Method by which device transmits and receives CPM in wireless communication system for supporting sidelink, device and chipset therefor
Disclosed in various embodiments are a method by which a first device transmits a collective perception message (CPM) in a wireless communication system, and a device therefor. Disclosed are a method by which a first device transmits a collective perception message (CPM) in a wireless communication system, and a device therefor, the method comprising the steps of: receiving a first message from a second device; acquiring sensing information about adjacent objects; and transmitting the CPM on the basis of the sensing information, wherein the first device determines whether object information that overlaps with first object information acquired from the first message is included in the sensing information, and determines whether to include the overlapping object information in the CPM on the basis of the distance to the second device.
1 . A method performed by a first device comprising:
receiving, from a second device, a first message including object information for a first object;
obtaining sensing information for adjacent objects;
determining a second object that overlaps the first object among the adjacent objects;
excluding the second object that overlaps the first object among the adjacent objects from the sensing information based on a distance between the first device and the second device being less than a threshold distance; and
transmitting a collective perception message (CPM) including the sensing information for remaining objects excluding the second object,
wherein the threshold distance is adjusted based on a speed of the first device and a speed of the second device,
wherein, based on the speed of the first device being faster than the speed of the second device, the threshold distance is adjusted to be shorter, and
wherein, based on the speed of the first device being slower than the speed of the second device, the threshold distance is adjusted to be longer.
2 . The method according to claim 1 , wherein, based on the distance exceeding the threshold distance, the CPM includes the sensing information for all of the adjacent objects.
3 . The method according to claim 1 , wherein an initial value of the threshold distance is pre-configured based on a coverage of the first message.
4 . The method according to claim 1 , wherein the second object is an object located within a predetermined error distance from a position of the first object among the adjacent objects.
5 . The method according to claim 4 , wherein the position of the first object is estimated, based on mobility information obtained from the first message and a difference between a first time obtained from the first message and a second time where the sensing information is obtained.
6 . The method according to claim 5 , wherein the first time is obtained based on a timestamp included in the first message.
7 . The method according to claim 1 , wherein the first message is a cooperative awareness message (CAM) received from the second device or is the CPM.
8 . The method according to claim 1 , wherein the object information is information about either a vehicle or an intelligent transport system (ITS) station.
9 . A first device comprising:
a memory storing instructions;
a radio frequency (RF) transceiver; and
a processor connected to the RF transceiver and the memory,
wherein the processor is configured to execute the instructions to perform operations comprising:
receiving, from a second device, a first message including object information for a first object by controlling the RF transceiver;
obtaining sensing information for adjacent objects;
determining a second object that overlaps the first object among the adjacent objects;
excluding the second object that overlaps the first object among the adjacent objects from the sensing information based on a distance between the first device and the second device being less than a threshold distance; and
transmitting a collective perception message (CPM) including the sensing information for remaining objects excluding the second object by controlling the RF transceiver,
wherein the threshold distance is adjusted based on a speed of the first device and a speed of the second device,
wherein, based on the speed of the first device being faster than the speed of the second device, the threshold distance is adjusted to be shorter, and
wherein, based on the speed of the first device being slower than the speed of the second device, the threshold distance is adjusted to be longer.
10 . A chip set comprising:
at least one processor; and
at least one memory operatively connected to the at least one processor, and configured to store instructions such that the at least one processor performs specific operations by executing the instructions,
wherein the specific operations include:
receiving, from a second device, a first message including object information for a first object,
obtaining sensing information for adjacent objects,
determining a second object that overlaps the first object among the adjacent objects,
excluding the second object that overlaps the first object among the adjacent objects from the sensing information based on a distance between a first device and the second device being less than a threshold distance, and
transmitting a collective perception message (CPM) including the sensing information for remaining objects excluding the second object,
wherein the threshold distance is adjusted based on a speed of the first device and a speed of the second device,
wherein, based on the speed of the first device being faster than the speed of the second device, the threshold distance is adjusted to be shorter, and
wherein, based on the speed of the first device being slower than the speed of the second device, the threshold distance is adjusted to be longer.