Method and apparatus for sidelink positioning determination and communication

Abstract

Systems, methods, and devices for sidelink positioning determination and communication may employ techniques that include obtaining, at a first sidelink-enabled device, from one or more data sources, data indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of a target node. The techniques also include using the first sidelink-enabled device to select a positioning type from a group that may include RTT-based positioning and SS-based positioning based on the data. The techniques also include sending a message from the first sidelink-enabled device to the second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

Description

[0001] background

[0002] Sidelink is an adaptation to cellular standards (e.g., Long Term Evolution (LTE) and Fifth Generation (5G) New Radio (NR) standards developed and defined by the Third Generation Partnership Project (3GPP)) that allows direct communication between two cellular devices, rather than conveying information between the two cellular devices via an intervening cellular infrastructure (e.g., a cellular base station). Sidelink functionality may be used for communications with vehicle-to-everything (V2X) capabilities, among other things. V2X using cellular technology may be referred to as cellular V2X (CV2X).

[0003] V2X communications enabled by sidelinks may convey information from vehicles capable of communicating via V2X (or "V2X-capable vehicles") to other V2X-capable vehicles, infrastructure (e.g., roadside units (RSUs)), pedestrians, etc. to help enhance the safety and efficiency of V2X-capable autonomous and semi-autonomous vehicles. For example, path and maneuver planning for V2X-capable vehicles depends on knowing accurate distances and relative positions. The capabilities and behaviors of surrounding vehicles help determine, for example, safe inter-vehicle spacing and lane change maneuvers. Position and position-related measurements are communicated periodically between V2X-capable vehicles (e.g., via Intelligent Transport System (ITS) messages).

[0004] Brief Overview

[0005] The techniques described herein enable a source node and / or a target node to identify a "switching" criterion to be considered when deciding whether to switch between round trip time (RTT) based positioning and single side (SS) based positioning. In addition, the decision can be made by the source node using an existing message format such as ITS. In some embodiments, the indication can be included in a pre-PRS message.

[0006] According to the present disclosure, an example method of sidelink positioning determination and communication includes: obtaining data indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of a target node from one or more data sources at a first sidelink-enabled device. The method also includes: using the first sidelink-enabled device to select a positioning type from a group that may include RTT-based positioning and SS-based positioning based on the data. The method also includes: sending a message from the first sidelink-enabled device to the second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

[0007] According to the present disclosure, an example first sidelink-enabled device for sidelink positioning determination and communication includes: a transceiver, a memory, and one or more processing units communicatively coupled to the transceiver and the memory. The one or more processing units are configured to obtain data indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of a target node from one or more data sources. The one or more processing units are also configured to select a positioning type from a group that may include RTT-based positioning and SS-based positioning based on the data. The one or more processing units are also configured to send a message to a second sidelink-enabled device via the transceiver, wherein the message includes information indicating the selected positioning type.

[0008] According to the present disclosure, an example device for sidelink positioning determination and communication includes: a device for obtaining data indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of a target node from one or more data sources. The device also includes: a device for selecting a positioning type from a group that may include RTT-based positioning and SS-based positioning based on the data. The device also includes: a device for sending a message from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

[0009] According to the present disclosure, an example non-transitory computer-readable medium stores instructions for sidelink positioning determination and communication. These instructions include: code for obtaining data indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of a target node from one or more data sources. These instructions also include: code for selecting a positioning type from a group that may include RTT-based positioning and SS-based positioning based on the data. These instructions also include: code for sending a message from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a perspective view of a traffic scenario in which sidelink communications may enable V2X communications between various V2X-enabled entities.

[0012] Figure 2 and 3 Timing diagram of messages exchanged during RTT-based positioning and SS-based positioning, respectively.

[0013] Figure 4 is a flow chart of a method for obtaining positioning measurements of a target node according to an embodiment.

[0014] Figure 5 is a flow chart of a method for obtaining positioning measurements of a target node according to another embodiment.

[0015] Figure 6 is a flow chart of a method of sidelink positioning determination and communication according to one embodiment.

[0016] Figure 7 is an illustration of a system in which a vehicle can communicate with various devices, vehicles, and servers over various networks, according to an embodiment.

[0017] Figure 8 A functional block diagram of a vehicle according to one embodiment is included.

[0018] Fig. 9 is a block diagram of various hardware and software components of a sidelink-enabled device according to an embodiment.

[0019] Fig.10 is a perspective view of an example vehicle according to an embodiment.

[0020] Similar reference numerals in the various drawings indicate similar elements according to certain example implementations. In addition, multiple instances of an element may be indicated by adding a letter or hyphen and a second numeral after the first numeral of the element. For example, multiple instances of element 110 may be indicated as 110-1, 110-2, 110-3, etc. or as 110a, 110b, 110c, etc. When only the first numeral is used to refer to such an element, it will be understood as any instance of the element (e.g., element 110 in the previous example will refer to elements 110-1, 110-2, and 110-3 or elements 110a, 110b, and 110c).

[0021] Detailed Description

[0022] Several illustrative embodiments will now be described with reference to the accompanying drawings which form a part hereof. Although specific embodiments are described below that may implement one or more aspects of the present disclosure, other embodiments may be used and various modifications may be made without departing from the scope of the present disclosure or the spirit of the appended claims.

[0023] The embodiments described herein discuss the use of sidelink positioning with respect to communications related to vehicles (such as V2X). However, it will be understood that the embodiments are not limited thereto. Embodiments may, for example, use the techniques herein for sidelink positioning between two devices that are not vehicles (such as between two mobile phones, between a mobile phone and an RSU, etc.).

[0024] Figure 11 is a perspective view of a traffic scenario in which sidelink communications can enable V2X communications between various V2X-enabled entities. Here, a road 100 is shared by vehicles 110-1 and 110-2 (collectively and generally referred to as vehicles 110) and pedestrians 120 (or vulnerable road users (VRUs)). In addition, RSUs 130 (in this case, streetlights equipped with V2X-enabled transceivers) are located near the road 100.

[0025] Modern vehicles 110 are often equipped with highly accurate positioning systems based on sensors such as inertial measurement units (IMUs), global navigation satellite system (GNSS) receivers, wireless transceivers, etc. Among other things, these sensors can allow the vehicle 110 to accurately determine its position in a preferred global reference system. In addition, the vehicle 110 can be further equipped with a variety of perception sensors (e.g., cameras, LIDAR, radar, etc.). These additional sensors can also be used in conjunction with map information to determine the location of the vehicle 110 (e.g., by comparing the location of observed objects with their locations on a map), and / or these additional sensors can be used for situational awareness purposes to identify other vehicles 110, objects, VRUs, etc.

[0026] As an example, the first vehicle 110-1 may be equipped with autonomous or semi-autonomous driving capabilities. In order to ensure that the first vehicle 110-1 remains in its lane on the road 100, the first vehicle 110-1 may utilize information from one or more positioning systems (e.g., based on GNSS, IMU and / or wireless transceiver positioning). In addition, the first vehicle 110-1 may use additional information from onboard sensors (cameras, LIDAR, radar, etc.) and V2X communications (e.g., CV2X and potentially other forms of V2X communications) received from other V2X-enabled entities to determine the position of the second vehicle 110-2, pedestrians 120, etc. relative to the first vehicle 110-1. This additional information can ensure that the first vehicle 110-1 is safely traveling on the road 100 in view of the current traffic conditions.

[0027] Positioning using V2X (sidelink) communications can be a form of positioning using a wireless transceiver that is used by the vehicle 110 and / or other devices to determine their location. That is, RTT and / or SS measurements can be made using V2X communications to make distance determinations between two V2X-enabled devices. Again, referring to Figure 1, these types of measurements may be made, for example, to measure a distance 140-1 between a first vehicle 110-1 and a pedestrian 120 (where the pedestrian is carrying a V2X-enabled device, such as a mobile phone), and / or a distance 140-2 between a second vehicle 110-2 and an RSU 130. Ultimately, a distance determination between any two V2X-enabled devices may be made, and this information may be used along with other information (e.g., map information, GNSS information, other distance determinations, etc.) to help estimate an accurate location of one or both of the V2X-enabled devices.

[0028] Figure 2 and 3 200-A and 200-B, respectively, are timing diagrams of messages exchanged during RTT-based positioning and SS-based positioning. (For simplicity, these terms are also referred to herein as "RTT positioning" and "SS positioning", respectively.) Here, a "source node" is referred to as a V2X-enabled device that initiates RTT-based or SS-based positioning, which is typically a node with a known location. Additionally, a "target node" is typically a V2X-enabled device with an unknown location. Again, refer to Figure 1 , a distance determination for the distance 140-2 may be performed to determine the location of the second vehicle 110-2 based on the known location of the RSU 130. Thus, the RSU 130 may be a source node and the vehicle 110-2 may be a target node.

[0029] On the other hand, a distance determination for the distance 140-1 may be performed to determine the location of the pedestrian 120 based on the known location of the first vehicle 110-1. In this case, the first vehicle 110-1 may be a source node, and the pedestrian 120 (or more specifically, a V2X-enabled mobile device carried by the pedestrian 120) may be a target node.

[0030] Back again Figure 2 , RTT-based positioning 200-A is typically performed in three stages, which are defined with respect to the transmission of a positioning reference signal (PRS) by a source node. The first stage of RTT-based positioning 200-A includes sending a "pre-PRS" message to prepare for subsequent transmission of a PRS signal. A first pre-PRS message 210 is transmitted from a source node and received by a target node. This may convey information about the PRS message (e.g., PRS ID, resource ID, etc.) from the source node to the target node. A second pre-PRS message 220 sent from the target node to the source node may include an acknowledgment of the reception of the pre-PRS message 210 by the target node. Pre-PRS messages 210 and 220 may be sent via a radio frequency (RF) spectrum licensed for ITS communications.

[0031] The second stage of RTT-based positioning 200-A includes sending PRS signals, which are used as timing signals to determine the flight time (between transmission and reception) and ultimately the distance between the source node and the target node. Specifically, the source node sends a message including the source PRS 230 at time t1, which is received by the target node at time t2. The target node then responds by sending a message including the target PRS 240 at time t3, which is then received by the source node at time t4. The RTT can then be calculated based on the difference between t4 and t1 minus the difference between t3 and t2. Based on the RTT, the flight time (TOF) (RTT / 2) and the distance (TOF*C) can then be calculated. PRS230 and 240 can be sent via licensed or unlicensed RF spectrum.

[0032] The third stage of RTT-based positioning 200-A includes the source node sending a "post-PRS" message 250 to the target node. The post-PRS message 250 may include measurement information derived from the PRS signals 230 and 240 for use by the target node. That is, using the post-PRS message 250, the source node may provide the target node with information that the target node can use to determine its distance from the source node (e.g., by calculating RTT and / or TOF), and / or other information about positioning determination (e.g., the location of the target node). This information can then be used by, for example, a Kalman filter of a positioning engine of the target node to accurately estimate clock calibration and ultimately estimate the location of the target node. Similar to the signals of the first stage of RTT-based positioning 200-A, the post-PRS message 250 can be communicated using RF spectrum licensed for ITS communications. In some embodiments, the post-PRS message may be sent from the target node to the source node (e.g., for instances where the RTT is calculated by the source node).

[0033] about Figure 3 In the SS-based positioning 200-B of the present invention, the process involves a much simpler two-phase message exchange between the source node and the target node. Here, the first phase includes a pre-PRS message 310 from the source node to the target node. Similar to the pre-PRS message 210 of the RTT-based positioning 200-A, the pre-PRS message 310 may include information about the timing and content of the source PRS 320 sent by the source node in the second phase. However, in the SS-based positioning 200-B, no acknowledgment is sent from the target node.

[0034] It can be noted that there may be Figure 3A variation of the SS-based positioning 200-B shown in . For example, the first stage may not necessarily precede the second stage. That is, the source node may send the source PRS 320 before sending a message including the information provided in the pre-PRS message 310 (e.g., timing, content). Additionally or alternatively, the pre-PRS message 310 (or an equivalent message) may be sent via an RF spectrum licensed for ITS communications, and / or the source PRS 320 may be sent via an unlicensed spectrum. Other alternative embodiments may include other variations.

[0035] Because SS-based positioning 200-B conveys less information, the positioning estimate of the target node performed using SS-based positioning 200-B may not be as accurate as the positioning estimate performed using RTT-based positioning 200-A. Specifically, in the case of SS-based positioning 200-B, the Kalman filter of the positioning engine of the target node must estimate more variables (e.g., position, clock bias, and clock drift), and may therefore suffer from greater positioning errors. That is, because of its lower overhead, the use of SS-based positioning 200-B may have advantages over RTT-based positioning 200-A in situations where lower power usage is desired at the target node and / or there is insufficient available bandwidth for RTT-based positioning 200-A. (Additionally or alternatively, because SS-based positioning 200-B has a lower signaling overhead, it may be able to allow additional PRS signaling and / or more frequent positioning of the target node with the same amount of bandwidth that RTT-based positioning would occupy).

[0036] Embodiments provided herein may address these and other issues by enabling a source node and / or a target node to identify a "switching" criterion to be considered when deciding whether to switch from SS-based positioning to RTT-based positioning or vice versa. Furthermore, the decision may be made by the source node in an existing ITS message format. In some embodiments, the indication may be included in a pre-PRS message (e.g., in a 100-bit ... Figure 2 210 and Figure 3 Additional details are provided below with respect to the accompanying drawings.

[0037] Figure 4 is a flow chart of a method 400 of obtaining positioning measurements of a target node according to an embodiment. Figure 4 The functionality shown in each of the blocks shown in the may be performed by a source node. As mentioned above, the source node may include a V2X-enabled device or other sidelink-enabled device capable of communicating directly with a target node (via sidelink communications). An apparatus for performing these methods may include one or more hardware and / or software components of a sidelink-enabled device, such as those described below. Fig. 9 The components explained in .

[0038] It can be noted that Figure 4 and also described below Figure 5 The method shown in uses SS positioning by default, switching to RTT positioning when one or more "switching" conditions are met. (This is because, as previously indicated, SS positioning can provide advantages in power savings and bandwidth usage when possible.) That is, alternative embodiments may use alternative approaches, such as using RTT positioning by default and switching to evaluate positioning when switching conditions are met, or weighing different parameters to determine whether to use RTT positioning or SS positioning, etc. Those skilled in the art will recognize that the various embodiments may be used. Figure 4 and 5 Such variations are made to the method shown in .

[0039] Functionality at box 410 includes obtaining switching criteria information. As mentioned, the switching criteria may include data indicating conditions for which RTT positioning may be preferably used. Therefore, obtaining switching criteria information may include obtaining data from various data sources for determining whether one or more switching conditions are satisfied. These data sources may include one or more sensors of the source node and / or other devices coupled to the source node in communication. For example, the target node may include a data source for the switching criteria.

[0040] One such switching criterion may include determining whether there is a lack of sufficient angle change between the source node and the target node. That is, multiple distance determinations over time between the source node and the target node may result in an angle between the alignment of the source node and the target node at a previous time and the alignment of the source node and the target node at a subsequent time. This may provide additional data points to the Kalman filter of the target node, using which the current location of the target node may be determined. As previously mentioned, RTT positioning causes the Kalman filter to make fewer estimates compared to SS positioning. And thus, in the absence of additional data points about angle changes, the accuracy of the positioning determination based on SS positioning may be more affected than the accuracy of the positioning determination based on RTT positioning. Thus, according to some embodiments, the functionality of obtaining switching criterion information at box 410 may include: obtaining information about whether the relative positioning between the source node and the target node over time fails to show a threshold angle change amount. This may be determined, for example, based on positioning information about the target node and the source node. In some embodiments, the source node may receive positioning information about the target node directly from the target node.

[0041] Another switching criterion may include determining whether a speed sensor of the source node or the target node is inaccurate. In an embodiment where the source node and / or the target node includes a mobile device (e.g., a vehicle 110 or a pedestrian 120), a faulty speed sensor may reduce the number of data points through which the Kalman filter can reliably determine a positioning estimate for the corresponding source node or target node. Again, when fewer data points are used to determine a position estimate, the Kalman filter may be able to use RTT positioning data to provide a more accurate positioning estimate. Accordingly, according to some embodiments, the functionality of obtaining switching criterion information at box 410 may include obtaining information about whether a speed sensor of the source node and / or the target node is determined to have a variance greater than a threshold.

[0042] Similar switching criteria may include determining whether the source node or the target node is stationary. In such cases, the resulting location determination of the target node may have a higher accuracy when RTT positioning is used than when SS positioning is used. Accordingly, according to some embodiments, the functionality of obtaining switching criteria information at block 410 may include obtaining information about whether the source node or the target node has moved a threshold amount within a threshold amount of time. Additionally or alternatively, the functionality of obtaining switching criteria information at block 410 may include obtaining information about whether the relative distance between the source node and the target node has not changed by a threshold amount within a threshold amount of time.

[0043] Another switching criterion may include determining whether the local oscillator of the source node or the target node has been recently synchronized or initialized. In this context, synchronization or initialization of the local oscillator may result in a period of time in which positioning determinations relying on the local oscillator may not be as accurate as ground truth time or universal time. For example, estimating the local clock bias and clock drift to accurately determine the times t1 and t2 ( Figure 3) may be more difficult because each time is based on a separate local oscillator. That is, the oscillator time value T can be expressed as a function of time as follows: T = t + a + bt, where a is the bias coefficient and b is the drift coefficient. These coefficients vary from device to device, and a can be changed whenever the clock is synchronized or initialized. However, RTT-based positioning may suffer from less inaccuracy because both times t1 and t4 are determined on the local oscillator of the source node, while both times t2 and t3 are determined on the local oscillator of the target node. Their relative time difference (i.e., t4-t1 and t3-t2) (which is used to determine TOF) does not suffer from inaccuracies that may arise when the relative frequency and / or phase offset between the corresponding local oscillators of the source node or the target node has not yet been determined due to the recent synchronization or initialization of one or both of these local oscillators. Thus, according to some embodiments, the functionality of obtaining switching criteria information at block 410 may include obtaining information regarding whether a respective local oscillator of a source node or a target node has been synchronized or initialized within a threshold amount of time before an RTT fix or an SS fix will occur.

[0044] In box 420, functionality includes determining whether one or more switching conditions have been satisfied. Given the above switching criteria, depending on the desired functionality, the switching condition may still change. For example, for each of these switching criteria, a corresponding threshold value may be set or changed to provide a certain functionality for the source node and / or the target node. For example, these values ​​may be selected to provide the desired balance of bandwidth use, power saving and / or positioning accuracy. In some embodiments, these values ​​may be selected to optimize a benefit (for example, positioning accuracy) at the expense of other benefits (for example, power saving and bandwidth use). In some embodiments, depending on the environment or other factors related to the source node and / or the target node, these values ​​may be changed from a mode (for example, positioning accuracy optimization) to another mode (for example, benefit balance). In some embodiments, the communication sent to the source node and / or the target node may result in this change from a mode to another mode. As an addition or replacement of modifying the threshold value, some embodiments may weigh various switching criteria information weights differently to emphasize and / or de-emphasize different criteria. Again, this may depend on a specific operating mode or desired functionality.

[0045] With this in mind, the functionality of determining whether one or more switching conditions are satisfied as shown in block 420 may include determining whether a corresponding threshold in any switching criterion has been exceeded. In some embodiments and / or functional modes, this may be sufficient to determine that the switching condition has been satisfied. In some embodiments and / or functional modes, determining whether the switching condition is satisfied may include combining information from a plurality of switching criteria to determine whether the switching condition has been satisfied overall. For example, if, although no single threshold has been exceeded for a given switching criterion, the values ​​for a plurality of criteria are close to their corresponding thresholds, then the switching condition may be determined differently in block 420 to be satisfied. In addition, as mentioned, some values ​​may be given greater weights than other values ​​depending on the desired functionality.

[0046] If the handover condition(s) have not been met at block 420, the method 400 may then proceed to block 430, where a message is sent by the source node to the target node indicating that SS positioning will be performed. As previously mentioned, this may include a first phase of SS-based positioning, the pre-PRS message 310 ( Figure 3 ), the pre-PRS message 310 may include ITS information. The method 400 may then proceed to block 440, where functionality includes sending a PRS based on the SS positioning (e.g., performing Figure 3 The second stage of SS-based positioning explained in ).

[0047] Alternatively, if the handover condition(s) have been met at block 420, the method 400 may then proceed to block 450, where a message is sent by the source node to the target node indicating that RTT positioning will be performed. This may include a first phase of the RTT-based positioning pre-PRS message 210 ( Figure 2 ), the pre-PRS message 210 may also include ITS information. The method 400 may then proceed to block 460, where functionality includes sending a PRS based on the RTT positioning (e.g., performing Figure 2 The second and third stages of RTT-based positioning explained in ).

[0048] According to some embodiments, when the messages indicate that RTT positioning is to be used (e.g., as shown by the functionality of block 450) or that SS positioning is to be used (e.g., as shown by the functionality of block 430), they may be sent using existing formats that contain these messages. These formats may include, for example, a media access control-control element (MAC-CE) or a second stage control. Additionally or alternatively, one or more additional bits in an existing message format (e.g., an ITS message) may be used to indicate whether SS positioning or RTT positioning is to be used.

[0049] An example of a two-bit indication in a message sent from a source node to a target node is shown in Table 1.

[0050] Bit Instructions to the target node 00 Default: PRS will be enabled 01 RTT: The target PRS should be broadcast by the target node 10 SS: Target PRS should not be broadcast by the target node 11 (Not used)

[0051] Table 1: Table 1: Example two-bit indication in a message to a target node

[0052] Although the above embodiments provide that the source node sends an indication as to whether to use RTT positioning or SS positioning, the embodiments are not limited thereto. As previously mentioned, the functionality of obtaining switching criteria information at block 410 performed at the source node may involve receiving information from the target node. Thus, in some embodiments, the target node may perform a Figure 4 A method similar to method 400 of determining whether to use RTT positioning or SS positioning and providing an indication to the source node. In addition, this functionality can be coupled to Figure 4 functionality so that both the target node and the source node can determine whether one or more switching conditions are met. Figure 5 An example of this is shown in .

[0053] Figure 5 is a flow chart of a method 500 for obtaining a positioning measurement of a target node according to another embodiment. Here, Figure 5 The functionality shown in each box shown in the figure may be performed by the target node or the source node, as indicated. Likewise, the source node and / or the target node may include a V2X-enabled device or other sidelink-enabled device capable of communicating directly with the target node (via sidelink communications). Thus, an apparatus for performing these methods may include one or more hardware and / or software components of a sidelink-enabled device, such as those described below. Fig. 9 The components explained in .

[0054] The functionality at blocks 505 and 510 may be mirrored, respectively. Figure 4 Thus, the functionality and considerations for obtaining switching criteria information and determining whether one or more switching conditions are satisfied may be the same as previously described with respect to blocks 410 and 420. (That is, because the source node may perform similar functions (as described below with respect to the functionality of blocks 530 and 535), in some embodiments, when obtaining switching criteria information, the target node may not receive information from the source node. That is, in alternative embodiments, the target node may receive information from the source node.)

[0055] If the switching condition is met, the method 500 may proceed to the functionality shown at block 515, which includes sending a message with an indication of the RTT position from the target node to the source node. In some embodiments, the message may include an ITS message. In this case, the source node may then send a PRS pre-, PRS, and PRS post-messages to the target node (as illustrated by block 520) (the target node may also send a response message, such as Figure 2 As shown in Figure 5 Omitted) to Figure 2 RTT positioning is performed in a manner similar to that shown in .

[0056] If the handover condition is not met at block 510, the target node may then perform the optional functionality shown at block 525, which involves sending a message with an indication of the location of the SS to the source node. (Again, in various embodiments, the message may include an ITS message.) That is, in some embodiments and / or under some conditions, the target node may send a message indicating that no handover condition has been met. That is, in other embodiments and / or under other conditions, the source node may continue to perform the functionality shown at block 530 without having received a message from the target node at block 525.

[0057] The functionality of blocks 530-555 performed by the source node may repeat the functionality described above. Figure 4 Thus, method 500 illustrates an embodiment in which both the target node and the source node can determine whether the switching condition is met. Ultimately, if either node determines that the switching condition is met, RTT positioning is performed. Otherwise, SS positioning is performed.

[0058] As previously indicated, although the embodiments described herein may have particular application to V2X communications, the embodiments are not limited thereto. That is, the embodiments may be extended to positioning of other types of sidelink-enabled devices. Figure 6 An example of an embodiment applicable to all sidelink-enabled devices is provided in FIG. Figure 6 The functionality may include Figure 4 and / or some or all of the functionality described in 5.

[0059] Figure 6 6 is a flow chart of a method 600 for sidelink positioning determination and communication according to an embodiment. One or more of the functions of method 600 may be performed by a sidelink-enabled device (e.g., a target node and / or a source node). In addition, as mentioned, the functionality of a sidelink-enabled device (e.g., a V2X-enabled device) may be implemented by hardware and / or software components, such as in Fig. 9 Thus, in some embodiments, the components for executing Figure 6 A device that performs one or more of the functions illustrated in the box may include Fig. 9 In addition, alternative embodiments may be changed by separating or combining blocks to perform functions in a different order, simultaneously, etc. Figure 6 Such variations will be readily appreciated by one of ordinary skill in the art in light of the description herein.

[0060] The functionality of block 610 includes obtaining data indicating one or more criteria for using RTT-based positioning of a target node or SS-based positioning of a target node from one or more data sources at a first side link-enabled device. As mentioned, the one or more criteria may include: whether the relative positioning over time between the first side link-enabled device and the second side link-enabled device fails to exhibit a threshold angle change; whether the corresponding speed sensors of the first side link-enabled device, the second side link-enabled device, or both are determined to have a variance greater than a threshold; whether the first side link-enabled device, the second side link-enabled device, or both have moved a first threshold distance within a threshold amount of time; whether the relative distance between the first side link-enabled device and the second side link-enabled device has not changed by a second threshold distance within a threshold amount of time; or whether the corresponding local oscillators of the first side link-enabled device, the second side link-enabled device, or both have been synchronized or initialized within a threshold amount of time before positioning of the selected positioning type will occur; or any combination thereof. The determination of any of these criteria may be made by the first side link-enabled device and / or a data source (e.g., another device, sensor, etc.) from which the data is obtained in one or more data sources. In some embodiments and / or scenarios, the first sidelink-enabled device may include a target node, and the second sidelink-enabled device (discussed in more detail below with respect to the functionality of block 630) may include a source node. Alternatively, the first sidelink-enabled device may include a source node, and the second sidelink-enabled device may include a target node. In the case where the first sidelink-enabled device includes a source node, and the second sidelink-enabled device includes a target node, the data source from which data about the one or more criteria is obtained in each data source may include the second sidelink-enabled device.

[0061] The means for performing the functionality at block 610 may include one or more software and / or hardware components of a vehicle, such as those described in more detail below. Fig. 9 900 , a bus 9001 , a processor(s) 910 , a memory 960 , a wireless transceiver 930 , a GNSS receiver 970 , and / or other software and / or hardware components of the sidelink-enabled device 900 illustrated in FIG.

[0062] Functionality at block 620 includes selecting, using the first sidelink-enabled device based on the data, a positioning type from a group including RTT-based positioning and SS-based positioning. As mentioned, this may include criteria that take into account the use of RTT-based positioning or SS-based positioning. For example, in some instances, a single criterion may be sufficient for selecting RTT-based positioning (or SS-based positioning). In other instances, multiple criteria may be balanced / weighed to determine the selection.

[0063] The means for performing the functionality at block 620 may include one or more software and / or hardware components of a vehicle, such as those described in more detail below. Fig. 9 901, processor(s) 910, memory 960, and / or other software and / or hardware components of the sidelink-enabled device 900 illustrated in FIG.

[0064] The functionality of block 630 includes sending a message from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating a selected positioning type. As mentioned, the indication may include using one or more bits to indicate the selected positioning type. For example, in some embodiments, the information indicating the selected positioning type included in the message includes two bits within the message (e.g., as indicated in Table 1). Additionally or alternatively, the message may be sent using a MAC-CE or a second stage control format. According to some embodiments, the message may include an ITS message.

[0065] The means for performing the functionality at block 630 may include one or more software and / or hardware components of a vehicle, such as those described in more detail below. Fig. 9 900 , a bus 901 , a processor(s) 910 , a memory 960 , a wireless transceiver 930 , a GNSS receiver 970 , and / or other software and / or hardware components are illustrated in FIG.

[0066] As indicated in the above embodiments, alternative embodiments may include additional functionality. For example, where the first sidelink-enabled device includes a source node and the second sidelink-enabled device includes a target node, an embodiment of method 600 may further include sending a PRS from the first sidelink-enabled device based on a selected positioning type. Additionally or alternatively, obtaining data from one or more data sources may include obtaining information from a target node. Furthermore, in some embodiments, the information from the target node may include an indication of a positioning type selection from the target node. In such instances, selecting a positioning type (e.g., the functionality at box 620) may be further based on a positioning type selection from the target node, such as Figure 5 As shown in the method 500 illustrated in FIG.

[0067] Figures 7 to 10 1 is an illustration of systems, structural devices, vehicle components, and other devices, components, and systems that may be used to implement the techniques for sidelink positioning provided herein as it relates to V2X (although, as mentioned, the embodiments are not necessarily limited to V2X applications). In the following description, references to V2X systems and devices may include systems and devices that employ sidelink communications. Accordingly, in the following description, vehicles, mobile devices, and RSUs may each include sidelink-enabled (or more specifically, V2X-enabled / CV2X-enabled) devices.

[0068] Figure 7 is an illustration of a system in which vehicles may communicate over various networks and with various devices, vehicles, and servers according to an embodiment. In an embodiment, V2X vehicle A 780 may communicate with V2X or otherwise communication transceiver-enabled vehicle B 790 over link 723 using a V2X or other wireless communication transceiver, for example, in an embodiment, to perform inter-vehicle relative positioning, negotiation regarding lane changes or crossing intersections, and exchange V2X data elements such as GNSS measurements, vehicle status, vehicle position and vehicle capabilities, measurement data, and / or calculated status, and exchange other V2X vehicle status steps that may not be covered in the V2X capabilities data element. In an embodiment, vehicle A 780 may also communicate with vehicle B 790 over a network, for example, via wireless signals 722 / 724 to / from base station 720 and / or via wireless signals 732 to / from access point 730, or via one or more communication-enabled RSUs 725, any of which may relay communications, information, and / or convert protocols for use by other vehicles, such as vehicle B 790, particularly in embodiments where vehicle B 790 is unable to communicate directly with vehicle A 780 on a common protocol. In an embodiment, the RSU(s) may include various types of roadside beacons, traffic and / or vehicle monitors, traffic control devices, and location beacons.

[0069] In one embodiment, the RSU(s) 725 may have a processor 725A configured to operate a wireless transceiver 725E to send / receive wireless messages (e.g., basic safety messages (BSM) or cooperative awareness messages (CAM) or other V2X messages) to / from vehicle A 780 and / or vehicle B 790, to / from a base station 720 and / or an access point 730. For example, the wireless transceiver 725E may send and / or receive wireless messages (such as V2X communications with vehicles) in various protocols (e.g., using sidelink communications), and / or communicate on a wireless communication network using various wide area network (WAN), wireless local area network (WLAN), and / or personal area network (PAN) protocols. In one embodiment, the RSU(s) 725 may include one or more processors 725A communicatively coupled to the wireless transceiver 725E and memory, and may include instructions and / or hardware to perform as a traffic control unit 725C, and / or provide and / or process environmental and roadside sensor information 725D or act as a position reference for the GNSS relative position between it and the vehicle. In one embodiment, the RSU(s) 725 may include a network interface 725B (and / or wireless transceiver 725E), which in one embodiment may communicate with an external server (such as a traffic optimization server 765, a vehicle information server 755, and / or an environmental data server 740). In one embodiment, the wireless transceiver 725E may communicate on a wireless communication network by transmitting or receiving wireless signals from a wireless base transceiver subsystem (BTS), a Node B or an evolved Node B (eNodeB) or a next generation Node B (gNodeB) over a wireless communication link. In one embodiment, the wireless transceiver(s) 725E may include various combinations of WAN, WLAN and / or PAN transceivers. In one embodiment, the local transceiver may also be The local transceiver, WAN wireless transceiver and / or mobile wireless transceiver may include a WAN transceiver, an access point (AP), a femtocell, a home base station, a small cell base station, a home Node B (HNB), a home e Node B (HeNB), or a next generation Node B (gNodeB) and may provide access to a WLAN (e.g., an IEEE 802.11 network), a wireless personal area network (PAN, e.g., a Bluetooth network), or a cellular network (e.g., an LTE network or other wireless wide area network, such as those discussed in the next paragraph). It should be understood that these are merely examples of networks that can communicate with the RSU(s) 725 over a wireless link, and the claimed subject matter is not limited in this respect.

[0070] The RSU(s) 725 may receive location, status, GNSS and other sensor measurements, and capability information from Vehicle A 780 and / or Vehicle B 790, such as GNSS measurements, sensor measurements, speed, heading, location, stopping distance, priority or emergency status, and / or other vehicle-related information. In one embodiment, environmental information (such as road surface information / status, weather conditions, and camera information) may be collected and shared with the vehicles via point-to-point or broadcast messaging. The RSU(s) 725 may utilize information received from Vehicle A 780 and / or Vehicle B 790 via wireless transceiver 725E, environmental and roadside sensors 725D, and network information and control messages from, for example, a traffic control and optimization server 765 to coordinate and direct traffic flow and provide environmental, vehicle, safety, and notification messages to Vehicle A 780 and Vehicle B 790.

[0071] The processor 725A may be configured to operate a network interface 725B, which in one embodiment may be connected to a network 770 via a backhaul, and in one embodiment may be used to communicate and coordinate with various centralized servers (such as a centralized traffic control and optimization server 765) that monitor and optimize traffic flow in an area (such as within a city or urban area or in a region). The network interface 725B may also be used to remotely access the RSU(s) 725 for crowdsourcing vehicle data, maintenance of the RSU(s) 725, and / or coordination with other RSU(s) 725, or other purposes. The RSU(s) 725 may have a processor 725A configured to operate a traffic control unit 725C, which may be configured to process data received from vehicles (such as vehicle A 780 and vehicle B 790) (such as location data, stopping distance data, road condition data, identification data, and other information related to the status and location of nearby vehicles and the environment). The RSU(s) 725 may have a processor 725A configured to acquire data from environmental and roadside sensors 725D, which may include temperature, weather, cameras, pressure sensors, road sensors (e.g., for car detection), accident detection, motion detection, speed detection, and other vehicle and environment monitoring sensors.

[0072] In an embodiment, vehicle A 780 may also communicate with mobile device 700 using short-range communications and personal networks such as Bluetooth, Wi-Fi, or Zigbee or via V2X (e.g., CV2X / sidelink communications) or other vehicle-related communication protocols, for example, in an embodiment to access a WAN and / or Wi-Fi network and / or in an embodiment to obtain sensor measurements and / or position measurements from mobile device 700. In an embodiment, vehicle A 780 may communicate with mobile device 700 using WAN-related protocols over a WAN network, such as via a WAN base station 720 or peer-to-peer using Wi-Fi Direct or via a Wi-Fi access point. Vehicle A 780 and / or vehicle B 790 may communicate using various communication protocols. In one embodiment, vehicle A 780 and / or vehicle B 790 may support various and multiple wireless communication modes (such as, for example, using V2X, Global System for Mobile Communications (GSM), Wideband Code Division Multiple Access (WCDMA), Code Division Multiple Access (CDMA), High Rate Packet Data (HRPD), Wi-Fi, Bluetooth, WiMAX, LTE, 5G New Radio Access Technology (NR) communication protocols, etc.).

[0073] In one embodiment, vehicle A may communicate over a WAN network using a WAN protocol via base station 720 or using a wireless LAN protocol such as Wi-Fi to communicate with a wireless LAN access point 730. The vehicle may also support wireless communications using, for example, WLAN, PAN (such as Bluetooth or ZigBee), digital subscriber line (DSL), or packet cable.

[0074] In one embodiment, vehicle A 780 and / or vehicle B 790 may include one or more GNSS receivers (such as GNSS receiver 970) for receiving GNSS signals 712 from GNSS satellites 710 for position determination, time capture and time maintenance. Various GNSS systems may be supported individually or in combination, using GNSS receiver 970 or other receivers to receive signals from BeiDou, Galileo, Global Navigation Satellite System (GLONASS), and / or Global Positioning System (GPS) and various regional navigation systems (such as Quasi-Zenith Satellite System (QZSS) and NavIC or Indian Regional Navigation Satellite System (IRNSS)). Other wireless systems may be utilized, such as those that rely on beacons (such as one or more RSUs 725, one or more wireless LAN access points 730, or one or more base stations 720 in one example). Various GNSS signals 712 may be used in conjunction with vehicle sensors to determine position, speed, proximity to other vehicles (such as between vehicle A 780 and vehicle B 790).

[0075] In one embodiment, vehicle A and / or vehicle B may have access to GNSS measurements and / or positions determined at least in part using GNSS provided by mobile device 700, which in one embodiment also has GNSS, WAN, Wi-Fi, and other communications receivers and / or transceivers. In one embodiment, vehicle A 780 and / or vehicle B 790 may have access to GNSS measurements (such as pseudorange measurements, Doppler measurements, and satellite IDs) and / or positions determined at least in part using GNSS provided by mobile device 700 as a fallback in the event that GNSS receiver 970 fails or provides a position accuracy below a threshold level.

[0076] Vehicle A 780 and / or vehicle B 790 may access various servers on the network (such as a vehicle information server 755 , a route server 745 , a location server 760 , a map server 750 , and an environmental data server 740 ).

[0077] The vehicle information server 755 may provide information describing various vehicles (such as antenna locations, vehicle size, and vehicle capabilities) that may be used to make decisions relative to the maneuvers of nearby cars (such as whether they can stop or accelerate in time, whether they are autonomously driven, whether they have autonomous driving capabilities, whether they have communication capabilities). In one embodiment, the vehicle information server 755 may also provide information about the vehicle size, shape, capabilities, identification, ownership, occupancy, and / or determined location points (such as, for example, the location of a GNSS receiver) and the location of the vehicle boundaries relative to the determined location points.

[0078] Route server 745 may receive current location and destination information and provide routing information, map data, alternate route data, and / or traffic and street condition data for a vehicle.

[0079] In one embodiment, the location server 760 may provide location determination capabilities, transmitter signal acquisition assistance (such as GNSS satellite orbit prediction information, time information, approximate location information, and / or approximate time information), transceiver almanacs (such as those containing identification and locations for Wi-Fi access points and base stations), and in some embodiments, additional information related to routes (such as speed limits, traffic, and road status / construction status). The map server 750 may provide map data such as road locations, points of interest along roads, address locations along roads, road sizes, road speed limits, traffic conditions, and / or road conditions (wet, slippery, snowy / icy, etc.), road status (open, under construction, accident, etc.). In one embodiment, the environmental data server 740 may provide weather and / or road related information, traffic information, terrain information, and / or road quality and speed information and / or other relevant environmental data.

[0080] In one embodiment, Figure 7 The vehicles 780 and 790 and the mobile device 700 in the embodiment can communicate on the network 770 via various network access points, such as the wireless LAN access point 730 or the wireless WAN base station 720 on the network 770. In some embodiments, the vehicles 780 and 790 and the mobile device 700 can also use various short-range communication mechanisms to communicate directly between devices, between vehicles, and between devices to vehicles and vehicles to devices to communicate directly without going through the network 770 (such as via Bluetooth, Zigbee, and 5G new radio standards).

[0081] Figure 8 800 according to an embodiment. As mentioned, the vehicle 800 may include a type of sidelink-enabled device. Accordingly, for performing Figure 8 Example hardware and / or software components of the blocks shown in Fig. 9 and described in more detail below.

[0082] like Figure 8 As shown in FIG. 8 , vehicle 800 may receive vehicle and environment information from vehicle external sensors 802, vehicle internal sensors 804, vehicle capabilities 806, external wireless information such as the location of other vehicles and GNSS measurement information 808 (from the environment, from other vehicles, from (all) RSUs, from system servers), and / or from vehicle motion state 810 (describing current and / or future motion state). In one embodiment, the received vehicle, sensor, and environment information may be processed by one or more processors 910, DSP 920, and memory 960 ( Fig. 9), the processor 910, DSP 920 and memory 960 are connected and configured to provide external object sensing and classification, prediction and planning, and maneuver execution, as well as determine and update V2X or other wireless data element values ​​(including GNSS data element values) and transmit messaging including the determined data elements via one or more wireless transceivers 930. Messaging and data elements may be sent and received via various means, protocols, and standards, such as via Society of Automotive Engineers (SAE) or European Telecommunications Standards Institute (ETSI) CV2X messages and / or other wireless V2X protocols supported by the wireless transceiver(s) 930.

[0083] The inter-vehicle relative position determination block 828 may be used to determine the relative position of vehicles in the region of interest. In one embodiment, GNSS data is exchanged with vehicles or other devices (such as RSUs) to determine and / or verify and / or improve the accuracy of relative positions associated with other vehicles or devices. In one embodiment, vehicles (or other devices) within the region of interest may utilize broadcast position information (such as broadcast latitude and longitude received in messages from other vehicles, other devices) and the position information of the vehicle 800 to determine approximate relative positions and / or approximate distances between vehicles.

[0084] In one embodiment, other vehicle-related input sources (such as servers 755, 745, 760, 750, and 740) may provide information (such as vehicle information, route planning, location assistance, map data, and environmental data) and provide input and / or supplement and / or be used in conjunction with other inputs (e.g., road position data, map data, driving condition data, and other vehicle-related data inputs) that are used in conjunction with inter-vehicle maneuver coordination 824 to determine maneuver execution 826. In one embodiment, map data may include the location of roadside units relative to the location of the road, where vehicles may utilize relative positioning between RSUs in conjunction with map data to determine positioning relative to the road surface, particularly in situations where other systems may fail (such as due to low visibility weather conditions (snow, rain, sandstorms, etc.) In one embodiment, map data from map server 750 may be used in conjunction with relative and / or absolute data from neighboring vehicles and / or from RSU(s) 725 to determine high confidence absolute positions and relative positions with respect to the road / map for multiple vehicles. For example, if vehicle A 780 has a higher accuracy / higher confidence position than other vehicles (such as vehicle B 790) in communication with vehicle A 780, the other vehicles can use the GNSS information to obtain a highly accurate relative position and use the highly accurate position sent from vehicle A 780 to vehicle B 790 to determine the highly accurate position of vehicle B 790, even if the system of vehicle B 790 is otherwise unable to calculate a highly accurate position in a particular scenario or environment. In this case, the presence of vehicle A with a highly accurate position determination system provides a benefit to all surrounding vehicles by sharing one or more highly accurate positions along with ongoing relative position information. In addition, assuming that the map data from the map server 750 is accurate, the ability to propagate highly accurate position data from vehicle A 780 to surrounding vehicles (such as vehicle B 790) enables surrounding vehicles to accurately determine their relative positions to the map data as well, even in otherwise difficult signal / position environments. The vehicle information server 755 may provide vehicle information (such as size, shape, and antenna location) that may be used by, for example, vehicle A or other vehicles to determine not only the relative position between a GNSS receiver on vehicle A 780 and, for example, vehicle B 790, but also the distance between the closest points of vehicle A 780 and vehicle B 790. In one embodiment, traffic information from the traffic control and optimization server 765 may be used to determine overall routing and re-routing, which is used in conjunction with the route server 745 (in one embodiment).In one embodiment, the environmental data server 740 may provide input regarding road conditions, black ice on the road, snow, water on the road, and other environmental conditions, which may also affect the decisions and decision criteria in the inter-vehicle maneuver coordination block 824 and the maneuver execution block 826. For example, in icy or rainy conditions, the vehicle 800 may execute and / or request an increased inter-vehicle distance with adjacent vehicles or may select a routing option that avoids hazardous road conditions such as black ice and standing water.

[0085] Block 828 may be implemented using various special or general purpose hardware and software (such as using processor 910 and / or DSP 920 and memory 960) (again, as shown in FIG. Fig. 9 ), or in one embodiment, implemented in a dedicated hardware block (such as a dedicated sensor processing and / or vehicle messaging core). According to some embodiments, the location of nearby vehicles can be determined by various means, such as based on the following: signal-based timing measurements (such as RTT and SS (as described in the above embodiments)), and / or arrival time (TOA), signal strength of broadcast signals for vehicles, and distances determined based on broadcast latitudes and longitudes from neighboring vehicles and the current location of the vehicle. Additionally or alternatively, the location of nearby vehicles can be determined from sensor measurements (such as light detection and ranging (LIDAR), radio detection and ranging (radar), sonar, and camera measurements). In one embodiment, some or all of blocks 802, 804, 806, 808, and / or 810 may have dedicated processing cores, for example to improve performance and reduce measurement latency. In one embodiment, some or all of blocks 802, 804, 806, 808, and / or 810 may share processing with block 828.

[0086] In some embodiments, vehicle external sensing 802 may include cameras, LIDAR, radar, proximity sensors, rain sensors, weather sensors, GNSS receiver 970 and data received using these sensors (such as map data, environmental data, location, route) and / or other vehicle information (such as may be received from other vehicles, devices and servers (such as, in one embodiment, map server 750, route server 745, vehicle information server 755, environmental data server 740, location server 760) and / or from associated devices (such as mobile device 700), which may be present in or near a vehicle (such as vehicle A 780)). For example, in one embodiment, mobile device 700 may provide an additional source of GNSS measurements, may provide an additional source of motion sensor measurements, or may provide network access as a communication portal to a WAN, Wi-Fi or other network, and as a gateway to various information servers (such as servers 740, 745, 750, 755, 760 and / or 765).

[0087] It should be understood that the vehicle 800 may include one or more cameras. In one embodiment, the camera may be front-mounted, side-mounted, rear-mounted, or have an adjustable field of view (such as a rotatable camera). Fig.10 As shown in , for example, there may be multiple cameras 1006 facing the same plane. For example, camera 1006 and the camera mounted on the bumper at 1008 may include two front cameras, one focused on lower objects and / or a lower perspective for parking purposes (such as mounted on the bumper), and one focused on a higher perspective (such as tracking traffic, other vehicles, pedestrians, and more distant objects). In an embodiment, the various views may be stitched and / or may be associated with other inputs (such as V2X inputs from other vehicles) to optimize tracking of other vehicles and external entities and objects and / or calibrate the sensor systems against each other. The LIDAR 1004 may be mounted on the top and rotated or may be focused on a specific perspective (such as forward, backward, sideways). The LIDAR 1004 may be solid-state or mechanical. The proximity sensor may be ultrasonic, radar-based, light-based (such as infrared-based ranging) and / or capacitive (capacitive detection of surface touch or metal bodies). The rain and weather sensor may include various sensing capabilities and technologies, such as a barometric pressure sensor, a humidity detector, a rain sensor, and / or a light sensor and / or may utilize other pre-existing sensor systems. The GNSS receiver may be mounted overhead, such as in a fin-type antenna assembly at the rear of the roof, mounted on the hood or dashboard, or otherwise placed on the exterior or interior of the vehicle.

[0088] In one embodiment, the vehicle internal sensors 804 may include wheel sensors 1012 (such as tire pressure sensors, brake pad sensors, brake status sensors, speedometers and other speed sensors), heading sensors and / or orientation sensors (such as magnetometers and geomagnetic compasses), distance sensors (such as odometers and wheel tick sensors), inertial sensors (such as accelerometers and gyroscopes) and inertial positioning results using the above-mentioned sensors, as well as yaw, pitch and / or roll sensors that can be determined alone or using other sensor systems (such as accelerometers, gyroscopes and / or tilt sensors).

[0089] Both the vehicle internal sensor 804 and the vehicle external sensor 802 may have shared or dedicated processing capabilities. For example, a sensor system or subsystem may have one or more sensor processing cores that determine vehicle state values ​​(such as yaw, pitch, roll, heading, speed, acceleration capability and / or distance, and / or stopping distance) based on measurements and other inputs from accelerometers, gyroscopes, magnetometers, and / or other sensing systems. Different sensing systems may communicate with each other to determine measurements or send values ​​to box 828 to determine vehicle position. The vehicle state values ​​derived from the measurements of the internal and external sensors may be further combined with vehicle state values ​​and / or measurements from other sensor systems using general or application processors. For example, box 828 and / or 824 may be implemented on a dedicated or centralized processor to determine data element values ​​for V2X message transmission, which may be sent using a wireless transceiver 930 or via other communication transceivers. In one embodiment, the sensors may be divided into related systems, such as LIDAR, radar, motion, wheel systems, etc., which operate through dedicated core processing of raw results to output vehicle state values ​​from each core, which are combined and interpreted to derive combined vehicle state values, including capability data elements and state data elements, which may be used to control or otherwise affect vehicle operation and / or be shared with other vehicles and / or systems as a messaging step via V2X or other messaging capabilities. In one embodiment, these messaging capabilities may be based on various wireless-related, optical-related or other communication standards, such as those supported by wireless transceiver(s) 930 and antenna(s) 932.

[0090] In one embodiment, the vehicle capabilities 806 may include performance estimates for parking, braking, acceleration, and turning radius, as well as autonomous and / or non-autonomous states and / or one or more capabilities. The capability estimates may be based on stored estimates, which in one embodiment may be loaded into a memory. These estimates may be based on empirical performance figures, either for a specific vehicle, or for an average across one or more vehicles, and / or one or more models for a given performance metric. In the case where the performance estimates of multiple models are averaged or otherwise combined, they may be selected based on similar or common features. For example, vehicles with similar or identical weights and identical or similar transmission systems may share performance estimates for estimates related to driving performance (such as braking / stopping distance, turning radius, and acceleration performance). Vehicle performance estimates may also be obtained from a vehicle data server on the network over a wireless network, for example using (all) external V2X inputs 808. This is particularly helpful in obtaining information for vehicles that do not have wireless capabilities and cannot directly provide vehicle information. In one embodiment, the vehicle capabilities 806 may also be affected by the state of vehicle components, such as tire wear, tire brand capabilities, brake pad wear, brake brand and capabilities, and engine status. In one embodiment, vehicle capability 806 may also be affected by overall vehicle state (such as speed, heading) and external factors (such as road surface, road conditions (wet, dry, slip / traction), weather (windy, rainy, snowy, black ice, slippery roads, etc.). In many cases, wear or other system degradation, as well as external factors (such as weather, road surface, road conditions, etc.) may be used to reduce, verify, or improve performance estimates. In some embodiments, actual measured vehicle performance (such as measuring vehicle stopping distance and / or acceleration time per distance) may be measured and / or estimated based on actual vehicle driving related performance. In one embodiment, if the measurements are inconsistent, the most recently measured performance may be weighted or given preference over older measurements. Similarly, in one embodiment, measurements taken during similar conditions (such as in the same type of weather or on the same type of road surface as the vehicle is currently detecting (such as via vehicle external sensors 802 and / or vehicle internal sensors 804)) may be weighted more heavily and / or given preference in determining capability.

[0091] V2X vehicle sensing, prediction, planning execution 812 handles the receipt and processing of information from blocks 802, 804, 806, 808, and 810 via external object sensing and classification block 814, correlating, validating, and / or combining data from input blocks 802, 804, 806, 808, and 810 in part using sensor fusion and object classification block 816. Block 814 external object sensing and classification determines the presence of objects, determines the type of object (car, truck, bicycle, motorcycle, pedestrian, animal, etc.) and / or the state of the object relative to the vehicle (such as movement state, proximity, heading, and / or position relative to the vehicle, size, threat level, and vulnerability priority (e.g., a pedestrian will have a higher vulnerability priority than road debris)). In one embodiment, block 814 may utilize GNSS measurement messages from other vehicles to determine relative positioning to other vehicles. This output from block 814 may be provided to a prediction and planning block 818 which determines detected objects and vehicles and their associated trajectories via block 820 and determines vehicle maneuvers and path plans in block 822, the output of which is utilized directly in the execution of vehicle maneuvers at block 826 or via a V2X inter-vehicle negotiation block 824 which integrates and takes into account maneuver plans, positions, and states received from other vehicles. V2X inter-vehicle negotiation takes into account the states of neighboring vehicles and enables negotiation and coordination between neighboring or otherwise affected vehicles based on vehicle priority, vehicle capabilities (such as the ability to stop, slow down, or speed up to avoid collisions), and in some embodiments, various conditions (such as weather conditions (rain, fog, snow, wind), road conditions (dry, wet, icy, slippery). These include, for example, negotiation between cars approaching an intersection regarding the timing and order of passing through the intersection, negotiation between adjacent cars regarding lane changes, negotiation regarding parking spaces, negotiation regarding access to directional travel on a single lane road, or negotiation to pass another vehicle. Inter-vehicle negotiation may also include time-based and / or distance-based factors, such as the appointment time, the distance to the destination, and the estimated route time to the destination, and in some embodiments, the type of appointment and the importance of the appointment.

[0092] Fig. 9 is a block diagram of various hardware and software components of a sidelink-enabled device 900 according to an embodiment. Similarly, a vehicle (e.g., vehicle A 780, vehicle B 790), a mobile device (e.g., mobile device 700), and / or an RSU (e.g., RSU(s) 725) may include the sidelink-enabled device 900. Because the sidelink-enabled device 900 may be incorporated into a vehicle, Fig. 9The various components illustrated in the figure relate to vehicle applications. Accordingly, for embodiments in which the sidelink-enabled device 900 is incorporated into a mobile device or RSU, the sidelink-enabled device 900 may not include such components.

[0093] For embodiments in which the sidelink-enabled device 900 is incorporated into a vehicle, the vehicle may include, for example, a car, truck, motorcycle, and / or other motor vehicle, which may, for example, transmit / receive radio signals to / from other sidelink-enabled devices via V2X vehicle-to-vehicle communications (e.g., using one of the CV2X vehicle-to-vehicle communication protocols) and / or in one embodiment transmit / receive radio signals to / from a wireless communication network 770 (via a WAN, base station 720, and / or wireless access point 730), and / or transmit / receive radio signals to / from RSU(s) 725. In one example, a sidelink-enabled device 900 (e.g., vehicle 780) may communicate with other vehicles (e.g., vehicle 790) and / or a wireless communication network via wireless transceiver(s) 930 and wireless antenna(s) 932 by communicating using wireless signals over a wireless communication link with a remote wireless transceiver, which may be integrated into another vehicle 790, RSU(s) 725, mobile device 700, base station 720 (e.g., Node B, eNode B, or gNode B), or wireless access point 730.

[0094] According to some embodiments, the sidelink-enabled device 900 may transmit or receive wireless signals to or from a local transceiver over a wireless communication link, such as by using a WAN, WLAN, and / or PAN wireless transceiver (which may be capable of sidelink communication), represented here by one of the wireless transceiver(s) 930 and the wireless antenna(s) 932. In an embodiment, the wireless transceiver(s) 930 may include various combinations of WAN, WLAN, and / or PAN transceivers. In an embodiment, the wireless transceiver(s) 930 may also include a Bluetooth transceiver, a ZigBee transceiver, or other PAN transceiver. In an embodiment, the sidelink-enabled device 900 may transmit or receive wireless signals to or from the wireless transceiver 930 on the sidelink-enabled device 900 over a wireless communication link 934. The local transceiver, WAN wireless transceiver, and / or mobile wireless transceiver may include a WAN transceiver, access point (AP), femtocell, home base station, small cell base station, HNB, HeNB, or gNodeB, and may provide access to a WLAN (e.g., an IEEE 802.11 network), a wireless personal area network (PAN, e.g., a Bluetooth network), a cellular network (e.g., an LTE network or other wireless wide area network, such as those discussed in the next paragraph), and / or a sidelink-enabled device (e.g., a cellular device capable of communicating directly via a WAN transceiver using sidelink communications). Of course, it should be understood that these are merely examples of networks that may communicate with a vehicle over a wireless link, and the claimed subject matter is not limited in this respect. In one embodiment, GNSS signals 974 from GNSS satellites are used by the sidelink-enabled device 900 for position determination and / or for determination of GNSS signal parameters and demodulated data. In an embodiment, signals 934 from WAN transceiver(s), WLAN and / or PAN local transceiver, alone or in combination with GNSS signals 974, are used for position determination.

[0095] Examples of network technologies that can support the wireless transceiver 930 are GSM, CDMA, WCDMA, LTE, 5G or new radio access technology (NR), HRPD, and V2X vehicle-to-vehicle communication. As mentioned, the V2X communication protocol can be defined in various standards such as SAE and ETS-ITS standards. GSM, WCDMA, and LTE are technologies defined by 3GPP. CDMA and HRPD are technologies defined by the Third Generation Partnership Project II (3GPP2). WCDMA is also part of the Universal Mobile Telecommunications System (UMTS) and can be supported by the HNB.

[0096] The wireless transceiver 930 may communicate with the communication network via WAN wireless base stations, which may include deployment of equipment that provides subscribers with access to a wireless telecommunications network for services (e.g., under a service contract). Here, the WAN wireless base station may perform the functions of a WAN or cell base station to provide services to subscriber devices within a cell determined at least in part based on the range at which the WAN wireless base station is able to provide access services. Examples of WAN base stations include GSM, WCDMA, LTE, CDMA, HRPD, Wi-Fi, Bluetooth, WiMAX, 5G NR base stations. In an embodiment, further wireless base stations may include WLAN and / or PAN transceivers.

[0097] In one embodiment, the sidelink-enabled device 900 may include one or more cameras 935. In one embodiment, the camera may include a camera sensor and a mounting assembly. Different mounting assemblies may be used for different cameras on the sidelink-enabled device 900. For example, a front camera may be mounted in a front bumper, in a rod of a rearview mirror assembly, or in other front areas of the sidelink-enabled device 900. A rear camera may be mounted in a rear bumper / fender, on a rear windshield, in a trunk, or on other rear areas of a vehicle. A side mirror may be mounted on the side of a vehicle, such as integrated into a mirror assembly or a door assembly. The camera may provide object detection and distance estimation (especially for objects of known size and / or shape (e.g., both stop signs and license plates have standardized sizes and shapes)), and may also provide information about rotational motion relative to the axis of the vehicle (such as during a turn). When used in conjunction with other sensors, the camera may be calibrated to verify travel distance and angular orientation by using other systems (such as by using LIDAR, wheel tick / distance sensors, and / or GNSS). Cameras may similarly be used to verify and calibrate other systems to verify that distance measurements are correct (e.g., by calibrating against known distances between known objects (landmarks, roadside markings, road mile markers, etc.) and also to verify that object detection is performed accurately so that objects are mapped accordingly by LIDAR and other systems to the correct position relative to the car. Similarly, when combined with, for example, accelerometers, the time to impact with a road hazard obstacle may be estimated (e.g., the time elapsed before hitting a pothole), which may be verified against the actual impact time and / or against a parking model (e.g., compared to an estimated parking distance if parking was attempted prior to impacting the object) and / or against a handling model (verifying that the current estimate of the turning radius at the current speed and / or the maneuverability measurement at the current speed is accurate under the current conditions and modified accordingly based on the camera and other sensor measurements to update the estimated parameters).

[0098] In one embodiment, accelerometers, gyroscopes, and magnetometers 940 may be used to provide and / or verify motion and direction information. Accelerometers and gyroscopes may be used to monitor wheel and driveline performance. In one embodiment, accelerometers may also be used to verify the actual collision time of road hazard obstacles (such as potholes) relative to the predicted time based on existing parking and acceleration models and steering models. In one embodiment, gyroscopes and magnetometers may be used to measure the rotational state of the vehicle and the orientation relative to magnetic north, respectively, and to measure and calibrate estimates and / or models of turning radius at the current speed and / or maneuverability measurements at the current speed (especially when used in conjunction with measurements from other external and internal sensors (such as other sensors 945, such as speed sensors, wheel tick sensors, and / or odometer measurements)).

[0099] LIDAR 950 uses pulsed lasers to measure the distance to an object. While cameras can be used for object detection, LIDAR 950 provides a means to more confidently detect the distance (and orientation) of an object, especially with respect to objects of unknown size and shape. LIDAR 950 measurements can also be used to estimate travel rate, vector direction, relative positioning, and stopping distance by providing accurate distance measurements and incremental distance measurements.

[0100] The memory 960 may be used with the processor 910 and / or the DSP 920. The memory 960 may include random access memory (RAM), read-only memory (ROM), a disk drive, FLASH or other memory devices or various combinations thereof. In one embodiment, the memory 960 may include instructions for implementing various methods described throughout this specification, including, for example, processes for implementing the use of relative positioning between vehicles and between vehicles and external reference objects (such as roadside units). In one embodiment, the memory may include instructions for the following operations: operating and calibrating sensors, and receiving maps, weather, vehicles (both the sidelink-enabled device 900 and surrounding vehicles) and other data, and determining driving parameters (such as relative positioning, absolute positioning, stopping distance, acceleration and turning radius at current speed and / or maneuverability at current speed, vehicle distance, turn initiation / timing and execution, and initiation / timing of driving operations) using various internal and external sensor measurements and received data and measurements.

[0101] In one embodiment, the power and drive systems (generator, battery, transmission, engine) and related systems 975 and systems 955 (brakes, actuators, throttle control, steering and electrical) may be controlled by processor(s) and / or hardware or software or by the operator of the vehicle or by some combination thereof. The systems (brakes, actuators, throttle control, steering and electrical, etc.) 955 and power and drive or other systems 975 may be used in conjunction with performance parameters and operating parameters to enable autonomous (and manually, with respect to alerts and emergency overrides / braking / stopping) safe and accurate driving and operation of the sidelink-enabled device 900, such as to merge into traffic, stop, accelerate and otherwise operate the sidelink-enabled device 900 safely, effectively and efficiently. In one embodiment, inputs from various sensor systems (such as cameras 935, accelerometers, gyroscopes and magnetometers 940, LIDAR 950, GNSS receivers 970, radar 953), inputs from wireless transceiver(s) 930 and / or other sensors 945, or various combinations thereof, messaging and / or measurements may be used by the processor 910 and / or DSP 920 or other processing system to control the power and drive system 975 and systems (brakes, actuators, throttle control, steering, electrical, etc.) 955.

[0102] GNSS receiver 970 may be used to determine a position relative to the ground (absolute position), and when used with other information (such as measurements from other objects and / or map data), may be used to determine a position relative to other objects (such as relative to other vehicles and / or relative to the road surface). To determine a position, GNSS receiver 970 may use one or more antennas 972 (which may be the same as antenna 932 depending on functional requirements) to receive RF signals 974 from GNSS satellites (e.g., RF signals 712 from GNSS satellites 710). GNSS receiver 970 may support one or more GNSS constellations as well as other satellite-based navigation systems. For example, in one embodiment, GNSS receiver 970 may support global navigation satellite systems such as GPS, GLONASS, Galileo, and / or BeiDou, or any combination thereof. In an embodiment, the GNSS receiver 970 may support a regional navigation satellite system such as NavIC or QZSS or a combination thereof and various augmentation systems such as satellite-based augmentation system (SBAS) or ground-based augmentation system (GBAS), such as Doppler orbit diagrams and radio positioning integrated by satellite (DORIS) or Wide Area Augmentation System (WAAS) or European Geostationary Navigation Overlay Service (EGNOS) or Multifunction Satellite Augmentation System (MSAS) or Local Area Augmentation System (LAAS). In an embodiment, the wireless receiver(s) 930 and antenna(s) 932 may support multiple frequency bands and sub-bands such as GPS L1, L2 and L5 bands, Galileo E1, E5 and E6 bands, Compass (Beidou) B1, B3 and B2 bands, GLONASS G1, G2 and G3 bands, and QZSS L1C, L2C and L5-Q bands.

[0103] The GNSS receiver 970 may be used to determine position and relative position that may be used for positioning, navigation, and for calibrating other sensors where appropriate, such as for determining the distance between two points in time under clear sky conditions and using the distance data to calibrate other sensors (such as odometers and / or LIDAR). In one embodiment, GNSS-based relative position based on, for example, Doppler and / or pseudorange measurements shared between vehicles may be used to determine a highly accurate distance between two vehicles, and when combined with vehicle information (such as shape and model information and GNSS antenna position) may be used to calibrate, verify, and / or influence the confidence level associated with information from LIDAR, cameras, radar, sonar, and other distance estimation techniques. GNSS Doppler measurements may also be used to determine the linear and rotational motion of a vehicle or vehicles relative to another vehicle, which may be used in conjunction with gyroscopes and / or magnetometers and other sensor systems to maintain calibration of those systems based on measured position data. Relative GNSS positioning data may also be combined with a high confidence absolute position from an RSU to determine a high confidence absolute position of a vehicle. Additionally, during inclement weather that may obscure LIDAR and / or camera-based data sources, relative GNSS positioning data may be used to avoid other vehicles and remain in lanes or other assigned road areas. For example, using an RSU equipped with a GNSS receiver and V2X capabilities, a vehicle may be provided with GNSS measurement data that, when provided along with the absolute position of the RSU, may be used to navigate the vehicle relative to a map, thereby keeping the vehicle in a lane and / or road despite lack of visibility.

[0104] Radar 953 uses the transmitted radio waves reflected from the object. The reflected radio waves are analyzed based on the time required for the reflection to arrive and other signal characteristics of the reflected waves to determine the position of nearby objects. Radar 953 can be used to detect the position of nearby cars, roadside objects (signs, other vehicles, pedestrians, etc.), and objects can usually be detected even in the presence of ambiguous weather (such as snow, rain or hail). Thus, radar 953 can be used to supplement LIDAR 950 system and camera 935 system to provide ranging information to other objects by providing ranging and distance measurement and information when vision-based systems usually fail. In addition, radar 953 can be used to calibrate and / or check other systems (such as LIDAR 950 and camera 935) for sanity. The ranging measurement from radar 953 can be used to determine / measure the parking distance, acceleration, maneuverability at the current speed (for example, another measurement of turning radius and / or maneuverability at the current speed). In some systems, ground penetrating radar can also be used to track the road surface via, for example, radar reflection marks on the road surface or terrain features such as ditches.

[0105] Fig.10 is a perspective view of an example vehicle 1000 according to an embodiment that is capable of communicating using sidelink / V2X communications in the manner described in the previously described embodiments. Fig. 9 Some components discussed with earlier embodiments are shown. As illustrated and previously discussed, the vehicle 1000 may have camera(s), such as a camera 1006 mounted on a rearview mirror, a camera mounted on a front fender (not shown), a camera mounted on a side mirror (not shown), and a rear-mounted camera (not shown, but typically on a trunk, hatch, or rear bumper). The vehicle 1000 may also have a LIDAR 1004 for detecting objects and measuring distances to those objects; the LIDAR 1004 is typically mounted on the roof, however if there are multiple LIDAR units 1004, they may be oriented around the front, rear, and sides of the vehicle. The vehicle 1000 may have various other location-related systems, such as a GNSS receiver 970 (typically located in a shark fin unit on the rear of the roof, as indicated), various wireless transceivers 1002 (such as WAN, WLAN, V2X; typically but not necessarily located in the shark fin), radar 1008 (typically in the front bumper), and sonar 1010 (typically located on both sides of the vehicle, if present). Various wheel 1012 and powertrain sensors may also be present, such as tire pressure sensors, accelerometers, gyroscopes, and wheel rotation detection and / or counters. In an embodiment, distance measurements and relative positions determined via various sensors (such as LIDAR, radar, camera, GNSS, and sonar) may be combined with car size and shape information and information about sensor locations to determine distances and relative positions between surfaces of different vehicles, such that the distance or vector from a sensor to another vehicle or between two different sensors (such as two GNSS receivers) is incrementally increased to account for the positioning of the sensor on each vehicle. Thus, the precise GNSS distance and vector between the two GNSS receivers will need to be modified based on the relative position of the various vehicle surfaces to the GNSS receivers. For example, when determining the distance between the front bumper of a rear vehicle and the rear bumper of a front vehicle, that distance will need to be adjusted based on the distance between the GNSS receiver on the rear vehicle and the front bumper, and the distance between the GNSS receiver of the front vehicle and the rear bumper of the front vehicle. For example, the distance between the rear bumper of the front vehicle and the front bumper of the rear vehicle is the relative distance between the two GNSS receivers minus the distance from the GNSS receiver of the rear vehicle to the front bumper, minus the distance from the GNSS receiver of the front vehicle to the rear bumper. Recognize that this list is not intended to be limiting, and Fig.10 It is intended to provide exemplary locations of various sensors in an embodiment of a vehicle including sidelink-enabled device 900 .

[0106] It will be apparent to those skilled in the art that substantial modifications may be made depending on specific requirements. For example, customized hardware may also be used, and / or specific elements may be implemented in hardware, software (including portable software, such as applets, etc.), or both. Further, connections to other computing devices (such as network input / output devices) may be employed.

[0107] Referring to the drawings, a memory (e.g., Fig. 9 The components of the memory 960) may include non-transient machine-readable media. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any storage medium that participates in providing data that enables the machine to operate in a particular manner. In the embodiments provided above, various machine-readable media may be involved when providing instructions / codes to a processing unit and / or other devices for execution. Additionally or alternatively, machine-readable media may be used to store and / or carry such instructions / codes. In many implementations, computer-readable media are physical and / or tangible storage media. Such media may take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Common forms of computer-readable media include, for example: magnetic and / or optical media, any other physical media with hole patterns, RAM, PROM, EPROM, FLASH-EPROM, any other memory chip or cassette, carrier waves described below, or any other media from which a computer can read instructions and / or codes.

[0108] The methods, systems and devices discussed herein are examples. Various embodiments may appropriately omit, substitute, or add various procedures or components. For example, features described with reference to certain embodiments may be combined in various other embodiments. Different aspects and elements of the embodiments may be combined in a similar manner. The various components of the accompanying drawings provided herein may be embodied in hardware and / or software. Moreover, technology may evolve, and therefore many elements are examples, which do not limit the scope of the present disclosure to those specific examples.

[0109] It has proven convenient at times, primarily for reasons of common usage, to refer to such signals as bits, information, values, elements, symbols, characters, variables, terms, quantities, numbers, and the like. However, it should be understood that all of these or similar terms are to be associated with the appropriate physical quantities and are merely convenient labels. Unless specifically stated otherwise, as will be apparent from the above discussion, it should be appreciated that throughout this specification, discussions utilizing terms such as "processing," "computing," "calculating," "determining," "ascertaining," "identifying," "correlating," "measuring," "performing," and the like refer to the actions or processes of a specific apparatus, such as a special-purpose computer or similar special-purpose electronic computing device. Thus, in the context of this specification, a special-purpose computer or similar special-purpose electronic computing device is capable of manipulating or transforming signals that are typically represented as physical, electronic, electrical, or magnetic quantities within a memory, register, or other information storage device, transmission device, or display device of the special-purpose computer or similar special-purpose electronic computing device.

[0110] As used herein, the terms "and" and "or" may include various meanings that are also intended to depend at least in part on the context in which such terms are used. Generally, "or", if used in association with a list, such as A, B, or C, is intended to mean A, B, and C (inclusive meanings are used here) as well as A, B, or C (exclusive meanings are used here). In addition, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular, or may be used to describe a certain combination of features, structures, or characteristics. However, it should be noted that this is merely an illustrative example, and the subject matter claimed is not limited to this example. In addition, the term "at least one of", if used in association with a list, such as A, B, or C, may be interpreted to mean any combination of A, B, and / or C, such as A, AB, AA, AAB, AABBCCC, etc.

[0111] Several embodiments have been described, and various modifications, alternative configurations, and equivalents may be used without departing from the spirit of the present disclosure. For example, the above elements may be components of a larger system, where other rules may take precedence over the application of the various embodiments or otherwise modify the application of the various embodiments. In addition, several steps may be taken before, during, or after considering the above elements. Accordingly, the above description does not limit the scope of the present disclosure.

[0112] In view of this description, various embodiments may include different combinations of features. Various implementation examples are described in the following numbered clauses.

[0113] Item 1: A method for sidelink positioning determination and communication, the method comprising: obtaining, at a first sidelink-enabled device, from one or more data sources, data indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of a target node; using the first sidelink-enabled device to select a positioning type from a group including RTT-based positioning and SS-based positioning based on the data; and sending a message from the first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

[0114] Clause 2: The method of clause 1, wherein the message comprises an Intelligent Transport System (ITS) message.

[0115] Clause 3: The method of any of clauses 1-2, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises a target node.

[0116] Clause 4: The method of clause 3, wherein the method transmits a positioning reference signal (PRS) from the first sidelink-enabled device according to the selected positioning type.

[0117] Clause 5: The method of any of clauses 3-4, wherein obtaining the data from the one or more data sources comprises: obtaining information from a target node.

[0118] Clause 6: The method of clause 5, wherein the information from the target node includes an indication of a positioning type selection from the target node, and selecting the positioning type is further based on the positioning type selection from the target node.

[0119] Clause 7: The method of any of clauses 1-2, wherein the first sidelink-enabled device comprises a target node and the second sidelink-enabled device comprises a source node.

[0120] Clause 8: The method of any of clauses 1-7, wherein the information included in the message indicating the selected positioning type comprises two bits within the message.

[0121] Clause 9: The method of any of clauses 1-8, wherein the message is sent using a Medium Access Control - Control Element (MAC-CE) or a second stage control format.

[0122] Clause 10: The method of any of clauses 1-9, wherein the message comprises a Pre-PRS message.

[0123] Clause 11: A method as in any of clauses 1-10, wherein the one or more criteria include: whether the relative positioning between the first side link-enabled device and the second side link-enabled device over time fails to exhibit a threshold angular change; whether the corresponding speed sensors of the first side link-enabled device, the second side link-enabled device, or both are determined to have a variance greater than a threshold; whether the first side link-enabled device, the second side link-enabled device, or both have moved a first threshold distance within a threshold amount of time; whether the relative distance between the first side link-enabled device and the second side link-enabled device has not changed by a second threshold distance within a threshold amount of time; or whether the corresponding local oscillators of the first side link-enabled device, the second side link-enabled device, or both have been synchronized or initialized within a threshold amount of time before positioning of the selected positioning type will occur; or any combination thereof.

[0124] Item 12: A first sidelink-enabled device for performing sidelink positioning determination and communication, the first sidelink-enabled device comprising: a transceiver; a memory; and one or more processing units communicatively coupled to the transceiver and the memory, the one or more processing units being configured to: obtain data indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of a target node from one or more data sources; select a positioning type from a group including RTT-based positioning and SS-based positioning based on the data; and send a message to a second sidelink-enabled device via the transceiver, wherein the message includes information indicating the selected positioning type.

[0125] Clause 13: The first sidelink-enabled device of clause 12, wherein the one or more processing units are configured to include an Intelligent Transport System (ITS) message in the message.

[0126] Clause 14: The first sidelink-enabled device of any of clauses 12-13, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises a target node.

[0127] Clause 15: The first sidelink-enabled device of clause 14, wherein the one or more processing units are further configured to transmit, via the transceiver, a positioning reference signal (PRS) according to the selected positioning type.

[0128] Clause 16: The first sidelink-enabled device of any of clauses 14-15, wherein to obtain the data from the one or more data sources, the one or more processing units are configured to obtain information from a target node.

[0129] Clause 17: The first sidelink-enabled device of clause 16, wherein in response to the information from the target node including an indication of a positioning type selection from the target node, the one or more processing units are configured to select the positioning type further based on the positioning type selection from the target node.

[0130] Clause 18: The first sidelink-enabled device of any of clauses 12-13, wherein the first sidelink-enabled device comprises a target node and the second sidelink-enabled device comprises a source node.

[0131] Clause 19: The first sidelink-enabled device of any of clauses 12-18, wherein the one or more processing units are further configured to include two bits within the message as information indicating the selected positioning type.

[0132] Clause 20: The first sidelink-enabled device of any of clauses 12-19, wherein the one or more processing units are further configured to send the message using a medium access control-control element (MAC-CE) or a second stage control format.

[0133] Clause 21: The first sidelink-enabled device of any of clauses 12-20, wherein the message comprises a pre-PRS message.

[0134] Clause 22: A first side link-enabled device as in any of clauses 12-21, wherein the one or more criteria include: whether the relative positioning over time between the first side link-enabled device and the second side link-enabled device fails to exhibit a threshold amount of angular change; whether the respective speed sensors of the first side link-enabled device, the second side link-enabled device, or both are determined to have a variance greater than a threshold; whether the first side link-enabled device, the second side link-enabled device, or both have moved a first threshold distance within a threshold amount of time; whether the relative distance between the first side link-enabled device and the second side link-enabled device has not changed by a second threshold distance within a threshold amount of time; or whether the respective local oscillators of the first side link-enabled device, the second side link-enabled device, or both have been synchronized or initialized within a threshold amount of time before positioning of the selected positioning type will occur; or any combination thereof.

[0135] Clause 23: An apparatus for sidelink positioning determination and communication, the apparatus comprising: a device for obtaining data indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of a target node from one or more data sources; a device for selecting a positioning type from a group including RTT-based positioning and SS-based positioning based on the data; and a device for sending a message from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

[0136] Clause 24: The apparatus of clause 23, wherein the means for sending the message comprises: means for sending an Intelligent Transport System (ITS) message.

[0137] Clause 25: The device of any of clauses 23-24, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises a target node.

[0138] Clause 26: The apparatus of clause 25, further comprising: means for transmitting a positioning reference signal (PRS) from the first sidelink-enabled device according to the selected positioning type.

[0139] Clause 27: The apparatus of any of clauses 25-26, wherein the means for obtaining the data from the one or more data sources comprises: means for obtaining information from the target node.

[0140] Clause 28: The device of any of clauses 23-24, wherein the first sidelink-enabled device comprises a target node and the second sidelink-enabled device comprises a source node.

[0141] Clause 29: The apparatus of any of clauses 23-28, wherein the information included in the message indicating the selected positioning type comprises two bits within the message.

[0142] Item 30: A non-transitory computer-readable medium storing instructions for sidelink positioning determination and communication, the instructions comprising code for: obtaining data from one or more data sources indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of a target node; selecting a positioning type from a group including RTT-based positioning and SS-based positioning based on the data; and sending a message from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

Claims

1. A method for sidelink positioning determination and communication, the method comprising: obtaining, at a first sidelink-enabled device, from one or more data sources, data indicating one or more criteria for using round-trip time (RTT)-based positioning of a target node or single-sided SS-based positioning of the target node; selecting, using the first sidelink-enabled device, a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data; as well as A message is sent from the first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating a selected positioning type.

2. The method of claim 1, wherein the message comprises an Intelligent Transport System (ITS) message.

3. The method of claim 1, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises the destination node.

4. The method of claim 3, further comprising: A positioning reference signal PRS is sent from the first sidelink-enabled device according to the selected positioning type.

5. The method of claim 3, wherein obtaining the data from the one or more data sources comprises: Information is obtained from the target node.

6. The method of claim 5, wherein the information from the target node includes an indication of a positioning type selection from the target node, and selecting the positioning type is further based on the positioning type selection from the target node.

7. The method of claim 1, wherein the first sidelink-enabled device comprises the target node and the second sidelink-enabled device comprises a source node.

8. The method of claim 1, wherein the information included in the message indicating the selected positioning type comprises two bits within the message.

9. The method of claim 1, wherein the message is sent using a Medium Access Control - Control Element MAC-CE or a second stage control format.

10. The method of claim 1, wherein the message comprises a pre-PRS message.

11. The method of claim 1 , wherein the one or more criteria include: whether a relative positioning over time between the first sidelink-enabled device and the second sidelink-enabled device fails to exhibit a threshold amount of angular change; whether a corresponding speed sensor of the first sidelink-enabled device, the second sidelink-enabled device, or both, is determined to have a variance greater than a threshold; whether the first sidelink-enabled device, the second sidelink-enabled device, or both, has moved a first threshold distance within a threshold amount of time; whether a relative distance between the first sidelink-enabled device and the second sidelink-enabled device has not changed by a second threshold distance within a threshold amount of time; or whether a respective local oscillator of the first sidelink-enabled device, the second sidelink-enabled device, or both, has been synchronized or initialized within a threshold amount of time before a position fix of a selected position fix type will occur; or Any combination thereof.

12. A first sidelink-enabled device for sidelink positioning determination and communication, the first sidelink-enabled device comprising: Transceiver; Memory; as well as one or more processing units communicatively coupled to the transceiver and the memory, the one or more processing units configured to: Obtaining data from one or more data sources indicating one or more criteria for using round trip time (RTT) based positioning of a target node or one-sided SS based positioning of the target node; selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data; as well as A message is sent via the transceiver to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

13. The first sidelink-enabled device of claim 12, wherein the one or more processing units are configured to include an Intelligent Transport System (ITS) message in the message.

14. The first sidelink-enabled device of claim 12, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises the destination node. 15 . The first sidelink-enabled device of claim 14 , wherein the one or more processing units are further configured to send a positioning reference signal (PRS) via the transceiver according to the selected positioning type.

16. The first sidelink-enabled device of claim 14, wherein to obtain the data from the one or more data sources, the one or more processing units are configured to obtain information from the target node.

17. A first sidelink-enabled device as described in claim 16, wherein in response to the information from the target node including an indication of a positioning type selection from the target node, the one or more processing units are configured to select the positioning type further based on the positioning type selection from the target node.

18. The first sidelink-enabled device of claim 12, wherein the first sidelink-enabled device comprises the target node and the second sidelink-enabled device comprises a source node.

19. The first sidelink-enabled device of claim 12, wherein the one or more processing units are further configured to include two bits in the message as information indicating a selected positioning type.

20. The first sidelink-enabled device of claim 12, wherein the one or more processing units are further configured to send the message using a Media Access Control - Control Element MAC-CE or a second stage control format.

21. The first sidelink-enabled device of claim 12, wherein the message comprises a pre-PRS message.

22. The first sidelink-enabled device of claim 12, wherein the one or more criteria include: whether a relative positioning over time between the first sidelink-enabled device and the second sidelink-enabled device fails to exhibit a threshold amount of angular change; whether a corresponding speed sensor of the first sidelink-enabled device, the second sidelink-enabled device, or both, is determined to have a variance greater than a threshold; whether the first sidelink-enabled device, the second sidelink-enabled device, or both, has moved a first threshold distance within a threshold amount of time; whether a relative distance between the first sidelink-enabled device and the second sidelink-enabled device has not changed by a second threshold distance within a threshold amount of time; or whether a respective local oscillator of the first sidelink-enabled device, the second sidelink-enabled device, or both, has been synchronized or initialized within a threshold amount of time before a position fix of a selected position fix type will occur; or Any combination thereof.

23. A first sidelink-enabled device for sidelink positioning determination and communication, the first sidelink-enabled device comprising: means for obtaining, from one or more data sources, data indicating one or more criteria for using round trip time (RTT) based positioning of a target node or one-sided SS based positioning of the target node; means for selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data; as well as Means for sending a message from the first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating a selected positioning type.

24. The first sidelink-enabled device of claim 23, wherein the means for sending the message comprises: Device for sending Intelligent Transport System ITS messages.

25. The first sidelink-enabled device of claim 23, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises the destination node.

26. The first sidelink-enabled device of claim 25, further comprising: means for transmitting a Positioning Reference Signal (PRS) from the first sidelink-enabled device according to the selected positioning type.

27. The first sidelink-enabled device of claim 25, wherein the means for obtaining the data from the one or more data sources comprises: means for obtaining information from the target node.

28. The first sidelink-enabled device of claim 23, wherein the first sidelink-enabled device comprises the target node and the second sidelink-enabled device comprises a source node.

29. The first sidelink-enabled device of claim 23, wherein the information included in the message indicating the selected positioning type comprises two bits within the message.

30. A non-transitory computer-readable medium storing instructions for sidelink positioning determination and communication, the instructions comprising code for: Obtaining data from one or more data sources indicating one or more criteria for using round trip time (RTT) based positioning of a target node or one-sided SS based positioning of the target node; selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data; as well as A message is sent from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating a selected positioning type.

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