	US 12,238,675 B2
	Method for transmitting, by apparatus, CPM in wireless communication system supporting sidelink, and apparatus therefor
Jaeho Hwang, Seoul (KR); Woosuk Ko, Seoul (KR); and Hanbyul Seo, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Appl. No. 17/785,469
Filed by LG ELECTRONICS INC., Seoul (KR)
PCT Filed Jan. 8, 2021, PCT No. PCT/KR2021/000271 § 371(c)(1), (2) Date Jun. 15, 2022, PCT Pub. No. WO2021/141448, PCT Pub. Date Jul. 15, 2021.
Claims priority of provisional application 62/959,110, filed on Jan. 9, 2020.
Prior Publication US 2023/0017247 A1, Jan. 19, 2023
Int. Cl. H04W 24/00 (2009.01); G01S 5/02 (2010.01); G01S 19/07 (2010.01); G01S 19/24 (2010.01); G01S 19/40 (2010.01); H04W 64/00 (2009.01); H04W 92/18 (2009.01)

CPC H04W 64/003 (2013.01) [G01S 5/02 (2013.01); G01S 19/07 (2013.01); G01S 19/24 (2013.01); G01S 19/40 (2013.01); H04W 92/18 (2013.01)]

11 Claims

1. A method of transmitting a first collective perception message (CPM) by a user equipment (UE) in a wireless communication system, the method comprising:

acquiring first object information on a first object through a sensor;

receiving a second CPM including second object information including a second position of a second object; and

transmitting the first CPM including the first object information including a first position of the first object, and position information of the UE,

wherein the second CPM further includes information about second position reliability of the second object information,

wherein the position information of the UE is corrected by applying an offset, based on the second object being the same object as the first object, and

wherein the offset is determined by multiplying a distance between the first position and the second position by a reliability ratio, and

wherein the reliability ratio is a first position reliability related to the position information of the UE divided by a sum of the first position reliability and the second position reliability.