Method by which first device transmits first message in wireless communication system, and apparatus therefor

A first device for transmitting a first message in a wireless communication system, the first device comprising:

• a radio frequency (RF) transceiver;
• and
• a processor connected to the RF transceiver,
• wherein the processor is configured to obtain sensing information, control the RF transceiver to receive a second message including first location and first type information from a second device, obtain object information by inputting an image provided in the sensing information and the second message to a detection model based on an artificial neural network, and transmit the first message for forwarding the second message based on the object information and the second message, and
• wherein the detection model predicts at least one detection region based on features extracted for the image and the first location information and is pre-learned to output object information corresponding to the first type information for the at least one detection region.

A chip set for transmitting a first message in a wireless communication system, the chip set comprising:

• at least one processor;
• and
• at least memory operatively connected to the at least one processor and configured to when executed cause the at least one processor to perform an operation including:
• obtaining sensing information;
• controlling the RF transceiver to receive a second message including first location and first type information from a second device;
• obtaining object information by inputting an image provided in the sensing information and the second message to a detection model based on an artificial neural network;
• and transmitting the first message for forwarding the second message based on the object information and the second message, and
• wherein the detection model predicts at least one detection region based on features extracted for the image and the first location information and is pre-learned to output object information corresponding to the first type information for the at least one detection region.