time Tf. The time (or reference time) at which Anchor 1 transmits the signal can be calculated based on the following mathematical expression 5.

[0231] [Equation 5]

[0232]

[0233] And, as in mathematical expression 6, the time to transmit the signal next time is Is And can be determined based on Tf time and Tuint information.

[0234] [Equation 6]

[0235]

[0236] The calculation operation for the time to transmit such a signal is performed multiple times to obtain the reception times of the received signals. The Tunit value is obtained by calculating the average of the fields. Afterwards, the time unit between each anchor can be adjusted if the Tunit value is different from the pre-specified value.

[0237] Specifically, referring to FIG. 35, the device Using the value, we can perform an action to synchronize the Tunit value used in Anchor 1 to the time based on Anchor1 based on the Tunit value in Anchor2.

[0238] Alternatively, referring to Fig. 36, considering that the time of Tf is different from the calculated time due to NLOS situation or temperature and humidity measurement at a distance, Tf or An additional correction operation may be performed. If an error is included, the received value at anchor 1 may be accumulated as in the following mathematical expression 7.

[0239] [Equation 7]

[0240]

[0241] Afterwards, the accumulated value can be applied to Equation 8 to calculate the final error value.

[0242] [Equation 8]

[0243]

[0244] The accumulated error value and / or final error value calculated in the future can be used to select anchors to be used for positioning, thereby improving the overall positioning performance.

[0245] The device may experience persistent errors when the RSU's position changes or when there are large, fixed obstacles. The device can measure the geographic error occurring between anchors and adjust the fixed error based on the measured error. The error between anchors can be calculated as shown in Figures 37 and 38.

[0246] The device can measure the temperature and humidity difference or the continuously generated error based on the measured error amount. For example, referring to FIG. 38, if an error occurs due to an error in the calculated positioning calculation method, an error may occur commonly between anchors. This commonly occurring common error is defined as e_comm, and the positioning distance can be corrected in the future based on the common error (e_comm). In addition, an NLOS situation occurs due to an obstacle between anchors 2 and anchors 3, and a device located between anchors 2 and anchors 3 can perform positioning. In this case, the positioning system can operate so that anchors 2 and / or anchors 2 are not used for positioning of the device. The above values ​​can be accumulated over time to measure the accuracy of the numbers and the amount of temporal change.

[0247] The data measured in this way can be used to adjust the time interval between anchors, and by notifying the device of additionally calculated errors and measurement values, the positioning performance can be improved by correcting the positioned position values ​​using the error values ​​during positioning calculation. The data calculated in this way can be used to notify common error values ​​and anchors with large error occurrences through a channel that notifies the initial position values, so that the device can perform positioning by additionally considering the known values. The measured error values ​​can be transmitted to the device through a message having a data structure as illustrated in FIG. 39.

[0248] FIG. 40 is a diagram illustrating a method for a device to generate degradation data related to multiple sensors.

[0249] As described above, the device may be a device attached to or included in a mobile device such as a vehicle, a pedestrian (or, VRU), or a motorcycle, and may be a device that recognizes at least one surrounding object related to the vehicle, pedestrian (or, VRU), and / or motorcycle and controls driving of the vehicle, pedestrian (or, VRU), and / or motorcycle. Alternatively, the device may be a device that transmits and receives V2N or V2N2V messages transmitted to surrounding devices through a network using a message for V2X such as VAM, PSM, CAM, CPM, and / or a Uu interface as described above.

[0250] Specifically, referring to FIG. 40, the device can obtain sensor data for a plurality of sensors for recognizing the surrounding environment (S401). For example, the device can obtain the sensor data including sensor values ​​sensed from each of a plurality of sensors for identifying / recognizing objects located / existing around the mobile device and / or the surrounding environment as described above. For example, the plurality of sensors can include an acoustic sensor related to recognizing the surrounding environment, a wireless signal sensor (e.g., radar or lidar), an image sensor (e.g., a sensor that detects information about infrared rays or visible light), etc.

[0251] Next, the device can determine / specify at least one sensor among the plurality of sensors in which interference greater than a preset threshold is detected based on the sensor data (S403). For example, the device can calculate the intensity of noise or interference for each sensor based on the sensor data, and can determine / specify at least one sensor in which interference greater than a preset threshold is detected / generated based on the intensity of noise or interference calculated for each sensor among the plurality of sensors. Here, the preset threshold can be set differently for each sensor type. In addition, the device can determine a time interval and / or a geographical interval in which interference greater than the preset threshold occurs in each of the at least one sensor.

[0252] Next, the device may generate degradation data for the at least one sensor based on the sensor data (S405). The degradation data may include information about a geographic section and / or a time section in which interference greater than the preset threshold occurred for each of the at least one sensor, and information about a degradation level calculated for each geographic section and / or time section. For example, the degradation data may include information about a corresponding degradation level for each geographic section and / or time section for each of the at least one sensor. For example, the device may generate degradation data including information about a geographic section and / or a time section in which interference occurred for each of the at least one sensor, and information about a degradation level for each of the at least one sensor. In other words, the degradation data may include information about at least one sensor in which interference occurred, a time section, and a degradation level for each geographic section. Here, the degradation level may be calculated based on a sound wave frequency band and interference power in which interference occurred for a voice / acoustic sensor, and may be calculated based on a position, direction, and interference power of the image sensor for an image sensor. Alternatively, the degradation data may further include information as described in FIGS. 17 to 21. For example, the degradation data may further include sensor type information for the at least one sensor.

[0253] Alternatively, the device may receive a degradation status message including degradation data (hereinafter, shared degradation data) from peripheral devices or a network, and determine a confidence level of its degradation data based on the shared degradation data included in the degradation status message. For example, the device may update its degradation data or determine / modify the confidence level through comparative analysis of the shared degradation data and its degradation data. For example, degradation information for the same specific type of sensor may be included in the shared degradation data and the degradation data. In this case, the device may increase the confidence level for the degradation data by a specific value (e.g., 1) based on (partial) overlap in the time interval and / or geographical interval of degradation / interference occurrence for the specific type of sensor between the shared degradation data and the degradation data.

[0254] Next, the device may transmit a message (e.g., a degradation status message) containing the degradation data to peripheral devices and / or a network (S407). Here, the degradation status message may be a BSM configured to additionally contain degradation data as described with reference to FIG. 19, or a newly defined message for sharing degradation data.

[0255] Alternatively, the device may apply a weight to each of the sensor values ​​acquired from the plurality of sensors, calculate a combination value of the sensor values ​​to which the weights have been applied, and determine at least one control parameter or at least one control parameter value for extraction of surrounding objects for recognition of the surrounding environment and / or driving control of a vehicle related to the device based on the calculated combination value. For example, the device may input the values ​​acquired from the plurality of sensors as mathematical equations 1 and 2 into a specific function (e.g., a predefined function for obtaining an output value related to identification / extraction of surrounding objects) to calculate / determine at least one control parameter for recognition / identification of surrounding objects related to the device. At this time, the device may add a weight to each of the sensor values ​​for the plurality of sensors as defined in mathematical equation 2, and the weight may be set for each sensor type, and the weight set for each sensor type may be adjusted based on the deterioration data. Alternatively, the device may input the values ​​obtained from the plurality of sensors as input values ​​of a specific function (e.g., a predefined function for obtaining output values ​​related to autonomous driving control) as in Equation 3 to calculate / determine control parameters related to driving control of a mobile device associated with the device. For example, the device may calculate / determine parameters related to speed control of the mobile device based on Equation 3 (Parameter velocty ), the distance between the mobile device and another mobile device (e.g., minimum distance between vehicles, etc.; Parameter timeGap), the brake level (e.g., the strength of the brake; Parameterbreaklevel) of the mobile device can be calculated / determined. At this time, the device can add a weight set for each sensor type to each of the sensor values ​​(or at least one sensor value) for the plurality of sensors as defined in mathematical expression 3, and the weight set for each sensor type can be adjusted based on the deterioration data.

[0256] For example, the device may adjust (decrease or increase) at least one weight set for at least one sensor corresponding to a specific geographic interval and / or a specific time interval set / included in the degradation data, wherein a specific increase or decrease value for the weight may be determined based on a degradation level for the at least one sensor.

[0257] Alternatively, the device may identify a sensor in which a failure / operational error / abnormality has occurred among the at least one sensor based on a comparison result between the shared degradation data and the degradation data. For example, if degradation information of a specific type of sensor according to the degradation data and corresponding degradation information are not included in the shared degradation data, the device may predict / determine that the abnormality / operational error / abnormality has occurred in the specific type of sensor among the at least one sensor. Alternatively, if shared degradation data that does not include degradation information of a specific type of sensor according to the degradation data and corresponding degradation information is received from peripheral devices above a specific threshold, the device may predict / determine that the abnormality / operational error / abnormality has occurred in the specific type of sensor among the at least one sensor. In this case, the device may not consider the sensor value for the specific type of sensor in the above-described surrounding environment recognition and / or autonomous driving control. For example, the device may not input / reflect the sensor value for the specific type of sensor in Equation 2 or Equation 3.

[0258] Figure 41 is a diagram illustrating how a network transmits a degradation status message containing degradation data.

[0259] As described above, the network may be a server, SoftV2X server, or base station that supports V2N2V communication, which transmits messages received from a device via the Uu interface to peripheral devices associated with the device. For example, the network may provide V2X-related safety services to the devices by relaying messages via the Uu interface.

[0260] Referring to FIG. 41, the network may receive at least one message containing degradation data from at least one device (S411). As described above, the degradation data may include information about at least one sensor that has experienced interference exceeding a preset threshold due to the surrounding environment, and information about degradation levels for each of the at least one sensor over a time interval and / or a geographical interval.

[0261] Next, the network can generate shared degradation data based on the degradation data included in the at least one message (S413). For example, the network can determine at least one sensor in which interference occurred, a degradation level, and a time period in which the interference occurred in each of a plurality of geographic sections based on the degradation data included in the at least one message, and can generate shared degradation data (e.g., integrated degradation data that integrates the degradation data included in the at least one message) as degradation data for the plurality of geographic sections. At this time, the network can increase the trust level for the geographic section, time period, and at least one sensor shared / overlapping among the degradation data included in the at least one message. Alternatively, the network can periodically receive messages including the degradation data to periodically update the shared degradation data.

[0262] Next, the network can transmit a degradation status message including the shared degradation data to the peripheral devices (S415). As described above, the degradation status message can include degradation data for at least one of the interference type, sensor type, sensor direction, degradation time, degradation interval, degradation stage, and accumulated count (reliability).

[0263] In this way, the proposed invention can effectively database deterioration information for at least one sensor that has deteriorated due to the surrounding environment by time interval and / or region through sensor information acquired from a plurality of sensors. Alternatively, the proposed invention can effectively improve the reliability of safety services based on sensor data by sharing deterioration data including the deterioration information with peripheral devices and / or a network. Alternatively, the proposed invention can minimize the occurrence of errors in peripheral recognition or a decrease in peripheral recognition accuracy due to sensor values ​​of a sensor that has experienced interference due to the surrounding environment by adjusting weights for a plurality of sensors based on the deterioration data. Alternatively, the proposed invention can effectively improve the reliability of the deterioration data by continuously updating the deterioration data through sharing the deterioration data with peripheral devices and / or a network.

[0264] Examples of communication systems to which the invention applies

[0265] Although not limited thereto, the various descriptions, functions, procedures, proposals, methods and / or operational flowcharts of the present invention disclosed in this document may be applied to various fields requiring wireless communication / connection (e.g., 5G) between devices.

[0266] 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.

[0267] Figure 42 illustrates a communication system applied to the present invention.

[0268] Referring to FIG. 42, a communication system (1) applied to the present invention includes a wireless device, a base station, and a network. Here, the wireless device refers to a device that performs communication using a wireless access technology (e.g., 5G NR (New RAT), LTE (Long Term Evolution)) and may be referred to as a communication / wireless / 5G device. Although not limited thereto, the wireless device may include a robot (100a), a vehicle (100b-1, 100b-2), an XR (eXtended Reality) device (100c), a hand-held device (100d), a home appliance (100e), an IoT (Internet of Things) device (100f), and an AI device / server (400). For example, the vehicle may include a vehicle equipped with a wireless communication function, an autonomous vehicle, a vehicle capable of performing vehicle-to-vehicle communication, etc. Here, the vehicle may include an Unmanned Aerial Vehicle (UAV) (e.g., a drone). XR devices include AR (Augmented Reality) / VR (Virtual Reality) / MR (Mixed Reality) devices, and can be implemented in the form of HMD (Head-Mounted Device), HUD (Head-Up Display) installed in a vehicle, television, smartphone, computer, wearable device, home appliance, digital signage, vehicle, robot, etc. Mobile devices can include smartphone, smart pad, wearable device (e.g., smart watch, smart glass), computer (e.g., laptop, etc.), etc. Home appliances can include TV, refrigerator, washing machine, etc. IoT devices can include sensors, smart meters, etc. For example, base stations and networks can also be implemented as wireless devices, and a specific wireless device (200a) can act as a base station / network node to other wireless devices.

[0269] 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).

[0270] Wireless communication / connection (150a, 150b, 150c) can be established between wireless devices (100a~100f) / base stations (200), and base stations (200) / base stations (200). Here, wireless communication / connection can be achieved through various wireless access technologies (e.g., 5G NR) such as uplink / downlink communication (150a), sidelink communication (150b) (or, D2D communication), and communication between base stations (150c) (e.g., relay, IAB (Integrated Access Backhaul). Through wireless communication / connection (150a, 150b, 150c), wireless devices and base stations / wireless devices, and base stations and base stations can transmit / receive wireless signals to each other. For example, wireless communication / connection (150a, 150b, 150c) can transmit / receive signals through various physical channels. To this end, at least some of various configuration information setting processes for transmitting / receiving wireless signals, various signal processing processes (e.g., channel encoding / decoding, modulation / demodulation, resource mapping / demapping, etc.), and resource allocation processes can be performed based on various proposals of the present invention.

[0271] Examples of wireless devices to which the present invention is applied

[0272] Figure 43 illustrates a wireless device applicable to the present invention.

[0273] Referring to FIG. 43, 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. 42.

[0274] A first wireless device (100) includes one or more processors (102) and one or more memories (104), and may further include one or more transceivers (106) and / or one or more antennas (108). The processor (102) controls the memories (104) and / or the transceivers (106), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (102) may process information in the memory (104) to generate first information / signal, and then transmit a wireless signal including the first information / signal via the transceiver (106). In addition, the processor (102) may receive a wireless signal including second information / signal via the transceiver (106), and then store information obtained from signal processing of the second information / signal in the memory (104). The memory (104) may be connected to the processor (102) and may store various information related to the operation of the processor (102). For example, the memory (104) may perform some or all of the processes controlled by the processor (102), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (102) and the memory (104) may be part of a communication modem / circuit / chipset designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (106) may be connected to the processor (102) and may transmit and / or receive wireless signals via one or more antennas (108). The transceiver (106) may include a transmitter and / or a receiver. The transceiver (106) may be used interchangeably with an RF (Radio Frequency) unit. In the present invention, a wireless device may also mean a communication modem / circuit / chipset.

[0275] A first wireless device or apparatus (100) may include at least one processor (102) and at least one memory (104) connected to a transceiver (106). The at least one memory (104) may include at least one program that enables the at least one processor (102) to perform operations related to the embodiments described in FIGS. 17 to 21, 40 and 41. Here, the operations include acquiring sensor data for a plurality of sensors for recognizing a surrounding environment, determining at least one sensor among the plurality of sensors that detects interference greater than a preset threshold based on the sensor data, generating degradation data for the at least one sensor, and transmitting a message including the degradation data, wherein the degradation data may include information on degradation levels for each geographical section and time section for each of the at least one sensor.

[0276] Alternatively, at least one non-transitory computer-readable medium may have recorded thereon at least one program for performing the above operations. Alternatively, the processing device may include at least one processor (102) and at least one memory (104) coupled to the at least one processor (102) and storing at least one program for performing the above operations when executed by the at least one processor.

[0277] The second wireless device (200) includes one or more processors (202), one or more memories (204), and may further include one or more transceivers (206) and / or one or more antennas (208). The processor (202) controls the memories (204) and / or the transceivers (206), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (202) may process information in the memory (204) to generate third information / signals, and then transmit a wireless signal including the third information / signals via the transceivers (206). Furthermore, the processor (202) may receive a wireless signal including fourth information / signals via the transceivers (206), and then store information obtained from signal processing of the fourth information / signals in the memory (204). The memory (204) may be connected to the processor (202) and may store various information related to the operation of the processor (202). For example, the memory (204) may perform some or all of the processes controlled by the processor (202), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (202) and the memory (204) may be part of a communication modem / circuit / chip designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (206) may be connected to the processor (202) and may transmit and / or receive wireless signals via one or more antennas (208). The transceiver (206) may include a transmitter and / or a receiver. The transceiver (206) may be used interchangeably with an RF unit. In the present invention, a wireless device may also mean a communication modem / circuit / chip.

[0278] A second wireless device or network (200) may include at least one processor (202) and at least one memory (204) connected to a transceiver (206). The at least one memory (204) may include at least one program that causes the at least one processor (202) to perform operations related to the embodiments described in FIGS. 17 to 21, 40 and 41. Here, the operations include receiving messages including degradation data from a plurality of devices, generating shared degradation data based on the degradation data included in the messages, and transmitting a degradation status message including the shared degradation data to peripheral devices, wherein the shared degradation data may include information about a degradation level for each geographical section and time section for each of at least one sensor that detects interference above a preset threshold among a plurality of sensors for recognizing the surrounding environment.

[0279] Alternatively, at least one non-transitory computer-readable medium may have recorded thereon at least one program for performing the above operations. Alternatively, the processing device may include at least one processor (202) and at least one memory (204) coupled to the at least one processor (202) and storing at least one program for performing the above operations when executed by the at least one processor.

[0280] 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.

[0281] 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.

[0282] 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.

[0283] 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.

[0284] Examples of wireless devices to which the present invention is applied

[0285] Figure 44 illustrates another example of a wireless device applicable to the present invention. The wireless device may be implemented in various forms depending on the use case / service (see Figure 42).

[0286] Referring to FIG. 44, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 43 and may be composed of various elements, components, units, and / or modules. For example, the wireless device (100, 200) may include a communication unit (110), a control unit (120), a memory unit (130), and additional elements (140). The communication unit may include a communication circuit (112) and a transceiver(s) (114). For example, the communication circuit (112) may include one or more processors (102, 202) and / or one or more memories (104, 204) of FIG. 44. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 43. 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).

[0287] 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. 42, 100a), a vehicle (Fig. 42, 100b-1, 100b-2), an XR device (Fig. 42, 100c), a portable device (Fig. 42, 100d), a home appliance (Fig. 42, 100e), an IoT device (Fig. 42, 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. 42, 400), a base station (Fig. 42, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0288] In FIG. 44, 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.

[0289] Examples of vehicles or autonomous vehicles to which the present invention is applied

[0290] Figure 45 illustrates a vehicle or autonomous vehicle applicable to the present invention. The vehicle or autonomous vehicle may be implemented as a mobile robot, car, train, manned / unmanned aerial vehicle (AV), ship, etc.

[0291] Referring to FIG. 45, 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. 44, respectively.

[0292] 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.

[0293] 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.

[0294] 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.

[0295] The embodiments described above are combinations of components and features of the present invention in a predetermined form. Each component or feature should be considered optional unless explicitly stated otherwise. Each component or feature may be implemented without being combined with other components or features. Furthermore, it is also possible to form an embodiment of the present invention by combining some components and / or features. The order of operations described in the embodiments of the present invention may be changed. Some components or features of one embodiment may be included in another embodiment or may be replaced with corresponding components or features of another embodiment. It is self-evident that claims that do not have an explicit citation relationship in the patent claims may be combined to form an embodiment or may be incorporated as a new claim through a post-application amendment.

[0296] In this document, embodiments of the present invention have been described primarily focusing on the signal transmission and reception relationship between a terminal and a base station. This transmission and reception relationship is equally / similarly extended to signal transmission and reception between a terminal and a relay or a base station and a relay. Certain operations described as being performed by a base station in this document may, in some cases, be performed by its upper node. That is, it is obvious that various operations performed for communication with a terminal in a network composed of multiple network nodes including a base station may be performed by the base station or other network nodes other than the base station. The base station may be replaced by terms such as fixed station, Node B, eNode B (eNB), and access point. In addition, the terminal may be replaced by terms such as UE (User Equipment), MS (Mobile Station), MSS (Mobile Subscriber Station).

[0297] Embodiments of the present invention may be implemented by various means, for example, hardware, firmware, software, or a combination thereof. In the case of hardware implementation, an embodiment of the present invention may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, etc.

[0298] When implemented via firmware or software, an embodiment of the present invention may be implemented in the form of modules, procedures, functions, etc. that perform the functions or operations described above. The software code may be stored in a memory unit and executed by a processor. The memory unit may be located within or outside the processor and may exchange data with the processor via various known means.

[0299] It will be apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the scope of the invention. Therefore, the above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the scope of equivalents of the present invention are intended to be included within the scope of the present invention.

[0300] The embodiments of the present invention as described above can be applied to various mobile communication systems.

Claims

1. In the method using a device, A step of acquiring sensor data for multiple sensors for recognizing the surrounding environment; A step of determining at least one sensor among the plurality of sensors in which interference greater than a preset threshold is detected based on the sensor data; A step of generating degradation data for at least one sensor based on the sensor data; and comprising a step of transmitting a message including the above deterioration data, A method wherein the above degradation data includes information about degradation levels by geographic interval and time interval for each of the at least one sensor.

2. In paragraph 1, A method, characterized in that the above degradation data further includes sensor type information for the at least one sensor.

3. In paragraph 1, further comprising the step of receiving a degradation status message including shared degradation data; A method characterized in that the device determines or updates a confidence level for the degradation data based on the shared degradation data.

4. In paragraph 1, A step of applying a weight set for each sensor type to each of the sensor values ​​obtained from the plurality of sensors, and determining a control parameter used for extracting a surrounding object based on a combination value of the sensor values ​​to which the weights are applied; further comprising; A method characterized in that the above weights are adjusted for each sensor type based on the above deterioration data.

5. In paragraph 4, A step of determining whether the device belongs to a specific geographical section and a specific time section included in the deterioration data based on the time and location at which the device is operating; and A method characterized in that it further comprises the step of reducing the value of a weight for a sensor in which interference occurs in the specific geographic section and the specific time section from a first value to a second value based on the device being operated within the specific geographic section and the specific time section.

6. In paragraph 1, A step of applying a weight set for each sensor type to each of the sensor values ​​obtained from the plurality of sensors, and determining at least one parameter used for controlling a vehicle related to the device based on a combined value of the sensor values ​​to which the weights are applied; further comprising; A method characterized in that the above weight is determined for each sensor type based on the above deterioration data.

7. In paragraph 1, A method, characterized in that the at least one parameter includes parameters for the driving speed of the vehicle, the distance between vehicles, and the braking level.

8. In paragraph 1, Based on the fact that at least one sensor is an acoustic sensor, the degradation level is calculated based on the sound wave frequency band and interference power where interference occurs, A method characterized in that the deterioration level is calculated based on the position, direction and interference power of the image sensor, based on the at least one sensor being an image sensor.

9. In at least one non-transitory computer-readable medium, Contains instructions that perform operations when executed by at least one processor, The above actions are, Acquire sensor data for multiple sensors to recognize the surrounding environment; Based on the sensor data, determining at least one sensor among the plurality of sensors that detects interference exceeding a preset threshold; Generating degradation data for at least one sensor; and Including transmitting a message including the above deterioration data, At least one non-transitory computer-readable medium, wherein the degradation data includes information about degradation levels for each geographic section and time section for each of the at least one sensor.

10. In the device, RF(Radio Frequency) transmitter and receiver; a processor connected to the RF transceiver; and a memory comprising at least one program that performs operations when executed by the processor; The above actions are, Acquire sensor data for multiple sensors to recognize the surrounding environment; Based on the sensor data, determining at least one sensor among the plurality of sensors that detects interference exceeding a preset threshold; Generating degradation data for at least one sensor; and Including transmitting a message including the above deterioration data, A device wherein the above degradation data includes information about degradation levels by geographic interval and time interval for each of the at least one sensor.

11. In a processing device that controls a device, at least one processor; and At least one memory connected to said at least one processor and storing instructions that perform operations when executed by said at least one processor, The above actions are, Acquire sensor data for multiple sensors to recognize the surrounding environment; Based on the sensor data, determining at least one sensor among the plurality of sensors that detects interference exceeding a preset threshold; Generating degradation data for at least one sensor; and Including transmitting a message including the above deterioration data, A processing device, wherein the deterioration data includes information about the deterioration level for each geographic section and time section for each of the at least one sensor.

12. In the method by network, A step of receiving messages containing deterioration data from a plurality of devices; A step of generating shared degradation data based on the degradation data included in the above messages; and A step of transmitting a degradation status message including the shared degradation data to peripheral devices, A method in which the above shared degradation data includes information on degradation levels by geographical section and time section for each of at least one sensor among a plurality of sensors for recognizing the surrounding environment that detects interference exceeding a preset threshold.

13. In at least one non-transitory computer-readable medium, Contains instructions that perform operations when executed by at least one processor, The above actions are, Receive messages containing deterioration data from multiple devices; Generate shared degradation data based on the degradation data contained in the above messages; and Including transmitting a degradation status message including the above shared degradation data to peripheral devices, The above shared degradation data is at least one non-transitory computer-readable medium containing information on degradation levels by geographical section and time section for each of at least one sensor among a plurality of sensors for recognizing the surrounding environment that detects interference exceeding a preset threshold.

14. In the network, RF(Radio Frequency) transmitter and receiver; a processor connected to the RF transceiver; and a memory comprising at least one program that performs operations when executed by the processor; The above actions are, Receive messages containing deterioration data from multiple devices; Generate shared degradation data based on the degradation data contained in the above messages; and Including transmitting a degradation status message including the above shared degradation data to peripheral devices, The above shared degradation data includes information on the degradation level by geographical section and time section for each of at least one sensor among a plurality of sensors for recognizing the surrounding environment that detects interference exceeding a preset threshold.

15. In a processing device that controls a network, at least one processor; and At least one memory connected to said at least one processor and storing instructions that perform operations when executed by said at least one processor, The above actions are, Receive messages containing deterioration data from multiple devices; Generate shared degradation data based on the degradation data contained in the above messages; and Including transmitting a degradation status message including the above shared degradation data to peripheral devices, A processing device wherein the shared degradation data includes information on the degradation level by geographical section and time section for each of at least one sensor among a plurality of sensors for recognizing the surrounding environment that detects interference exceeding a preset threshold.

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