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

Abstract

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

Description

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

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

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

[0003] The Intelligent Transport System (ITS) is a form that incorporates wireless communication technology to achieve more efficient management of transportation systems and enhance safety. In an ITS system, traffic conditions can be monitored in real time and data collected and processed through CCTVs, sensor networks, GPS devices, and wireless communication systems. Inter-vehicle communication can be supported in ITS systems; for example, vehicles can communicate with each other and share information about their surrounding environment to facilitate autonomous driving and improve traffic safety. A message is defined in which a device equipped with sensors transmits object information detected through those sensors. This message is referred to as a Sensor Data Sharing Message (SDSM) in SAE standards and as a Collective Perception Message (CPM) in ETSI standards.

[0004] The technical objective to be achieved is to transmit and receive sensing data more accurately and efficiently in a wireless communication system. For example, a method and an apparatus for accurately and efficiently aggregating and transmitting sensor messages acquired from multiple sensor-equipped devices are provided.

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

[0006] According to one aspect of the present disclosure, a method performed by a network node comprises: receiving a plurality of sensor messages from a plurality of source devices, each having a sensor, the sensor messages comprising information about objects detected by each sensor; generating an aggregated sensor message based on the aggregation of the plurality of sensor messages; and transmitting the aggregated sensor message, wherein each of the plurality of sensor messages comprises (i) information about a recognition area of ​​each sensor and (ii) information about a reliability, and a first recognition area of ​​a first sensor message received from a first source device among the plurality of source devices comprises recognition areas of the remaining sensor messages received from other source devices, and in generating the aggregated sensor message, the network node may generate the aggregated sensor message based on the first sensor message without aggregating the remaining sensor messages based on the first reliability of the first sensor message being greater than or equal to a first threshold, and generate the aggregated sensor message based on the aggregation of the remaining sensor messages based on the first reliability of the first sensor message being less than the first threshold.

[0007] The reliability information included in each of the plurality of sensor messages may be related to at least one of reliability for object classification, reliability for object detection time, reliability for recognition area location, or reliability for object velocity / acceleration.

[0008] In generating the combined sensor message, the network node may generate the combined sensor message based on the first sensor message without combining the remaining sensor messages based on the fact that the time delay from the sensor recognition time of the first sensor message to the time when the first sensor message is received is less than a second threshold, and may generate the combined sensor message based on the combination of the remaining sensor messages based on the fact that the time delay is greater than or equal to the threshold.

[0009] The combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the second sensor message and the third sensor message among the remaining sensor messages have the same recognition area, the network node can configure the combined sensor message based on the smaller calculated time delay between the second sensor message and the third sensor message.

[0010] The calculation of the above time delay can be performed based on the sensor recognition time, the time taken for the source's message processing, and the time taken for network transmission.

[0011] The combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the second sensor message and the third sensor message among the remaining sensor messages have the same recognition area, the network node can configure the combined sensor message based on the one with higher reliability between the second sensor message and the third sensor message.

[0012] A combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the time delay associated with the remaining sensor messages is greater than or equal to a third threshold, the network node can construct the combined sensor message based on the sensor messages received from RSU (road side unit) source devices among the remaining sensor messages.

[0013] The above combined sensor message further includes area category information, and the area category information can be set to one of a number of area categories including crosswalks, accident-prone areas, and school zones.

[0014] The above network node may be a central server in an Intelligent Transportation System (ITS).

[0015] The above plurality of sensor messages may be related to at least one of SDSM (sensor data sharing message) or CPM (Collective Perception Message).

[0016] According to one aspect of the present disclosure, a non-transitory recording medium storing instructions that, when executed by a processor of a network node according to one aspect of the present disclosure, cause the network node to perform operations, wherein the operations include: receiving a plurality of sensor messages, each comprising information about objects detected by each sensor from a plurality of source devices, each having a sensor; and generating a combined sensor message based on the aggregation of the plurality of sensor messages. The method includes transmitting the combined sensor message, wherein each of the plurality of sensor messages includes (i) information about the recognition area of ​​each sensor and (ii) information about reliability, and the first recognition area of ​​the first sensor message received from the first source device among the plurality of source devices includes the recognition areas of the remaining sensor messages received from other source devices, and in generating the combined sensor message, the network node may generate the combined sensor message based on the first sensor message without combining the remaining sensor messages based on the first reliability of the first sensor message being greater than or equal to the first threshold, and generate the combined sensor message based on combining the remaining sensor messages based on the first reliability of the first sensor message being less than the first threshold.

[0017] A network node according to one aspect of the present disclosure comprises: a memory for storing instructions; and a processor for performing operations by executing said instructions, wherein the operations performed by said processor include: receiving a plurality of sensor messages, each comprising information about objects detected by each sensor from a plurality of source devices, each having a sensor; and generating an aggregated sensor message based on the aggregation of said plurality of sensor messages. The method includes transmitting the combined sensor message, wherein each of the plurality of sensor messages includes (i) information about the recognition area of ​​each sensor and (ii) information about reliability, and the first recognition area of ​​the first sensor message received from the first source device among the plurality of source devices includes the recognition areas of the remaining sensor messages received from other source devices, and in generating the combined sensor message, the network node may generate the combined sensor message based on the first sensor message without combining the remaining sensor messages based on the first reliability of the first sensor message being greater than or equal to the first threshold, and generate the combined sensor message based on combining the remaining sensor messages based on the first reliability of the first sensor message being less than the first threshold.

[0018] Based on the fact that the time delay from the sensor recognition time of the first sensor message to the time when the first sensor message is received is less than a second threshold, the combined sensor message can be generated based on the first sensor message without combining the remaining sensor messages, and based on the fact that the time delay is greater than or equal to the threshold, the combined sensor message can be generated based on the combination of the remaining sensor messages.

[0019] The combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the second sensor message and the third sensor message among the remaining sensor messages have the same recognition area, the network node can configure the combined sensor message based on the smaller calculated time delay between the second sensor message and the third sensor message.

[0020] The above network node may be a central server in an Intelligent Transportation System (ITS).

[0021] According to one embodiment of the present disclosure, the transmission and reception of sensing data in a wireless communication system can be performed more accurately and efficiently. For example, when a server intends to combine and transmit sensor messages received from multiple devices, the amount of data transmitted by the server in a network channel can be reduced by filtering the data of the sensor messages based on the inclusion relationship of the sensing area and transmitting them.

[0022] The effects obtainable from various embodiments are not limited to those mentioned above, and other unmentioned effects may be derived from the description below.

[0023] Figure 1 is a diagram illustrating V2X communication.

[0024] Figure 2 shows the radio protocol architecture for SL communication.

[0025] Figure 3 shows a terminal performing V2X or SL communication.

[0026] Figure 4 shows the API between the Central ITS Station (C-ITS actor or third party) and the BI Client for backend communication.

[0027] Figure 5 is a diagram illustrating the interface between interchange entities between C-ITS actors defined in C-Roads.

[0028] Figure 6 illustrates the procedure performed between C-ITS actors.

[0029] Figure 7 is a diagram illustrating the V2N2X Function in the protocol layer of Central ITS-S.

[0030] FIG. 8 illustrates the case where a sensor message is transmitted based on (a) V2X and (b) V2N (e.g., transmitted to a server).

[0031] FIG. 9 shows the time (701) when the sensor of the original source perceived the message, the time (702) when the original source transmitted the message, and the time (703) when the server actually received the message, according to one embodiment.

[0032] Figure 10 illustrates an example of a combined sensor message transmitted by a server.

[0033] Figures 11 and 12 illustrate scenarios for transmitting combined sensor messages by a server (Central ITS-S), respectively.

[0034] FIG. 13 is a diagram illustrating the operation of a server (Central ITS-S) according to one embodiment.

[0035] FIG. 14 illustrates the flow of a method performed at a network node according to one embodiment.

[0036] FIG. 15 illustrates a communication system applicable to the present disclosure.

[0037] FIG. 16 illustrates a wireless device that can be applied to the present disclosure.

[0038] FIG. 17 shows another example of a wireless device applicable to the present disclosure.

[0039] FIG. 18 illustrates a vehicle or autonomous vehicle applicable to the present disclosure.

[0040] Sidelink (SL) refers to a communication method in which User Equipment (UE) establishes a direct link to directly exchange voice or data between terminals without passing through a Base Station (BS). SL is being considered as a solution to address the burden on base stations caused by rapidly increasing data traffic.

[0041] V2X (vehicle-to-everything) refers to a communication technology that exchanges information with other vehicles, pedestrians, and infrastructure-equipped objects through wired or wireless communication. V2X can be classified into four types: V2V (vehicle-to-vehicle), V2I (vehicle-to-infrastructure), V2N (vehicle-to-network), and V2P (vehicle-to-pedestrian). V2X communication can be provided through PC5 interfaces and / or Uu interfaces.

[0042] Figure 1 is a diagram illustrating a comparison between V2X communication based on RAT prior to NR and V2X communication based on NR.

[0043] Regarding V2X communication, prior to NR, RATs mainly discussed methods for providing safety services based on V2X messages such as BSM (Basic Safety Message), CAM (Cooperative Awareness Message), and DENM (Decentralized Environmental Notification Message). V2X messages can include location information, dynamic information, attribute information, etc. For example, a terminal can transmit a CAM of the periodic message type and / or a DENM of the event-triggered message type to another terminal.

[0044] For example, the CAM may include basic vehicle information such as dynamic state information of the vehicle, such as direction and speed, static data of the vehicle, such as dimensions, external lighting conditions, and route history. For example, a terminal may broadcast the CAM, and the latency of the CAM may be less than 100ms. For example, in the event of an unexpected situation such as a vehicle breakdown or accident, the terminal may generate a DENM and transmit it to other terminals. For example, all vehicles within the transmission range of the terminal may receive the CAM and / or DENM. In this case, the DENM may have a higher priority than the CAM.

[0045] Since then, regarding V2X communication, various V2X scenarios have been presented in NR. For example, various V2X scenarios may include vehicle platooning, advanced driving, extended sensors, remote driving, etc.

[0046] For example, based on vehicle platooning, vehicles can dynamically form groups and move together. For example, to perform platoon operations based on vehicle platooning, vehicles belonging to said group can receive periodic data from the lead vehicle. For example, vehicles belonging to said group can use said periodic data to reduce or increase the distance between vehicles.

[0047] For example, based on enhanced driving, vehicles can be semi-automated or fully automated. For example, each vehicle can adjust trajectories or maneuvers based on data acquired from local sensors of nearby vehicles and / or nearby logical entities. Additionally, for example, each vehicle can mutually share driving intentions with nearby vehicles.

[0048] For example, based on extended sensors, raw data or processed data or live video data acquired through local sensors can be exchanged between vehicles, logical entities, pedestrian terminals and / or V2X application servers. Thus, for example, a vehicle can perceive an environment that is enhanced compared to the environment it can detect using its own sensors.

[0049] For example, based on remote driving, a remote driver or V2X application can operate or control a remote vehicle for a person unable to drive or for a remote vehicle located in a dangerous environment. For example, in cases where the route is predictable, such as in public transportation, cloud computing-based driving can be used for the operation or control of the remote vehicle. Additionally, access to a cloud-based back-end service platform, for example, can be considered for remote driving.

[0050] Meanwhile, methods to specify service requirements for various V2X scenarios, such as vehicle platooning, enhanced driving, extended sensors, and remote driving, are being discussed in NR-based V2X communication.

[0051] Figure 2 shows a radio protocol architecture for SL communication. Specifically, Figure 2(a) shows the user plane protocol stack of NR, and Figure 2(b) shows the control plane protocol stack of NR.

[0052] Figure 3 shows a terminal performing V2X or SL communication.

[0053] Referring to FIG. 3, in V2X or SL communication, the term terminal may primarily refer to a user's terminal. However, if network equipment such as a base station transmits and receives signals according to the communication method between terminals, the base station may also be considered a type of terminal. For example, terminal 1 may be a first device (100), and terminal 2 may be a second device (200).

[0054] For example, terminal 1 can select a resource unit corresponding to a specific resource within a resource pool, which represents a set of resources. Then, terminal 1 can transmit an SL signal using the said resource unit. For example, terminal 2, which is a receiving terminal, can be configured with a resource pool in which terminal 1 can transmit a signal, and can detect terminal 1's signal within said resource pool.

[0055] Here, if terminal 1 is within the connection range of the base station, the base station may inform terminal 1 of the resource pool. On the other hand, if terminal 1 is outside the connection range of the base station, another terminal may inform terminal 1 of the resource pool, or terminal 1 may use a pre-configured resource pool.

[0056] Generally, a resource pool can be composed of multiple resource units, and each terminal can select one or more resource units to use for its SL signal transmission.

[0057] Sensor message containing sensor data

[0058] A message is defined for a device equipped with a sensor to transmit object information detected through the sensor. This message is referred to as SDSM (sensor data sharing message) in SAE standards and as CPM (Collective Perception Message) in ETSI standards.

[0059] In the following description, SDSM and CPM will be collectively referred to as sensor messages. A sensor message may mean at least one of SDSM or CPM. Additionally, the formats of the sensor data messages received by the network node (server) in the following description may differ from each other. For example, the network node (server) may receive an SDSM as a first sensor message from a first device and a CPM as a second sensor message from a second device and aggregate them. To do this, the network node (server) may convert CPM into SDSM or convert SDSM into CPM. Alternatively, the network node may convert them into a separate format for aggregation or extract information for aggregation from CPM / SDSM. The network node may combine the received sensor messages and transmit them; a message in this combined form will be referred to as a sensor combined message or simply a combined message. Furthermore, for convenience, the network node (server) will be referred to as Central IT-S.

[0060] In the following description, a network node (server) may include one or more subordinate nodes / servers. Such a network node (server) may be referred to as a Central ITS-S (ITS station).

[0061] Additionally, in the following description, the device transmitting the sensor message is a device equipped with a sensor and may include, but is not limited to, at least one of a VRU (Vulnerable Road User), OBU (On-Board Unit), or RSU (Road Side Unit) that transmits sensor data detected through the sensor. Alternatively, the device may transmit a sensor data message received from another device to a network node (server) and / or another device.

[0062] VRU may refer to a user who is vulnerable to serious injury in the event of a traffic accident due to weaker protection devices compared to a vehicle. Pedestrians, cyclists, and electric scooter users fall under the category of VRU, and they can be connected to ITS via User Devices (UE) to exchange sensor messages. In this specification, VRU may be used to refer to the UE equipped by the user.

[0063] An OBU is a communication device installed inside a vehicle that can transmit and receive sensor data messages containing information such as the vehicle's location, speed, and driving direction.

[0064] An RSU is a communication device installed on roadsides or traffic facilities that can transmit and receive sensor messages by sensing various information, such as road infrastructure information and pedestrian status information, through communication with OBU / VRU / network nodes.

[0065] Figure 4 shows the API between the Central ITS Station (C-ITS actor or third party) and the BI Client for backend communication.

[0066] Referring to Fig. 4, the protocol stack and procedure for a Central ITS-Station linked to the BI (Basic Interface) of the C-Roads platform to transmit a signed C-ITS message to a BI client are described.

[0067] The ITS-Station protocol stack may include an Application layer, a Facility layer, Basic Transport Protocol (BTP), and GeoNetworking. GeoNetworking is involved in location-based transport, and BTP is used to exchange Facility-layer data with GeoNetworking.

[0068] Looking at the process of delivering signed C?ITS messages, (1) a message for the AMQP payload is created, and (2) necessary attributes can be extracted (in the case of receiving) or created (in the case of sending) through the AMQP Application-property Extractor / Creator process. (3) AMQP Application properties are delivered to the BI client from the payload for the BI message, and (4) a message for the AMQP payload is delivered to the BI client.

[0069] Figure 5 is a diagram illustrating the interface between interchange entities between C-ITS actors defined in C-Roads.

[0070] In Fig. 5, the X system on the left and the Y system on the right correspond to independent C-ITS actors or third-party service backends, respectively. For example, X may be a central ITS station of a traffic management agency, and Y may be a backend of a vehicle OEM or an external traffic information provider. C-ITS actor X and C-ITS actor Y can exchange messages with each other through the Basic Interface (BI) defined by C-Roads, and the BI relates to a harmonized IP-based interface. Each C-ITS actor can filter messages transmitted and received through the BI.

[0071] Figure 6 illustrates the procedure performed between C-ITS actors.

[0072] First, each C-ITS actor A and B performs Basic Setup, and then performs Bilateral Certificate Exchange (301).

[0073] C-ITS actors A and B agree on the subscription target message type and receiving destination (queue, etc.) (302). At this time, configuration parameters and application requirements are set.

[0074] C-ITS actors A and B perform AMQP Message Setup (303). At this time, a filtering mechanism related to the AMQP application property is set up.

[0075] Once the setup is complete, C-ITS actors A and B can send and receive AMQP-based messages (304).

[0076] C-ITS messages are distinguished by a string type messageType field and have one of the values ​​DENM, IVIM, SPATEM, MAPEM, SREM, SSEM, and CAM.

[0077] It contains the index position value of the space associated with the C-ITS message as a string type value named quadTree.

[0078] If the C-ITS message is DENM, the causeCode and subCauseCode are included as filtering values.

[0079] If the C-ITS message is CAM, stationType and vehicleRole are included as filtering values.

[0080] Next, we will explain the method for controlling the object inclusion ratio defined in CPM messages.

[0081] When multiple ITS-S recognize the same unconnected V2X object or recognize an object that is an ITS-S (capable of transmitting and receiving V2X messages, such as a CAM), configuring the CPM may unnecessarily and frequently update information about that object, transmitting it to neighboring ITS-Ss and increasing network channel load. High channel load levels can lead to CPM loss, which consequently degrades CPS performance. To address this issue, objects may be included in or excluded from the CPM based on their Voting Value of Information (VoI). Information about an object is considered to be included in the CPM only when the transmitting ITS-S can associate the information of a received message with a locally recognized object with a reliability level higher than a specific threshold. Table 1 below lists possible methods for calculating the Voting Value of Information (VoI) of objects recognized by sensors, and calculations can be performed by combining various methods described in Table 1.

[0082] Method VoI Calculation Formula Priority Interpretation Frequency-based VoI is inversely proportional to the number of times the transmitting ITS-S received a CPM containing the same object during the time window W_InclusionRateControl. Objects with a low VoI have low priority because many remote ITS-S have already broadcast recently. Dynamics-based VoI is proportional to the difference in distance and velocity between the current location and the location included in the last CPM. Objects with a low VoI have low priority because the change in location and velocity is minimal. Distance-based VoI is proportional to the distance between the transmitting ITS-S and the farthest remote ITS-S. Objects with a low VoI have low priority because a nearby remote ITS-S has already broadcast. Angle-based VoI is proportional to the maximum difference in azimuth between the transmitting ITS-S-to-object vector and the remote ITS-S-to-object vector. Objects with a low VoI have low priority because they were detected at a similar azimuth and have already broadcast. Low Classification confidence-based VoI is proportional to the difference between the object confidence of the transmitting ITS-S and the highest confidence among the remote ITS-S. Objects with low VoI have low priority because information detected with higher confidence has already been broadcast. Perception quality-based VoI is proportional to the difference between the perception quality of the transmitting ITS-S and the highest perception quality among the remote ITS-S. Objects with low VoI have low priority because information detected with higher quality has already been broadcast. Utility-based VoI is proportional to the maximum information gain (e.g., relative entropy) obtained by the remote ITS-S when including the object in the CPM. Objects with low VoI have low priority because the information gain is small and therefore less meaningful to the remote ITS-S. Object Self-Announcement-based VoI is inversely proportional to the number of object-self-sent CAM, VAM, and CPM received by the transmitting ITS-S. Objects with low VoI selfLow priority because many messages have been sent

[0083] Sensor combination message

[0084] The server can receive individual sensor messages from one or more other source ITS stations belonging to the same area.

[0085] The following proposes a filtering method that a server can use when aggregating individual sensor messages. Through the proposed method, the server can reduce the amount of data transmitted over the network channel.

[0086] Figure 7 is a diagram illustrating the V2N2X Function in the protocol layer of Central ITS-S.

[0087] Referring to Fig. 7, the communication structure between Central ITS Stations is based on a hierarchically configured ITS protocol stack, and various protocols can be interoperable from the Application Layer to the Access Layer. Specifically, ITS applications are executed at the Application Layer, and the Facilities Layer below it can provide common functions for message processing.

[0088] The V2N2X Layer can function as an intermediate layer responsible for the additional processing required in V2N communication during message transmission and reception between C-ITS actors. Messages between networked ITS stations must pass through the V2N2X layer in addition to the existing V2X protocol, and this layer can execute separate functions by utilizing the information contained in messages transmitted between V2N-connected ITS stations.

[0089] At the Messaging Protocol layer, message exchange between servers takes place using AMQP / MQTT protocols, and these messages are transmitted through the Transport Layer (TCP / TLS), Network Layer (IPv4 or IPv6), and Access Layer, which consists of PDCP, RLC, MAC, PHY, etc.

[0090] The V2N2X Function is a layer capable of performing various processing on ITS messages generated during V2N-based communication, and can operate as a layer for message transmission and interpretation between service providers of the Central ITS Station.

[0091] Meanwhile, when an RSU, Vehicle, or VRU ITS station connected via V2N transmits a sensor message to a server, it can include information about the perceived region—the physical, geographical, or spatial area recognized by the sensor—in the sensor message.

[0092] Table 2 is an example of information about the recognition area.

[0093] Referring to Table 2, information about the recognition area may include at least one of the time information when the area was recognized by the sensor, accuracy measurements for the recognition area, and geographical shape information of the recognition area.

[0094] PerceivedRegion ::= SEQUENCE {measureTime DDateTime,perceivedRegionconf PositionConfidence,perceivedRegionShape Shape,}Shape::= CHOICE {rectangular RectangularShape,circular CircularShape,polygonal PolygonalShape,elliptical EllipticalShape,radial RadialShape,radialShapes RadialShapes,...}

[0095] At least one of the following may be included in the sensor message as shown in Table 3: the equipment type (e.g., one of RSU, Vehicle, VRU, unknown) of the ITS-S (hereinafter, source) that generates / transmits sensor messages by being equipped with the sensor, the location and location accuracy of the source, and / or information of objects detected by the sensor mounted on the source.

[0096] SensorDataSharingMessage ::= SEQUENCE {msgCnt MsgCount, -- Sequence numbersourceID TemporaryID, -- temporary vehicle / RSU / VRU ID. *Sensor Message SourceequipmentType EquipmentType, -- Sender typesDSMTimeStamp DDateTime, -- SDSM transmission timerefPos Position3D, -- Sender reference positionrefPosXYConf PositionalAccuracy,refPosElConf ElevationConfidence OPTIONAL,objects DetectedObjectList -- detected objects}

[0097] FIG. 8 illustrates cases where a sensor message is transmitted based on (a) V2X and (b) V2N (e.g., transmitted to a server). In case (b) when transmitted based on V2N, additional information about the recognition area may be included in addition to the sensor message transmitted based on (a) V2X.

[0098] Specifically, as illustrated in FIG. 8(a), the sensor message may include fields such as msgCount, ID, EquipmentType, transmissionTime, referencePosition, positionAccuracy, elevationConfidence, and detectedObjectList, and can be utilized as a sensor-based object recognition information transmission message structure applicable to both V2X and V2N.

[0099] Meanwhile, FIG. 8(b) illustrates an example where an ITS station connected via V2N transmits a sensor message to a server. In this case, in addition to the message fields of (a), information regarding the perception area, such as Sensor message type, Sensor perception time, Sensor Perception Region, and Confidence Level, may be additionally included. As described below, this additional information regarding the perception area can not only clarify the temporal and spatial reliability and range of the object recognized by the sensor but can also be used as a basis for a filtering function to perform aggregation of sensor messages more efficiently at the server.

[0100] The server transmits sensor messages received from an ITS station equipped with a sensor (e.g., RSU or Vehicle, etc.) to another ITS station connected via V2N (e.g., another RSU, Vehicle, and / or C-ITS S server, etc.). The server can set a specific threshold time (T_Duration_aggregation) and perform the operation of aggregating and transmitting one or more sensor messages received within that time.

[0101] According to the method proposed in the present disclosure, a server can obtain information regarding the perceived region recognized by each sensor from sensor messages received from other ITS stations. Depending on the information regarding the perceived region recognized by one or more sensors, the server may perform aggregation differently.

[0102] Case 1) When one Perceived Region A includes other Regions

[0103] For example, Case 1 may be relevant when the recognition area of ​​one sensor message includes all the recognition areas of the other remaining sensor messages.

[0104] For example, a server may receive a first sensor message and at least one second sensor message(s) from different sources, and the recognition region of the first sensor message is Perceived Region A, and Perceived Region A may include the recognition regions of at least one second sensor message(s). In this case, the server may perform aggregation of the first sensor message and at least one second sensor message(s) in the following manner.

[0105] A. For example, the server can combine sensor messages based on confidence level information for Perceived Region A. To explain examples of confidence levels, the SAE allows a device transmitting a sensor message to attach a confidence value to indicate the confidence level of that value. Confidence values ​​are defined for various values, such as Object type, time, position, speed, heading, acceleration, and yaw rate, as shown in Table 4.

[0106] DetectedObjectCommonData::= SEQUENCE {objType ObjectType,objTypeCfd ClassificationConfidence,objectID ObjectID,-- temporary ID assigned by sourcemeasurementTime MeasurementTimeOffset,-- Detection timetimeConfidence TimeConfidence,pos PositionOffsetXYZ,posConfidence PositionConfidenceSet,speed Speed,speedConfidence SpeedConfidence,speedZ Speed OPTIONAL,speedConfidenceZ SpeedConfidence OPTIONAL,heading Heading,headingConf HeadingConfidence,accel4way AccelerationSet4Way OPTIONAL,accCfdX AccelerationConfidence OPTIONAL,accCfdY AccelerationConfidence OPTIONAL,accCfdZ AccelerationConfidence OPTIONAL,accCfdYaw YawRateConfidence OPTIONAL,...}

[0107] When representing position information, offset information is expressed based on the reference position, and it is defined to be displayed together with PositionConfidenceSet as shown in Table 4.

[0108] The position confidence level describes the maximum error limit at a 95% confidence level for the current position value acquired from a sensor (e.g., GNSS, INS). This value is defined based on the horizontal plane and is intended solely to inform the user of the limitations of position measurement; it is not data intended to directly support automatic correction or fault diagnosis. If the vehicle can determine sensor defects through self-diagnostic functions, it may be configured to declare an appropriately wider error range. The position confidence level can be transmitted as a 4-bit enumerated value. A value of 0 indicates an unavailable state, which may suggest that the equipment is unable to provide the relevant information or is disabled. The position confidence level can be described as a mechanism that concisely expresses, in a 4-bit value, the information that "the position value is likely to be within ±X meters (95% probability) of the actual position." For example, the position confidence level can be understood as an indicator that expresses, in fine units, the extent of potential error regarding the value measured by the sensor.

[0109] In the case where one perceived region A includes (all) other regions as in the example above, if (i) the confidence level recognized by the original source for the said perceived region A is greater than or equal to a specific threshold (e.g., 90%), and (ii) the time delay from the time the original source recognized the perceived region (e.g., the time the sensor recognized the perceived region) to the time the server received the message is less than a specific threshold time (e.g., 500ms), the server may compile only the detected object list included in the first sensor message into the server’s aggregated sensor message. For example, the server may not aggregate the detected object list included in another second sensor message corresponding to the perceived regions included in the perceived region A. The server may transmit the sensor message aggregated by the server to another ITS station that has registered the said perceived region A as a region of interest.

[0110] B. Even if one recognition area A includes (all) other recognition areas, if the confidence level recognized by the original source for the recognition area is below a specific threshold (e.g., 90%), the server may aggregate all second sensor message(s) received within T_Duration_aggregation to form all detected object lists included in each second sensor message into the server's combined sensor message. In this case, the operation of Case 2 or Case 3 may be performed as described below.

[0111] C. Even if the first sensor message recognizes recognition area A, which includes all other recognition areas, as a sensor, if the time delay from the recognition time written by the original source (the time the sensor recognized the area) to the time the server received the message is greater than a specific threshold time (e.g., 500ms), the server may compose all detected object lists included in each second sensor message into the server's combined sensor message. In this case, the operation of Case 2 or Case 3 may be performed as described below.

[0112] Case 2) When sensors attached to one or more source units cover the same area

[0113] For example, Case 2 is not an inclusion relationship like Case 1 / 3, but may be related to cases where the recognition regions of different sensor messages are identical. For example, the recognition region of a first sensor message received at a first source and the recognition region of a second sensor message received at a second source may be (substantially) identical.

[0114] Alternatively, the operation of Case 2 may be performed when, even if one recognition region A includes all other recognition regions as in Case 1, it is determined that generating a combined message based only on the recognition region A is inappropriate (e.g., reliability and / or time delay issues).

[0115] A. The server may consider a method of aggregating the detected object list included in the sensor messages from the original sources as is. In this case, since objects detected by different ITS stations (different sources) may differ even if they cover the same area, information on all objects can be transmitted; however, the aggregated sensor messages transmitted by the server may increase network usage.

[0116] B. The server analyzes the reliability of each sensor message generated from the original source, and if the difference in reliability exceeds a specific threshold, it aggregates the detected object list contained in the high-reliability message into the server's combined sensor message. If the difference in reliability is significantly greater than the specific threshold, the detected object list contained in the low-reliability sensor message may not be aggregated into the combined sensor message.

[0117] C. If other sensor messages covering the same area have the same reliability, the server can calculate the final latency for the sensor message transmitted by the source using at least one of the time the source sensor perceived (measureTime), the time the source transmitted the message (transmissionTime), and the time the server actually received the message. The server can aggregate the detected object list included in the sensor message with the short final latency (e.g., below a threshold) into the combined sensor message.

[0118] FIG. 9 illustrates, according to one embodiment, the time (701) when the sensor of the original source perceived the message, the time (702) when the original source transmitted the message, and the time (703) when the server actually received the message. The time from the time of perception (701) to the time when the original source transmitted the message (702) corresponds to the time taken for the original source to process the sensor message, and the time from the time when the original source transmitted the message (702) to the time when the server received the message (703) may correspond to the time taken for network delivery.

[0119] Meanwhile, if the server takes more than a certain threshold time to process the results recognized by the original source sensor and convert them into a message, the corresponding sensor message may not be aggregated within the combined sensor message.

[0120] In addition, the server may not aggregate if the network delivery time taken from the source starting to transmit the sensor message until it reaches the server exceeds a certain threshold time.

[0121] If the processing of sensor messages from one or more source sources covering the same area is performed within a specific threshold time, and latency within a specific threshold time is taken from the start of transmitting the message until it reaches the server, the server may aggregate only the detected object list included in the sensor message recognized at the more recent time based on the perception time of the source source sensor and include it in the server message.

[0122] Case 3) When the area recognized by the sensor is included in the sensor area used in sensor messages received from other source sources

[0123] For example, Case 3 may correspond to a case where the recognition area of ​​one sensor message, such as Case 1, does not include the recognition areas of all other sensor messages, but the recognition areas of different sensor messages have a mutual inclusion / superior-subordinate relationship.

[0124] Alternatively, the operation of Case 3 may be performed when, even if one recognition region A includes all other recognition regions as in Case 1, it is determined that generating a combined message based only on the recognition region A is inappropriate (e.g., reliability and / or time delay issues).

[0125] In this case, if the sensor recognition reliability is above a certain threshold (e.g., 99%), and the difference between the time the server receives the sensor message and the time the original source recognizes the sensor is below a certain threshold (e.g., 50ms), the server can include the detected object list as the server's sensor message through an aggregation operation for the sensor message received from the original source.

[0126] Case 4) When the reception time of sensor messages from source sources received by the server is longer than a specific threshold time

[0127] For example, the reception time of a sensor message may refer to the time delay taken to receive the sensor message (e.g., network transmission delay, etc.).

[0128] In this case, the server recognizes that the current network state is unstable and can perform sensor message aggregation considering the current network state. For example, if the sensor recognition areas received from the source sources are identical or overlap, the server may configure the server's sensor messages using only one sensor message based on at least one of the following conditions, considering the unstable network state.

[0129] A. Configure only the detected object list of sensor messages with higher reliability as the server's sensor messages.

[0130] B. The detected object list included in a sensor message from the original source where the station type is RSU can be configured as a sensor message on the server.

[0131] C. The server's sensor message can include a list of detected objects that are included in the more recent sensor message, with a time detected by the original source sensor.

[0132] FIG. 10 illustrates an example of a combined sensor message transmitted by a server. Unlike FIG. 8(b), the message of FIG. 10 further includes a category of the region as additional information regarding the perception region determined by the server.

[0133] As shown in FIG. 10, in one example of the present disclosure, a server receives a sensor message transmitted by an ITS Station equipped with a sensor, and after the server determines where the category of the region perceived by the sensor belongs, the server can include additional information regarding the perceived region determined by the server in the combined sensor message information from the server and transmit it.

[0134] Servers generally have superior processing performance compared to specific terminal ITS stations (e.g., smartphones or network-connected applications installed in vehicles) and are fast at processing large amounts of data, so it is easy to identify the characteristics of a region by utilizing large amounts of information, such as MAP data, regarding region information perceived by sensors.

[0135] For example, if the area perceived by a sensor includes a crosswalk and a VRU is detected within this area, the server can prioritize the sensor message information indicating this and include it in V2N-based sensor messages transmitted over the network. Additionally, if a 'traffic accident hotspot' is included within the sensor's perceived area, notifying the system of this can help reduce the occurrence of traffic accidents.

[0136] For example, the proposed region category can be defined as shown in Table 5 below.

[0137] RegionCategory ::= BIT STRING {unavailable (0),crosswalk (1),traffic accident zone (2),school zone (3)}

[0138] Figures 11 and 12 illustrate scenarios for transmitting combined sensor messages by a server (Central ITS-S), respectively.

[0139] Referring to the scenario of FIG. 11, the combined sensor message (903) of the server can be configured based on the aggregation of sensor messages (901) and sensor messages (902) transmitted from one or more source RSUs (905) and Vehicles (906).

[0140] In this embodiment, the sensor recognition area corresponding to the sensor message (902) of the Vehicle (906) is included in the sensor recognition area of ​​the RSU (905). In this case, the server does not aggregate the detected object list (Vehicle 907) included in the sensor message (902) of the Vehicle (906), but can configure the detected object list (Vehicle 904, 907) included in the sensor message of the RSU (905) into the server's combined sensor message.

[0141] The combined sensor message (903) of the server can be transmitted via network to the VRU device (908) that has entered Topic 1, and the VRU device (908) that receives the sensor message (903) of the server can inform the user of information related to two vehicles (vehicles 904, 907).

[0142] Next, referring to the scenario of FIG. 12, the combined sensor message (A03) of the server can be configured through an aggregation operation based on sensor messages (A01) and sensor messages (A02) transmitted from original source RSUs equipped with sensors that recognize one or more different regions. The RSU transmitting sensor message (A01) is referred to as the first RSU, and the RSU transmitting sensor message (A02) is referred to as the second RSU.

[0143] When a server determines that a region (A09) recognized by the first RSU includes a crosswalk, and transmits a combined sensor message (903) aggregated by the server to another ITS station connected via a network, it may include information indicating that a crosswalk is included in the area (A09) recognized by the first RSU's sensor within the combined sensor message (903), and may construct the message by preferentially including objects (VRU A10, A11) recognized in this area (A09) in the combined sensor message (903) aggregated by the server.

[0144] The combined sensor message (A03) is transmitted to a motorcycle VRU device (A06) connected to the network, thereby providing priority information about the recognized VRU (A10, A11) crossing the crosswalk.

[0145] FIG. 13 is a diagram illustrating the operation of a server (Central ITS-S) according to one embodiment.

[0146] Referring to FIG. 13, the server can start a sensor recognition detection object information service (B01).

[0147] The server can receive sensor messages from source sources equipped with sensors (B02).

[0148] The server can process sensor messages to identify the sensor recognition areas of the original sources (B03).

[0149] For each of the recognized areas, the server determines whether it is a high-priority area, and if so (B04), if it is a high-priority area, the server may construct and transmit a message using only the message received from the source that is determined to have the highest priority among the source sources (B05). For example, high-priority areas may be predefined and may include, for example, school zones, crosswalks, accident-prone areas, but are not limited thereto.

[0150] The server can compare the recognition regions of the received sensor messages (B06) and determine whether one sensor recognition region includes all other regions as in Case 1 (B07), whether there is a relationship of inclusion as in Case 1 but different recognition regions include each other as in Case 3 (B10), or whether different recognition regions are the same as in Case 2 (B13).

[0151] In Case 1, the server determines the conditions of the corresponding sensor message (B08), and if the conditions are met, it can form a combined sensor message using only the sensor message of the largest area, excluding sensor messages received from other source sources (B09).

[0152] In the case of Case 3, the server determines the conditions of the sensor messages (B11), and depending on whether the conditions are satisfied, can configure the combined sensor message according to the method described above (B12).

[0153] In Case 2, the server determines the conditions of the sensor messages (B14) and can construct a combined sensor message based on the message received from the source determined to have the highest priority (B15).

[0154] FIG. 14 illustrates the flow of a method performed at a network node according to one embodiment.

[0155] Referring to FIG. 14, a network node can receive multiple sensor messages containing information about objects detected by each sensor from multiple source devices, each of which is equipped with a sensor (C05).

[0156] A network node can generate a combined sensor message based on the aggregation of the plurality of sensor messages (C10).

[0157] The network node can transmit the combined sensor message (C15).

[0158] Each of the above plurality of sensor messages includes (i) information about the recognition area of ​​each sensor and (ii) information about reliability, and the first recognition area of ​​the first sensor message received from the first source device among the plurality of source devices may include the recognition areas of the remaining sensor messages received from other source devices.

[0159] In generating the combined sensor message, the network node may generate the combined sensor message based on the first sensor message without combining the remaining sensor messages based on the first reliability of the first sensor message being greater than or equal to the first threshold, and generate the combined sensor message based on combining the remaining sensor messages based on the first reliability of the first sensor message being less than the first threshold.

[0160] The reliability information included in each of the plurality of sensor messages may be related to at least one of reliability for object classification, reliability for object detection time, reliability for recognition area location, or reliability for object velocity / acceleration.

[0161] In generating the combined sensor message, the network node may generate the combined sensor message based on the first sensor message without combining the remaining sensor messages based on the fact that the time delay from the sensor recognition time of the first sensor message to the time when the first sensor message is received is less than a second threshold, and may generate the combined sensor message based on the combination of the remaining sensor messages based on the fact that the time delay is greater than or equal to the threshold.

[0162] The combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the second sensor message and the third sensor message among the remaining sensor messages have the same recognition area, the network node can configure the combined sensor message based on the smaller calculated time delay between the second sensor message and the third sensor message.

[0163] The calculation of the above time delay can be performed based on the sensor recognition time, the time taken for the source's message processing, and the time taken for network transmission.

[0164] The combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the second sensor message and the third sensor message among the remaining sensor messages have the same recognition area, the network node can configure the combined sensor message based on the one with higher reliability between the second sensor message and the third sensor message.

[0165] A combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the time delay associated with the remaining sensor messages is greater than or equal to a third threshold, the network node can construct the combined sensor message based on the sensor messages received from RSU (road side unit) source devices among the remaining sensor messages.

[0166] The above combined sensor message further includes area category information, and the area category information can be set to one of a number of area categories including crosswalks, accident-prone areas, and school zones.

[0167] The above network node may be a central server in an Intelligent Transportation System (ITS).

[0168] The above plurality of sensor messages may be related to at least one of SDSM (sensor data sharing message) or CPM (Collective Perception Message).

[0169] FIG. 15 illustrates a communication system applicable to the present embodiment.

[0170] Referring to FIG. 15, a communication system (1) applicable to the present embodiment includes a wireless device, a base station, and a network. Here, the wireless device refers to a device that performs communication using 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 Thing) device (100f), and an AI device / server (400). For example, the vehicle may include a vehicle equipped with wireless communication capabilities, an autonomous vehicle, a vehicle capable of performing inter-vehicle communication, etc. Here, the vehicle may include an Unmanned Aerial Vehicle (UAV) (e.g., a drone). XR devices include AR (Augmented Reality) / VR (Virtual Reality) / MR (Mixed Reality) devices and can be implemented in the form of 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, digital signage, a vehicle, a robot, etc. Portable devices may include smartphones, smartpads, wearable devices (e.g., smartwatches, smart glasses), computers (e.g., laptops, etc.). Home appliances may include TVs, refrigerators, washing machines, etc. IoT devices may include sensors, smart meters, etc. For example, base stations and networks may be implemented as wireless devices, and a specific wireless device (200a) may operate as a base station / network node to other wireless devices.

[0171] Wireless devices (100a to 100f) can be connected to a network (300) through a base station (200). Artificial Intelligence (AI) technology may be applied to the wireless devices (100a to 100f), and the wireless devices (100a to 100f) can be connected to an AI server (400) through the network (300). The network (300) can be configured using a 3G network, a 4G (e.g., LTE) network, or a 5G (e.g., NR) network. The wireless devices (100a to 100f) may communicate with each other through the base station (200) / network (300), but they may 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). Also, IoT devices (e.g., sensors) can communicate directly with other IoT devices (e.g., sensors) or other wireless devices (100a to 100f).

[0172] Wireless communication / connection (150a, 150b, 150c) can be established between wireless devices (100a~100f) / base station (200) and base station (200) / base station (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 inter-base station communication (150c) (e.g., relay, IAB (Integrated Access Backhaul)). Through wireless communication / connection (150a, 150b, 150c), wireless devices and base stations / wireless devices, and base stations and base stations can transmit / receive wireless signals to / from each other. For example, wireless communication / connection (150a, 150b, 150c) can transmit / receive signals through various physical channels. To this end, based on various proposals of the present disclosure, at least some of the following may be performed: 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.), resource allocation processes, etc.

[0173] FIG. 16 illustrates a wireless device that can be applied to the present disclosure.

[0174] Referring to FIG. 16, the first wireless device (100) and the second wireless device (200) can transmit and receive wireless signals through various wireless access technologies (e.g., LTE, NR). Here, {the first wireless device (100), the second wireless device (200)} may correspond to {wireless device (100x), base station (200)} and / or {wireless device (100x), wireless device (100x)} of FIG. 27.

[0175] The first wireless device (100) includes one or more processors (102) and one or more memories (104), and may additionally include one or more transceivers (106) and / or one or more antennas (108). The processor (102) controls the memory (104) and / or transceivers (106) and may be configured to implement the descriptions, functions, procedures, proposals, methods and / or flowcharts of operation disclosed in this document. For example, the processor (102) may process information within the memory (104) to generate a first information / signal and then transmit a wireless signal containing the first information / signal through the transceiver (106). Additionally, the processor (102) may receive a wireless signal containing a second information / signal through the transceiver (106) and then store information obtained from the 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 store software code containing instructions for performing some or all of the processes controlled by the processor (102) or for performing the descriptions, functions, procedures, proposals, methods, and / or operation sequence diagrams disclosed in this document. Here, the processor (102) and the memory (104) may be part of a communication modem / circuit / chipset designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (106) may be connected to the processor (102) and may transmit and / or receive wireless signals through one or more antennas (108). The transceiver (106) may include a transmitter and / or receiver. The transceiver (106) may be combined with an RF (Radio Frequency) unit. In this specification, a wireless device may refer to a communication modem / circuit / chipset.

[0176] Specifically, the UE may include a processor (102) connected to the RF transceiver and a memory (104). The memory (104) may include at least one program capable of performing operations related to the embodiments described in FIGS. 15 to 27.

[0177] Alternatively, a chipset including a processor (102) and a memory (104) may be configured. In this case, the chipset may include at least one processor and at least one memory operably connected to said at least one processor and, when executed, causing said at least one processor to perform an operation.

[0178] The second wireless device (200) includes one or more processors (202) and one or more memories (204), and may additionally include one or more transceivers (206) and / or one or more antennas (208). The processor (202) controls the memory (204) and / or transceivers (206) and may be configured to implement the descriptions, functions, procedures, proposals, methods and / or operation sequences disclosed in this document. For example, the processor (202) may process information within the memory (204) to generate a third information / signal and then transmit a wireless signal containing the third information / signal through the transceiver (206). Additionally, the processor (202) may receive a wireless signal containing a fourth information / signal through the transceiver (206) and then store information obtained from the signal processing of the fourth information / signal in the memory (204). Memory (204) may be connected to the processor (202) and may store various information related to the operation of the processor (202). For example, memory (204) may store software code containing instructions for performing some or all of the processes controlled by the processor (202) or for performing the descriptions, functions, procedures, proposals, methods, and / or operation sequences disclosed in this document. Here, the processor (202) and memory (204) may be part of a communication modem / circuit / chip designed to implement wireless communication technology (e.g., LTE, NR). A transceiver (206) may be connected to the processor (202) and may transmit and / or receive wireless signals through one or more antennas (208). The transceiver (206) may include a transmitter and / or receiver. The transceiver (206) may be interchangeable with an RF unit. In this specification, a wireless device may mean a communication modem / circuit / chip.

[0179] Hereinafter, 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 Service Data Units (SDUs) according to the descriptions, functions, procedures, proposals, methods, and / or flowcharts of operation 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 flowcharts of operation disclosed in this document. One or more processors (102, 202) may generate a signal (e.g., baseband signal) containing a PDU, SDU, message, control information, data, or information according to the functions, procedures, proposals, and / or methods disclosed in this document and provide it to one or more transceivers (106, 206). One or more processors (102, 202) may receive a signal (e.g., baseband signal) from one or more transceivers (106, 206) and may obtain a PDU, SDU, message, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or flowcharts disclosed in this document.

[0180] One or more processors (102, 202) may be referred to as a controller, microcontroller, microprocessor, or 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 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. Firmware or software configured to perform the descriptions, functions, procedures, proposals, methods, and / or operation sequences disclosed in this document may be contained in one or more processors (102, 202) or stored in one or more memories (104, 204) and driven by one or more processors (102, 202). The descriptions, functions, procedures, proposals, methods, and / or operation sequences disclosed in this document may be implemented using firmware or software in the form of code, instructions, and / or sets of instructions.

[0181] One or more memories (104, 204) may be connected to one or more processors (102, 202) and may store various forms of data, signals, messages, information, programs, code, instructions, and / or commands. One or more memories (104, 204) may be composed of ROM, RAM, EPROM, flash memory, hard drive, registers, cache memory, computer read storage media, and / or combinations thereof. One or more memories (104, 204) may be located inside and / or outside of one or more processors (102, 202). Additionally, one or more memories (104, 204) may be connected to one or more processors (102, 202) through various technologies such as wired or wireless connections.

[0182] One or more transceivers (106, 206) may transmit user data, control information, wireless signals / channels, etc., as mentioned in the methods and / or operation flowcharts, etc., of this document to one or more other devices. One or more transceivers (106, 206) may receive user data, control information, wireless signals / channels, etc., as mentioned in the descriptions, functions, procedures, proposals, methods and / or operation flowcharts, etc., disclosed in this document from one or more other devices. For example, one or more transceivers (106, 206) may be connected to one or more processors (102, 202) and may transmit and receive wireless signals. For example, one or more processors (102, 202) may 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 connected 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, etc., as described in the descriptions, functions, procedures, proposals, methods, and / or flowcharts of operation disclosed in this document through 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 the received wireless signal / channel, etc. from an RF band signal to a baseband signal in order to process the received user data, control information, wireless signal / channel, etc. using one or more processors (102, 202).One or more transceivers (106, 206) can convert user data, control information, wireless signals / channels, etc. processed using one or more processors (102, 202) from baseband signals to RF band signals. To this end, one or more transceivers (106, 206) may include (analog) oscillators and / or filters.

[0183] FIG. 17 illustrates another example of a wireless device applicable to the present embodiment. The wireless device may be implemented in various forms depending on the use-example / service (see FIG. 27).

[0184] Referring to FIG. 17, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 16 and may be composed of various elements, components, units / parts, 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 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. 17. 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 additional elements (140) and controls the general operation of the wireless device. For example, the control unit (120) may control the electrical / mechanical operation of the wireless device based on a program / code / command / information stored in the memory unit (130). Additionally, the control unit (120) may transmit information stored in the memory unit (130) to an external (e.g., another communication device) via a wireless / wired interface through the communication unit (110), or store information received from an external (e.g., another communication device) via a wireless / wired interface through the communication unit (110) in the memory unit (130).

[0185] The additional element (140) can be configured in various ways depending on the type of 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 financial device), a security device, a climate / environment device, an AI server / device (Fig. 15, 400), a base station (Fig. 15, 200), a network node, etc. Wireless devices can be used in a movable or fixed location depending on the use—e.g., service.

[0186] In FIG. 17, 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 a portion 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). Additionally, each element, component, unit / part, and / or module within the wireless device (100, 200) may include one or more additional elements. For example, the control unit (120) may be composed of one or more sets of processors. For example, the control unit (120) may be composed of a set of a communication control processor, an application processor, an Electronic Control Unit (ECU), a graphics processing processor, a memory control processor, etc. As another example, the memory unit (130) may be composed of RAM (Random Access Memory), DRAM (Dynamic RAM), ROM (Read Only Memory), flash memory, volatile memory, non-volatile memory and / or a combination thereof.

[0187] FIG. 18 illustrates a vehicle or autonomous vehicle applicable to the present embodiment. The vehicle or autonomous vehicle may be implemented as a mobile robot, vehicle, train, manned / unmanned aerial vehicle (AV), ship, etc.

[0188] Referring to FIG. 18, a vehicle or autonomous vehicle (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a driving unit (140a), a power supply unit (140b), a sensor unit (140c), and an autonomous driving unit (140d). The antenna unit (108) may be configured as part of the communication unit (110). Blocks 110 / 130 / 140a to 140d correspond to blocks 110 / 130 / 140 of FIG. 16, respectively.

[0189] The communication unit (110) can transmit and receive signals (e.g., data, control signals, etc.) with external devices such as other vehicles, base stations (e.g., base stations, roadside base stations (Roadside units), etc.), and servers. The control unit (120) can perform various operations by controlling elements of the vehicle or autonomous vehicle (100). The control unit (120) may include an Electronic Control Unit (ECU). The driving unit (140a) can drive the vehicle or autonomous vehicle (100) on the ground. The driving unit (140a) may include an engine, motor, power train, wheels, brakes, steering device, etc. The power supply unit (140b) supplies power to the vehicle or autonomous vehicle (100) and may include wired / wireless charging circuits, batteries, etc. The sensor unit (140c) can obtain vehicle status, surrounding environment information, user information, etc. The sensor unit (140c) may include an IMU (inertial measurement unit) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight detection sensor, a heading sensor, a position module, a vehicle forward / reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illuminance sensor, a pedal position sensor, etc. The autonomous driving unit (140d) may implement technologies such as maintaining the driving lane, technologies for automatically adjusting speed such as adaptive cruise control, technologies for automatically driving along a predetermined path, and technologies for automatically setting a path and driving when a destination is set.

[0190] For example, the communication unit (110) can receive map data, traffic information data, etc. from an external server. The autonomous driving unit (140d) can generate an autonomous driving path and a driving plan based on the acquired data. The control unit (120) can control the drive unit (140a) so that the vehicle or the autonomous vehicle (100) moves along the autonomous driving path according to the driving plan (e.g., speed / direction control). During autonomous driving, the communication unit (110) can acquire the latest traffic information data from an external server non-periodically and can acquire surrounding traffic information data from surrounding vehicles. Additionally, during autonomous driving, the sensor unit (140c) can acquire vehicle status and surrounding environment information. The autonomous driving unit (140d) can update the autonomous driving path and the driving plan based on the newly acquired data / information. The communication unit (110) can transmit information regarding the vehicle location, autonomous driving path, driving plan, etc. to an external server. An external server can predict traffic information data in advance using AI technology, etc., based on information collected from vehicles or autonomous vehicles, and can provide the predicted traffic information data to vehicles or autonomous vehicles.

[0191] Here, the wireless communication technology implemented in the wireless device (XXX, YYY) of this specification may include LTE, NR, and 6G, as well as Narrowband Internet of Things for low-power communication. For example, NB-IoT technology may be an example of LPWAN (Low Power Wide Area Network) technology and may be implemented according to standards such as LTE Cat NB1 and / or LTE Cat NB2, but is not limited to the names mentioned above. Additionally, or generally, the wireless communication technology implemented in the wireless device (XXX, YYY) of this specification may perform communication based on LTE-M technology. For example, LTE-M technology may be an example of LPWAN technology and may be referred to by various names such as eMTC (enhanced Machine Type Communication). For example, LTE-M technology may be implemented in 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 names mentioned above. Additionally or generally, wireless communication technology implemented in the wireless device (XXX, YYY) of this specification may include at least one of ZigBee, Bluetooth, and Low Power Wide Area Network (LPWAN) with consideration for low-power communication, and is not limited to the names mentioned above. As an example, ZigBee technology can create personal area networks (PANs) related to small / low-power digital communication based on various standards such as IEEE 802.15.4, and may be referred to by various names.

[0192] The embodiments described above are combinations of the components and features of the present disclosure in a specific form. Each component or feature should be considered optional unless otherwise explicitly stated. Each component or feature may be implemented in a form not combined with other components or features. Additionally, it is possible to construct embodiments of the present disclosure by combining some components and / or features. The order of operations described in the embodiments of the present disclosure may be changed. Some components or features of one embodiment may be included in another embodiment, or may be replaced with corresponding components or features of another embodiment. It is obvious that embodiments may be constructed by combining claims that are not explicitly related in the claims, or that they may be included as new claims by amendment after filing.

[0193] In this document, the embodiments of the present disclosure are described primarily with regard to the signal transmission and reception relationship between a terminal and a base station. This transmission and reception relationship extends in the same or similar manner to the signal transmission and reception between a terminal and a relay or between a base station and a relay. Specific operations described in this document as being performed by a base station may, in some cases, be performed by its upper node. That is, it is evident that various operations performed for communication with a terminal in a network consisting of multiple network nodes including a base station may be performed by the base station or other network nodes other than the base station. The base station may be replaced by terms such as fixed station, Node B, eNode B (eNB), and access point. Additionally, the terminal may be replaced by terms such as User Equipment (UE), Mobile Station (MS), and Mobile Subscriber Station (MSS).

[0194] Embodiments according to the present disclosure may be implemented by various means, e.g., hardware, firmware, software, or a combination thereof. In the case of implementation by hardware, an embodiment of the present disclosure may be implemented by one or more ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors, controllers, microcontrollers, microprocessors, etc.

[0195] In the case of implementation by firmware or software, an embodiment of the present disclosure may be implemented in the form of a module, procedure, function, etc., that performs the functions or operations described above. Software code may be stored in a memory unit and executed by a processor. The memory unit may be located inside or outside the processor and may exchange data with the processor by various means already known.

[0196] It is obvious to those skilled in the art that the present disclosure may be embodied in other specific forms without departing from the technical features. Accordingly, the foregoing detailed description should not be interpreted restrictively in all respects but should be considered exemplary. The scope of the invention shall be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the invention are included within the scope of the invention.

[0197] The embodiments of the present disclosure as described above can be applied to various devices of an intelligent transportation system.

Claims

1. In a method performed by a network node, Receiving a plurality of sensor messages containing information about objects detected by each sensor from a plurality of source devices, each equipped with a sensor; Generating a combined sensor message based on the aggregation of the plurality of sensor messages above; and It includes transmitting the above combined sensor message, Each of the above plurality of sensor messages includes (i) information about the recognition area of ​​each sensor and (ii) information about reliability, and The first recognition area of ​​a first sensor message received from a first source device among the plurality of source devices includes recognition areas of the remaining sensor messages received from other source devices, and In generating the above combined sensor message, the network node, Based on the fact that the first reliability of the first sensor message is greater than or equal to the first threshold, the combined sensor message is generated based on the first sensor message without combining the remaining sensor messages, and A method for generating a combined sensor message based on the combination of the remaining sensor messages, based on the first reliability of the first sensor message being less than the first threshold.

2. In Paragraph 1, A method in which information regarding reliability included in each of the plurality of sensor messages is related to at least one of reliability regarding object classification, reliability regarding object detection time, reliability regarding recognition area location, or reliability regarding object velocity / acceleration.

3. In Paragraph 1, In generating the above combined sensor message, the network node, Based on the fact that the time delay from the sensor recognition time of the first sensor message to the time when the first sensor message is received is less than a second threshold, the combined sensor message is generated based on the first sensor message without combining the remaining sensor messages, and A method for generating the combined sensor message based on the combination of the remaining sensor messages based on the fact that the time delay is greater than or equal to the threshold.

4. In Paragraph 1, The combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the second sensor message and the third sensor message among the remaining sensor messages have the same recognition area, the network node, A method for configuring the combined sensor message based on the smaller calculated time delay between the second sensor message and the third sensor message.

5. In Paragraph 4, A method for calculating the above time delay based on the sensor recognition time, the time taken for the source's message processing, and the time taken for network transmission.

6. In Paragraph 1, The combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the second sensor message and the third sensor message among the remaining sensor messages have the same recognition area, the network node, A method for configuring the combined sensor message based on the one with higher reliability among the second sensor message and the third sensor message.

7. In Paragraph 1, Based on the combination of the remaining sensor messages, the combined sensor message is generated, and based on the fact that the time delay associated with the remaining sensor messages is greater than or equal to a third threshold, the network node, A method for configuring the combined sensor message based on sensor messages received from RSU (road side unit) source devices among the remaining sensor messages.

8. In Paragraph 1, The above combined sensor message further includes area category information, and A method in which the above area category information is set as one of a plurality of area categories including crosswalks, accident-prone areas, and school zones.

9. In Paragraph 1, A method in which the above network node is a central server in an Intelligent Transportation System (ITS).

10. In Paragraph 1, A method in which the plurality of sensor messages are related to at least one of SDSM (sensor data sharing message) or CPM (Collective Perception Message).

11. A non-transitory recording medium storing instructions that, when executed by a processor of a network node, cause said network node to perform operations, said operations being: Receiving a plurality of sensor messages containing information about objects detected by each sensor from a plurality of source devices, each equipped with a sensor; Generating a combined sensor message based on the aggregation of the plurality of sensor messages above; and It includes transmitting the above combined sensor message, Each of the above plurality of sensor messages includes (i) information about the recognition area of ​​each sensor and (ii) information about reliability, and The first recognition area of ​​a first sensor message received from a first source device among the plurality of source devices includes recognition areas of the remaining sensor messages received from other source devices, and In generating the above combined sensor message, the network node, Based on the fact that the first reliability of the first sensor message is greater than or equal to the first threshold, the combined sensor message is generated based on the first sensor message without combining the remaining sensor messages, and A non-transient recording medium that generates the combined sensor message based on the combination of the remaining sensor messages based on the first reliability of the first sensor message being less than the first threshold.

12. Regarding network nodes, Memory for storing instructions; and It includes a processor that performs operations by executing the above instructions, The operations performed by the above processor are: Receiving a plurality of sensor messages containing information about objects detected by each sensor from a plurality of source devices, each equipped with a sensor; Generating a combined sensor message based on the aggregation of the plurality of sensor messages above; and It includes transmitting the above combined sensor message, Each of the above plurality of sensor messages includes (i) information about the recognition area of ​​each sensor and (ii) information about reliability, and The first recognition area of ​​a first sensor message received from a first source device among the plurality of source devices includes recognition areas of the remaining sensor messages received from other source devices, and In generating the above combined sensor message, the network node, Based on the fact that the first reliability of the first sensor message is greater than or equal to the first threshold, the combined sensor message is generated based on the first sensor message without combining the remaining sensor messages, and A network node that generates the combined sensor message based on the combination of the remaining sensor messages, based on the fact that the first reliability of the first sensor message is less than the first threshold.

13. In Paragraph 12, Based on the fact that the time delay from the sensor recognition time of the first sensor message to the time when the first sensor message is received is less than a second threshold, the combined sensor message is generated based on the first sensor message without combining the remaining sensor messages, and A network node that generates the combined sensor message based on the combination of the remaining sensor messages, based on the fact that the time delay is greater than or equal to the threshold.

14. In Paragraph 12, The combined sensor message is generated based on the combination of the remaining sensor messages, and based on the fact that the second sensor message and the third sensor message among the remaining sensor messages have the same recognition area, the network node, A network node that configures the combined sensor message based on the smaller calculated time delay between the second sensor message and the third sensor message.

15. In Paragraph 12, The above network node is a network node that is a central server in an Intelligent Transportation System (ITS).

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