Base station device and sensing signal determination method

Abstract

This base station device includes: a sensing unit that transmits a first signal or a second signal, receives a reflection signal of the first signal or the second signal having been reflected on a terminal device, and performs sensing on the terminal device; and a control unit that receives the wireless quality of the first signal and / or the second signal measured by the terminal device, and determines which of the first signal and the second signal is to be used for the sensing in accordance with the wireless quality.

Description

Base Station Device and Sensing Signal Determination Method

[0001] The present invention relates to a base station device and a sensing signal determination method.

[0002] In recent years, in a wireless communication system, the integration of the physical space and the cyber space has been expected (Cyber Physical Fusion), and sensing technologies for acquiring the position information and movement information (direction, speed, acceleration) of terminal devices have attracted attention.

[0003] For example, in the sixth-generation wireless communication (6G), in ISAC (Integrated Sensing and Communication), a sensing function has been introduced into the wireless communication system, and a terminal device can perform sensing using the frequency band and hardware used for wireless communication.

[0004] Sensing is performed, for example, using reflected waves at a terminal device. The base station device transmits a signal and physically reflects it at the terminal device. Then, the base station device estimates the distance to the terminal device, the speed of the terminal device, etc. using the received reflected wave and the transmitted signal.

[0005] Technologies related to sensing are described in the following prior art documents.

[0006] Japanese Patent Application Laid-Open No. 2024-512554, International Publication No. 2024 / 134906

[0007] However, it is not determined which radio resources are used for transmission of the signal that the base station device uses for sensing. It is preferable for the base station device to efficiently use radio resources in the transmission of sensing signals. Therefore, one disclosure aims to provide a base station device and a sensing signal determination method that can efficiently use radio resources in sensing.

[0008] The system includes a sensing unit that transmits a first signal or a second signal, receives a reflected signal of the first signal or the second signal reflected by a terminal device, and performs sensing on the terminal device, and a control unit that receives the wireless quality of the first signal and / or the second signal measured by the terminal device, and determines which of the first signal and the second signal to use for sensing according to the wireless quality.

[0009] One disclosure indicates that wireless resources can be used efficiently in sensing.

[0010] Figure 1 shows an example configuration of the wireless communication system 10. Figure 2 shows an example configuration of the base station device 200. Figure 3 shows an example configuration of the terminal device 100. Figure 4 shows an example of a processing flowchart for the wireless quality determination process S300. Figure 5 shows an example of the first sequence. Figure 6 shows an example of the second sequence. Figure 7 shows an example of the third sequence. Figure 8 shows an example of the fourth sequence. Figure 9 shows an example of the sequence of the second embodiment.

[0011] [First Embodiment] The first embodiment will now be described.

[0012] Figure 1 shows an example configuration of a wireless communication system 10. The wireless communication system 10 includes a base station device 200 and a terminal device 100. The wireless communication system 10 is a communication system in which the base station device 200 performs sensing processing. Sensing processing is a process that uses radio wave reflection to acquire information about the terminal device 100. The information acquired (estimated) by sensing processing includes, for example, location information and movement information (direction, velocity, acceleration, etc.) of the terminal device 100.

[0013] The base station device 200 is a device that wirelessly connects to the terminal device 100 and performs wireless communication, and is, for example, an eNodeB or a gNodeB. The base station device 200 also performs sensing processing for the terminal device 100. The base station device 200 transmits a sensing signal R1 to the terminal device 100, receives a reflected signal R2 reflected by the terminal device 100, and performs sensing processing. The sensing signal R1 is, for example, a DL (Down Link) reference signal or a dedicated sensing signal. The base station device 200 switches between sensing processing using the DL reference signal and sensing processing using the dedicated sensing signal depending on the downlink wireless quality measured by the terminal device 100.

[0014] The DL reference signal is a signal transmitted by the base station equipment 200 in the downstream direction, and is, for example, a CSI-RS (Channel State Information - Reference Signal). The terminal equipment 100 transmits the measurement results of the radio quality of the CSI-RS to the base station equipment 200, including them in the CSI report.

[0015] Furthermore, a dedicated sensing signal is a signal used exclusively for sensing, such as a chirp signal whose frequency changes over time, as used in FMCW (Frequency Modulated Continuous Wave). It should be noted that a dedicated sensing signal is sometimes referred to as a signal that is not used for anything other than sensing.

[0016] The terminal device 100 is a communication device that wirelessly connects to the base station device 200 and transmits and receives data, and is, for example, a smartphone or a tablet terminal. The terminal device 100 performs wireless quality measurement processing. The terminal device 100 performs both or either wireless quality measurement processing of the DL reference signal (DL reference signal measurement processing) and wireless quality measurement processing of the sensing-only signal (sensing-only signal measurement processing), and transmits the measured wireless quality to the base station device 200. The terminal device 100 also physically reflects the DL reference signal and the sensing-only signal. The reflected wave reflected by the terminal device 100 is sometimes called the reflected signal.

[0017] <Example of Base Station Device 200 Configuration> Figure 2 shows an example of the configuration of a base station device 200. The base station device 200 includes a CPU (Central Processing Unit) 210, storage 220, memory 230, antenna 240, and wireless communication circuit 250.

[0018] Storage 220 is an auxiliary storage device such as flash memory, HDD (Hard Disk Drive), or SSD (Solid State Drive) that stores programs and data. Storage 220 stores the wireless communication control program 221 and the sensing control program 222.

[0019] Memory 230 is an area for loading programs stored in storage 220. Memory 230 may also be used as an area for programs to store data.

[0020] The wireless communication circuit 250 is a device that communicates wirelessly with the terminal device 100 via the antenna 240. The base station device 200 transmits and receives signals (messages) with the terminal device 100 via the wireless communication circuit 250. The reflected signal may be received by the antenna 240, or by a separate antenna for receiving reflected signals.

[0021] The CPU 210 is a processor that loads programs stored in the storage 220 into the memory 230, executes the loaded programs, builds each part, and performs each process.

[0022] The CPU 210 constructs the control unit and communication unit by executing the wireless communication control program 221 and performs wireless communication control processing. Wireless communication control processing is the process of controlling wireless communication with the terminal device 100. In the wireless communication control processing, the base station device 200 wirelessly connects with the terminal device 100, transmits signals to the terminal device 100, and receives signals from the terminal device 100.

[0023] The CPU 210 constructs the control unit and communication unit by executing the sensing control program 222 and performs sensing control processing. Sensing control processing is the process of controlling sensing. In sensing control processing, the base station device 200 transmits a dedicated sensing signal and a DL reference signal to the terminal device 100, receives the reflected signal from the terminal device 100, and performs sensing processing. In addition, in sensing control processing, the base station device 200 receives the radio quality from the terminal device 100 and decides whether or not to use a dedicated sensing signal for sensing processing.

[0024] The CPU 210 constructs the control unit and communication unit and performs sensing processing by executing the sensing module 2221 of the sensing control program 222. The sensing processing is the process of acquiring (estimating) information such as the position and speed of the terminal device 100 by receiving reflected signals.

[0025] The CPU 210 constructs the control unit and communication unit and performs wireless quality determination processing by executing the wireless quality determination module 2222 of the sensing control program 222. The wireless quality determination processing is the process of receiving a wireless quality report from the terminal device 100 and deciding whether or not to use a dedicated sensing signal for sensing processing according to the wireless quality.

[0026] <Example of Terminal Device 100 Configuration> Figure 3 is a diagram showing an example of the configuration of terminal device 100. Terminal device 100 includes a CPU 110, storage 120, memory 130, antenna 140, and wireless communication circuit 150.

[0027] Storage 120 is an auxiliary storage device such as flash memory, HDD, or SSD that stores programs and data. Storage 120 stores the wireless communication program 121 and the sensing-dedicated signal measurement program 122.

[0028] Memory 130 is an area for loading programs stored in storage 120. Memory 130 may also be used as an area for programs to store data.

[0029] The wireless communication circuit 150 is a device that communicates wirelessly with the base station device 200 via the antenna 140. The terminal device 100 transmits and receives signals (messages) with the base station device 200 via the wireless communication circuit 150.

[0030] The CPU 110 constructs a terminal control unit and a terminal communication unit by executing the wireless communication program 121 and performs wireless communication processing. Wireless communication processing involves establishing a wireless connection with the base station device 200 and performing wireless communication. In wireless communication processing, the terminal device 100 performs wireless communication with the base station device 200, receives signals transmitted by the base station device 200, and transmits signals to the base station device 200.

[0031] The CPU 110 constructs the terminal control unit and terminal communication unit by executing the DL reference signal measurement module 1211 of the wireless communication program 121, and performs DL reference signal measurement processing. DL reference signal measurement processing involves receiving a DL reference signal, measuring the wireless quality, and transmitting the measurement results to the base station device 200.

[0032] The CPU 110 constructs the terminal control unit and terminal communication unit by executing the sensing-dedicated signal measurement program 122, and performs sensing-dedicated signal measurement processing. Sensing-dedicated signal measurement processing involves receiving a sensing-dedicated signal, measuring the wireless quality, and transmitting the measurement results to the base station device 200.

[0033] <Wireless Quality Determination Processing> When the base station device 200 receives a wireless quality report, it may perform wireless quality determination processing S300. Wireless quality determination processing S300 is a process that determines whether or not to perform sensing using a dedicated sensing signal, in accordance with the received wireless quality report.

[0034] When the base station device 200 is performing sensing using a dedicated sensing signal, it executes the wireless quality determination process S300 when it receives a wireless quality report for the dedicated sensing signal. Also, when the base station device 200 is performing sensing using a DL reference signal, it executes the wireless quality determination process S300 when it receives a wireless quality report for the DL reference signal.

[0035] Figure 4 shows an example of a processing flowchart for the wireless quality determination process S300. When the base station device 200 receives a wireless quality report, it performs the wireless quality determination process S300.

[0036] The base station device 200 checks whether it is currently performing sensing processing using a dedicated sensing signal (S300-1).

[0037] If the base station device 200 is performing sensing processing using a dedicated sensing signal (Yes in S300-1), it checks whether the wireless quality of the dedicated sensing signal is above a first threshold (Decision 1, S300-2). Note that if the wireless quality of the dedicated sensing signal is above the first threshold, it indicates that the reception quality of the dedicated sensing signal at the terminal device 100 is good enough to be above a predetermined value.

[0038] The base station device 200 determines that if the radio quality of the dedicated sensing signal is above a first threshold (Yes in S300-2), it will perform sensing processing using the DL reference signal (stop sensing processing using the dedicated sensing signal) (S300-3). Then, the base station device 200 sends an instruction to the terminal device 100 to stop measuring the radio quality of the dedicated sensing signal (instruction to stop measuring the dedicated sensing signal) (S300-4), and terminates the process.

[0039] On the other hand, if the wireless quality of the dedicated sensing signal is not above the first threshold (No. in S300-2), the base station device 200 determines to continue the sensing process using the dedicated sensing signal and terminates the process.

[0040] On the other hand, if the base station device 200 is not currently performing sensing processing using a dedicated sensing signal (No. in S300-1), it checks whether the wireless quality of the DL reference signal is below the second threshold (Decision 2, S300-5). Note that if the wireless quality of the DL reference signal is below the second threshold, it indicates that the reception quality of the DL reference signal at the terminal device 100 is worse than a predetermined value.

[0041] When the radio quality of the DL reference signal is less than the second threshold (Yes in S300-5), the base station device 200 determines to perform sensing processing using the sensing dedicated signal (start sensing processing using the sensing dedicated signal) (S300-6). Then, the base station device 200 transmits an instruction to start measuring the radio quality of the sensing dedicated signal (sensing dedicated signal measurement start instruction) to the terminal device 100 (S300-7), and ends the processing.

[0042] On the other hand, when the radio quality of the DL reference signal is not less than the second threshold (No in S300-5), the base station device 200 determines to continue the sensing processing using the DL reference signal, and ends the processing.

[0043] Note that the first threshold and the second threshold may be the same value. Also, the first threshold and the second threshold may be different values (first threshold > second threshold) in order to prevent frequent occurrence of message transmissions of the sensing dedicated signal measurement stop instruction and the sensing dedicated signal measurement start instruction due to frequent switching of the sensing processing using the sensing dedicated signal and the DL reference signal. Further, the first threshold and the second threshold may be determined in consideration of whether the radio quality that can be used for sensing processing with the sensing dedicated signal or the DL reference signal can be ensured.

[0044] <Sensing Processing Sequence> An example of the sequence of sensing processing will be described. Hereinafter, whether the sensing processing using the sensing dedicated signal is in progress or not, and when it is determined to start / stop the sensing processing using the sensing dedicated signal will be described respectively.

[0045] Note that in the following sequence, the setting information regarding the sensing dedicated signal is notified to the terminal device 100 by, for example, MIB, SIB, or DCI. The setting information regarding the sensing dedicated signal includes, for example, information regarding the frequency and transmission timing of the sensing dedicated signal. Also, when the sensing dedicated signal is a chirp signal, the setting information regarding the sensing dedicated signal includes, for example, information such as the frequency width, maximum value / minimum value of the changing frequency, and the change period of the frequency.

[0046] In addition, the setting information regarding the sensing dedicated signal may be set in the terminal device 100 in advance, for example.

[0047] In addition, the setting information regarding the DL reference signal may be notified to the terminal device 100 in the same message as the sensing dedicated signal, or may be notified in a different message. Further, it may be set in the terminal device 100 in advance.

[0048] Note that when the base station device 200 performs sensing using the sensing dedicated signal, the terminal device 100 may stop the radio quality report of the DL reference signal, or may continue without stopping. In the following sequence, even when the radio quality report of the DL reference signal is continued during sensing using the sensing dedicated signal, the transmission of the DL reference signal and the radio quality report of the DL reference signal may not be illustrated.

[0049] <1. First Sequence> Fig. 5 is a diagram showing an example of the first sequence. The first sequence is an example of a sequence when the sensing process using the DL reference signal is continued.

[0050] The base station device 200 transmits a DL reference signal to the terminal device 100 (S10). When the terminal device 100 receives the DL reference signal, it performs DL reference signal measurement processing S200. The DL reference signal measurement processing S200 is a process of measuring the radio quality in the reception of the DL reference signal and transmitting a radio quality report at a predetermined timing. The radio quality includes, for example, CQI, RSRP, information on multipaths due to reflection of surrounding objects, and the like.

[0051] The base station device 200 receives the reflected signal of the DL reference signal reflected by the terminal device 100 (S11) and performs sensing processing S100. The sensing processing S100 is a process of obtaining the position information, speed information, etc. of the terminal device 100 using the reflected signal and the transmitted signal (DL reference signal).

[0052] The terminal device 100 transmits a radio quality report of the DL reference signal to the base station device 200 (S12).

[0053] When the base station device 200 receives a wireless quality report of the DL reference signal while performing sensing processing using the DL reference signal, it executes wireless quality determination processing S300.

[0054] The base station device 200 is performing sensing processing using the DL reference signal (No. S300-1 in Figure 4), and since the wireless quality of the DL reference signal is not below the second threshold (the wireless quality is good) (No. S300-5 in Figure 4), it decides to continue sensing processing using the DL reference signal.

[0055] The base station device 200 then performs sensing processing again using the DL reference signal (S13, S14, S100, S200).

[0056] <2. Second Sequence> Figure 6 shows an example of the second sequence. The second sequence is an example of a sequence when switching to sensing processing using a dedicated sensing signal.

[0057] The base station device 200 transmits a DL reference signal to the terminal device 100 (S20). Upon receiving the DL reference signal, the terminal device 100 performs the DL reference signal measurement process S200.

[0058] The base station device 200 receives the reflected signal of the DL reference signal reflected by the terminal device 100 (S21) and performs sensing processing S100.

[0059] The terminal device 100 transmits a wireless quality report of the DL reference signal to the base station device 200 (S22).

[0060] When the base station device 200 receives a wireless quality report of the DL reference signal while performing sensing processing using the DL reference signal, it executes wireless quality determination processing S300.

[0061] The base station device 200 is performing sensing processing using the DL reference signal (No. in S300-1 in Figure 4), and since the wireless quality of the DL reference signal is below the second threshold (the wireless quality is not good) (Yes in S300-5 in Figure 4), it decides to perform sensing processing using a dedicated sensing signal (S300-6 in Figure 4), and sends a command to start measuring the dedicated sensing signal to the terminal device 100 (S23, S300-7 in Figure 4). The command to start measuring the dedicated sensing signal is transmitted, for example, via DCI.

[0062] Subsequently, the base station device 200 transmits a dedicated sensing signal to the terminal device 100 (S24). Upon receiving the dedicated sensing signal, the terminal device 100 performs the dedicated sensing signal measurement process S400. The dedicated sensing signal measurement process S400 measures the radio quality upon receiving the dedicated sensing signal and transmits a radio quality report at a predetermined timing. The radio quality includes, for example, CQI, RSRP, and multipath information due to reflections from surrounding objects.

[0063] The base station device 200 receives the reflected signal of the sensing-dedicated signal reflected by the terminal device 100 (S25) and performs sensing processing S100.

[0064] <3. Third Sequence> Figure 7 shows an example of the third sequence. The third sequence is an example of a sequence when sensing processing using a dedicated sensing signal is continued.

[0065] The base station device 200 transmits a dedicated sensing signal to the terminal device 100 (S30). Upon receiving the dedicated sensing signal, the terminal device 100 performs the dedicated sensing signal measurement process S400.

[0066] The base station device 200 receives the reflected signal of the sensing-dedicated signal reflected by the terminal device 100 (S31) and performs sensing processing S100. Sensing processing S100 is a process that uses the reflected signal and the transmitted signal (sensing-dedicated signal) to acquire location information, speed information, etc. of the terminal device 100.

[0067] The terminal device 100 transmits a wireless quality report of the sensing-dedicated signal to the base station device 200 (S32).

[0068] When the base station device 200 receives a wireless quality report for a dedicated sensing signal while performing sensing processing using that signal, it executes wireless quality determination processing S300.

[0069] The base station device 200 is performing sensing processing using a dedicated sensing signal (Yes in S300-1 in Figure 4), and since the radio quality of the dedicated sensing signal is not above the first threshold (the radio quality is not good) (No in S300-2 in Figure 4), it decides to continue sensing processing using the dedicated sensing signal.

[0070] The base station device 200 then performs sensing processing again using a dedicated sensing signal (S33, S34, S100, S400).

[0071] <4. Fourth Sequence> Figure 8 shows an example of the fourth sequence. The fourth sequence is an example of a sequence when switching to sensing processing using a DL reference signal.

[0072] The base station device 200 transmits a dedicated sensing signal to the terminal device 100 (S40). Upon receiving the dedicated sensing signal, the terminal device 100 performs the dedicated sensing signal measurement process S400.

[0073] The base station device 200 receives the reflected signal of the sensing-dedicated signal reflected by the terminal device 100 (S41) and performs sensing processing S100.

[0074] The terminal device 100 transmits a wireless quality report of the sensing-dedicated signal to the base station device 200 (S42).

[0075] When the base station device 200 receives a wireless quality report for a dedicated sensing signal while performing sensing processing using that signal, it executes wireless quality determination processing S300.

[0076] The base station device 200 is performing sensing processing using a dedicated sensing signal (Yes in S300-1 in Figure 4), and since the radio quality of the dedicated sensing signal is above the first threshold (good radio quality) (Yes in S300-2 in Figure 4), it determines to perform sensing processing using the DL reference signal (S300-3 in Figure 4), and sends a command to stop measuring the dedicated sensing signal to the terminal device 100 (S43, S300-4 in Figure 4). The command to stop measuring the dedicated sensing signal is transmitted, for example, via DCI.

[0077] Subsequently, the base station device 200 transmits a DL reference signal to the terminal device 100 (S44). Upon receiving the DL reference signal, the terminal device 100 performs the DL reference signal measurement process S200. After receiving the instruction to stop sensing-only signal measurement, the terminal device 100 stops waiting for the sensing-only signal and does not perform the sensing-only signal measurement process S400 until it receives the instruction to start the sensing-only signal.

[0078] The base station device 200 receives the reflected DL reference signal reflected by the terminal device 100 (S45) and performs sensing processing S100.

[0079] In the first embodiment, the base station device 200 switches to sensing processing using a dedicated sensing signal when the wireless quality of the DL reference signal at the terminal device 100 deteriorates, and switches back to sensing processing using the DL reference signal when the wireless quality of the dedicated sensing signal at the terminal device 100 improves. That is, the base station device 200 takes advantage of the fact that when the wireless quality of the dedicated sensing signal at the terminal device 100 is good, it can be assumed that the wireless quality of the DL reference signal will also be good, and limits the use of the dedicated sensing signal to when the wireless quality is not good. When the dedicated sensing signal is not used for sensing (when sensing is being performed with the DL reference signal), it is used for other data communications, for example. Therefore, the base station device 200 can use the wireless resources used for the dedicated sensing signal for other data communications, etc., and can use wireless resources efficiently.

[0080] [Second Embodiment] In the second embodiment, the terminal device 100 executes the DL reference signal measurement process S200 even while performing sensing processing using a dedicated sensing signal.

[0081] The base station device 200 receives a wireless quality report of the DL reference signal, and if it determines that the wireless quality is good, it instructs the terminal device 100 to transmit a wireless quality report of the sensing-only signal.

[0082] Figure 9 shows an example of the sequence of the second embodiment. The base station device 200 transmits a sensing-only signal to the terminal device 100 (S50). When the terminal device 100 receives the sensing-only signal, it performs a second sensing-only signal measurement process S500. The second sensing-only signal measurement process S500 measures the radio quality of the sensing-only signal and suspends reporting the radio quality of the sensing-only signal until it receives a transmission instruction from the base station device 200.

[0083] The base station device 200 receives the reflected signal of the sensing-dedicated signal reflected by the terminal device 100 (S51) and performs sensing processing S100.

[0084] The base station device 200 transmits a DL reference signal to the terminal device 100 (S52). Upon receiving the DL reference signal, the terminal device 100 performs DL reference signal measurement processing S200 and transmits a DL reference signal radio quality report to the base station device 200 (S53).

[0085] When the base station device 200 receives a wireless quality report of the DL reference signal while performing sensing processing using a dedicated sensing signal, it executes the second wireless quality determination process S600.

[0086] The second wireless quality determination process S600 is a process that determines whether or not to continue sensing the sensing-dedicated signal. In the second wireless quality determination process S600, the base station device 200 checks the wireless quality of the DL reference signal. In the second wireless quality determination process S600, if the wireless quality of the DL reference signal is above the third threshold (the wireless quality is good), the base station device 200 sends an instruction to the terminal device 100 to send a wireless quality report of the sensing-dedicated signal (sensing-dedicated signal result transmission instruction) (S54).

[0087] When terminal device 100 receives an instruction to transmit the sensing-dedicated signal result, it transmits the radio quality report of the sensing-dedicated signal that was on hold to base station device 200 (S55).

[0088] In the second radio quality determination process S600, the base station device 200 receives a radio quality report for the sensing-dedicated signal. If the radio quality of the sensing-dedicated signal is better than predetermined, it determines to stop the sensing process for the sensing-dedicated signal and transmits a sensing-dedicated signal measurement stop instruction to the terminal device 100. Thereafter, the base station device 200 performs sensing using the DL reference signal.

[0089] The switching from sensing using the DL reference signal to sensing using a dedicated sensing signal is the same as in the first embodiment, for example.

[0090] [Other Embodiments] The base station device 200 may, for example, determine whether to use the DL reference signal or the dedicated sensing signal for sensing processing using only the radio quality of the DL reference signal. In this case, the terminal device 100 does not need to measure the radio quality of the dedicated sensing signal.

[0091] Furthermore, when the base station device 200 switches from sensing the DL reference signal to sensing-dedicated signal, it may consider the radio quality of the sensing-dedicated signal in addition to the radio quality of the DL reference signal. In this case, for example, if the radio quality of the DL reference signal is worse than a predetermined value, the base station device 200 transmits the sensing-dedicated signal and receives a radio quality report of the sensing-dedicated signal from the terminal device 100. If the radio quality of the sensing-dedicated signal is better than or equal to a predetermined value, the base station device 200 switches to sensing with the sensing-dedicated signal. On the other hand, if the radio quality of the sensing-dedicated signal is not better than or equal to a predetermined value, the base station device 200 determines that sufficient sensing cannot be performed even if it switches to the sensing-dedicated signal, and therefore decides to maintain sensing with the DL reference signal.

[0092] 10: Wireless communication system 100: Terminal device 110: CPU 120: Storage 121: Wireless communication program 1211: DL reference signal measurement module 122: Sensing-specific signal measurement program 130: Memory 140: Antenna 150: Wireless communication circuit 200: Base station device 210: CPU 220: Storage 221: Wireless communication control program 222: Sensing control program 2221: Sensing module 2222: Wireless quality determination module 230: Memory 240: Antenna 250: Wireless communication circuit

Claims

1. A base station device comprising: a sensing unit that transmits a first signal or a second signal, receives a reflected signal of the first signal or the second signal reflected by a terminal device, and performs sensing on the terminal device; and a control unit that receives the radio quality of the first signal and / or the second signal measured by the terminal device, and determines which of the first signal and the second signal to use for sensing according to the radio quality.

2. The base station device according to claim 1, wherein the first signal includes a signal not used for anything other than sensing, and the control unit determines to perform sensing with the first signal if the reception quality of the second signal is not better than a first threshold when sensing is being performed with the second signal.

3. The base station device according to claim 1, wherein the first signal includes a signal not used for anything other than sensing, and the control unit determines to perform sensing with the second signal if the reception quality of the first signal is better than a second threshold when sensing is being performed with the first signal.

4. The base station device according to claim 2, wherein the control unit determines to perform the sensing with the second signal if the reception quality of the first signal is better than a second threshold when the sensing is being performed with the first signal.

5. The base station device according to claim 4, wherein the control unit, when it determines to perform the sensing with the first signal, instructs the terminal device to start measuring the radio quality of the first signal and transmitting the measured radio quality, and when it determines to perform the sensing with the second signal, instructs the terminal device to stop measuring the radio quality of the first signal and transmitting the measured radio quality.

6. The base station device according to claim 1, wherein the second signal includes a CSI-RS (Channel State Information - Reference Signal), and the radio quality of the second signal is included in the CSI report.

7. The base station device according to claim 2, wherein when the sensing is performed with the first signal, if the reception quality of the second signal is better than a third threshold, the control unit instructs the terminal device to transmit the radio quality of the first signal, and determines whether or not to continue the sensing with the first signal according to the radio quality of the first signal.

8. A sensing signal determination method for determining a signal to be used for sensing in a base station device, comprising: sensing means for transmitting a first signal or a second signal, receiving a reflected signal of the first signal or the second signal reflected by a terminal device, and performing sensing on the terminal device; and determination means for receiving the radio quality of the first signal and / or the second signal measured by the terminal device, and determining which of the first signal and the second signal to use for sensing according to the radio quality.

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