Hierarchical sensing method and apparatus in integrated sensing and communication technology

Abstract

Provided are: a method for performing wireless communication and sensing; and an apparatus that supports same. A first device may: receive information related to a sensing mode from a second device; and may perform first sensing and second sensing on the basis that the information related to the sensing mode indicates hierarchical sensing.

Description

Hierarchical sensing method and device in sensing and communication integration technology

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

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

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

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

[0005] In one embodiment, a method of performing sensing by a first device is provided. The method may include: receiving, by the first device, information related to a sensing mode from a second device; and performing, by the first device, first sensing and second sensing based on the information related to the sensing mode indicating hierarchical sensing.

[0006] In one embodiment, a first device configured to perform sensing is provided. The first device comprises at least one transceiver; at least one processor; and at least one memory coupled to the at least one processor and storing instructions, wherein the instructions, when executed by the at least one processor, cause the first device to: receive information related to a sensing mode from a second device; and perform first sensing and second sensing based on the information related to the sensing mode indicating hierarchical sensing.

[0007] In one embodiment, a processing device configured to control a first device is provided. The processing device includes at least one processor; and at least one memory coupled to the at least one processor and storing instructions, wherein the instructions, when executed by the at least one processor, cause the first device to: receive information related to a sensing mode from a second device; and perform first sensing and second sensing based on the information related to the sensing mode indicating hierarchical sensing.

[0008] In one embodiment, a non-transitory computer-readable storage medium having instructions recorded thereon is provided. The instructions, when executed, cause a first device to: receive information related to a sensing mode from a second device; and perform first sensing and second sensing based on the information related to the sensing mode indicating hierarchical sensing.

[0009] Figure 1 illustrates a device-to-device communication procedure according to one embodiment of the present disclosure.

[0010] FIG. 2 illustrates a radio protocol architecture according to one embodiment of the present disclosure.

[0011] FIG. 3 illustrates the structure of a wireless frame according to one embodiment of the present disclosure.

[0012] FIG. 4 illustrates a slot structure of a frame according to one embodiment of the present disclosure.

[0013] FIG. 5 illustrates an example of a BWP according to one embodiment of the present disclosure.

[0014] FIG. 6 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure.

[0015] FIG. 7 illustrates an example of a communication scenario based on a 6G system according to one embodiment of the present disclosure.

[0016] FIG. 8 illustrates an example of a sensing operation according to one embodiment of the present disclosure.

[0017] FIG. 9 illustrates the relationship between RCS, distance (D), and power according to one embodiment of the present disclosure.

[0018] FIG. 10 illustrates the main sensing modes of ISAC according to one embodiment of the present disclosure.

[0019] FIG. 11 illustrates a method for a sensing device to perform a hierarchical sensing procedure operation according to an embodiment of the present disclosure.

[0020] FIG. 12 illustrates a method for a sensing device to perform a hierarchical sensing procedure operation using non-3GPP sensing data according to an embodiment of the present disclosure.

[0021] FIG. 13 illustrates a method for a first device to perform wireless communication according to an embodiment of the present disclosure.

[0022] FIG. 14 illustrates a method for a second device to perform wireless communication according to an embodiment of the present disclosure.

[0023] FIG. 15 illustrates a communication system (1) according to one embodiment of the present disclosure.

[0024] FIG. 16 illustrates a wireless device according to one embodiment of the present disclosure.

[0025] FIG. 17 illustrates a signal processing circuit for a transmission signal according to one embodiment of the present disclosure.

[0026] FIG. 18 illustrates a wireless device according to one embodiment of the present disclosure.

[0027] FIG. 19 illustrates a mobile device according to an embodiment of the present disclosure.

[0028] In this disclosure, "A or B" can mean "only A," "only B," or "both A and B." In other words, "A or B" in this disclosure can be interpreted as "A and / or B." For example, "A, B or C" in this disclosure can mean "only A," "only B," "only C," or "any combination of A, B and C."

[0029] As used herein, a slash ( / ) or a comma may mean "and / or." For example, "A / B" may mean "A and / or B." Accordingly, "A / B" may mean "only A," "only B," or "both A and B." For example, "A, B, C" may mean "A, B, or C."

[0030] In the present disclosure, “at least one of A and B” may mean “only A,” “only B,” or “both A and B.” Additionally, in the present disclosure, the expressions “at least one of A or B” or “at least one of A and / or B” may be interpreted identically to “at least one of A and B.”

[0031] Additionally, in the present disclosure, “at least one of A, B and C” can mean “only A,” “only B,” “only C,” or “any combination of A, B and C.” Additionally, “at least one of A, B or C” or “at least one of A, B and / or C” can mean “at least one of A, B and C.”

[0032] Additionally, parentheses used in the present disclosure may mean "for example." Specifically, when indicated as "control information (PDCCH)", "PDCCH" may be proposed as an example of "control information." In other words, "control information" in the present disclosure is not limited to "PDCCH," and "PDCCH" may be proposed as an example of "control information." Furthermore, even when indicated as "control information (i.e., PDCCH)", "PDCCH" may be proposed as an example of "control information."

[0033] In the following explanation, ‘when, if, in case of’ can be replaced with ‘based on’.

[0034] Technical features individually described in one drawing in this disclosure may be implemented individually or simultaneously.

[0035] In the present disclosure, higher layer parameters may be parameters set for the terminal, preset, or predefined. For example, a base station or network may transmit higher layer parameters to the terminal. For example, the higher layer parameters may be transmitted via radio resource control (RRC) signaling or medium access control (MAC) signaling.

[0036] In the present disclosure, "setting or defining" may be interpreted as being set or preset to a device through predefined signaling (e.g., SIB, MAC, RRC) from a base station or a network. In the present disclosure, "setting or defining" may be interpreted as being preset to a device. In the present disclosure, "setting or defining" may be interpreted as being set or preset to a device through predefined signaling (e.g., MAC, RRC, SCI (sidelink control information), device-to-device signaling control information, etc.) from another device. In the present disclosure, "setting or defining" may be interpreted as being preset to a device.

[0037] In the present disclosure, a user equipment (UE) may refer to a device, a portable device, a wireless device, etc. In the present disclosure, a base station (BS) may refer to a radio access network (RAN) node, a non-terrestrial network (NTN) cell / node, a transmission reception point (TRP), a network, an integrated access and backhaul (IAB) node, a device, a portable device, a wireless device, etc.

[0038] The technology proposed in the present disclosure can be used in various wireless communication systems such as CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), and SC-FDMA (single carrier frequency division multiple access). CDMA can be implemented with wireless technologies such as UTRA (universal terrestrial radio access) or CDMA2000. TDMA can be implemented with wireless technologies such as GSM (global system for mobile communications) / GPRS (general packet radio service) / EDGE (enhanced data rates for GSM evolution). OFDMA can be implemented with wireless technologies such as IEEE (Institute of Electrical and Electronics Engineers) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802-20, E-UTRA (evolved UTRA), LTE (long term evolution), and 5G NR.

[0039] The technology proposed in this disclosure can be implemented with 6G wireless technology and applied to various 6G systems. For example, 6G systems can have key factors such as enhanced mobile broadband (eMBB), ultra-reliable low latency communications (URLLC), massive machine-type communication (mMTC), artificial intelligence (AI) integrated communication, tactile internet, high throughput, high network capacity, high energy efficiency, low backhaul and access network congestion, and enhanced data security.

[0040] FIG. 1 illustrates a device-to-device communication procedure according to one embodiment of the present disclosure. The embodiment of FIG. 1 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0041] Referring to FIG. 1, in step S101, a first device and a second device can perform synchronization. For example, the first device can be a terminal and / or at least one of the devices proposed in the present disclosure. For example, the second device can be a base station, a network, a RAN node, an NTN node / cell, a TRP, a terminal and / or at least one of the devices proposed in the present disclosure. For example, the first device can perform an initial cell search operation. For example, the first device can detect at least one synchronization signal transmitted by the second device according to a predefined rule. Here, for example, the synchronization signal can include a plurality of synchronization signals classified according to a structure or purpose (e.g., a primary synchronization signal, a secondary synchronization signal, etc.). Through this, the first device can identify the boundaries of the frame, subframe, time unit, slot, and / or symbol of the second device, and the first device can obtain information about the second device (e.g., a cell identifier).

[0042] In step S103, the first device can obtain system information transmitted by the second device. For example, the system information may include information related to the properties, characteristics, and / or capabilities of the second device required to connect to the second device and use the service. For example, the system information may be classified according to content (e.g., whether it is essential for connection), transmission structure (e.g., the channel used, whether it is provided on-demand), etc. For example, the system information may be classified into a master information block (MIB) and a system information block (SIB). For example, if necessary, the first device may transmit a signal requesting system information before receiving the system information. For example, the request and provision of system information may be performed after a random access procedure described below.

[0043] In step S105, the first device and the second device can perform a random access procedure. For example, the first device can transmit and / or receive at least one message (e.g., a random access preamble, a random access response message, etc.) for the random access procedure based on information related to a random access channel of the second device obtained through system information (e.g., channel location, channel structure, structure of supported preamble, etc.). For example, the first device can transmit a preamble (e.g., Msg1) through the random access channel, the first device can receive a random access response message (e.g., Msg2), the first device can transmit a message (e.g., Msg3) including information related to the first device (e.g., identification information) to the second device using scheduling information included in the random access response message, and the first device can receive a message (e.g., Msg4) for contention resolution and / or connection establishment. For example, Msg1 and Msg3 can be sent and received as one message (e.g., MsgA), and / or Msg2 and Msg4 can be sent and received as one message (e.g., MsgB).

[0044] In step S107, the first device and the second device may perform signaling of control information. Here, for example, the control information may be defined in various layers, such as a layer that controls a connection (e.g., a radio resource control (RRC) layer), a layer that handles mapping between logical channels and transport channels (e.g., a media access control (MAC) layer), a layer that handles physical channels (e.g., a physical (PHY) layer), etc. For example, the first device and the second device may perform at least one of signaling for establishing a connection, signaling for determining settings related to communication, and / or signaling for indicating allocated resources. For example, the control information may be signaled / transmitted via a control channel. For example, the control information and / or the control channel may be used to schedule at least one of data, a data channel (e.g., a shared channel), and / or control information on the data channel.

[0045] In step S109, the first device and the second device may transmit and / or receive data. For example, the first device and the second device may process, transmit, and / or receive data based on signaling of control information. For example, when transmitting data, the first device or the second device may perform at least one of channel encoding, rate matching, scrambling, constellation mapping, layer mapping, waveform modulation, antenna mapping, and / or resource mapping on the information bits. For example, when receiving data, the first device or the second device may perform at least one of signal extraction from resources, waveform demodulation for each antenna, signal arrangement considering layer mapping, constellation demapping, descrambling, and / or channel decoding.

[0046] For example, the layers of a radio interface protocol between a first device and a second device can be divided into L1 (layer 1), L2 (layer 2), L3 (layer 3), etc. For example, a physical layer belonging to the first layer can provide an information transfer service using a physical channel, and an RRC (radio resource control) layer located in the third layer can play a role in controlling radio resources between the first device and the second device. For this purpose, for example, the RRC layer can exchange RRC messages between the first device and the second device.

[0047] FIG. 2 illustrates a radio protocol architecture according to an embodiment of the present disclosure. The embodiment of FIG. 2 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted. For example, (a) of FIG. 2 may illustrate a radio protocol stack of a user plane for uplink communication or downlink communication, and (b) of FIG. 2 may illustrate a radio protocol stack of a control plane for uplink communication or downlink communication. For example, (c) of FIG. 2 may illustrate a radio protocol stack of a user plane for device-to-device communication, and (d) of FIG. 2 may illustrate a radio protocol stack of a control plane for device-to-device communication.

[0048] For example, the physical layer can provide information transmission services to upper layers using physical channels. For example, the physical layer can be connected to the upper layer, the medium access control (MAC) layer, through a transport channel. For example, data can be transmitted between the MAC layer and the physical layer through the transport channel. For example, transport channels can be classified according to how and with what characteristics data is transmitted over the wireless interface. For example, data can be transmitted between different physical layers (e.g., between the physical layers of a first device and a second device) through a physical channel. For example, the physical channel can be modulated using an orthogonal frequency division multiplexing (OFDM) scheme, and time and frequency can be utilized as radio resources.

[0049] For example, the MAC layer can provide services to the upper layer, the radio link control (RLC) layer, through logical channels. For example, the MAC layer can provide a mapping function from multiple logical channels to multiple transport channels. For example, the MAC layer can provide a logical channel multiplexing function by mapping multiple logical channels to a single transport channel. For example, the MAC sublayer can provide data transmission services on logical channels.

[0050] For example, the RLC layer can perform concatenation, segmentation, and reassembly of RLC service data units (SDUs). For example, to guarantee the various quality of service (QoS) required by radio bearers (RBs), the RLC layer can provide three operating modes: transparent mode (TM), unacknowledged mode (UM), and acknowledged mode (AM). For example, AM RLC can provide error correction through automatic repeat request (ARQ).

[0051] For example, the RRC (radio resource control) layer can be defined only in the control plane. For example, the RRC layer can be responsible for controlling logical channels, transport channels, and physical channels in relation to the configuration, re-configuration, and release of radio bearers. For example, an RB can mean a logical path provided by a first layer (e.g., a physical layer) and a second layer (e.g., a MAC layer, an RLC layer, a PDCP (packet data convergence protocol) layer, a SDAP (service data adaptation protocol) layer, etc.) for data transmission between a first device and a second device.

[0052] For example, the functions of the PDCP layer in the user plane may include forwarding of user data, header compression, and ciphering. For example, the functions of the PDCP layer in the control plane may include forwarding of control plane data and ciphering / integrity protection.

[0053] For example, establishing an RB can refer to the process of defining the characteristics of the radio protocol layer and channel to provide a specific service, and setting specific parameters and operating methods for each. For example, RBs can be divided into two types: signaling radio bearers (SRBs) and data radio bearers (DRBs). For example, SRBs can be used as a channel to transmit RRC messages in the control plane, while DRBs can be used as a channel to transmit user data in the user plane.

[0054] For example, a downlink transmission channel may include at least one of a broadcast channel (BCH) for transmitting system information, and / or a downlink shared channel (SCH) for transmitting user traffic or control messages. For example, traffic or control messages of a downlink multicast or broadcast service may be transmitted through the downlink SCH, or may be transmitted through a separate downlink multicast channel (MCH). Meanwhile, an uplink transmission channel may include at least one of a random access channel (RACH) for transmitting initial control messages, and / or an uplink shared channel (SCH) for transmitting user traffic or control messages. For example, a logical channel located above a transmission channel and mapped to the transmission channel may include at least one of a broadcast control channel (BCCH), a paging control channel (PCCH), a common control channel (CCCH), a multicast control channel (MCCH), and / or a multicast traffic channel (MTCH).

[0055] FIG. 3 illustrates the structure of a wireless frame according to an embodiment of the present disclosure. The embodiment of FIG. 3 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0056] Referring to FIG. 3, for example, a radio frame may be used in uplink transmission, downlink transmission, and / or device-to-device transmission. For example, a radio frame may have a length of 10 ms and may be defined as two 5 ms half-frames (HF). For example, a half-frame may include five 1 ms subframes (SF). For example, a subframe may be divided into one or more slots, and the number of slots within a subframe may be determined according to a subcarrier spacing (SCS). For example, each slot may include 12 or 14 OFDM (A) symbols, depending on a cyclic prefix (CP).

[0057] For example, when normal CP is used, each slot can contain 14 symbols. For example, when extended CP is used, each slot can contain 12 symbols. Here, for example, the symbols can contain OFDM symbols (or CP-OFDM symbols), SC-FDMA (single carrier-FDMA) symbols (or DFT-s-OFDM (Discrete Fourier Transform-spread-OFDM) symbols).

[0058] Table 2 below shows the number of symbols per slot (N) depending on the SCS setting (u) when normal CP or extended 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.

[0059] CP type SCS (15*2 u )N slot symb N frame,u slot N subframe,u slot Normal CP15kHz (u=0)1410130kHz (u=1)1420260kHz (u=2)14404120kHz (u=3)14808240kHz (u=4)1416016Extended CP60kHz (u=2)12404

[0060] For example, OFDM(A) numerologies (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., a subframe, a slot, or a transmit time interval (TTI)) composed of the same number of symbols may be set differently between the merged cells. For example, in the present disclosure, time resources such as subframes, slots, TTIs, etc. may be referred to as time units. For example, multiple numerologies or SCSs may be supported to support various services. For example, when the SCS is 15 kHz, a wide area in traditional cellular bands may be supported, and when the SCS is 30 kHz / 60 kHz, dense-urban, lower latency, and wider carrier bandwidth may be supported. For example, if the SCS is 60 kHz or higher, a bandwidth greater than 24.25 GHz may be supported to overcome phase noise.

[0061] FIG. 4 illustrates a slot structure of a frame according to an embodiment of the present disclosure. The embodiment of FIG. 4 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0062] Referring to FIG. 4, for example, a slot may include multiple symbols in the time domain. For example, a carrier may include multiple subcarriers in the frequency domain. For example, a resource block (RB) may be defined as multiple consecutive subcarriers in the frequency domain. For example, a bandwidth part (BWP) may be defined as multiple consecutive (P)RBs ((physical) resource blocks) in the frequency domain, and may correspond to one numerology (e.g., SCS, CP length, etc.). For example, a carrier may include at most N BWPs (where N is a positive integer). For example, data communication may be performed through an activated BWP. For example, each element may be referred to as a resource element (RE) in the resource grid, and one complex symbol may be mapped to it.

[0063] For example, a BWP may be a contiguous set of PRBs in a given numerology. For example, a PRB may be selected from a contiguous subset of common resource blocks (CRBs) for a given numerology on a given carrier.

[0064] For example, the BWP may be at least one of an active BWP, an initial BWP, and / or a default BWP. For example, the UE may not monitor the downlink radio link quality in a DL BWP other than the active DL BWP on the PCell (primary cell). For example, the UE may not receive a physical downlink control channel (PDCCH), a physical downlink shared channel (PDSCH), or a channel state information-reference signal (CSI-RS) (except for radio resource management (RRM)) outside of the active DL BWP. For example, the UE may not trigger channel state information (CSI) reporting for an inactive DL BWP. For example, the UE may not transmit a physical uplink control channel (PUCCH) or a physical uplink shared channel (PUSCH) outside of the active UL BWP. For example, for downlink, the initial BWP can be given as a set of consecutive resource blocks (RBs) for the remaining minimum system information (RMSI) CORESET (control resource set) (set by the physical broadcast channel (PBCH)). For uplink, for example, the initial BWP can be given by the system information block (SIB) for the random access procedure. For example, the default BWP can be set by a higher layer. For example, the initial value of the default BWP can be the initial DL BWP.For energy saving, if a terminal does not detect DCI (downlink control information) for a certain period of time, the terminal may switch its active BWP to a default BWP.

[0065] FIG. 5 illustrates an example of a BWP according to an embodiment of the present disclosure. The embodiment of FIG. 5 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted. In the embodiment of FIG. 5, it is assumed that there are three BWPs.

[0066] Referring to FIG. 5, for example, a common resource block (CRB) may be a carrier resource block numbered from one end of a carrier band to the other, and a PRB may be a numbered resource block within each BWP. For example, point A may indicate a common reference point for a resource block grid.

[0067] For example, BWP is point A, offset from point A (N start BWP ) and bandwidth (N size BWP ) can be set by. For example, point A can be an outer reference point of the PRB of a carrier where subcarrier 0 of all numerologies (e.g., all numerologies supported by the network on that carrier) aligns. 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.

[0068] 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 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0069] As core implementation technologies of the 6G system, technologies such as artificial intelligence (AI), THz (terahertz) communication, optical wireless technology, free-space optical transmission (FSO) backhaul networks, massive MIMO (multiple input multiple output) technology, blockchain, 3D networking, quantum communication, unmanned aerial vehicles, cell-free communication, wireless information and energy transfer (WIET), integration of sensing and communication, integration of access backhaul networks, holographic beamforming, big data analysis, and large intelligent surface (LIS) can be adopted.

[0070] - Artificial Intelligence: Incorporating AI into communications can streamline and improve real-time data transmission. AI can use numerous analytics to determine how complex target tasks should be performed. For example, AI can increase efficiency and reduce processing delays. Time-consuming tasks such as handovers, network selection, and resource scheduling can be performed instantly using AI. AI can also play a crucial role in machine-to-machine (M2M), machine-to-human, and human-to-machine communications. AI can also facilitate rapid communication in brain-computer interfaces (BCIs). AI-based communication systems can be supported by metamaterials, intelligent structures, intelligent networks, intelligent devices, intelligent cognitive radios, self-sustaining wireless networks, and machine learning.

[0071] - THz communication (terahertz communication): Data rates can be increased by increasing the bandwidth. This can be achieved by using sub-THz communication with wide bandwidths and applying advanced massive MIMO technology. THz waves, also known as sub-millimeter waves, typically refer to the frequency range between 0.1 THz and 10 THz, with corresponding wavelengths ranging from 0.03 mm to 3 mm. The 100 GHz to 300 GHz band (sub-THz band) is considered a key part of the THz spectrum for cellular communications. Adding the sub-THz band to the mmWave band will increase the capacity of 6G cellular communications. Among the defined THz bands, 300 GHz to 3 THz lies in the far infrared (IR) frequency band. While part of the optical band, the 300 GHz to 3 THz band lies at the boundary of the optical band, immediately following the RF band. Therefore, this 300 GHz to 3 THz band exhibits similarities to RF. Key characteristics of THz communications include (i) the widely available bandwidth to support very high data rates and (ii) the high path loss that occurs at high frequencies (requiring highly directional antennas). The narrow beamwidths generated by highly directional antennas reduce interference. The small wavelength of THz signals allows for a significantly larger number of antenna elements to be integrated into devices and base stations operating in this band. This enables the use of advanced adaptive array technologies to overcome range limitations.

[0072] - Large-scale MIMO technology

[0073] - Hologram beamforming (HBF)

[0074] - Optical wireless technology

[0075] - Free-space optical transmission backhaul network (FSO backhaul network)

[0076] - Quantum communication

[0077] - Cell-free communication

[0078] - Integration of wireless information and power transmission

[0079] - Integration of wireless communication and sensing

[0080] - Integrated access and backhaul network

[0081] - Big data analysis

[0082] - Reconfigurable intelligent surface

[0083] - metaverse

[0084] - Blockchain

[0085] Advanced Air Mobility (AAM): AAM can be a broad concept encompassing urban air mobility (UAM), regional air mobility (RAM), and uncrewed aerial systems (UAS). For example, AAM can include UAM, RAM, UAS, and uncrewed aerial vehicles (UAVs).

[0086] - Autonomous driving (self-driving): V2X (vehicle to everything), a key element in building autonomous driving infrastructure, can be a technology that allows cars to communicate and share with various elements on the road for autonomous driving, such as vehicle to vehicle (V2V) wireless communication and vehicle to infrastructure (V2I) wireless communication.

[0087] Non-terrestrial network (NTN): NTN can refer to a network or network segment that utilizes radio frequency (RF) resources mounted on satellites (or UAS platforms). NTN services may be considered to secure wider coverage or provide wireless communication services in locations where the installation of wireless communication base stations is difficult.

[0088] - 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.

[0089] - Reconfigurable intelligent surface (RIS): RIS can be used to manipulate and enhance signal propagation in wireless communication environments. For example, a RIS can be composed of many small antennas, or metasurfaces, arranged on a surface, each of which can actively control the phase, amplitude, polarization, etc. of the reflected signal. For example, a RIS can improve signal reception by controlling the path, phase, and / or intensity of the propagating signal. For example, in the case of a RIS, power consumption can be very low because power is consumed only for controlling the phase and amplitude of the small antennas. For example, because a RIS can be reconfigured to suit different environments, it can meet diverse communication requirements and operate effectively in dynamic network environments.

[0090] FIG. 7 illustrates an example of a communication scenario based on a 6G system, according to an embodiment of the present disclosure. The embodiment of FIG. 7 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0091] Referring to FIG. 7, NTN communication can be performed based on satellite networks, high-altitude platform stations (HAPS) as international mobile telecommunications (IMT) base stations (BS), and terminals capable of aerial communication (e.g., AAMs). For example, to improve coverage, etc., devices such as satellite networks, HIBS, and terminals capable of aerial communication (e.g., AAMs) can act as relays. For example, an AAM can communicate with a base station, a satellite network, etc., and / or an AAM can communicate directly with a terminal, another AAM, etc.

[0092] For example, a terminal can obtain information about the environment and / or the characteristics of objects within the environment by using radio frequency sensing to determine the instantaneous linear velocity, angle, distance (range), etc. of an object. Since 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., unmanned aerial vehicles, smart homes, V2X, factories, railways, public safety, etc.), enabling applications that provide, for example, intruder detection, assisted vehicle steering and navigation, trajectory tracking, collision avoidance, traffic management, health and traffic management, and more. 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 wireless sensing services, e.g., sensing operations, may depend on the transmission, reflection, and scattering of wireless sensing signals. Therefore, wireless sensing offers an opportunity to enhance existing communication systems from a communications network to a wireless communication and sensing network.

[0093] FIG. 8 illustrates an example of a sensing operation according to an embodiment of the present disclosure. The embodiment of FIG. 8 can be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted. Specifically, (a) of FIG. 8 illustrates an example of sensing using a sensing receiver and a sensing transmitter located at the same location (e.g., monostatic sensing), and (b) of FIG. 8 illustrates an example of sensing using a separated sensing receiver and sensing transmitter (e.g., bistatic sensing).

[0094] Referring to FIG. 8, a sensing transmitter can transmit a sensing signal for sensing one or more objects (and / or an environment around the objects). For example, the sensing signal can be a radio (frequency) signal defined to be transmittable by a base station / terminal. For example, a sensing receiver can receive a signal scattered / reflected by one or more objects (and / or an environment around the objects) from a sensing signal transmitted from the sensing transmitter. For example, in the sensing receiver, sensing data can be derived from the scattered / reflected signal, and a sensing result can be generated / obtained through processing the sensing data. Here, for example, the sensing result can include characteristic information (e.g., position, distance, speed, angle, etc.) about one or more objects (and / or an environment around the objects). For example, the sensing results generated / obtained in this way may be utilized for wireless sensing services (e.g., detection, tracking, etc. of objects and / or environments) or provided / disclosed to a trusted third party.

[0095] For example, a sensing transmitter may be a base station or terminal that transmits a sensing signal to be used for a sensing service to operate, and the sensing transmitter may be located in the same or different base station or terminal as a sensing receiver. For example, a sensing receiver may be a base station or terminal that receives a sensing signal to be used for a sensing service to operate, and the sensing receiver may be located in the same or different base station or terminal as a sensing transmitter. For example, a sensing target may be an object to be detected by deriving characteristics of an object in the environment from a sensing signal. For example, a background environment may be a background that is not a sensing target (e.g., clutter, environmental objects, etc.). For example, an environment object may be an object whose location is known other than a sensing target. For example, monostatic sensing may be sensing in which a sensing transmitter and a sensing receiver coexist in the same base station or terminal. For example, bistatic sensing may be sensing in which the sensing transmitter and the sensing receiver are located in different base stations or terminals. For example, multistatic sensing may be sensing in which there are multiple sensing transmitters and / or multiple sensing receivers for a (single) sensing target. For example, monostatic sensing, bistatic sensing, and / or multistatic sensing may be distinguished based on the angle between the sensing transmitter, the sensing target, and the sensing receiver. For example, if the angle between the sensing transmitter, the sensing target, and the sensing receiver is less than or equal to a threshold, it may be defined as monostatic sensing or semi-monostatic sensing. For example, if the angle between the sensing transmitter, the sensing target, and the sensing receiver is greater than or equal to a threshold, it may be defined as bistatic sensing or multistatic sensing.For example, the terminal may transmit a sensing signal over a wireless interface that can be used for sensing purposes. For example, the terminal may transmit a sensing signal over a 3GPP wireless interface that can be used for sensing purposes.

[0096] For example, the common framework of the ISAC channel model can be composed of target channel components and background channel components. For example, this can be obtained based on mathematical equation 1.

[0097]

[0098] Here, for example, target channel H target may include all [multipath] components affected by the sensing target. For example, background channel H Background may contain other [multipath] components that do not belong to the target channel.

[0099] For example, radar cross-section (RCS) may be a measure of how well a radar sensor can detect a target. Therefore, it is often referred to as an electromagnetic characteristic of the target. For example, a larger RCS may indicate that the target is more easily detectable. For example, in a radar sensor measurement, power may be transmitted toward the target, and the target may reflect some of the power back to the receiver. For example, the received power may be based on the RCS of the target, among other factors. For example, the received power may be proportional to the RCS. For example, the RCS of a target may be based on at least one of the frequency of the radar signal, the target material, the target shape, the target size, the direction of the incident and reflected waves relative to the target, the target movement, and / or the target illumination.

[0100] FIG. 9 illustrates the relationship between RCS, range (D), and power according to one embodiment of the present disclosure. The embodiment of FIG. 9 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0101] Referring to Figure 9, the RCS of a radar target may be a virtual area required to intercept the power density transmitted from the target. For example, the relevant radar mathematical formula may be defined as in Equation 2.

[0102]

[0103] Here, for example, P TX can be the transmitter power [W], and G TXcan be the gain of the transmitting antenna [dimensionless], D can be the distance between the equipment under test (EUT) and the target [m], and RCS can be the radar cross section [m 2 ] can be, P RX can be the power [W] received back by the EUT from the object, and A eff is the effective area of ​​the receiving antenna [m 2 ] can be. For example, A eff can be obtained based on mathematical formula 3.

[0104]

[0105] Here, for example, G RX can be the gain of the receiving antenna [dimensionless], λ can be the wavelength of the radio signal [m], λ = c / f, c can be the speed of light 299792458 [m / s], and f can be the frequency [Hz].

[0106] For example, if the transmitter and receiver are co-located and the same antenna is used for both transmission and reception (G TX = G RX = G), the related radar mathematical formula can be defined as in mathematical formula 4.

[0107]

[0108] Here, for example, P TX can be the transmitter power [W], G can be the gain of the transmitting antenna [dimensionless], D can be the distance between the equipment under test (EUT) and the target [m], and RCS can be the radar cross section [m 2 ] can be, P RX can be the power [W] received back by the EUT from the object.

[0109] In this disclosure, the following terms may be used.

[0110] For example, “PRS” or “SL PRS” below can be interpreted / applied as “sensing signal” or “sensing RS (reference signal)”.

[0111] - LMF: Location Management Function

[0112] - UE-triggered SL positioning: SL (sidelink) positioning where the procedure is triggered by the UE.

[0113] - SL positioning triggered by base station / LMF: SL positioning where the procedure is triggered by base station / LMF.

[0114] - UE-controlled SL positioning: SL positioning where the SL positioning group is created by the UE.

[0115] - SL positioning controlled by the base station: SL positioning where the SL positioning group is generated by the base station.

[0116] - UE-based SL positioning: SL positioning where the UE location is calculated by the UE.

[0117] - UE-assisted SL positioning: SL positioning where the UE position is calculated by the base station / LMF.

[0118] - SL positioning group: UEs participating in SL positioning

[0119] - T-UE (Target UE): UE whose position is calculated

[0120] - S-UE (Server UE): UE that assists T-UE's positioning

[0121] - Anchor UE: A UE that assists T-UE's positioning

[0122] - MG: Measurement gap where only SL PRS transmission is allowed

[0123] - MW: Measurement window where both SL data and SL PRS can be transmitted in a multiplexed way

[0124] - SL PRS: Sidelink positioning reference signal

[0125] - CCH: Control Channel

[0126] - IUC (Inter-UE coordination) message: A message received by a TX UE from other UEs, including a RX UE, that includes information about a set of resources suitable for transmission by the TX UE to the RX UE (preferred resources) and / or information about a set of resources not suitable for transmission (non-preferred resources).

[0127] - Sensing RS (reference signal): Reference signal used for measurement for sensing purposes

[0128] - BS-BS sensing: BS-BS sensing may mean sensing in which BS#1 transmits a sensing RS and BS#2 receives the sensing RS. For example, if BS#1 and BS#2 are separate BSs, this may mean a BS-BS bi-static sensing operation. For example, if BS#1 and BS#2 are the same BS, this may mean a BS-BS mono-static sensing operation. For example, the BS may be a base station or a transmission and reception point (TRP). For example, if BS#1 and / or BS#2 are one or more BSs, this may mean a BS-BS multi-static sensing operation.

[0129] - BS-UE sensing: BS-UE sensing may refer to sensing in which a BS transmits a sensing RS and a UE receives the sensing RS. For example, the BS may be a base station or a transmission and reception point (TRP). For example, if the BS and / or the UE are one or more BSs and / or one or more UEs, it may refer to a BS-UE multi-static sensing operation.

[0130] - UE-BS sensing: UE-BS sensing may refer to sensing in which a UE transmits a sensing RS and a BS receives the sensing RS. For example, the BS may be a base station or a transmission and reception point (TRP). For example, if the BS and / or the UE are one or more BSs and / or one or more UEs, it may refer to a UE-BS multi-static sensing operation.

[0131] - UE-UE sensing: UE-UE sensing may mean sensing in which UE#1 transmits a sensing RS and UE#2 receives the sensing RS. For example, if UE#1 and UE#2 are separate UEs, this may mean a UE-UE bi-static sensing operation. For example, if UE#1 and UE#2 are the same UE, this may mean a UE-UE mono-static sensing operation. For example, the BS may be a base station or a transmission and reception point (TRP). For example, if UE#1 and / or UE#2 are one or more UEs, this may mean a UE-UE multi-static sensing operation.

[0132] - SMF: Sensing Management Function

[0133] - TSA: Target Sensing Area

[0134] For example, the way a UE calculates its own location can be called “UE-based.”

[0135] For example, a Transmission Point (TP) may be a geographically co-located set of transmit antennas (e.g., an antenna array (including one or more antenna elements)) for a cell, a portion of a cell, or a downlink PRS-dedicated transmission point. For example, a transmission point may include base station (ng-eNB or gNB) antennas, a remote radio head, a remote antenna of a base station, an antenna of a downlink PRS-dedicated transmission point, etc. For example, a cell may include one or more transmission points. For example, in a homogeneous deployment, each transmission point may correspond to one cell.

[0136] For example, a Reception Point (RP) may be a geographically co-located set of receiving antennas (e.g., an antenna array (including one or more antenna elements)) for a cell, a portion of a cell, or an uplink SRS-only reception point. For example, the reception point may include base station (ng-eNB or gNB) antennas, a remote radio head, a remote antenna of the base station, an antenna of an uplink SRS-only reception point, etc. For example, a cell may include one or more reception points. For example, in a homogeneous deployment, each reception point may correspond to one cell.

[0137] For example, a PRS-only TP may be a TP that transmits only PRS signals for PRS-based TBS positioning and is not associated with a cell.

[0138] For example, a Transmission-Reception point (TRP) may be a geographically co-located set of antennas (e.g., an antenna array (comprising one or more antenna elements)) that support transmission point and / or reception point functionality.

[0139] For example, an SRS-only RP may be a RP that receives only SRS signals for uplink-only positioning and is not associated with a cell.

[0140] For example, in the present disclosure, the TRP and the base station may be replaced and used as the same entity.

[0141] For example, an SL PRS transmission resource may be composed of an SL PRS resource set consisting of the following information:

[0142] - SL PRS resource set ID

[0143] - SL PRS Resource ID List: List of SL PRS resource IDs within the SL PRS resource set.

[0144] - SL PRS resource type: can be set to periodic or aperiodic or semi-persistent or on-demand

[0145] - Alpha for SL PRS power control

[0146] - P0 for SL PRS power control

[0147] - Path loss reference for SL PRS power control: Can be set to SL SSB or DL ​​PRS or UL SRS or UL SRS for positioning or PSCCH DMRS or PSSCH DMRS or PSFCH or SL CSI RS, etc.

[0148] For example, the above SL PRS resource set may be composed of SL PRS resources composed of the following information.

[0149] - SL PRS resource ID

[0150] - SL PRS comb size: Interval between REs where SL PRS is transmitted within a symbol

[0151] - SL PRS comb offset: RE index where SL PRS is first transmitted within the first SL PRS symbol.

[0152] - SL PRS comb cyclic shift: A cyclic shift used to generate the sequence that constitutes the SL PRS.

[0153] - SL PRS start position: The index of the first symbol transmitting SL PRS within a slot.

[0154] - Number of SL PRS symbols: The number of symbols that make up the SL PRS in one slot.

[0155] - Frequency domain shift: The lowest frequency position (index) at which the SL PRS is transmitted in the frequency domain.

[0156] - SL PRS BW: Frequency bandwidth used for SL PRS transmission

[0157] - SL PRS resource type: can be set to periodic or aperiodic or semi-persistent or on-demand

[0158] - SL PRS periodicity: the period in the time domain between SL PRS resources, a unit of physical or logical slot in the resource pool where SL PRS is transmitted.

[0159] - SL PRS Offset: The offset in the time domain from the start of the first SL PRS resource to the reference timing, in units of physical or logical slots in the resource pool where the SL PRS is transmitted. The reference timing may be SFN=0 or DFN=0, or the time of successful reception or decoding of RRC / MAC-CE / DCI / SCI associated with the SL PRS resource.

[0160] - SL PRS sequence ID

[0161] - SL PRS spatial relation: can be set to SL SSB or DL ​​PRS or UL SRS or UL SRS for positioning or PSCCH DMRS or PSSCH DMRS or PSFCH or SL CSI RS, etc.

[0162] - SL PRS CCH: SL PRS control channel. Can signal SL PRS resource configuration information and resource location, etc.

[0163] For example, the terminal may perform the LCP procedure according to the LCP (Logical Channel Prioritization) priority order when there is logical channel data and / or MAC CE and / or control message (e.g., PC5-S message and / or PC5 RRC message) to transmit.

[0164] For example, the LCP procedure may be as follows. For example, when a terminal has multiple messages or data to transmit (e.g., MAC CE, communication data, (PC5) RRC message), the terminal may first generate a MAC PDU for a message with a higher priority based on priorities (e.g., priority). For example, when the terminal has MAC CE and data to transmit, if the destinations of the MAC CE and the data are different, the terminal may first multiplex a message (e.g., MAC CE) with a higher priority (e.g., priority) into the MAC PDU to generate a MAC PDU. In addition, for example, when the destinations of messages are the same, the terminal may perform a multiplexing operation for generating a MAC PDU by preferentially selecting a message with a higher priority.

[0165] Meanwhile, in conventional communications (e.g., NR Uu or NR sidelink), the sensing procedure of a device (e.g., a terminal or a base station) was not considered a service. However, since the main purpose of the ISAC service is to quickly detect and distinguish a target object through sensing, it is necessary to classify the sensing procedure (or operation) as a service that must satisfy one QoS requirement (e.g., 1. sensing latency: the time it takes for a terminal that triggers sensing to trigger the sensing procedure and receive the sensing result of the target object from a receiving terminal and / or 2. sensing accuracy, etc.). For example, in ISAC, the sensing behavior of a device (e.g., a terminal or a base station or a Sensing Management Function (SMF)) can be considered a service that must satisfy the ISAC sensing QoS requirement. For example, the terminal can perform sensing operations based on the sensing QoS (e.g., transmitting sensing RS and / or receiving sensing RS (sensing signal)).

[0166] For example, sensing in ISAC can be considered a higher-layer service that must satisfy sensing QoS (or sensing quality) based on sensing results. A new QoS (e.g., SQFI) for the ISAC sensing service can be defined as follows.

[0167] - For example, the sensing QoS flow ID (SQFI) can be:

[0168] - SQFI 1~8 (can be distinguished by the level of sensing QoS requirements (e.g., 1. sensing accuracy, 2. sensing latency: e.g., latency boundary from sensing triggering to receiving sensing results, and / or 3. sensing priority: priority that can be used to determine which sensing service to trigger first based on priority when multiple sensing procedures are required)). For example, the smaller (or higher) the SQFI value, the tighter (e.g., a sensing service requiring high sensing accuracy, or a sensing service requiring low / lower / lowest sensing latency) the sensing service can be defined.

[0169] Additionally, for example, ISAC can define terminal and TRP (or base station) operations to support sensing services such as detection, localization, and tracking.

[0170] **Sensing QoS for ISAC services (e.g., detection, position estimation, and / or tracking)**

[0171] - Detection QoS: Detection probability and / or false alarm probability

[0172] - Location estimation QoS: Location estimation of static objects. QoS parameters of location estimation (e.g., time delay and / or angle of arrival)

[0173] - Tracking QoS: Tracking state changes (e.g. range, angle and / or speed) of moving objects (e.g. vehicles or drones).

[0174] FIG. 10 illustrates the main sensing modes of an ISAC according to an embodiment of the present disclosure. The embodiment of FIG. 10 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0175] Referring to the embodiment of FIG. 10, for example, a support scenario for a sensing service in ISAC may be as follows. For example, the six main sensing modes supported by ISAC may be as follows.

[0176] - gNB mono-static (e.g., the same gNB provides both Tx and Rx)

[0177] - gNB bi-static (e.g. one gNB is Tx and the other is Rx)

[0178] - Bi-static between gNB and UE (gNB-to-UE bi-static, e.g. gNB is Tx and UE is Rx)

[0179] - Bi-static between UE and gNB (UE-to-gNB bi-static, e.g. UE is Tx and gNB is Rx)

[0180] - UE mono-static (e.g. same UE provides both Tx and Rx)

[0181] - UE bi-static (e.g. one UE is Tx and the other UE is Rx)

[0182] For example, embodiments of the present disclosure may be solutions that are scalable and applicable to all six sensing scenarios.

[0183] For example, to support Integrated Sensing & Communication (ISAC) services, a network system may need to manage and control available resources (e.g., transmission resources) to satisfy both sensing and communication services. Furthermore, for example, when basic information for sensing (e.g., target object type, target sensing area, distance, speed, angle, etc.) is insufficient, an operation to first acquire basic information may be required to improve sensing quality. Therefore, for example, a hierarchical sensing procedure (e.g., two-stage sensing) may be required to improve sensing quality.

[0184] Hereinafter, the present disclosure proposes a hierarchical (e.g., two-stage) sensing procedure operation of a sensing device in ISAC.

[0185] Below, we propose a hierarchical (e.g., two-stage) sensing procedure using only 3GPP sensing.

[0186] For example, a sensing transmitter (e.g., UE and / or TRP) or a sensing receiver (e.g., UE and / or TRP) can transmit and / or receive a sensing signal (e.g., sensing reference signal) for sensing (e.g., detecting, tracking and / or estimating a position, etc.) of a target object. At this time, for example, in UE mono-static or TRP mono-static sensing, a sensing device can receive a sensing mode (e.g., hierarchical sensing) from a sensing function (SF: a core network device that manages and controls sensing services) (and / or a base station and / or a sensing server and / or a third party device, etc.) (or from a base station that has received the sensing mode of the sensing device set by the SF) and perform a hierarchical sensing operation. For example, the SF may instruct the sensing device to perform hierarchical sensing by transmitting hierarchical sensing settings to the sensing device based on sensing service-related auxiliary information received from the sensing device (e.g., sensing service type (e.g., detection, tracking, and / or location estimation), sensing service quality (sensing QoS) requirement information (e.g., reliability, accuracy, and / or latency, etc.), sensing service priority, target sensing area (TSA) information (e.g., target object type information (e.g., car, UAV, human, and / or environment, etc.), TSA absolute position information and / or TSA relative position information), sensing device movement path and / or sensing device movement direction / speed, etc.).

[0187] For example, hierarchical sensing configuration information may be as follows. For example, the hierarchical sensing configuration information may include information related to a sensing mode. For example, the sensing mode may include a general sensing mode (target object sensing). For example, the sensing mode may include a hierarchical sensing mode (indicating hierarchical sensing (e.g., two-level sensing)).

[0188] For example, in a hierarchical sensing mode, a first stage of sensing may be performed. For example, the first stage of sensing may be environmental sensing (e.g., sensing for the purpose of roughly sensing the surrounding environment, such as initial sensing for the purpose of determining whether there are objects in the surroundings or whether there are target objects of a sensing device (e.g., vehicles, UAVs, and / or humans) in the surroundings).

[0189] For example, in a hierarchical sensing mode, a second stage of sensing may be performed. For example, the second stage of sensing may be target object sensing (for example, the sensing device may be in a sensing mode for sensing a sensing target. For example, the sensing may be for the purpose of detecting the presence or absence of a target object and / or a TSA through the first stage of environmental sensing, and transmitting a sensing signal to the corresponding TSA and / or target).

[0190] For example, hierarchical sensing configuration information may include information related to transmission resources (time / frequency resources) for transmitting sensing signals (e.g., sensing reference signals) for each sensing mode.

[0191] For example, the hierarchical sensing (e.g., two-level sensing) mode indication operation may be as follows. For example, (e.g., when the SF is attached to the core network), the SF (Sensing Function) may indicate hierarchical sensing (or two-level sensing) of a sensing device through the base station (e.g., via a signaling message through an interface between the SF and the base station). For example, (e.g., when the SF is attached to the core network), the SF may indicate hierarchical sensing (e.g., two-level sensing) directly to the sensing device (e.g., via a signaling message through an interface between the SF and the sensing device). For example, (e.g., when the SF is implemented in the base station), the base station may indicate hierarchical sensing (e.g., two-level sensing) directly to the sensing device (e.g., via an RRC message, a physical channel signal, and / or a MAC CE).

[0192] For example, auxiliary information transmission may be performed to support a hierarchical sensing (e.g., two-level sensing) procedure. For example, auxiliary information for supporting a hierarchical sensing procedure may include information related to sensing capability (e.g., 3GPP sensing and / or non-3GPP sensing (e.g., camera sensing, video sensing, RADAR (Radio Detection And Ranging) sensing and / or LiDAR (Light Detection And Ranging) sensing, etc.). For example, auxiliary information for supporting a hierarchical sensing procedure may include information related to a sensing mode (e.g., UE mono-static, TRP mono-static, UE bi-static, TRP bi-static, TRP and UE bi-static, and / or UE and TRP bi-static). For example, auxiliary information for supporting a hierarchical sensing procedure may include information related to supported measurements (e.g., RSSI, RSRP, CSI, RTT, Doppler, velocity, angle, and / or distance, etc.). For example, auxiliary information for supporting a hierarchical sensing procedure may include information related to whether EO (Environment sensing) sensing is required. For example, auxiliary information for supporting a hierarchical sensing procedure may include information related to a sensing service type (e.g., detection, tracking, location estimation, etc.). For example, auxiliary information for supporting a hierarchical sensing procedure may include information related to a target object type (e.g., UAV, vehicle, human, and / or environment, etc.). For example, auxiliary information for supporting a hierarchical sensing procedure may include information related to a sensing service quality and / or a sensing priority. For example, auxiliary information for supporting a hierarchical sensing procedure may include information necessary for supporting a hierarchical sensing procedure and / or information requested from a SF.

[0193] For example, the environmental sensing method of the first stage may be as follows. For example, the sensing device may perform the first stage environmental sensing based on the options below. For example, the sensing device may perform an environmental sensing operation by transmitting a sensing signal. For example, the sensing device may not perform environmental sensing, but may request environmental sensing data from a server and receive the environmental sensing data. For example, in this case, the server (e.g., SF) may receive environmental measurement results from the sensing devices periodically (e.g., the server may set an environmental measurement reporting interval for the sensing devices to periodically receive environmental sensing measurement results) and / or on-demand and store the environmental measurement results.

[0194] FIG. 11 illustrates a method for a sensing device to perform a hierarchical sensing procedure operation according to an embodiment of the present disclosure. The embodiment of FIG. 11 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0195] Referring to the embodiment of FIG. 11, for example, for a hierarchical sensing procedure, a sensing device and a SF (and / or a base station) may exchange sensing capability information (e.g., transmitting sensing capability information from a sensing device to an SF based on a request from the SF and / or transmitting initial sensing capability information or triggered sensing capability information from the sensing device). And, for example, for a hierarchical sensing procedure, a sensing device and a SF (and / or a base station) may exchange sensing service-related auxiliary information (e.g., transmitting auxiliary information from a sensing device to an SF based on a request from the SF and / or transmitting initial sensing assistance information or triggered sensing assistance information from the sensing device). For example, a SF may receive a request for sensing data from a third entity (e.g., a device of a service operator that requires sensing data for a specific sensing service). In this case, for example, the SF can determine the sensing mode based on sensing capability information, auxiliary information, and / or a sensing data request from a third entity received from the sensing device. And, for example, the SF can instruct the terminal to a sensing mode (e.g., hierarchical sensing (e.g., two-stage sensing)). For example, when the SF (or base station) instructs the sensing device to a sensing mode, it can also transmit configuration information for performing the corresponding sensing mode operation (e.g., allocated resource information for each sensing mode). For example, the sensing device can perform a sensing operation (e.g., hierarchical sensing (e.g., two-stage sensing)) based on the sensing mode and / or sensing mode configuration information instructed by the SF.

[0196] Hereinafter, a hierarchical sensing procedure using non-3GPP sensing data (e.g., camera data, video data, RADAR (Radio Detection And Ranging) data, and / or LiDAR (Light Detection And Ranging) data) is proposed as follows. For example, a sensing device can perform a hierarchical sensing (e.g., two-stage sensing) procedure using non-3GPP sensing data as follows.

[0197] For example, hierarchical sensing configuration information may be as follows. For example, the hierarchical sensing configuration information may include information related to a sensing mode. For example, the sensing mode may include a basic sensing mode (e.g., target object sensing). For example, the sensing mode may include a hierarchical sensing mode (e.g., an indication of step-wise sensing (e.g., two-step sensing)).

[0198] For example, in a hierarchical sensing mode, a first-stage sensing may be performed. For example, the first-stage sensing may be non-3GPP sensing (e.g., sensing for the purpose of rough sensing of the surrounding environment using non-3GPP sensing data information. For example, it may be initial sensing using non-3GPP sensing data to determine whether there are objects in the surroundings or whether there are target objects of a sensing device (e.g., vehicles, UAVs, and / or humans) in the surroundings).

[0199] For example, in a hierarchical sensing mode, a second stage sensing may be performed. For example, the second stage sensing may be sensing of a target object (e.g., a sensing mode for sensing a sensing target of a sensing device. For example, the second stage sensing may be sensing for the purpose of detecting the presence or absence of a target object and / or TSA through non-3GPP sensing of the first stage and transmitting a sensing signal to the TSA and / or target).

[0200] For example, hierarchical sensing configuration information may include information related to transmission resources (e.g., time / frequency resources) for transmitting sensing signals (e.g., sensing reference signals) for each sensing mode.

[0201] FIG. 12 illustrates a method for a sensing device to perform a hierarchical sensing procedure using non-3GPP sensing data, according to an embodiment of the present disclosure. The embodiment of FIG. 12 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0202] Referring to the embodiment of FIG. 12, for example, for a hierarchical sensing procedure, the sensing device and the SF (and / or the base station) may exchange sensing capability information (e.g., transmitting sensing capability information from the sensing device to the SF based on a request from the SF and / or transmitting initial sensing capability information and / or triggered sensing capability information from the sensing device). And, for example, for a hierarchical sensing procedure, the sensing device and the SF (and / or the base station) may exchange sensing service-related assistance information (e.g., transmitting assistance information from the sensing device to the SF based on a request from the SF and / or transmitting initial sensing assistance information and / or triggered sensing assistance information from the sensing device). In addition, for example, the SF may receive sensing measurement data (e.g., environmental sensing data and / or non-3GPP sensing data) from the sensing device periodically and / or on a request basis. For example, when SF receives a request for sensing data from a third-party entity (e.g., a device of a service operator requiring sensing data for a specific sensing service), the SF may determine a sensing mode based on sensing capability information, auxiliary information, sensing measurement data (e.g., environmental sensing data and / or non-3GPP sensing data) received from the sensing device, and / or a sensing data request from the third-party entity. In this case, for example, the SF may instruct the terminal to a sensing mode (e.g., hierarchical sensing using environmental sensing and / or hierarchical sensing using non-3GPP sensing). For example, when the SF (or base station) instructs the sensing device to a sensing mode, it may also transmit configuration information for performing the sensing mode operation (e.g., allocated resource information for each sensing mode). For example, the sensing device may perform a sensing operation (e.g., hierarchical sensing) based on the sensing mode and / or sensing mode configuration information instructed by the SF.For example, the sensing device may perform sensing by directly transmitting a sensing signal for the first stage sensing (e.g., environmental sensing and / or non-3GPP sensing). For example, the sensing device may perform a first stage sensing procedure for obtaining sensing data by requesting environmental sensing data and / or non-3GPP sensing data from the SF, as in the embodiment of FIG. 12, for the first stage sensing (e.g., environmental sensing and / or non-3GPP sensing).

[0203] The method proposed in this disclosure may have various improved effects compared to prior art, although these effects are not limited to those presented in this disclosure. For example, resource efficiency for sensing can be improved by determining the sensing mode as needed. For example, sensing can be performed quickly. Furthermore, for example, the reliability and accuracy of sensing services can be improved. Furthermore, for example, sensing services can be managed efficiently.

[0204] For example, embodiments of the present disclosure may be extended and applicable to all TRP to TRP momo-static, TRP to TRP bi-static, TRP to UE bi-static, UE to TRP bi-static, UE to UE momo-static, and UE to UE bi-static operations.

[0205] For example, in the embodiments of the present disclosure, the sensing device may be interpreted as being replaced with a sensing node, a sensing terminal, a device that performs sensing, and / or a terminal that performs sensing.

[0206] For example, in an embodiment of the present disclosure, the sensing function (SF) may be interpreted as being replaced by a base station, a sensing server, a device managing sensing, and / or a third device.

[0207] For example, in embodiments of the present disclosure, a message may be interpreted as a control message or a data message or a signal or a data signal or a control signal.

[0208] In an embodiment of the present disclosure, the beam management operation may be interpreted as being replaced with a beam selection operation, a spatial filter selection operation, a beam pairing operation, a spatial filter pairing operation, a beam failure recovery operation, a spatial filter recovery operation, a beam sweeping operation, a spatial filter sweeping operation, a beam switching operation, a spatial filter switching operation, a measurement operation of a reference signal (RS) resource, a measurement report operation of a reference signal (RS) resource, a beam report operation, or a spatial filter report operation.

[0209] In embodiments of the present disclosure, a beam may be interpreted as being replaced by a reference signal (RS) or an RS resource or a spatial filter resource.

[0210] In an embodiment of the present disclosure, the RS (reference signal) may be interpreted as being replaced with an RS resource or a spatial filter resource.

[0211] In the embodiments of the present disclosure, the transmitting terminal may be interpreted as a terminal transmitting a beam, a terminal transmitting a beam RS (reference signal), or a terminal transmitting a beam RS (reference signal) resource.

[0212] In the embodiments of the present disclosure, the receiving terminal may be interpreted as a terminal that receives a beam, a terminal that receives a beam RS (reference signal), or a terminal that receives a beam RS (reference signal) resource.

[0213] In an embodiment of the present disclosure, the transmission beam or reception beam information transmitted and received by the terminal may be interpreted as being replaced with resource information of an RS (reference signal) associated with the transmission beam or resource information of an RS (reference signal) associated with the reception beam.

[0214] In embodiments of the present disclosure, the direct communication request (DCR) and / or direct communication accept (DCA) messages may be interpreted as being replaced with PC5-S DCR and / or PC5-S DCA messages.

[0215] In an embodiment of the present disclosure, spatial setting and / or Transmission Configuration Indication (TCI) information and / or Quasi Co Location (QCL) information and / or beam, etc. may refer to each other and may be interpreted as being replaced with beam-related information, beam direction, or spatial domain transmission / reception filter, etc.

[0216] In embodiments of the present disclosure, a beam may be interpreted as a transmission beam, a reception beam, a spatial filter, a spatial TX (transmission) filter, a spatial domain TX (transmission) filter, a spatial RX (reception) filter, or a spatial domain RX (reception) filter.

[0217] In embodiments of the present disclosure, the transmission beam may be interpreted as being replaced by a spatial TX (transmission) filter or a spatial domain TX (transmission) filter.

[0218] In embodiments of the present disclosure, the reception beam may be interpreted as being replaced by a spatial RX (reception) filter or a spatial domain RX (reception) filter.

[0219] In an embodiment of the present disclosure, the fact that the spatial setting information (or beam information) for transmission is the same may mean that the spatial domain TX filter of the terminal is the same for two different transmission signals. In an embodiment of the present disclosure, the fact that the spatial setting information (or beam information) for reception is the same may mean that the two different reception signals are in a QCL TypeD relationship and / or use the same spatial RX parameter.

[0220] For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed service type-specifically (or differently or independently). For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed (or differently or independently) (LCH or service) priority-specifically. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed (or differently or independently) QoS requirements (e.g., latency, reliability, minimum communication range)-specifically. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed PQI parameter-specifically (or differently or independently). For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed SL HARQ feedback ENABLED LCH / MAC PDU (transmission)-specifically (or differently or independently). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL HARQ feedback DISABLED LCH / MAC PDU (transmission). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for CBR measurement values ​​of resource pools. For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL cast types (e.g., unicast, groupcast, broadcast).For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL groupcast HARQ feedback options (e.g., NACK only feedback, ACK / NACK feedback, NACK only feedback based on TX-RX distance). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL mode 1 CG type (e.g., SL CG type 1 or SL CG type 2). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL mode type (e.g., mode 1 or mode 2). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for resource pool. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) whether the PSFCH resource is a configured resource pool. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for a source (L2) ID. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for a destination (L2) ID. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for a PC5 RRC connection link.For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for an SL link. For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for a connection state (with a base station) (e.g., RRC CONNECTED state, IDLE state, INACTIVE state). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for an SL HARQ process (ID). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for whether the SL DRX operation (of a TX UE or an RX UE) is performed. For example, whether the rule applies and / or the parameter values ​​related to the proposed scheme / rule of the present disclosure can be set / allowed specifically (or differently or independently) depending on whether the UE is power saving (TX or RX). For example, whether the rule applies and / or the parameter values ​​related to the proposed scheme / rule of the present disclosure can be set / allowed specifically (or differently or independently) if (from a specific UE perspective) PSFCH TX and PSFCH RX overlap (and / or multiple PSFCH TXs (which exceed the UE capability)) (and / or if PSFCH TX (and / or PSFCH RX) are omitted). For example, whether the rule applies and / or the parameter values ​​related to the proposed scheme / rule of the present disclosure can be set / allowed specifically (or differently or independently) depending on whether the RX UE actually (successfully) receives a PSCCH (and / or PSSCH) (re)transmission from a TX UE.

[0221] For example, in the present disclosure, the setting (or designation) wording can be extended to include a form in which a base station notifies a terminal through a predefined (physical layer or upper layer) channel / signal (e.g., SIB, RRC, MAC CE) (and / or a form provided through pre-configuration and / or a form in which a terminal notifies another terminal through a predefined (physical layer or upper layer) channel / signal (e.g., SL MAC CE, PC5 RRC)).

[0222] For example, in the present disclosure, the PSFCH wording can be extended to (NR or LTE) PSSCH (and / or (NR or LTE) PSCCH) (and / or (NR or LTE) SL SSB (and / or UL channel / signal)). In addition, the proposed method of the present disclosure can be extended (in a new form) by being combined with each other.

[0223] For example, in the present disclosure, a specific threshold value may mean a threshold value that is defined in advance, or set (in advance) by a higher layer (including an application layer) of a network or a base station or a terminal. For example, in the present disclosure, a specific setting value may mean a value that is defined in advance, or set (in advance) by a higher layer (including an application layer) of a network or a base station or a terminal. For example, an operation set by a network / base station may mean an operation that a base station sets (in advance) to a UE via a higher layer RRC signaling, sets / signals to the UE via MAC CE, or signals to the UE via DCI.

[0224] FIG. 13 illustrates a method for a first device to perform wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 13 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0225] Referring to FIG. 13, in step S1310, the first device may receive information related to a sensing mode from the second device. In step S1320, the first device may perform first sensing and second sensing based on the information related to the sensing mode indicating hierarchical sensing.

[0226] For example, the second sensing may be performed based on the first sensing.

[0227] For example, information related to the sensing mode may be received based on a Radio Resource Control (RRC) message, a physical channel signal, or a Medium Access Control (MAC) Control Element (CE).

[0228] Additionally, for example, the first device may transmit auxiliary information related to the hierarchical sensing to the second device. For example, the sensing mode may be determined based on the auxiliary information. For example, the auxiliary information may include at least one of information related to sensing capabilities, information related to supported measurements, or information related to whether environmental sensing is required. For example, the auxiliary information may include at least one of information related to a sensing mode supported by the first device, information related to a sensing service type, information related to a sensing target, information related to a sensing service quality, or information related to a sensing priority.

[0229] For example, the first sensing may include receiving environmental sensing data from the second device. For example, the environmental sensing data may be data stored in the second device based on periodic or request-based reception of environmental sensing measurement results from at least one sensing device.

[0230] For example, information related to the sensing mode may be received based on a request from a third-party device for sensing data.

[0231] For example, information related to the sensing mode may include setting information for operations related to the sensing mode.

[0232] For example, the first sensing may include non-3GPP (3rd Generation Partnership Project) sensing. For example, the non-3GPP sensing may include sensing based on a camera, video, radar, or lidar.

[0233] For example, the first device may be a sensing node or terminal. For example, the second device may be a sensing server, a base station, a sensing function, or a device different from the first device.

[0234] The proposed method can be applied to devices according to various embodiments of the present disclosure. First, the processor (102) of the first device (100) can control the transceiver (106) of the first device (100) to receive information related to a sensing mode from a second device. Then, the processor (102) of the first device (100) can control the first device (100) to perform first sensing and second sensing based on the information related to the sensing mode indicating hierarchical sensing.

[0235] According to one embodiment of the present disclosure, a first device configured to perform wireless communication may be provided. For example, the first device may include at least one transceiver; at least one processor; and at least one memory coupled to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the first device to: receive information related to a sensing mode from a second device; and perform first sensing and second sensing based on the information related to the sensing mode indicating hierarchical sensing.

[0236] According to one embodiment of the present disclosure, a processing device configured to control a first device may be provided. For example, the processing device may include at least one processor; and at least one memory coupled to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the first device to: receive information related to a sensing mode from a second device; and, based on the information related to the sensing mode indicating hierarchical sensing, perform first sensing and second sensing.

[0237] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium having instructions recorded thereon may be provided. For example, the instructions, when executed, may cause a first device to: receive information related to a sensing mode from a second device; and, based on the information related to the sensing mode indicating hierarchical sensing, perform first sensing and second sensing.

[0238] FIG. 14 illustrates a method for a second device to perform wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 14 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0239] Referring to FIG. 14, in step S1410, the second device may determine a sensing mode. In step S1420, the second device may transmit information related to the sensing mode to the first device. For example, the first sensing and the second sensing may be performed based on the information related to the sensing mode indicating hierarchical sensing.

[0240] For example, the second sensing may be performed based on the first sensing.

[0241] For example, information related to the sensing mode may be transmitted based on an RRC (Radio Resource Control) message, a physical channel signal, or a MAC (Medium Access Control) CE (Control Element).

[0242] Additionally, for example, the second device may receive auxiliary information related to the hierarchical sensing from the first device. For example, the sensing mode may be determined based on the auxiliary information. For example, the auxiliary information may include at least one of information related to sensing capabilities, information related to supported measurements, or information related to whether environmental sensing is required. For example, the auxiliary information may include at least one of information related to a sensing mode supported by the first device, information related to a sensing service type, information related to a sensing target, information related to a sensing service quality, or information related to a sensing priority.

[0243] For example, the first sensing may include transmitting environmental sensing data to the first device. For example, the environmental sensing data may be data stored in the second device based on periodic or request-based reception of environmental sensing measurement results from at least one sensing device.

[0244] For example, information related to the sensing mode may be transmitted based on a request from a third party device for sensing data.

[0245] For example, information related to the sensing mode may include setting information for operations related to the sensing mode.

[0246] For example, the first sensing may include non-3GPP (3rd Generation Partnership Project) sensing. For example, the non-3GPP sensing may include sensing based on a camera, video, radar, or lidar.

[0247] For example, the first device may be a sensing node or terminal. For example, the second device may be a sensing server, a base station, a sensing function, or a device different from the first device.

[0248] The proposed method can be applied to devices according to various embodiments of the present disclosure. First, the processor (202) of the second device (200) can control the processor (202) of the second device (200) to determine a sensing mode. Then, the processor (202) of the second device (200) can control the transceiver (206) of the second device (200) to transmit information related to the sensing mode to the first device. For example, the first sensing and the second sensing can be performed based on the information related to the sensing mode indicating hierarchical sensing.

[0249] According to one embodiment of the present disclosure, a second device configured to perform wireless communication may be provided. For example, the second device may include at least one transceiver; at least one processor; and at least one memory coupled to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the second device to: determine a sensing mode; and transmit information related to the sensing mode to a first device. For example, the first sensing and the second sensing may be performed based on the information related to the sensing mode indicating hierarchical sensing.

[0250] According to one embodiment of the present disclosure, a processing device configured to control a second device may be provided. For example, the processing device may include at least one processor; and at least one memory coupled to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the second device to: determine a sensing mode; and transmit information related to the sensing mode to the first device. For example, the first sensing and the second sensing may be performed based on the information related to the sensing mode indicating hierarchical sensing.

[0251] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium storing instructions may be provided. For example, the instructions, when executed, may cause a second device to: determine a sensing mode; and transmit information related to the sensing mode to a first device. For example, the first sensing and the second sensing may be performed based on the information related to the sensing mode indicating hierarchical sensing.

[0252] The various embodiments of the present disclosure may be combined with each other, and some descriptions, functions, procedures, proposals, methods and / or operations of the various embodiments may be omitted.

[0253] Below, a description is given of devices to which various embodiments of the present disclosure can be applied.

[0254] Although not limited thereto, the various descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed in this document may be applied to various fields requiring wireless communication / connectivity (e.g., 5G) between devices.

[0255] 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.

[0256] FIG. 15 illustrates a communication system (1) according to one embodiment of the present disclosure. The embodiment of FIG. 15 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0257] Referring to FIG. 15, a communication system (1) to which various embodiments of the present disclosure are applied includes a wireless device, a base station, and a network. Here, the wireless device refers to a device that performs communication using a wireless access technology (e.g., 5G NR (New RAT), LTE (Long Term Evolution)) and may be referred to as a communication / wireless / 5G device. Although not limited thereto, the wireless device may include a robot (100a), a vehicle (100b-1, 100b-2), an XR (eXtended Reality) device (100c), a hand-held device (100d), a home appliance (100e), an IoT (Internet of Things) device (100f), and an AI device / server (400). For example, the vehicle may include a vehicle equipped with a wireless communication function, an autonomous vehicle, a vehicle capable of performing vehicle-to-vehicle communication, etc. Here, the vehicle may include an Unmanned Aerial Vehicle (UAV) (e.g., a drone) and / or an Aerial Vehicle (AV) (e.g., an Advanced Air Mobility (AAM)). The XR device may include an Augmented Reality (AR) / Virtual Reality (VR) / Mixed Reality (MR) device, and may be implemented in the form of a Head-Mounted Device (HMD), a Head-Up Display (HUD) equipped in a vehicle, a television, a smartphone, a computer, a wearable device, a home appliance, a digital signage, a vehicle, a robot, etc. The portable device may include a smartphone, a smart pad, a wearable device (e.g., a smart watch, smart glasses), a computer (e.g., a laptop, etc.), etc. The home appliance may include a TV, a refrigerator, a washing machine, etc. The IoT device may include a sensor, a smart meter, etc. For example, a base station and a network may also be implemented as a wireless device, and a specific wireless device (200a) may operate as a base station / network node to other wireless devices.

[0258] Here, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification may include not only LTE, NR, and 6G, but also Narrowband Internet of Things for low-power communication. At this time, for example, NB-IoT technology may be an example of LPWAN (Low Power Wide Area Network) technology, and may be implemented with standards such as LTE Cat NB1 and / or LTE Cat NB2, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification may perform communication based on LTE-M technology. At this time, for example, LTE-M technology may be an example of LPWAN technology, and may be called by various names such as eMTC (enhanced Machine Type Communication). For example, LTE-M technology can be implemented by at least one of various standards such as 1) LTE CAT 0, 2) LTE Cat M1, 3) LTE Cat M2, 4) LTE non-BL (non-Bandwidth Limited), 5) LTE-MTC, 6) LTE Machine Type Communication, and / or 7) LTE M, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification can include at least one of ZigBee, Bluetooth, and Low Power Wide Area Network (LPWAN) considering low-power communication, and is not limited to the above-described names. For example, ZigBee technology can create personal area networks (PAN) related to small / low-power digital communication based on various standards such as IEEE 802.15.4, and can be called by various names.

[0259] 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).

[0260] Wireless communication / connection (150a, 150b, 150c) can be established between wireless devices (100a~100f) / base stations (200), and base stations (200) / base stations (200). Here, wireless communication / connection can be achieved through various wireless access technologies (e.g., 5G NR) such as uplink / downlink communication (150a), sidelink communication (150b) (or, D2D communication), and communication between base stations (150c) (e.g., relay, IAB (Integrated Access Backhaul). Through wireless communication / connection (150a, 150b, 150c), wireless devices and base stations / wireless devices, and base stations and base stations can transmit / receive wireless signals to each other. For example, wireless communication / connection (150a, 150b, 150c) can transmit / receive signals through various physical channels. To this end, at least some of various configuration information setting processes for transmitting / receiving wireless signals, various signal processing processes (e.g., channel encoding / decoding, modulation / demodulation, resource mapping / demapping, etc.), and resource allocation processes can be performed based on various proposals of the present disclosure.

[0261] FIG. 16 illustrates a wireless device according to an embodiment of the present disclosure. The embodiment of FIG. 16 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0262] Referring to FIG. 16, 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. 15.

[0263] A first wireless device (100) includes one or more processors (102) and one or more memories (104), and may further include one or more transceivers (106) and / or one or more antennas (108). The processor (102) controls the memories (104) and / or the transceivers (106), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (102) may process information in the memory (104) to generate first information / signal, and then transmit a wireless signal including the first information / signal via the transceiver (106). Furthermore, the processor (102) may receive a wireless signal including second information / signal via the transceiver (106), and then store information obtained from signal processing of the second information / signal in the memory (104). The memory (104) may be connected to the processor (102) and may store various information related to the operation of the processor (102). For example, the memory (104) may perform some or all of the processes controlled by the processor (102), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (102) and the memory (104) may be part of a communication modem / circuit / chip designed to implement a wireless communication technology (e.g., LTE, NR). The transceiver (106) may be connected to the processor (102) and may transmit and / or receive wireless signals via one or more antennas (108). The transceiver (106) may include a transmitter and / or a receiver. The transceiver (106) may be used interchangeably with an RF (Radio Frequency) unit. In the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0264] A second wireless device (200) includes one or more processors (202), one or more memories (204), and may further include one or more transceivers (206) and / or one or more antennas (208). The processor (202) controls the memories (204) and / or the transceivers (206), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (202) may process information in the memory (204) to generate third information / signals, and then transmit a wireless signal including the third information / signals via the transceivers (206). In addition, the processor (202) may receive a wireless signal including fourth information / signals via the transceivers (206), and then store information obtained from signal processing of the fourth information / signals in the memory (204). The memory (204) may be connected to the processor (202) and may store various information related to the operation of the processor (202). For example, the memory (204) may perform some or all of the processes controlled by the processor (202), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (202) and the memory (204) may be part of a communication modem / circuit / chip designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (206) may be connected to the processor (202) and may transmit and / or receive wireless signals via one or more antennas (208). The transceiver (206) may include a transmitter and / or a receiver. The transceiver (206) may be used interchangeably with an RF unit. In the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0265] 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.

[0266] 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.

[0267] 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.

[0268] 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.

[0269] Fig. 17 illustrates a signal processing circuit for a transmission signal according to an embodiment of the present disclosure. The embodiment of Fig. 17 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0270] Referring to FIG. 17, the signal processing circuit (1000) may include a scrambler (1010), a modulator (1020), a layer mapper (1030), a precoder (1040), a resource mapper (1050), and a signal generator (1060). Although not limited thereto, the operations / functions of FIG. 17 may be performed in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 16. The hardware elements of FIG. 17 may be implemented in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 16. For example, blocks 1010 to 1060 may be implemented in the processor (102, 202) of FIG. 16. Additionally, blocks 1010 to 1050 may be implemented in the processor (102, 202) of FIG. 16, and block 1060 may be implemented in the transceiver (106, 206) of FIG. 16.

[0271] The codeword can be converted into a wireless signal through the signal processing circuit (1000) of FIG. 17. Here, the codeword is an encoded bit sequence of an information block. The information block can include a transport block (e.g., an UL-SCH transport block, a DL-SCH transport block). The wireless signal can be transmitted through various physical channels (e.g., a PUSCH or a PDSCH).

[0272] Specifically, the codeword can be converted into a bit sequence scrambled by a scrambler (1010). The scramble sequence used for scrambling is generated based on an initialization value, and the initialization value may include ID information of the wireless device, etc. The scrambled bit sequence can be modulated into a modulation symbol sequence by a modulator (1020). The modulation method may include pi / 2-BPSK (pi / 2-Binary Phase Shift Keying), m-PSK (m-Phase Shift Keying), m-QAM (m-Quadrature Amplitude Modulation), etc. The complex modulation symbol sequence can be mapped to one or more transmission layers by a layer mapper (1030). The modulation symbols of each transmission layer can be mapped to the corresponding antenna port(s) by a precoder (1040) (precoding). The output z of the precoder (1040) can be obtained by multiplying the output y of the layer mapper (1030) by a precoding matrix W of N*M. Here, N is the number of antenna ports, and M is the number of transmission layers. Here, the precoder (1040) can perform precoding after performing transform precoding (e.g., DFT transform) on complex modulation symbols. In addition, the precoder (1040) can perform precoding without performing transform precoding.

[0273] The resource mapper (1050) can map modulation symbols of each antenna port to time-frequency resources. The time-frequency resources can include multiple symbols (e.g., CP-OFDMA symbols, DFT-s-OFDMA symbols) in the time domain and multiple subcarriers in the frequency domain. The signal generator (1060) generates a wireless signal from the mapped modulation symbols, and the generated wireless signal can be transmitted to another device through each antenna. To this end, the signal generator (1060) can include an Inverse Fast Fourier Transform (IFFT) module, a Cyclic Prefix (CP) inserter, a Digital-to-Analog Converter (DAC), a frequency uplink converter, etc.

[0274] The signal processing process for receiving signals in a wireless device can be configured in reverse order of the signal processing process (1010 to 1060) of FIG. 17. For example, a wireless device (e.g., 100, 200 of FIG. 16) can receive wireless signals from the outside through an antenna port / transceiver. The received wireless signals can be converted into baseband signals through a signal restorer. For this purpose, the signal restorer can include a frequency downlink converter, an analog-to-digital converter (ADC), a CP remover, and a fast Fourier transform (FFT) module. Thereafter, the baseband signal can be restored to a codeword through a resource demapper process, a postcoding process, a demodulation process, and a descrambling process. The codewords can be restored to the original information blocks through decoding. Accordingly, a signal processing circuit (not shown) for a received signal may include a signal restorer, a resource de-mapper, a postcoder, a demodulator, a de-scrambler, and a decoder.

[0275] Figure 18 illustrates a wireless device according to an embodiment of the present disclosure. The wireless device may be implemented in various forms depending on the use case / service (see Figure 15). The embodiment of Figure 18 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0276] Referring to FIG. 18, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 16 and may be composed of various elements, components, units / units, and / or modules. For example, the wireless device (100, 200) may include a communication unit (110), a control unit (120), a memory unit (130), and additional elements (140). The communication unit may include a communication circuit (112) and a transceiver(s) (114). For example, the communication circuit (112) may include one or more processors (102, 202) and / or one or more memories (104, 204) of FIG. 16. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 16. 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).

[0277] 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. 15, 100a), a vehicle (Fig. 15, 100b-1, 100b-2), an XR device (Fig. 15, 100c), a portable device (Fig. 15, 100d), a home appliance (Fig. 15, 100e), an IoT device (Fig. 15, 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. 15, 400), a base station (Fig. 15, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0278] In FIG. 18, various elements, components, units / parts, and / or modules within the wireless device (100, 200) may be entirely interconnected via a wired interface, or at least some may be wirelessly connected via a communication unit (110). For example, within the wireless device (100, 200), the control unit (120) and the communication unit (110) may be wired, and the control unit (120) and the first unit (e.g., 130, 140) may be wirelessly connected via the communication unit (110). In addition, each element, component, unit / part, and / or module within the wireless device (100, 200) may further include one or more elements. For example, the control unit (120) may be composed of one or more processor sets. For example, the control unit (120) may be composed of a set of a communication control processor, an application processor, an electronic control unit (ECU), a graphics processing processor, a memory control processor, etc. As another example, the memory unit (130) may be composed of a random access memory (RAM), a dynamic RAM (DRAM), a read only memory (ROM), a flash memory, a volatile memory, a non-volatile memory, and / or a combination thereof.

[0279] Below, the implementation example of Fig. 18 is described in more detail with reference to the drawings.

[0280] FIG. 19 illustrates a mobile device according to an embodiment of the present disclosure. The mobile device may include a smartphone, a smart pad, a wearable device (e.g., a smartwatch, smartglasses), or a portable computer (e.g., a laptop, etc.). The mobile device may be referred to as a Mobile Station (MS), a User Terminal (UT), a Mobile Subscriber Station (MSS), a Subscriber Station (SS), an Advanced Mobile Station (AMS), or a Wireless Terminal (WT). The embodiment of FIG. 19 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0281] Referring to FIG. 19, the portable device (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a memory unit (130), a power supply unit (140a), an interface unit (140b), and an input / output unit (140c). The antenna unit (108) may be configured as a part of the communication unit (110). Blocks 110 to 130 / 140a to 140c correspond to blocks 110 to 130 / 140 of FIG. 18, respectively.

[0282] The communication unit (110) can transmit and receive signals (e.g., data, control signals, etc.) with other wireless devices and base stations. The control unit (120) can control components of the mobile device (100) to perform various operations. The control unit (120) can include an AP (Application Processor). The memory unit (130) can store data / parameters / programs / codes / commands required for operating the mobile device (100). In addition, the memory unit (130) can store input / output data / information, etc. The power supply unit (140a) supplies power to the mobile device (100) and can include a wired / wireless charging circuit, a battery, etc. The interface unit (140b) can support connection between the mobile device (100) and other external devices. The interface unit (140b) can include various ports (e.g., audio input / output ports, video input / output ports) for connection with external devices. The input / output unit (140c) can input or output video information / signals, audio information / signals, data, and / or information input from a user. The input / output unit (140c) may include a camera, a microphone, a user input unit, a display unit (140d), a speaker, and / or a haptic module.

[0283] For example, in the case of data communication, the input / output unit (140c) obtains information / signals (e.g., touch, text, voice, image, video) input by the user, and the obtained information / signals can be stored in the memory unit (130). The communication unit (110) converts the information / signals stored in the memory into wireless signals, and can directly transmit the converted wireless signals to other wireless devices or to a base station. In addition, the communication unit (110) can receive wireless signals from other wireless devices or base stations, and then restore the received wireless signals to the original information / signals. The restored information / signals can be stored in the memory unit (130) and then output in various forms (e.g., text, voice, image, video, haptic) through the input / output unit (140c).

[0284] The claims set forth in this specification may be combined in various ways. For example, the technical features of the method claims of this specification may be combined and implemented as a device, and the technical features of the device claims of this specification may be combined and implemented as a method. Furthermore, the technical features of the method claims and the technical features of the device claims of this specification may be combined and implemented as a device, and the technical features of the method claims and the technical features of the device claims of this specification may be combined and implemented as a method.

Claims

In terms of method, A step in which a first device receives information related to a sensing mode from a second device; and A method comprising: a step of performing first sensing and second sensing based on information related to the sensing mode indicating hierarchical sensing; In the first paragraph, A method wherein the second sensing is performed based on the first sensing. In the first paragraph, A method in which information related to the above sensing mode is received based on an RRC (Radio Resource Control) message, a physical channel signal, or a MAC (Medium Access Control) CE (Control Element). In the first paragraph, A method further comprising: a step of transmitting, by the first device, auxiliary information related to the hierarchical sensing to the second device; In paragraph 4, A method wherein the sensing mode is determined based on the auxiliary information. In paragraph 4, A method wherein the auxiliary information includes at least one of information related to sensing capabilities, information related to supported measurements, or information related to whether environmental sensing is required. In paragraph 4, A method wherein the auxiliary information includes at least one of information related to a sensing mode supported by the first device, information related to a sensing service type, information related to a sensing target, information related to a sensing service quality, or information related to a sensing priority. In the first paragraph, A method wherein the first sensing comprises receiving environmental sensing data from the second device. In paragraph 8, A method wherein the above environmental sensing data is data stored in the second device based on periodic reception or request-based reception of environmental sensing measurement results from at least one sensing device. In the first paragraph, A method wherein information related to the sensing mode is received based on a request from a third device for sensing data. In the first paragraph, A method wherein information related to the sensing mode includes setting information for an operation related to the sensing mode. In the first paragraph, The above first sensing includes non-3GPP (3rd Generation Partnership Project) sensing, and The above non-3GPP sensing method includes sensing based on cameras, video, radar or lidar. In the first paragraph, The first device is a sensing node or terminal, and A method wherein the second device is a sensing server, a base station, a sensing function, or a device different from the first device. In the first device, At least one transmitter / receiver; at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said first device causes: To receive information related to the sensing mode from a second device; and A first device that performs first sensing and second sensing based on information related to the above sensing mode indicating hierarchical sensing. In a processing device set to control a first device, at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said first device causes: To receive information related to the sensing mode from a second device; and A processing device that performs first sensing and second sensing based on information related to the above sensing mode indicating hierarchical sensing. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the first device to: To receive information related to the sensing mode from a second device; and A non-transitory computer-readable storage medium, which causes first sensing and second sensing to be performed based on information related to the sensing mode indicating hierarchical sensing. In terms of method, The second device determines the sensing mode; and The second device comprises a step of transmitting information related to the sensing mode to the first device; A method wherein the first sensing and the second sensing are performed based on information related to the sensing mode indicating hierarchical sensing. In the second device, At least one transmitter / receiver; at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said second device causes: to determine the sensing mode; and To transmit information related to the sensing mode to the first device; A second device, wherein the first sensing and the second sensing are performed based on information related to the sensing mode indicating hierarchical sensing. In a processing device set to control a second device, at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said second device causes: to determine the sensing mode; and To transmit information related to the sensing mode to the first device; A processing device wherein the first sensing and the second sensing are performed based on information related to the sensing mode indicating hierarchical sensing. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the second device to: to determine the sensing mode; and To transmit information related to the sensing mode to the first device; A non-transitory computer-readable storage medium in which the first sensing and the second sensing are performed based on information related to the sensing mode indicating hierarchical sensing.

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