Vehicle-to-vehicle maneuver sharing and coordination

Abstract

Various aspects of the disclosure generally relate to wireless communication. In some aspects, a user equipment can transmit a maneuver message for a maneuver of a vehicle associated with the UE; perform a negotiation associated with the maneuver message with one or more other UEs, wherein the negotiation includes at least one of indicating one or more remote vehicle maneuvers in the maneuver message or receiving a response to the maneuver message from a UE of the one or more other UEs, the response indicating a suggested maneuver for the vehicle of the UE; and perform an action based at least in part on performing the negotiation. Numerous other aspects are provided.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This Patent Application claims priority to U.S. Provisional Patent Application No. 63 / 036,807, titled “VEHICLE-TO-VEHICLE MANEUVER SHARING AND COORDINATING,” filed June 9, 2020, and U.S. Nonprovisional Patent Application No. 17 / 238,577, titled “VEHICLE-TO-VEHICLE MANEUVER SHARING AND COORDINATING,” filed April 23, 2021, which are expressly incorporated by reference herein. TECHNICAL FIELD

[0003] Aspects of the present disclosure relate generally to wireless communication, and more specifically to techniques and apparatuses for vehicle-to-vehicle (V2V) maneuver sharing and coordinating. BACKGROUND

[0004] Wireless communication systems are widely deployed to provide various telecommunication services such as telephony, video, data, messaging, and broadcasts. Typical wireless communication systems can employ multiple-access technologies capable of supporting communication with multiple users by sharing available system resources (e.g., bandwidth, transmit power, or similar resources). Examples of such multiple-access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single-carrier frequency division multiple access (SC-FDMA) systems, time division synchronous code division multiple access (TD-SCDMA) systems, and long term evolution (LTE). LTE / LTE-Advanced is a set of enhancements to the Universal Mobile Telecommunications System (UMTS) mobile standard promulgated by the Third Generation Partnership Project (3 GPP).

[0005] A wireless network can include a number of base stations (BSs) that can support communication for a number of user equipment (UEs). A UE can communicate with a BS via the downlink and uplink. “Downlink” (or “forward link”) refers to the communication from the BS to the UE, and “uplink” (or “reverse link”) refers to the communication from the UE to the BS. As will be described in more detail herein, a BS can be referred to as a Node B, a gNB, an access point (AP), a radio head, a transmit receive point (TRP), a new radio (NR) BS, a 5G Node B, or similar.

[0006] The above multiple access technologies have been adopted in various telecommunication standards to provide common protocols whereby different wireless devices can communicate on a municipal, national, regional, and even global level. NR, which can also be referred to as 5G, is a set of enhancements to the LTE mobile standard promulgated by the 3 GPP. NR is designed to better support mobile broadband Internet access by improving spectral efficiency, lowering costs, improving services, making use of new spectrum, and better integrating with other open standards using orthogonal frequency division multiplexing (OFDM) with cyclic prefix (CP) (CP-OFDM) on the downlink (DL), using CP- OFDM and / or SC-FDM (e.g., also known as discrete Fourier transform spread OFDM (DFT-s- OFDM)) on the uplink (UL), as well as supporting beamforming, multiple input multiple output (MIMO) antenna technology, and carrier aggregation. However, as the demand for mobile broadband access continues to increase, there exists a need for further improvements in LTE, NR, and other radio access technologies. SUMMARY

[0007] In some aspects, a method of wireless communication, performed by a user equipment (UE), can include transmitting a maneuver message for a maneuver of a vehicle associated with the UE; performing, with one or more other UEs, a negotiation associated with the maneuver message, wherein the negotiation includes at least one of indicating, in the maneuver message, one or more remote vehicle (RV) maneuvers, or receiving, from a UE of the one or more other UEs, a response to the maneuver message indicating a suggested maneuver for the vehicle of the UE; and performing an action based at least in part on performing the negotiation.

[0008] In some aspects, a method of wireless communication, performed by a user equipment (UE), can include transmitting a maneuver message for a maneuver of a vehicle associated with the UE; performing, with one or more other UEs, a negotiation associated with the maneuver message, wherein the negotiation includes at least one of indicating, in the maneuver message, one or more remote vehicle (RV) maneuvers, or receiving, from a UE of the one or more other UEs, a response to the maneuver message indicating a suggested maneuver for the vehicle of the UE; and performing an action based at least in part on performing the negotiation.

[0009] In some aspects, a UE for wireless communication can include a memory and one or more processors coupled to the memory. The one or more processors can be configured to transmit a maneuver message for a maneuver of a vehicle associated with the UE; perform, with one or more other UEs, a negotiation associated with the maneuver message, wherein the negotiation includes at least one of indicating, in the maneuver message, one or more RV maneuvers, or receiving, from a UE of the one or more other UEs, a response to the maneuver message indicating a suggested maneuver for the vehicle of the UE; and perform an action based at least in part on performing the negotiation.

[0010] In some aspects, a UE for wireless communication can include a memory and one or more processors coupled to the memory. The one or more processors can be configured to receive, from a different UE, a maneuver message for a maneuver of a vehicle associated with the different UE; and perform, with the different UE, a negotiation associated with the maneuver message, wherein the negotiation includes at least one of: identifying, in the maneuver message, an RV maneuver of the vehicle associated with the UE, or transmitting, to the different UE, a response to the maneuver message indicating a suggested maneuver of the vehicle associated with the other UE.

[0011] In some aspects, a non-transitory computer-readable medium can store one or more instructions for wireless communication. The one or more instructions, when executed by one or more processors of a UE, can cause the one or more processors to transmit a maneuver message for a maneuver of a vehicle associated with the UE; perform, with one or more other UEs, a negotiation associated with the maneuver message, wherein the negotiation includes at least one of: indicating, in the maneuver message, one or more RV maneuvers, or receiving, from a UE of the one or more other UEs, a response to the maneuver message indicating a suggested maneuver for the vehicle of the UE; and perform an action based at least in part on performing the negotiation.

[0012] In some aspects, a non-transitory computer-readable medium can store one or more instructions for wireless communication. The one or more instructions, when executed by one or more processors of a UE, can cause the one or more processors to receive, from a different UE, a maneuver message for a maneuver of a vehicle associated with the different UE; and perform, with the different UE, a negotiation associated with the maneuver message, wherein the negotiation includes at least one of: identifying, in the maneuver message, an RV maneuver of the vehicle associated with the UE, or transmitting, to the different UE, a response to the maneuver message indicating a suggested maneuver of the vehicle associated with the other UE.

[0013] In some aspects, an apparatus for wireless communication can include means for transmitting a maneuver message for a maneuver of a vehicle associated with the apparatus; means for performing, with one or more UEs, a negotiation associated with the maneuver message, wherein the negotiation includes at least one of: means for indicating, in the maneuver message, one or more RV maneuvers, or receiving, from a UE of the one or more UEs, a response to the maneuver message indicating a suggested maneuver for the vehicle of the apparatus; and means for performing an action based at least in part on performing the negotiation.

[0014] In some aspects, an apparatus for wireless communication can include means for receiving, from a UE, a maneuver message for a maneuver of a vehicle associated with a different UE; and means for performing, with the UE, a negotiation associated with the maneuver message, wherein the negotiation includes at least one of: means for identifying, in the maneuver message, an RV maneuver of a vehicle associated with the apparatus, or means for transmitting, to the UE, a response to the maneuver message, the response indicating a suggested maneuver of a vehicle associated with the UE.

[0015] As generally described herein throughout with reference to the accompanying drawings and description, aspects generally include a method, apparatus, system, computer program product, non-transitory computer-readable medium, user equipment, base station, wireless communication device, and / or processing system.

[0016] The features and advantages described herein are presented with the intent of providing those skilled in the art with a more complete and enabling disclosure of the concepts and techniques described herein. Additional features and advantages will be apparent based on the description that follows, and the accompanying drawings. The disclosed concepts and specific examples can be readily utilized as bases or premises for the design of other structures for carrying out the same purposes of the present disclosure. Such equivalent constructions do not depart from the scope of the claims. The characteristics of the concepts disclosed herein, both their organization and method of operation, together with the related advantages, will be better understood from the following description when considered in connection with the accompanying drawings. Each of the figures is provided for explanatory and descriptive purposes, and is not a limitation on the definition of the claims.

[0017] While aspects are described in the present disclosure by illustration to some examples, those skilled in the art will understand that such aspects can be implemented in many different arrangements and scenarios. Techniques described herein can be implemented using different platform types, devices, systems, shapes, sizes, and / or packaging arrangements. For example, some aspects can be implemented via integrated chip embodiments or other non-module component devices (e.g., end-user devices, vehicles, communication devices, computing devices, industrial devices, retail / purchasing devices, medical devices, or artificial intelligence-enabled devices). Aspects can be implemented in chip-level components, modular components, non-modular components, non-chip-level components, device-level components, or system-level components. Devices incorporating described aspects and features can include additional components and features for implementation and practice of claimed and described aspects. For example, transmission and reception of wireless signals can include a number of components for analog and digital purposes (e.g., hardware components including antennas, radio frequency (RF) chains, power amplifiers, modulators, buffers, processor(s), interleavers, adders, or summers). It is intended that aspects described herein can be practiced in devices, components, systems, distributed arrangements, or end-user devices of a variety of different sizes, shapes, and constitution. BRIEF DESCRIPTION OF DRAWINGS

[0018] For a more detailed understanding of the foregoing features of the present disclosure, reference can be made to the more detailed description and accompanying drawings that follow, in which some aspects are illustrated. It is noted that the figures can not be drawn to scale; however, the figures are intended to conceptually illustrate more typical aspects of the present disclosure. Thus, variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and / or tolerances, are to be expected. Additionally, superimposing the illustrations can be used to facilitate understanding of some aspects of the present disclosure.

[0019] Figure 1 FIG. 1 is a diagram illustrating an example of a wireless network, in accordance with the present disclosure.

[0020] Figure 2 FIG. 2 is a diagram illustrating an example of a base station in communication with a UE in a wireless network, in accordance with the present disclosure.

[0021] Figure 3 FIG. 3 is a diagram illustrating an example of sidelink communication, in accordance with the present disclosure.

[0022] Figure 4 FIG. 4 is a diagram illustrating an example of sidelink communication and access link communication, in accordance with the present disclosure.

[0023] Figures 5-7 FIG. 5 is a diagram illustrating an example associated with vehicle-to-vehicle (V2V) maneuver sharing and coordination, in accordance with the present disclosure.

[0024] Figures 8-9 FIG. 6 is a diagram illustrating an example process associated with V2V maneuver sharing and coordination, in accordance with the present disclosure.

[0025] Figure 10 FIG. 7 is a block diagram illustrating an example apparatus for wireless communication, in accordance with the present disclosure. DETAILED DESCRIPTION

[0026] Aspects of the disclosure are described more fully below with reference to the accompanying drawings. This disclosure may, however, be embodied in many different forms and should not be construed as limited to any specific structure or function presented throughout this disclosure. Rather, these aspects are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Based on the teachings herein one skilled in the art should appreciate that the scope of the disclosure is intended to cover any aspect of the disclosure whether implemented independently of, or combined with, any other aspect of the disclosure. For example, an apparatus can be implemented or a method can be practiced using any number of the aspects set forth herein. In addition, the scope of the disclosure is intended to cover such an apparatus or method which is practiced using other structure, functionality, or structure and functionality in addition to or other than the various aspects of the disclosure set forth herein. It should be understood that any aspect of the disclosure disclosed herein can be embodied by one or more elements of a claim.

[0027] Several aspects of telecommunication systems will now be presented with reference to various apparatus and methods. These apparatus and methods will be described in the following detailed description and illustrated in the accompanying drawings by various blocks, modules, components, circuits, steps, processes, algorithms, etc. (collectively referred to as "elements"). These elements can be implemented with hardware, software, or combinations thereof. Whether such elements are implemented as hardware or software depends on the particular application and design constraints imposed on the overall system.

[0028] It should be noted that while aspects can be described herein using terminology commonly associated with a 5G or NR radio access technology (RAT), aspects of the present disclosure can be applied to other RATs, such as a 3G RAT, a 4G RAT, and / or a RAT subsequent to 5G (e.g., 6G).

[0029] Figure 1 FIG. 1 is a diagram illustrating an example of a wireless network 100 in accordance with the present disclosure. The wireless network 100 can be or can include elements of a 5G (NR) network and / or an LTE network, among other examples. The wireless network 100 can include a number of base stations 110 (shown as BS 110a, BS 110b, BS 110c, and BS 1 lOd) and other network entities. A base station (BS) is an entity that communicates with user equipment (UEs) and can also be referred to as an NR BS, a Node B, a gNB, a 5G node B (NB), an access point, a transmit receive point (TRP), or the like. Each BS can provide communication coverage for a particular geographic area. In 3GPP, the term “cell” can refer to a coverage area of a BS and / or a BS subsystem serving the coverage area, depending on the context in which the term is used.

[0030] A BS can provide communication coverage for a macro cell, a pico cell, a femto cell, and / or another type of cell. A macro cell can cover a relatively large geographic area (e.g., several kilometers in radius) and can allow unrestricted access by UEs with service subscription. A pico cell can cover a relatively small geographic area and can allow unrestricted access by UEs with service subscription. A femto cell can cover a relatively small geographic area (e.g., a home) and can allow restricted access by UEs with association to a closed subscriber group (CSG). A BS for a macro cell can be referred to as a macro BS. A BS for a pico cell can be referred to as a pico BS. A BS for a femto cell can be referred to as a femto BS or a home BS. In Figure 1 In the example shown, BS 110a can be a macro BS for a macro cell 102a, BS 110b can be a pico BS for a pico cell 102b, and BS 110c can be a femto BS for a femto cell 102c. A BS can support one or multiple (e.g., three) cells. The terms “eNB,” “base station,” “NR BS,” “gNB,” “TRP,” “AP,” “Node B,” “5G NB,” and “cell” can be used interchangeably herein.

[0031] In some aspects, a cell can not necessarily be fixed in location and the geographic area of a cell can move according to the location of a mobile BS. In some aspects, BSs can be interconnected to one another and / or to one or more other BSs or network nodes (not shown) in the wireless network 100 through various types of backhaul interfaces such as a direct physical connection or a virtual network using any suitable transmission

[0032] Wireless network 100 can also include relay stations. A relay station is an entity that can receive a transmission of data from an upstream station (e.g., a BS or a UE) and send a transmission of the data to a downstream station (e.g., a UE or a BS). A relay station can also be a UE that can relay transmissions for other UEs. In Figure 1 In the example shown, a relay BS 1 lOd can communicate with macro BS 110a and a UE 120d in order to facilitate communications between the BS 110a and UE 120d. A relay BS can also be referred to as a relay station, a relay base station, a relay, or the like.

[0033] Wireless network 100 can be a heterogeneous network that includes BSs of different types, such as macro BSs, pico BSs, femto BSs, relay BSs, or the like. These different types of BSs can have different transmit power levels, different coverage areas, and different impacts on interference in wireless network 100. For example, macro BSs can have a high transmit power level (e.g., 5 to 40 Watts) whereas pico BSs, femto BSs, and relay BSs can have lower transmit power levels (e.g., 0.1 to 2 Watts).

[0034] A network controller 130 can couple to a set of BSs and can provide coordination and control for these BSs. Network controller 130 can be in communication with the BSs via a backhaul. The BSs can also communicate with one another directly or indirectly via a wireless or wireline backhaul.

[0035] UEs 120 (e.g., 120a, 120b, 120c) can be dispersed throughout wireless network 100, and each UE can be stationary or mobile. A UE can also be referred to as an access terminal, a terminal, a mobile station, a subscriber unit, a station, or the like. A UE can be a cellular phone (e.g., a smart phone), a personal digital assistant (PDA), a wireless modem, a wireless communication device, a handheld device, a laptop computer, a cordless phone, a wireless local loop (WLL) station, a tablet, a camera, a gaming device, a netbook, a smartbook, an ultrabook, a medical device or equipment, biometric sensors / devices, wearable devices (smart watches, smart clothing, smart glasses, smart wrist bands), smart jewelry (e.g., smart ring, smart bracelet), an entertainment device (e.g., a music or video device, or a satellite radio), a vehicular component or sensor, a smart meter / sensor, industrial manufacturing equipment, a global positioning system device, or any other suitable device that is configured to communicate via a wireless or wired medium.

[0036] Some UEs can be considered machine-type communication (MTC) or evolved or enhanced machine-type communication (eMTC) UEs. MTC and eMTC UEs include, e.g., robots, drones, remote devices, sensors, meters, monitors, and / or location tags, that can communicate with a base station, another device (e.g., remote device) or some other entity. A wireless node can provide, for example, connectivity for or to a network (e.g., a wide area network such as Internet or a cellular network) via a wired or wireless communication link. Some UEs can be considered Intemet-of-Things (IoT) devices, and / or can be implemented as NB-IoT (narrowband

[0037] In general, any number of wireless networks can be deployed in a given geographic area. Each wireless network can support a particular RAT and can operate on one or more frequencies. A RAT can also be referred to as a radio technology, an air interface, or the like. Frequencies can also be referred to as carriers, frequency channels, or the like. Each frequency can support a single RAT in a given geographic area in order to avoid interference between wireless networks of different RATs. In some cases, NR or 5G RAT networks can be deployed.

[0038] In some aspects, two or more UEs 120 (e.g., shown as UE 120a and UE 120e) can communicate directly using one or more sidelink channels (e.g., without using base station 110 as an intermediary to communicate with one another). For example, UE 120 can communicate using peer-to-peer (P2P) communications, device-to-device (D2D) communications, vehicle-to-everything (V2X) protocols (e.g., which can include vehicle-to-vehicle (V2V) protocols, vehicle-to-infrastructure (V2I) protocols, and / or vehicle-to-pedestrian (V2P) protocols), and / or netw ork communications. In this case, UE 120 can perform scheduling operations, resource selection operations, and / or other operations described elsewhere herein as being performed by base station 110.

[0039] Devices of wireless network 100 can communicate using the electromagnetic spectrum, which can be subdivided, based on frequency or wavelength, into various classes, bands, channels, and so on. For example, devices of wireless network 100 can communicate using an operating band having a first frequency range (FR1) that can span from 410 MHz to 7.125 GHz and / or can communicate using an operating band having a second frequency range (FR2) that can span from 24.25 GHz to 52.6 GHz. The frequencies between FR1 and FR2 are sometimes referred to as mid-band frequencies. Although a portion of FR1 is greater than 6 GHz, FR1 is often referred to as a “sub-6 GHz” frequency band. Similarly, FR2 is often referred to as a “millimeter wave” frequency band despite being different from the extremely high frequency (EHF) frequency band (30 GHz - 300 GHz) which is also sometimes referred to as a “millimeter wave” frequency band by the International Telecommunications Union (ITU). Thus, unless specifically stated otherwise, the term “sub-6 GHz” or like terminology, if used herein, can broadly represent frequencies less than 6 GHz, frequencies within FR1, and / or mid-band frequencies (e.g., greater than 7.125 GHz). Similarly, unless specifically stated otherwise, the term “millimeter wave” or like terminology, if used herein, can broadly represent frequencies within the EHF band, frequencies within FR2, and / or mid-band frequencies (e.g., less than 24.25 GHz). It is contemplated that the frequencies included in FR1 and FR2 can be modified, and techniques described herein are applicable to those modified frequency ranges.

[0040] As described above, there is provided Figure 1 by way of example. Other examples can differ from what is described Figure 1 with respect to the examples described.

[0041] Figure 2 FIG. 1 is a diagram illustrating an example 200 of a base station 110 in communication with a UE 120 in a wireless network 100, in accordance with the present disclosure. Base station 110 can be equipped with T antennas 234a through 234t, and UE 120 can be equipped with R antennas 252a through 252r, where in general T > 1 and R > 1.

[0042] At base station 110, a transmit processor 220 can receive data from a data source 212 for one or more UEs, select one or more modulation and coding schemes (MCS) for each UE based at least in part on channel quality indicators (CQIs) received from the UE, process (e.g., encode and modulate) the data for each UE based at least in part on the MCS(s) selected for the UE, and provide data symbols for all UEs. Transmit processor 220 can also process system information (e.g., for semi-static resource partitioning information (SRPI)) and control information (e.g., CQI requests, grants, and / or upper layer signaling) and provide overhead symbols and control symbols. Transmit processor 220 can also generate reference symbols for reference signals (e.g., a cell-specific reference signal (CRS) or a demodulation reference signal (DMRS)) and synchronization signals (e.g., a primary synchronization signal (PSS) or a secondary synchronization signal (SSS)). A transmit (TX) multiple-input multiple-output (MIMO) processor 230 can perform spatial processing (e.g., precoding) on the data symbols, the control symbols, the overhead symbols, and / or the reference symbols, if applicable, and can provide T output symbol streams to T modulators (MODs) 232a through 232t. Each modulator 232 can process a respective output symbol stream (e.g., for OFDM) to obtain an output sample stream. Each modulator 232 can further process (e.g., convert to analog, amplify, filter, and upconvert) the output sample stream to obtain a downlink signal. T downlink signals from modulators 232a through 232t can be transmitted via T antennas 234a through 234t, respectively.

[0043] At the UE 120, the antennas 252a-252r can receive the downlink signals from the base station 110 and / or other base stations and can provide received signals to the demodulators (DEMODs) 254a-254r, respectively. Each demodulator 254 can condition (e.g., filter, amplify, downconvert, and digitize) a received signal to obtain input samples. Each demodulator 254 can further process the input samples (e.g., for OFDM) to obtain received symbols. A MIMO detector 256 can obtain received symbols from all R demodulators 254a-254r, perform MIMO detection on the received symbols if applicable, and provide detected symbols. A receive processor 258 can process (e.g., demodulate and decode) the detected symbols, provide decoded data for the UE 120 to a data sink 260, and provide decoded control information and system information to a controller / processor 280. The term “controller / processor” can refer to one or more controllers, one or more processors, or combinations thereof. A channel processor can determine reference signal received power (RSRP) parameters, received signal strength indicator (RSSI) parameters, reference signal received quality (RSRQ) parameters, and / or channel quality indicator (CQI) parameters, among other examples. In some aspects, one or more components of UE 120 can be included in a housing 284.

[0044] The network controller 130 can include a communication unit 294, a controller / processor 290, and a memory 292. The network controller 130 can include, for example, one or more devices in a core network. The network controller 130 can communicate with the base station 110 via the communication unit 294.

[0045] Antennas (e.g., antennas 234a-234t and / or antennas 252a-252r) can include or be included in one or more antenna panels, antenna groups, sets of antenna elements, and / or antenna arrays, among other examples. An antenna panel, antenna group, set of antenna elements, and / or antenna array can include one or more antenna elements. An antenna panel, antenna group, set of antenna elements, and / or antenna array can include a set of co-planar antenna elements and / or a set of non-co-planar antenna elements. An antenna panel, antenna group, set of antenna elements, and / or antenna array can include antenna elements that are internal to a single housing and / or antenna elements that are internal to multiple housings. An antenna panel, antenna group, set of antenna elements, and / or antenna array can include one or more antenna elements that are coupled to one or more transmit and / or receive components (such as one or more components of a transceiver 264 and / or a wireless communication management component 272). Figure 2 An antenna panel, antenna group, set of antenna elements, and / or antenna array can include one or more antenna elements that are coupled to one or more transmit and / or receive components (such as one or more components of a transceiver 264 and / or a wireless communication management component 272).

[0046] In the uplink, at UE 120, the transmitting processor 264 can receive and process data from data source 262 and control information from controller / processor 280 (e.g., for reporting RSRP, RSSI, RSRQ, and / or CQI). The transmitting processor 264 can also generate reference symbols for one or more reference signals. Symbols from the transmitting processor 264 can be pre-encoded (if applicable) by TX MIMO processor 266, then further processed by modulators 254a to 254r (e.g., for DFT-s-OFDM or CP-OFDM), and transmitted to base station 110. In some aspects, the modulator and demodulator of UE 120 (e.g., MOD / DEMOD 254) can be included in the modem of UE 120. In some aspects, UE 120 includes a transceiver. The transceiver may include any combination of antenna(s) 252, modulator and / or demodulator 254, MIMO detector 256, receive processor 258, transmit processor 264, and / or TX MIMO processor 266. The transceiver may be used by a processor (e.g., controller / processor 280) and memory 282 to perform aspects of any of the methods described herein (e.g., as referenced). Figures 5-10 (As described).

[0047] At base station 110, uplink signals from UE 120 and other UEs can be received by antenna 234, processed by demodulator 232, detected by MIMO detector 236 (if applicable), and further processed by receiver processor 238 to obtain decoded data and control information transmitted by UE 120. Receiver processor 238 can provide the decoded data to data sink 239 and the decoded control information to controller / processor 240. Base station 110 may include communication unit 244 and communicate with network controller 130 via communication unit 244. Base station 110 may include scheduler 246 to schedule UE 120 for downlink and / or uplink communication. In some aspects, the modulator and demodulator (e.g., MOD / DEMOD 232) of base station 110 may be included in the modem of base station 110. In some aspects, base station 110 includes transceiver. The transceiver may include (multiple) antennas 234, modulators and / or demodulators 232, MIMO detectors 236, receive processors 238, transmit processors 220, and / or any combination of TX MIMO processors 230. The transceiver may be used by a processor (e.g., controller / processor 240) and memory 242 to perform aspects of any of the methods described herein (e.g., as referenced). Figures 5-10 (As described).

[0048] As described in more detail elsewhere in this document, the controller / processor 240 of base station 110, the controller / processor 280 of UE 120, and / or Figure 2 Any other component(s) may perform one or more technologies associated with vehicle-to-vehicle (V2V) manipulation sharing and coordination. For example, the controller / processor 240 of base station 110, the controller / processor 280 of UE 120, and / or Figure 2 Any other component(s) can perform or direct, for example Figure 8 The process 800 Figure 9 The operation of process 900 and / or other processes described herein. Memory 242 and 282 may store data and program code for base station 110 and UE 120, respectively. In some aspects, memory 242 and / or memory 282 may include a non-transitory computer-readable medium for storing one or more instructions (e.g., code and / or program code) for wireless communication. For example, when executed by one or more processors of base station 110 and / or UE 120 (e.g., directly executed, or compiled, translated, and / or interpreted before execution), one or more instructions may cause the one or more processors, UE 120, and / or base station 110 to perform or direct, for example, process 800 of Figure 8. Figure 9 The operation of process 900 and / or other processes described herein. In some aspects, execution instructions may include run instructions, translation instructions, compilation instructions, and / or interpretation instructions, etc.

[0049] In some aspects, UE 120 may include components for transmitting a manipulation message for manipulating a vehicle associated with the UE; components for performing a negotiation associated with the manipulation message with one or more other UEs, wherein the negotiation includes at least one of: instructing one or more remote vehicle (RV) manipulations in the manipulation message, or receiving a response to the manipulation message from one or more other UEs, the response indicating a proposed manipulation for the vehicle associated with that UE; components for performing an action at least in part based on performing the negotiation; and / or similar components. In some aspects, UE 120 may include components for receiving a manipulation message for manipulating a vehicle associated with a different UE from a different UE; components for performing a negotiation associated with the manipulation message with a different UE, wherein the negotiation includes at least one of: identifying RV manipulation of the vehicle associated with the UE in the manipulation message, or sending a response to the manipulation message to a different UE, the response indicating a proposed manipulation for the vehicle associated with the different UE; and / or similar components. In some aspects, such components may include combinations of Figure 2One or more components of the described UE 120, such as controller / processor 280, transmit processor 264, TX MIMO processor 266, MOD 254, antenna 252, DEMOD 254, MIMO detector 256, receive processor 258, etc.

[0050] Although Figure 2 The blocks in FIG. 13 are illustrated as distinct components, but the functionality described above in relation to these blocks can be implemented in a single hardware, software, or combined component or in various combinations of components. For example, the functionality described in relation to transmit processor 264, receive processor 258, and / or TX MIMO processor 266 can be performed by controller / processor 280 or under its control.

[0051] As described above, Figure 2 The examples are provided by way of example. Other examples can differ from what is described in relation to Figure 2 the described examples.

[0052] Figure 3 is a diagram illustrating an example 300 of sidelink communications, in accordance with the present disclosure.

[0053] As Figure 3 illustrated, a first UE 305-1 can communicate with a second UE 305-2 (and one or more other UEs 305) via one or more sidelink channels 310. The UEs 305-1 and 305-2 can communicate using one or more sidelink channels 310 for P2P communications, D2D communications, V2X communications (e.g., which can include V2V communications, V2I communications, V2P communications, and / or the like), mesh networks, and / or the like. In some aspects, the UEs 305 (e.g., UE 305-1 and / or UE 305-2) can correspond to one or more other UEs described elsewhere herein, such as UE 120. In some aspects, the one or more sidelink channels 310 can use a PC5 interface and / or can operate in a high frequency band (e.g., a 5.9 GHz band). Additionally, or alternatively, the UEs 305 can synchronize timing of transmission time intervals (TTIs) (e.g., frames, subframes, slots, symbols, and / or the like) using global navigation satellite system (GNSS) timing.

[0054] As Figure 3Further shown, one or more sidelink channels 310 can include a physical sidelink control channel (PSCCH) 315, a physical sidelink shared channel (PSSCH) 320, and / or a physical sidelink feedback channel (PSFCH) 325. The PSCCH 315 can be used to transmit control information, similar to a physical downlink control channel (PDCCH) and / or a physical uplink control channel (PUCCH) used for cellular communications with base stations 110 via an access link or access channel. The PSSCH 320 can be used to transmit data, similar to a physical downlink shared channel (PDSCH) and / or a physical uplink shared channel (PUSCH) used for cellular communications with base stations 110 via an access link or access channel. For example, the PSCCH 315 can carry sidelink control information (SCI) 330, which can indicate various control information for a sidelink communication, such as one or more resources (e.g., time resources, frequency resources, spatial resources, etc.) that can carry a transport block (TB) 335 on the PSSCH 320. The TB 335 can include data. The PSFCH 325 can be used to transmit sidelink feedback 340, such as hybrid automatic repeat request (HARQ) feedback (e.g., acknowledgement or negative acknowledgement (ACK / NACK) information), transmit power control (TPC), scheduling request (SR), and / or the like.

[0055] In some aspects, the one or more sidelink channels 310 can use resource pools. For example, a scheduling assignment (e.g., included in the SCI 330) can be transmitted in a subchannel using a particular resource block (RB) in time. In some aspects, a data transmission associated with the scheduling assignment (e.g., on the PSSCH 320) can occupy adjacent RBs in the same subframe as the scheduling assignment (e.g., using frequency division multiplexing). In some aspects, the scheduling assignment and the associated data transmission are not transmitted on adjacent RBs.

[0056] In some aspects, the UE 305 can operate using a transmission mode in which resource selection and / or scheduling is performed by the UE 305 (e.g., rather than a base station 110). In some aspects, the UE 305 can perform resource selection and / or scheduling by sensing channel availability for transmissions. For example, the UE 305 can measure a received signal strength indicator (RSSI) parameter (e.g., a sidelink-RSSI (S-RSSI) parameter) associated with various sidelink channels, can measure a reference signal received power (RSRP) parameter (e.g., a PSSCH-RSRP parameter) associated with various sidelink channels, can measure a reference signal received quality (RSRQ) parameter (e.g., a PSSCH-RSRQ parameter) associated with various sidelink channels, and / or the like, and can select a channel for a transmission of a sidelink communication based at least in part on the measurement(s).

[0057] Alternatively or additionally, UE 305 may use SCI 330 received in PSCCH 315 to perform resource selection and / or scheduling, which may indicate occupied resources, channel parameters, etc. Alternatively or additionally, UE 305 may perform resource selection and / or scheduling by determining the Channel Busy Rate (CBR) associated with various sidelink channels, which may be used for rate control (e.g., by indicating the maximum number of resource blocks available to UE 305 for a particular set of subframes).

[0058] In transport modes where resource selection and / or scheduling are performed by UE 305, UE 305 can generate a sidelink grant and can send that grant in SCI 330. The sidelink grant can indicate, for example, one or more parameters (e.g., transport parameters) for an upcoming sidelink transmission, such as one or more resource blocks to be used for an upcoming sidelink transmission on PSSCH 320 (e.g., for TB 335), one or more subframes to be used for the upcoming sidelink transmission, the modulation and decoding scheme (MCS) and / or the like to be used for the upcoming sidelink transmission. In some aspects, UE 305 can generate a sidelink grant indicating one or more parameters (such as the periodicity of the sidelink transmission) for semi-persistent scheduling (SPS). Additionally or alternatively, UE 305 can generate a sidelink grant for event-driven scheduling (such as for on-demand sidelink messages).

[0059] As mentioned above, Figure 3 This is provided as an example. Other examples may be related to... Figure 3 The examples described are different.

[0060] Figure 4 This is a diagram illustrating example 400 of sidelink communication and access link communication according to this disclosure.

[0061] like Figure 4 As shown above, in conjunction with Figure 3 As described above, the transmitter (Tx) UE 405 and the receiver (Rx) UE 410 can communicate with each other via a sidelink. As further shown, in some sidelink modes, the base station 110 can communicate with the Tx UE 405 via a first access link. Additionally or alternatively, in some sidelink modes, the base station 110 can communicate with the Rx UE 410 via a second access link. The Tx UE 405 and / or Rx UE 410 may correspond to one or more UEs described elsewhere herein, such as... Figure 1A direct link between UEs 120 (e.g., via a PC5 interface) can be referred to as a sidelink, and a direct link between a base station 110 and a UE 120 (e.g., via a Uu interface) can be referred to as an access link. Sidelink communications can be transmitted via a sidelink, and access link communications can be transmitted via an access link. Access link communications can be downlink communications (from a base station 110 to a UE 120) or uplink communications (from a UE 120 to a base station 110).

[0062] As described above, Figure 4 are provided as examples. Other examples can differ from what is described with respect to Figure 4 the examples described with respect to the examples described with respect to

[0063] In some wireless networks, UEs can communicate using V2X protocols (e.g., which can include V2V protocols, V2I protocols, and / or the like). For example, UEs can be associated with vehicles. UEs of different vehicles can communicate to share and coordinate maneuvers between the different vehicles. However, due to the dynamic nature of moving vehicles, it can be difficult to negotiate and coordinate maneuvers between multiple UEs associated with multiple vehicles. For example, the environment of UEs of vehicles attempting to share and coordinate maneuvers can change quickly. Additionally, negotiation between multiple UEs associated with multiple vehicles can consume network resources, processing resources, and / or the like associated with the negotiation.

[0064] Some techniques and apparatuses described herein enable efficient V2V maneuver sharing and coordination between UEs of different vehicles. For example, a UE of a vehicle initiating a maneuver (e.g., a host vehicle) can transmit a request and indicate one or more road resources (e.g., target road resources) for the maneuver (e.g., a road region to which the host vehicle proposes to move). Additionally, the UE can define the target road resource(s) using dynamic information. Moreover, one or more other UEs of other vehicles (e.g., remote vehicles) negotiating with the UE of the host vehicle can be able to determine that the remote vehicles cannot comply with the maneuver of the host vehicle and can suggest new or changed target road resources that can be accepted. Furthermore, the UE of the host vehicle can determine maneuvers to the remote vehicles such that the UE of the host vehicle can coordinate multiple maneuvers between multiple vehicles (e.g., the host vehicle and one or more remote vehicles). As a result, the UEs (e.g., the UE of the host vehicle and the one or more UEs of the one or more remote vehicles) can efficiently share and coordinate maneuvers between each other. This can conserve network resources, processing resources, and / or the like that would otherwise be used to negotiate maneuvers without using dynamic information and surrounding environment information, without allowing multiple target road resources to be indicated in an initial maneuver request from the UE of the host vehicle, and / or the like.

[0065] Figure 5This is a diagram illustrating example 500 of V2V manipulation sharing and coordination according to this disclosure. Figure 5 As shown, one or more UEs 120 can communicate with each other. Each UE 120 can be associated with a vehicle. For example, a first UE 120 (e.g., UE 1) can be associated with a master vehicle (e.g., the vehicle initiating the operation). The remaining UEs 120 (e.g., UE 2, UE 3, etc.) can be associated with remote vehicles (e.g., vehicles participating in operation negotiations with the master vehicle). As described herein, "communication between the master vehicle and one or more remote vehicles" can refer to communication between the UE 120 of the master vehicle and the UE 120 of one or more remote vehicles.

[0066] As shown by reference numeral 505 in the attached figure, UE 120 can send and receive Basic Security Messages (BSM), Sensor Sharing Messages (SSM), and / or the like. The exchange of BSMs and SSMs between UEs 120 can be referred to as pre-awareness. A BSM can be communication indicating information about vehicle location, position, direction of travel, speed, acceleration, and / or other information indicating vehicle status and / or predicted path. An SSM can be communication indicating information indicated by one or more sensors of the vehicle. One or more sensors can indicate information about the vehicle (e.g., information similar to that indicated by a BSM). An SSM enables other UEs 120 to determine the information indicated by one or more sensors of the vehicle that sent the SSM. UEs 120 can exchange BSMs and / or SSMs according to one or more technical standards, such as SAE international standards J2945 / 1, J3161 / 1, and / or J3224.

[0067] As indicated by reference numeral 510 in the accompanying drawings, a first UE 120 (e.g., of a primary vehicle) may determine a group of one or more UEs (e.g., a group of one or more remote vehicles, SetRV) for a maneuver (e.g., a proposed maneuver to be performed by the primary vehicle). During this time, the first UE 120 may be in a ready state (e.g., a maneuver sharing and coordination service (MSCS) ready state). The maneuver may indicate a target road resource associated with the maneuver. The target road resource may be an area on the road on which the primary vehicle is traveling for the execution of the maneuver (e.g., an area of ​​the road that the primary vehicle may occupy after completing the maneuver). The first UE 120 may determine the group of one or more UEs for the maneuver based at least in part on the relevant area associated with the maneuver.

[0068] The relevant zone can be a zone around the target road resource that is large enough to include any remote vehicles on the road that can conflict with the maneuver. The relevant zone can include a distance in front of the target road resource, a distance behind the target road resource, and / or a distance on each side of the target road resource. The size of the relevant zone can be based at least in part on a speed of the host vehicle, a size of the host vehicle, a speed associated with a moving or dynamic target road resource, a maximum speed associated with a road on which the host vehicle is traveling, a location characteristic of the target road resource, a temporal characteristic of the target road resource, a surrounding environment characteristic of the target road resource, and / or the like.

[0069] The first UE 120 can determine that the UE 120 of the remote vehicle should be included in the set of one or more UEs for the maneuver based at least in part on determining that the UE 120 of the remote vehicle is located within the relevant zone of the target road resource. The first UE 120 can determine a location of the UE 120 of the remote vehicle based at least in part on one or more BSMs received from the UE 120 of the remote vehicle, one or more SSMs received from the UE 120 of the remote vehicle, and / or the like. For example, as shown by reference number 510, the first UE 120 can determine that the second UE 120 and the third UE 120 are to be included in the set of one or more UEs 120 for the maneuver of the host vehicle.

[0070] As shown by reference number 515, the first UE 120 can transmit a maneuver message indicating the maneuver, one or more target road resources associated with the maneuver, and / or a relevant zone for each of the one or more target road resources. In some aspects, the transmission of the maneuver message can be a broadcast transmission. In some aspects, the transmission of the maneuver message can exclude the relevant zone for the target road resource (e.g., a type 1 broadcast). In some aspects, the transmission of the maneuver message can include the relevant zone for the target road resource (e.g., a type 2 broadcast). In some aspects, the transmission of the maneuver message can be a groupcast transmission to the UEs 120 included in the set of one or more UEs 120 for the maneuver. The groupcast transmission can be a transmission on a data link layer (e.g., layer 2), a network layer (e.g., layer 3), and / or a transport layer (e.g., layer 4).

[0071] The maneuver message can indicate the target road resource using time information (e.g., an earliest time associated with the target road resource and / or a latest time associated with the target road resource), size information (e.g., a length, a width, a height, a radius, etc.), location information (e.g., a latitude, a longitude, an altitude, etc.), and / or motion information (e.g., a heading direction, a speed, an acceleration, etc.), among other examples. The first UE 120 can determine a heading direction range of the target road resource based at least in part on a target heading direction range of a vehicle (e.g., a host vehicle) associated with the first UE 120 when performing the maneuver. The first UE 120 can determine a speed range associated with a target road resource of the one or more target road resources based at least in part on a target speed range of the host vehicle when performing the maneuver. The first UE 120 can determine an acceleration range associated with a target road resource of the one or more target road resources based at least in part on a target acceleration range of the host vehicle when performing the maneuver. The first UE 120 can indicate the target road resource using a lane identifier of a lane of a road on which the target road resource is located.

[0072] The first UE 120 can indicate the target road resource using dynamic location information. For example, the first UE 120 can determine a dynamic forward location of the target road resource and / or a dynamic rear location of the target road resource. The dynamic forward location of the target road resource and / or the dynamic rear location of the target road resource can be a location of the target road resource at a first time (e.g., an initial time, an anchor time, etc.). For example, the dynamic forward location can be a forward location of the target road at the first time. The dynamic rear location can be a rear location of the target road resource at the first time. The first UE 120 can indicate the dynamic forward location of the target road resource, the dynamic rear location of the target road resource, the first time, and / or a speed associated with the target road resource. As a result, another UE (e.g., a second UE, a third UE, and / or the like) can dynamically determine a location of the target road resource at a second time after the first time based at least in part on the dynamic forward location of the target road resource, the dynamic rear location of the target road resource, the first time, and / or the speed associated with the target road resource.

[0073] As shown by reference number 520, the second UE 120 can respond to the maneuver message with a vetted maneuver message. The vetted maneuver message can indicate whether the proposed maneuver for the target road resource indicated in the maneuver message is accepted by the second UE 120 or rejected by the second UE 120. The second UE 120 can determine whether to accept or reject the proposed maneuver for the target road resource based at least in part on determining whether there is a risk of a collision between a vehicle associated with the second UE 120 (e.g., a remote vehicle) and a vehicle associated with the first UE 120 (e.g., a host vehicle). That is, if the host vehicle of the first UE 120 is to perform the proposed maneuver, the second UE 120 can vet the proposed maneuver using the target road resource and can determine a likelihood of a collision between the remote vehicle of the second UE 120 and the host vehicle of the first UE 120. If the host vehicle is to perform the proposed maneuver, if the second UE 120 determines that there is no or a low likelihood of a collision between the remote vehicle of the second UE 120 and the host vehicle of the first UE 120, then the second UE 120 can transmit a vetted maneuver message indicating acceptance of the maneuver message. Conversely, if the host vehicle is to perform the proposed maneuver, if the second UE 120 determines that there is a likelihood of a collision between the remote vehicle of the second UE 120 and the host vehicle of the first UE 120, then the second UE 120 can transmit a vetted maneuver message indicating rejection of the maneuver message.

[0074] As shown by reference number 525, the third UE 120 responds to the maneuver message with a vetted maneuver message. The vetted maneuver message can indicate whether the proposed maneuver for the target road resource indicated in the maneuver message is accepted by the third UE 120 or rejected by the third UE 120. The third UE 120 can determine whether to accept or reject the maneuver message in a similar manner as described above with respect to the second UE 120.

[0075] In some aspects, if the third UE 120 determines that the maneuver message is to be rejected, the third UE 120 can determine a suggested maneuver for the host vehicle (e.g., the vehicle of the first UE 120). The suggested maneuver can be based at least in part on the maneuver message, the target road resource, a location and / or trajectory of a vehicle associated with the third UE 120, and / or the like. For example, the suggested maneuver can identify a suggested road resource for the suggested maneuver. The suggested road resource can be a road resource that is acceptable to the third UE 120 (e.g., the third UE 120 would accept the maneuver message if the target road resource is the same as the suggested road resource). For example, the suggested road resource can identify one or more differences from the target road resource, such as a different time associated with the road resource, a different area or size of the road resource, a different speed of the road resource, a different location of the road resource, and / or the like.

[0076] The proposed road resource can take the same format as the target road resource. That is, the proposed road resource can identify similar (or identical) information as the target road resource. In some aspects, the proposed road resource can take a limited or compact format. The limited or compact format can identify only information that is different from the information identified in the target road resource. For example, if the proposed road resource differs from the target road resource only in the time associated with the proposed road resource, the proposed road resource can include only information identifying the time associated with the proposed road resource.

[0077] As shown in Figure 5 The transmission of the maneuver information and the one or more vetted maneuver messages can occur during a maneuver negotiation phase. The one or more actions performed during the maneuver negotiation phase can be referred to as performing a negotiation associated with the maneuver message.

[0078] As shown by reference number 530, the first UE 120 can determine that the authorization condition is not satisfied. For example, if the first UE 120 has received a vetted maneuver message from any other UE 120, the vetted maneuver information indicating a rejection of the maneuver message, the first UE 120 can determine that the authorization condition is not satisfied. For example, as shown by reference number 520, the third UE 120 can respond to the maneuver message with a vetted maneuver message indicating a rejection of the maneuver message. Thus, the first UE 120 can determine that the authorization condition is not satisfied. Figure 5

[0079] If the first UE 120 determines that the authorization condition is not satisfied, the first UE 120 can return to a pre-awareness state (e.g., exchanging BSMs and / or SSMs) or a preparation state (e.g., determining a new set of one or more UEs 120 for a proposed maneuver). In this way, if an initial maneuver is rejected (e.g., the authorization condition is not satisfied), the first UE 120 can enter a new negotiation for a new proposed maneuver. Thus, the negotiation for a proposed maneuver can be simplified, which can save time and / or processing resources that would otherwise be used to perform additional actions after determining that an initial maneuver is rejected.

[0080] ​As shown by reference number 535, the first UE 120 can return to the ready state. The first UE 120 can update the proposed maneuver identified in the maneuver message based at least in part on receiving one or more suggested maneuvers from one or more other UEs 120. For example, as described above, the third UE 120 can transmit an audited maneuver message indicating a suggested maneuver and / or a suggested road resource. The first UE 120 can update the target road resource included in the maneuver message based at least in part on the suggested road resource received from the third UE 120. For example, if the suggested road resource identifies a different time than the time associated with the target road resource, the first UE 120 can update the target road resource with the different time identified in the suggested road resource. The first UE 120 can update the target road resource based at least in part on one or more other suggested road resources in a similar manner.

[0081] The first UE 120 can transmit a second maneuver message indicating the updated target road resource based at least in part on receiving one or more suggested maneuvers from one or more other UEs 120. The first UE 120 and the one or more other UEs 120 can negotiate the updated maneuver in a similar manner as described above. Thus, the first UE 120 can receive an indication of a reason for the maneuver message being rejected (e.g., based at least in part on a difference in the suggested road resource and the target road resource) and can update the target road resource based at least in part on the reason for the maneuver message being rejected. In this way, by updating the target road resource in this manner, the likelihood that the second maneuver message is accepted (or the authorization condition associated with the second maneuver message will be satisfied) can be increased. This can conserve resources that would otherwise be used by the first UE 120 to transmit the second maneuver message without any indication of the reason for the first maneuver message being rejected.

[0082] As described above, Figure 5 are provided as examples. Other examples can differ from what is described with respect to at least one of the Figure 5 described examples.

[0083] Figure 6 is a diagram illustrating an example 600 of V2V maneuver sharing and coordination, in accordance with the present disclosure. As Figure 6As shown, one or more UEs 120 can communicate with each other. Each UE 120 can be associated with a vehicle. For example, a first UE 120 (e.g., UE 1) can be associated with a host vehicle (e.g., a vehicle initiating a maneuver). The remaining UEs 120 (e.g., UE 2, UE 3, etc.) can be associated with remote vehicles (e.g., vehicles participating in a maneuver negotiation with the host vehicle). As described herein, “communication between the host vehicle and one or more remote vehicles” can refer to communication between the UE 120 of the host vehicle and the UEs 120 of the one or more remote vehicles.

[0084] As shown by reference number 605, in the pre-aware state, the UEs 120 can exchange BSMs, SSMs, and / or the like. The UEs 120 in the pre-aware state can operate in a similar manner as described above with respect to Figure 5 the maneuver message can include similar information, and can be exchanged in a similar manner).

[0085] As shown by reference number 610, a first UE 120 (e.g., of a host vehicle) can determine a set of one or more UEs 120 (e.g., a set of one or more remote vehicles, SetRV) for a proposed maneuver (e.g., a proposed maneuver to be performed by the host vehicle). During this time, the first UE 120 can be in a ready state (e.g., a maneuver sharing and coordination service (MSCS) ready state). The maneuver message can indicate one or more target road resources associated with the proposed maneuver. The first UE 120 can determine the set of one or more UEs 120 in a similar manner as described above with respect to Figure 5 the maneuver message.

[0086] As shown by reference number 615, the first UE 120 can transmit a maneuver message indicating the maneuver, the one or more target road resources associated with the maneuver, and / or a relevant area for each of the one or more target road resources. The first UE 120 can transmit the maneuver message in a similar manner as described above with respect to Figure 5 the maneuver message.

[0087] In some aspects, the first UE 120 can determine one or more remote vehicle maneuvers associated with the proposed maneuver. A remote vehicle maneuver can be a maneuver to be performed by a remote vehicle, such as a remote vehicle associated with a UE 120 included in the set of one or more UEs 120 for the proposed maneuver. The remote vehicle maneuver can indicate a target road resource associated with the remote vehicle maneuver. The remote vehicle maneuver can be based at least in part on the proposed maneuver and / or a target road resource of the proposed maneuver. For example, the remote vehicle maneuver can be a maneuver that the remote vehicle must perform to comply with the proposed maneuver (e.g., to avoid a collision, etc.).

[0088] In some aspects, the maneuver message can indicate a target road resource field. The target road resource field can include information identifying a target road resource (such as the information described above with respect to Figure 5 The vehicle identifier can indicate whether the target road resource is associated with the proposed maneuver (e.g., is associated with the host vehicle and the first UE 120) or whether the target road resource is associated with a remote vehicle maneuver (e.g., is associated with a remote vehicle and another UE 120 (e.g., a second UE 120, a third UE 120, etc.)). For example, a target road resource for a proposed maneuver can include a vehicle identifier associated with the host vehicle (e.g., a vehicle associated with the first UE 120). A target road resource for a remote vehicle maneuver associated with a vehicle associated with a second UE 120 can include a vehicle identifier associated with the vehicle associated with the second UE 120.

[0089] In some aspects, the maneuver message can indicate a host vehicle target road resource field and a remote vehicle target road source field. In some aspects, the host vehicle target road resource field can include a vehicle identifier associated with the host vehicle. In some aspects, the host vehicle target road resource field can not include a vehicle identifier (e.g., one or more other UEs 120 can determine that a target road resource identified in the host vehicle target road resource field is associated with the host vehicle based at least in part on the target road resource being identified in the host vehicle target road resource field). The remote vehicle target road resource field can indicate a vehicle identifier associated with a remote vehicle. For example, if a target road resource is associated with a maneuver for a vehicle associated with a second UE 120, the remote vehicle target road resource field can indicate the target road resource and a vehicle identifier associated with the vehicle associated with the second UE 120. Similarly, if a target road resource is associated with a maneuver for a vehicle associated with a third UE 120, the remote vehicle target road resource field can indicate the target road resource and a vehicle identifier associated with the vehicle associated with the third UE 120. In this way, the remote vehicle target road resource field can indicate one or more target road resources for one or more remote vehicle maneuvers.

[0090] In some aspects, the maneuver message can be an emergency maneuver message (e.g., associated with an emergency maneuver of the host vehicle). The emergency maneuver can be identified based at least in part on a message type field in the maneuver message. The emergency maneuver message can include a target road resource for the emergency maneuver (e.g., a host vehicle target road resource, etc.). Additionally, the emergency maneuver message can include a target road resource for one or more remote vehicle maneuvers required of the host vehicle to complete the emergency maneuver. In some aspects, a UE 120 of a remote vehicle receiving the emergency maneuver message can associate the emergency maneuver with a remote maneuver associated with the UE 120 of the remote vehicle that has a higher priority than other maneuvers based at least in part on an indication of the emergency maneuver.

[0091] As shown by reference number 620, the second UE 120 can receive the maneuver message. The second UE 120 can determine that the maneuver message indicates a remote vehicle maneuver for a vehicle associated with the second maneuver. For example, the second UE 120 can identify a target road resource field, a remote vehicle target road resource field, etc., in the maneuver message. The second UE 120 can identify, in the target road resource indicated by the maneuver message (e.g., in the target road resource field, in the remote vehicle target road resource field, etc.), a vehicle identifier associated with a vehicle associated with the second UE 120. The second UE 120 can determine that the target road resource indicating the vehicle identifier associated with the vehicle associated with the second UE 120 is for the remote vehicle maneuver for the vehicle associated with the second UE 120.

[0092] The second UE 120 can determine whether the vehicle associated with the second UE 120 is able to complete the remote vehicle maneuver indicated in the maneuver message. The second UE 120 can determine whether to accept or reject the maneuver message based at least in part on determining whether the vehicle associated with the second UE 120 is able to complete the remote vehicle maneuver indicated in the maneuver message. For example, if the second UE 120 determines that the vehicle of the second UE 120 is not able to comply with the remote vehicle maneuver indicated in the maneuver message, the second UE 120 can reject the maneuver message. In some aspects, if the second UE 120 determines that the maneuver message is to be rejected, the second UE 120 can determine a suggested maneuver and / or a suggested target road resource (e.g., in a similar manner as described above with respect to Figure 5 the first UE 120).

[0093] In some aspects, if the second UE 120 determines that the maneuver message is to be rejected, the second UE 120 can determine a suggested remote vehicle maneuver associated with the vehicle associated with the second UE 120. For example, the second UE 120 can determine a suggested target road resource for a remote vehicle maneuver associated with the vehicle associated with the second UE 120 based at least in part on the target road resource of the remote vehicle maneuver indicated in the maneuver message. The second UE 120 can indicate the suggested remote vehicle maneuver in a similar manner as indicating the suggested maneuver (e.g., as described above with respect to Figure 5 FIG. 6, for example).

[0094] As shown by reference number 625, the third UE 120 can receive the maneuver message. The third UE 120 can determine that the maneuver message indicates a remote vehicle maneuver for the vehicle associated with the third maneuver in a similar manner as described above with respect to the second UE 120. The third UE 120 can determine whether the vehicle associated with the third UE 120 is able to comply with the remote vehicle maneuver indicated in the maneuver message. The third UE 120 can determine whether to accept or reject the maneuver message based at least in part on determining whether the vehicle associated with the third UE 120 is able to complete the remote vehicle maneuver indicated in the maneuver message.

[0095] As shown by reference number 630, the second UE 120 can transmit an audited maneuver message to the first UE 120 indicating an acceptance or rejection of the maneuver message. The acceptance or rejection of the maneuver message can be based at least in part on a result of the determination of whether the vehicle associated with the second UE 120 is able to complete the remote vehicle maneuver indicated in the maneuver message. In some aspects, the acceptance or rejection of the maneuver message can be based at least in part on a determination of whether there is a risk of a collision between the vehicle associated with the second UE 120 and the vehicle associated with the first UE 120 (e.g., if the maneuver message does not include a remote vehicle maneuver associated with the second UE 120).

[0096] As shown by reference number 635, the third UE 120 can transmit an audited maneuver message to the first UE 120 indicating an acceptance or rejection of the maneuver message. The acceptance or rejection of the maneuver message can be based at least in part on a result of the determination of whether the vehicle associated with the third UE 120 is able to complete the remote vehicle maneuver indicated in the maneuver message. In some aspects, the acceptance or rejection of the maneuver message can be based at least in part on a determination of whether there is a risk of a collision between the vehicle associated with the third UE 120 and the vehicle associated with the first UE 120 (e.g., if the maneuver message does not include a remote vehicle maneuver associated with the third UE 120). In some aspects, the audited maneuver message indicating a rejection of the maneuver message can indicate a suggested maneuver in a similar manner as described above with respect to Figure 5 FIG. 6, for example).

[0097] The first UE 120 can receive one or more vetted maneuver messages indicating acceptance or rejection of the maneuver message. The first UE 120 can determine whether the authorization condition associated with the proposed maneuver is satisfied based at least in part on receiving the one or more vetted maneuver messages. For example, if the first UE 120 has received a vetted maneuver message indicating acceptance of the maneuver message from each UE 120 (included in the set of one or more UEs 120 for the proposed maneuver) and the first UE 120 has not received a vetted maneuver message indicating rejection of the maneuver message from any other UE 120, the first UE 120 can determine that the authorization condition has been satisfied.

[0098] If the first UE 120 determines that the authorization condition is not satisfied, the first UE 120 can return to a pre-awareness state (e.g., exchanging BSMs and / or SSMs) or a preparation state (e.g., determining a new set of one or more UEs 120 for the proposed maneuver). In this way, if the initial maneuver is rejected (e.g., the authorization condition is not satisfied), the first UE 120 can enter a new negotiation for a new proposed maneuver. As a result, negotiation for the proposed maneuver can be simplified, which can save time and / or processing resources that would otherwise be used to perform additional actions upon determining that the initial maneuver is rejected.

[0099] If the first UE 120 determines that the authorization condition for the maneuver has been satisfied, the first UE 120 can transmit an authorized maneuver message indicating the authorized maneuver, target road resources associated with the authorized maneuver, and one or more target road resources associated with one or more remote vehicle maneuvers. The first UE 120 can transmit the authorized maneuver message using a broadcast transmission.

[0100] In some aspects, if the first UE 120 does not receive any cancellation messages associated with the authorized maneuver within a first time period and does not transmit any cancellation information associated with the authorized maneuver within a second time period, the first UE 120 can transition to a maneuver execution state. During the maneuver execution state, the first UE 120 can cause the host vehicle to move in accordance with the authorized maneuver (e.g., can cause the vehicle to move, can provide an indication to a driver of the host vehicle, etc.). For example, the first UE 120 can cause the host vehicle to perform the authorized maneuver using the target road resources indicated in the authorized maneuver message.

[0101] Similarly, during the maneuver execution state, the second UE 120 and / or the third UE 120 can cause the remote vehicle to move in accordance with the remote vehicle maneuver indicated in the authorized maneuver message (e.g., can cause the vehicle to move, can provide an indication to a driver of the host vehicle, etc.). For example, the second UE 120 can cause the vehicle associated with the second UE 120 to perform the remote vehicle maneuver using the remote vehicle target road resource indicated in the authorized maneuver message.

[0102] Accordingly, negotiation between the first UE 120 and one or more other UEs 120 for the proposed maneuver can be simplified because the first UE 120 can coordinate all maneuvers between the host vehicle and one or more remote vehicles. Accordingly, the one or more other UEs 120 (e.g., the second UE 120 and / or the third UE 120) can not need to determine maneuvers for remote vehicles associated with the proposed maneuver. Rather, the one or more other UEs 120 can only need to determine whether remote vehicles associated with the one or more other UEs 120 can comply with the remote vehicle maneuver indicated by the first UE 120. In this way, the first UE 120 can conserve resources that would otherwise be used to determine remote vehicle maneuvers associated with the proposed maneuver with multiple UEs 120. Additionally, this can enable the first UE 120 to determine remote vehicle maneuvers for remote vehicles associated with UEs 120 that are unable to determine remote vehicle maneuvers. Furthermore, this can reduce latency associated with the negotiation process between the first UE 120 and the one or more other UEs 120 because the one or more other UEs 120 can not need to determine maneuvers for remote vehicles associated with the proposed maneuver.

[0103] As described above, Figure 6 are provided as examples. Other examples can differ from what is described with respect to at least one of the described examples. Figure 6

[0104] Figure 7 is a diagram illustrating an example 700 associated with V2V maneuver sharing and coordination, in accordance with the present disclosure. As shown, the example 700 includes a host vehicle (e.g., associated with a UE 120) and one or more moving vehicles traveling on a road. Figure 7

[0105] The UE 120 of the host vehicle can initiate a maneuver (e.g., a movement on the road). For example, as shown, the maneuver can be a lane change maneuver. The maneuver can be associated with a target road resource (e.g., a region of the road to be used for the maneuver). The UE 120 of the host vehicle can define the target road resource as a fixed region and / or a moving region. Figure 7

[0106] For example, as shown, the UE 120 of the host vehicle can transmit a proposed maneuver message to one or more other UEs 120 (e.g., the second UE 120 and / or the third UE 120). The proposed maneuver message can indicate the proposed maneuver (e.g., the lane change maneuver) and the target road resource (e.g., the fixed region and / or the moving region).​​​Figure 7 As shown, the UE 120 of the primary vehicle can determine the rear position Y (e.g., latitude and longitude) of the target road resource. The UE 120 can determine the front position X (e.g., latitude and longitude) of the target road resource. In some aspects, the UE 120 can indicate the midpoint position of the target road resource and the distances from that midpoint position to the front and rear positions of the target road resource. The UE 120 can determine the width of the target road resource. In some aspects, the width of the target road resource can correspond to the width of the lane of the road on which the primary vehicle is traveling.

[0107] In some respects, the UE 120 of the primary vehicle can use dynamic information to define a target road resource as a movement area. For example, the UE 120 can determine that the target road resource is a movement area between two locations (e.g., movement area 1), a movement area after a location (e.g., movement area 2A), or a movement area before a location (e.g., movement area 2B).

[0108] UE 120 can define a target road resource in mobile area 1 by defining a dynamic forward position X (e.g., latitude and longitude) at a first time. The first time can be an initial time, an anchoring time, the earliest time associated with the target road resource, the time the target road resource was determined, etc. Similarly, UE 120 can define a dynamic backward position Y (e.g., latitude and longitude) at the first time. UE 120 can determine the speed associated with the target road resource (e.g., the speed at which the target road resource is moving on the road). The speed associated with the target road resource can be based at least in part on the speed of the primary vehicle, the speed of the primary vehicle when performing a maneuver associated with the target road resource, etc. UE 120 can provide one or more other UEs 120 with indications of the positioning of the dynamic forward position at the first time, indications of the positioning of the dynamic backward position at the first time, and indications of the speed associated with the target road resource. By providing dynamic forward and rearward positions and an indication of the speed associated with the target road resource, the one or more other UEs 120 can determine the position of the moving target road resource at a time after the first time, at least in part, based on the speed associated with the target road resource.

[0109] UE 120 can define the target road resource in mobile area 2A by defining the dynamic location X (e.g., latitude and longitude) at a first time. UE 120 can also define the target road resource in mobile area 2A by providing an indication of the forward position that the dynamic location will be used to define the target road resource. UE 120 can use a distance identifier (e.g., such as...) Figure 7As shown in d), the dynamic rear position of the target road resource is defined, and the distance identifier indicates the distance from the location of the dynamic location X to the rear position of the target road resource. UE 120 can provide one or more other UEs 120 with an indication of the location of the dynamic location at a first time, an indication of the distance between the dynamic location and the opposite end of the target road resource, and an indication of the speed associated with the target road resource.

[0110] UE 120 can define a target road resource in mobile area 2B by defining the dynamic location Y (e.g., latitude and longitude) at a first time. UE 120 can also define the target road resource in mobile area 2B by providing an indication of the rear position of the dynamic location to be used to define the target road resource. UE 120 can use a distance identifier to define the dynamic forward position of the target road resource, which indicates the distance between the dynamic location Y and the forward position of the target road resource (e.g., as shown in the image). Figure 7 As shown in d). UE 120 may provide one or more other UE 120 with an indication of the location of the dynamic position at a first time, an indication of the distance between the dynamic position and the opposite end of the target road resource, and an indication of the speed associated with the target road resource.

[0111] In some respects (e.g., for mobile areas 2A or 2B), the dynamic location can be a midpoint location. In this case, UE 120 can use a distance identifier to define the dynamic forward location and the dynamic rear location of the target road resource, where the distance identifier indicates the distance between the midpoint location and each end of the target road resource.

[0112] As mentioned above Figure 5 and 6 The UE 120 may define the target road resource using time information (e.g., the earliest time and / or the latest time associated with the target road resource), size information (e.g., length, width, height, radius, etc.), location information (e.g., latitude, longitude, altitude, etc.), and / or motion information (e.g., direction of travel, speed, acceleration, etc.). The UE 120 may indicate the information described herein in manipulation messages sent to or broadcast to one or more other UEs 120.

[0113] As mentioned above, Figure 7 This is provided as an example. Other examples may be related to... Figure 7 The examples described are different.

[0114] Figure 8 This is a diagram illustrating an example process 800 performed by, for example, a UE according to this disclosure. Example process 800 is a UE (e.g., Figures 1-7 Description or combination in ChineseFigures 1-7 The described UE 120) is an example of performing operations associated with V2V manipulation sharing and coordination.

[0115] like Figure 8 As shown, in some aspects, process 800 may include sending a manipulation message for maneuvering a vehicle associated with the UE (block 810). For example, as described above, the UE (e.g., using a receiving processor 258, a transmitting processor 264, a controller / processor 280, a memory 282, and / or similar devices) may send a manipulation message for maneuvering a vehicle associated with the UE.

[0116] like Figure 8 Further, in some aspects, process 800 may include performing negotiation with one or more other UEs associated with a manipulation message, wherein the negotiation includes at least one of the following: instructing one or more RV manipulations in the manipulation message, or receiving a response to the manipulation message from a UE among the one or more other UEs, the response indicating a proposed manipulation of the vehicle for that UE (block 820). For example, as described above, the UE (e.g., using a receiving processor 258, a transmitting processor 264, a controller / processor 280, a memory 282, and / or similar devices) may perform negotiation with one or more other UEs associated with a manipulation message. In some aspects, the negotiation includes at least one of the following: instructing one or more RV manipulations in the manipulation message, or receiving a response to the manipulation message from a UE among the one or more other UEs, the response indicating a proposed manipulation of the vehicle for that UE.

[0117] like Figure 8 As further shown, in some aspects, process 800 may include performing actions at least in part based on the execution of the negotiation (block 830). For example, as described above, the UE (e.g., using a receive processor 258, a transmit processor 264, a controller / processor 280, a memory 282, and / or similar devices) may perform actions at least in part based on the execution of the negotiation.

[0118] Process 800 may include additional aspects, such as any single aspect or any combination of aspects of one or more other processes described below and / or in conjunction with one or more other processes described elsewhere herein.

[0119] In the first aspect, the vehicle is the master vehicle, and the one or more other UEs are associated with one or more remote vehicles.

[0120] In the second aspect, alone or in combination with the first aspect, the response to the proposed manipulation for the vehicle of the UE indicates a rejection of the manipulation, and the proposed manipulation is based at least in part on the target road resources for the manipulation.

[0121] In the third aspect, alone or in combination with one or more of the first and second aspects, a response identifier for the proposed manipulation of the vehicle for the UE is indicated for the proposed road resource for the proposed manipulation.

[0122] In the fourth aspect, alone or in combination with one or more of the first to third aspects, the proposed road resources have the same format as the target road resources for manipulation.

[0123] In the fifth aspect, alone or in combination with one or more of the first to fourth aspects, it is suggested that road resource identifiers be associated with information that is different from the information associated with the target road resource.

[0124] In the sixth aspect, alone or in combination with one or more of the first to fifth aspects, process 800 includes sending a second manipulation message for a second manipulation of a vehicle associated with the UE, wherein the second manipulation message identifies a second target road resource, and wherein the second target road resource is at least partially based on a proposed road resource for the proposed manipulation.

[0125] In the seventh aspect, alone or in combination with one or more of the first to sixth aspects, the one or more RV operations are associated with one or more vehicles (associated with one or more other UEs), and the one or more RV operations are based at least in part on the operation of the vehicle associated with the UE.

[0126] In the eighth aspect, either alone or in combination with one or more of the first to seventh aspects, performing negotiation with the one or more other UEs associated with the manipulation message includes: receiving a response to the manipulation message from the one or more other UEs, the manipulation message indicating acceptance of manipulation or rejection of manipulation, based at least in part on a determination result of whether the vehicle associated with the UE in the one or more other UEs is capable of performing RV manipulation in the one or more RV manipulations indicated in the manipulation message.

[0127] In the ninth aspect, alone or in combination with one or more of the first to eighth aspects, a manipulation message for the manipulation of a vehicle associated with the UE identifies one or more target road resources, the one or more target road resources including one or more target road resources for the manipulation of the vehicle associated with the UE and one or more target road resources for the manipulation of the one or more RVs.

[0128] In the tenth aspect, alone or in combination with one or more of the first to ninth aspects, the one or more target road resources for the manipulation of the vehicle associated with the UE include a vehicle identifier associated with the vehicle associated with the UE.

[0129] In the eleventh aspect, either alone or in combination with one or more of the first to tenth aspects, the target road resources in the one or more target road resources manipulated for the one or more RVs are identified by a vehicle identifier associated with a vehicle in one or more vehicles associated with the one or more other UEs.

[0130] In the twelfth aspect, alone or in combination with one or more of the first to eleventh aspects, the manipulation message for the manipulation of a vehicle associated with the UE identifies one or more target road resources for the manipulation of the vehicle associated with the UE, and one or more RV target road resources for the manipulation of the one or more RVs.

[0131] In the thirteenth aspect, alone or in combination with one or more of the first to twelfth aspects, the manipulation message is an emergency manipulation message.

[0132] In the fourteenth aspect, alone or in combination with one or more of the first to thirteenth aspects, the manipulation message instructs the one or more RVs to manipulate, and performs negotiation with the one or more other UEs associated with the manipulation message, including receiving a response to the manipulation message, wherein the response is at least partially based on the target road resources of the manipulation to instruct rejection of the manipulation or at least one of the one or more RV manipulations and a suggested manipulation for the vehicle associated with the UE.

[0133] In the fifteenth aspect, alone or in combination with one or more of the first to fourteenth aspects, performing a negotiation with one or more other UEs associated with a manipulation message includes receiving a response to the manipulation message from the UE of the one or more other UEs, wherein the response indicates rejection of the manipulation and a proposed RV manipulation for a vehicle associated with the UE of the one or more other UEs, and the proposed RV manipulation for a vehicle associated with the UE of the one or more other UEs is at least partially based on the one or more RV manipulations indicated in the manipulation message.

[0134] In the sixteenth aspect, alone or in combination with one or more of the first to fifteenth aspects, performing the action includes determining, at least in part, based on the performance of the negotiation, that the manipulation has been authorized, wherein one or more responses to the manipulation message indicate acceptance of the manipulation; and sending an authorized manipulation message to the one or more other UEs, the authorized manipulation message identifying the target road resource for the manipulation.

[0135] In the seventeenth aspect, alone or in combination with one or more of the first to sixteenth aspects, the authorized manipulation message identifies the target road resource for the manipulation and one or more target road resources for the one or more RV manipulations.

[0136] In the eighteenth aspect, alone or in combination with one or more of the first to seventeenth aspects, the manipulation message identifies one or more target road resources for the manipulation, and the process 800 includes determining dynamic location information associated with the target road resource for the target road resource among the one or more target road resources.

[0137] In the nineteenth aspect, either alone or in combination with one or more of the first to eighteenth aspects, determining dynamic location information associated with the target road resource includes determining the dynamic forward position of the target road resource, determining the dynamic rear position of the target road, and determining the speed associated with the target road resource.

[0138] In the twentieth aspect, either alone or in combination with one or more of the first to nineteenth aspects, the dynamic location information in the manipulation message is identified by at least one of the following: the location of the dynamic forward position of the target road resource at the first time, the location of the dynamic rear position of the target road resource at the first time, or an indication of the speed associated with the target road resource.

[0139] In the twenty-first aspect, either alone or in combination with one or more of the first to twentieth aspects, determining the dynamic location information associated with the target road resource includes: determining the dynamic location of the target road resource, wherein the dynamic location of the target road resource is a dynamic forward location or a dynamic rear location; and determining the speed associated with the target road resource.

[0140] In the twenty-second aspect, alone or in combination with one or more of the first to twenty-first aspects, the dynamic location information is identified in the manipulation message using at least one of the following: an identifier indicating that the dynamic location of the target road resource is associated with a dynamic forward position or a dynamic rear position, the location of the dynamic location of the target road resource at a first time, a distance identifier indicating the distance from the location of the dynamic location to the opposite end of the target road resource, or an indication of the speed associated with the target road resource.

[0141] although Figure 8 The example box for process 800 is shown, but in some respects, process 800 can contain... Figure 8 Compared to the boxes depicted, there may be additional boxes, fewer boxes, different boxes, or boxes with different arrangements. Additionally or alternatively, two or more boxes of process 800 may be executed in parallel.

[0142] Figure 9 This is a diagram illustrating an example process 900 performed by, for example, a UE according to this disclosure. Example process 900 is a UE (e.g., Figures 1-7 Description or combination in Chinese Figures 1-7 The described UE 120) is an example of performing operations associated with V2V manipulation sharing and coordination.

[0143] like Figure 9 As shown, in some aspects, process 900 may include receiving manipulation messages from a different UE for manipulating a vehicle associated with that different UE (block 910). For example, as described above, the UE (e.g., using a receiving processor 258, a transmitting processor 264, a controller / processor 280, a memory 282, and / or similar devices) may receive manipulation messages from a different UE for manipulating a vehicle associated with that different UE.

[0144] like Figure 9 Further, in some aspects, process 900 may include performing negotiation with the different UE associated with the manipulation message, wherein the negotiation includes at least one of the following: identifying RV manipulation for a vehicle associated with the UE in the manipulation message, or sending a response to the manipulation message to the different UE indicating a suggested manipulation for a vehicle associated with the different UE (block 920). For example, as described above, the UE (e.g., using a receiving processor 258, a transmitting processor 264, a controller / processor 280, a memory 282, and / or similar devices) may perform negotiation with the different UE associated with the manipulation message. In some aspects, the negotiation includes at least one of the following: identifying RV manipulation for a vehicle associated with the UE in the manipulation message, or sending a response to the manipulation message to the different UE indicating a suggested manipulation for a vehicle associated with the different UE.

[0145] Process 900 may include additional aspects, such as any single aspect or any combination of aspects of one or more other processes described below and / or in conjunction with one or more other processes described elsewhere herein.

[0146] In the first aspect, the vehicle associated with the UE is the RV, while the vehicle associated with the different UE is the main vehicle.

[0147] In the second aspect, either alone or in combination with the first aspect, performing the negotiation includes determining, at least in part, a proposed manipulation for a vehicle associated with the different UE based on the target road resources for the manipulation, and sending a response to the different UE to the manipulation message indicating a rejection of the manipulation and the proposed manipulation for the vehicle associated with the different UE.

[0148] In a third aspect, either alone or in combination with one or more of the first and second aspects, determining a proposed maneuver for a vehicle associated with the different UE includes determining a proposed road resource for the proposed maneuver based at least in part on a target road resource for the maneuver, and instructing the response of the proposed maneuver to the maneuver message to identify the proposed road resource for the proposed maneuver.

[0149] In the fourth aspect, alone or in combination with one or more of the first to third aspects, the proposed road resources have the same format as the target road resources for the manipulation.

[0150] In the fifth aspect, alone or in combination with one or more of the first to fourth aspects, it is suggested that road resource identifiers be associated with information that is different from the information associated with the target road resource.

[0151] In the sixth aspect, alone or in combination with one or more of the first to fifth aspects, process 900 includes receiving a second manipulation message for a second manipulation of a vehicle associated with the different UE, wherein the second manipulation message identifies a second target road resource, and wherein the second target road resource is at least partially based on a proposed road resource for the proposed manipulation.

[0152] In the seventh aspect, either alone or in combination with one or more of the first to sixth aspects, RV manipulation of the vehicle associated with the UE is at least partially based on the manipulation of the vehicle associated with the different UE.

[0153] In the eighth aspect, either alone or in combination with one or more of the first to seventh aspects, the negotiation includes: determining whether a vehicle associated with the UE is capable of performing the RV maneuver identified in the maneuver message, and, based at least in part on the determination that a vehicle associated with the UE is capable of performing the RV maneuver identified in the maneuver message, sending a response to the maneuver message to the different UE, the response indicating acceptance or rejection of the maneuver.

[0154] In the ninth aspect, alone or in combination with one or more of the first to eighth aspects, a manipulation message for the manipulation of a vehicle associated with the different UE identifies one or more target road resources, the one or more target road resources including one or more target road resources for the manipulation of a vehicle associated with the different UE and one or more target road resources for the manipulation of one or more RVs.

[0155] In the tenth aspect, alone or in combination with one or more of the first to ninth aspects, process 900 includes identifying one or more target road resources for manipulation of a vehicle associated with the different UE, at least in part, based on a vehicle identifier associated with the vehicle associated with the different UE, the vehicle identifier being included in the one or more target road resources for manipulation of a vehicle associated with the different UE.

[0156] In the eleventh aspect, alone or in combination with one or more of the first to tenth aspects, process 900 includes identifying, at least in part, a target road resource for the vehicle associated with the UE in one or more target road resources operated for the one or more RVs, based on a vehicle identifier associated with the vehicle associated with the UE, the vehicle identifier being included in the target road resource in one or more target road resources operated for the one or more RVs.

[0157] In the twelfth aspect, alone or in combination with one or more of the first to eleventh aspects, the manipulation message for the manipulation of a vehicle associated with the different UE identifies one or more target road resources for the manipulation of a vehicle associated with the different UE, and one or more RV target road resources for the manipulation of one or more RVs.

[0158] In the thirteenth aspect, alone or in combination with one or more of the first to twelfth aspects, the manipulation message is an emergency manipulation message.

[0159] In the fourteenth aspect, alone or in combination with one or more of the first to thirteenth aspects, the manipulation message identifies an RV manipulation for a vehicle associated with the UE, and performing the negotiation includes determining at least one of rejecting the manipulation or the RV manipulation; determining a proposed manipulation for a vehicle associated with the different UE based at least in part on the target road resources for the manipulation; and sending a response to the manipulation message to the different UE based at least in part on the determination of the proposed manipulation for the vehicle associated with the different UE, the response indicating rejection of the manipulation and the proposed manipulation for the vehicle associated with the different UE.

[0160] In the fifteenth aspect, alone or in combination with one or more of the first to fourteenth aspects, the manipulation message identifies an RV manipulation for a vehicle associated with the UE, and performing the negotiation includes determining at least one of rejecting the manipulation or the RV manipulation; determining a different RV manipulation for a vehicle associated with the UE based at least in part on the RV manipulation indicated in the manipulation message; and sending a response to the manipulation message to the different UE, the response indicating rejection of the manipulation and the different RV manipulation for the vehicle associated with the UE, based at least in part on the determination of the different RV manipulation for the vehicle associated with the UE.

[0161] In the sixteenth aspect, alone or in combination with one or more of the first to fifteenth aspects, process 900 includes receiving from the different UE an authorized manipulation message identifying the target road resource for the manipulation.

[0162] In the seventeenth aspect, alone or in combination with one or more of the first to sixteenth aspects, the authorized manipulation message identifies the target road resource for the manipulation and the target road resource for RV manipulation of the vehicle associated with the UE.

[0163] In the eighteenth aspect, alone or in combination with one or more of the first to seventeenth aspects, the manipulation message identifies one or more target road resources for the manipulation, and the target road resource among the one or more target road resources indicates dynamic location information associated with the target road resource.

[0164] In the nineteenth aspect, alone or in combination with one or more of the first to eighteenth aspects, the dynamic location information associated with the target road resource indicates: the dynamic forward position of the target road resource, the dynamic rear position of the target road resource, and the speed associated with the target road resource.

[0165] In the twentieth aspect, either alone or in combination with one or more of the first to nineteenth aspects, the dynamic location information in the manipulation message is identified by at least one of the following: the location of the dynamic forward position of the target road resource at the first time, the location of the dynamic rear position of the target road resource at the first time, or an indication of the speed associated with the target road resource.

[0166] In the twenty-first aspect, alone or in combination with one or more of the first to twentieth aspects, the dynamic location information associated with the target road resource indicates: the dynamic location of the target road resource, wherein the dynamic location of the target road resource is a dynamic forward position or a dynamic rear position; and the speed associated with the target road resource.

[0167] In the twenty-second aspect, alone or in combination with one or more of the first to twenty-first aspects, the dynamic location information is identified in the manipulation message using at least one of the following: an identifier indicating that the dynamic location of the target road resource is associated with a dynamic forward position or a dynamic rear position, the location of the dynamic location of the target road resource at a first time, a distance identifier indicating the distance from the location of the dynamic location to the opposite end of the target road resource, or an indication of the speed associated with the target road resource.

[0168] although Figure 9 The example box for process 900 is shown, but in some respects, process 900 can contain... Figure 9 Compared to the boxes depicted, there may be additional boxes, fewer boxes, different boxes, or boxes with different arrangements. Additionally or alternatively, two or more boxes of process 900 may be executed in parallel.

[0169] Figure 10This is a block diagram of an example device 1000 for wireless communication. Device 1000 may be a UE, or a UE may include device 1000. In some aspects, device 1000 includes a receiving component 1002 and a transmitting component 1004, which can communicate with each other (e.g., via one or more buses and / or one or more other components). As shown, device 1000 can use the receiving component 1002 and the transmitting component 1004 to communicate with another device 1006 (such as a UE, a base station, or another wireless communication device). As further shown, device 1000 may include a determining component 1008, etc.

[0170] In some respects, device 1000 can be configured to perform the functions described herein. Figures 5-7 One or more operations described herein. Additionally or alternatively, the device 1000 may be configured to perform one or more processes described herein, such as Figure 8 The process 800 Figure 9 The process 900 or a combination thereof. In some respects, Figure 10 The illustrated device 1000 and / or one or more components may include the above-described combination. Figure 2 One or more components of the user equipment described. Additionally or alternatively, Figure 10 One or more components shown can be combined as described above. Figure 2 Implemented within one or more of the described components. Additionally or alternatively, one or more of the components in this group may be implemented at least partially as software stored in memory. For example, a component (or a portion of a component) may be implemented as instructions or code stored in a non-transitory computer-readable medium and implementable by a controller or processor to perform the function or operation of that component.

[0171] Receiver 1002 may receive communications from device 1006, such as reference signals, control information, data communications, or combinations thereof. Receiver 1002 may provide the received communications to one or more other components of device 1000. In some aspects, receiver 1002 may perform signal processing on the received communications (such as filtering, amplification, demodulation, analog-to-digital conversion, demultiplexing, deinterleaving, demapping, equalization, interference cancellation, or decoding, in other examples), and may provide the processed signal to one or more other components of device 1006. In some aspects, receiver 1002 may include combinations of the above. Figure 2 The user equipment described includes one or more antennas, demodulators, MIMO detectors, receiver processors, controllers / processors, memory, or combinations thereof.

[0172] Transmitting component 1004 can transmit communications, such as reference signals, control information, data communications, or combinations thereof, to device 1006. In some aspects, one or more other components of device 1006 can generate communications and provide the generated communications to transmitting component 1004 for transmission to device 1006. In some aspects, transmitting component 1004 can perform signal processing (such as filtering, amplification, modulation, digital-to-analog conversion, multiplexing, interleaving, mapping, or encoding) on ​​the generated communications and transmit the processed signals to device 1006. In some aspects, transmitting component 1004 may include combinations of the above. Figure 2 The user equipment described includes one or more antennas, modulators, transmit MIMO processors, transmit processors, controllers / processors, memory, or combinations thereof. In some aspects, the transmit component 1004 may be co-located with the receive component 1002 in a transceiver.

[0173] The receiving component 1002 can receive one or more responses to a manipulation message from one or more other UEs, wherein the one or more responses to the manipulation message indicate acceptance or rejection of the manipulation, and can receive manipulation messages for manipulation of a vehicle associated with a different UE from different UEs, etc. The determining component 1008 can determine the action to be performed based at least in part on negotiations associated with the manipulation message performed with one or more different UEs, can determine whether to accept or reject manipulation of a vehicle associated with a different UE, can determine the suggested manipulation of the vehicle associated with the different UE based at least in part on the target road resources for the vehicle manipulation, etc., and / or perform similar operations. The transmitting component 1004 can transmit the manipulation message for the vehicle associated with a UE, and can send a response to the manipulation message to the different UE at least in part based on the determination result of whether to accept or reject manipulation of the vehicle associated with the different UE, the response indicating acceptance or rejection of the manipulation, and / or perform similar operations.

[0174] Figure 10 The number and arrangement of components shown are provided as an example. In reality, with... Figure 10 Compared to the components shown, there may be more components, fewer components, different components, or different arrangements of components. Furthermore, Figure 10 The two or more components shown can be implemented within a single component, or Figure 10 The single component shown can be implemented as multiple distributed components. Additionally or alternatively, Figure 10 The set (one or more) components shown can perform one or more functions, which are described as being performed by... Figure 10 The other set of components shown will be executed.

[0175] The following provides an overview of some aspects of this disclosure:

[0176] Aspect 1: A wireless communication method performed by a user equipment (UE) includes transmitting a manipulation message for manipulating a vehicle associated with the UE; performing a negotiation associated with the manipulation message with one or more other UEs, wherein the negotiation includes at least one of: instructing one or more remote vehicle (RV) manipulations in the manipulation message, or receiving a response to the manipulation message from one or more of the other UEs, the response indicating a proposed manipulation of the vehicle for the UE; and performing an action at least in part based on the execution of the negotiation.

[0177] Aspect 2: The method according to aspect 1, wherein the vehicle is the master vehicle, and the one or more other UEs are associated with one or more remote vehicles.

[0178] Aspect 3: The method according to any one of Aspects 1-2, wherein the response indicating the proposed manipulation for the vehicle of the UE indicates the rejection of the manipulation, and wherein the proposed manipulation is based at least in part on the target road resources for the manipulation.

[0179] Aspect 4: According to the method of aspect 3, wherein the response identifier indicating the suggested operation for the vehicle of the UE is for the suggested road resource of the suggested operation.

[0180] Aspect 5: According to the method of aspect 4, the proposed road resource for the proposed manipulation has the same format as the target road resource for the manipulation.

[0181] Aspect 6: The method according to any one of Aspects 4-5, wherein the proposed road resource identifier is associated with information that is different from the information associated with the target road resource.

[0182] Aspect 7: The method according to any one of Aspects 4-6 further includes: sending a second manipulation message for a second manipulation of a vehicle associated with the UE, wherein the second manipulation message identifies a second target road resource, and wherein the second target road resource is at least partially based on a proposed road resource for the proposed manipulation.

[0183] Aspect 8: The method according to any one of Aspects 1-7, wherein the one or more RV operations are associated with one or more vehicles (associated with one or more other UEs), and wherein the one or more RV operations are based at least in part on the operation of the vehicle associated with the UE.

[0184] Aspect 9: According to the method of aspect 8, wherein performing the negotiation associated with the manipulation message with the one or more other UEs includes: receiving a response to the manipulation message from the one or more other UEs, the manipulation message indicating acceptance of the manipulation or rejection of the manipulation, based at least in part on a determination result of whether the vehicle associated with the UE in the one or more other UEs is capable of performing the RV manipulation in one or more RV manipulations indicated in the manipulation message.

[0185] Aspect 10: The method according to any one of Aspects 1-9, wherein the manipulation message for manipulation of a vehicle associated with the UE identifies one or more target road resources, the one or more target road resources including one or more target road resources for manipulation of a vehicle associated with the UE and one or more target road resources for manipulation of the one or more RVs.

[0186] Aspect 11: The method according to aspect 10, wherein the one or more target road resources for manipulation of a vehicle associated with the UE include a vehicle identifier associated with the vehicle associated with the UE.

[0187] Aspect 12: The method according to any one of Aspects 10-11, wherein the target road resources in the one or more target road resources manipulated for the one or more RVs are identified by a vehicle identifier associated with a vehicle in the one or more vehicles associated with the one or more other UEs.

[0188] Aspect 13: The method according to any one of Aspects 1-12, wherein the manipulation message identifier for the manipulation of a vehicle associated with the UE is: one or more target road resources for the manipulation of a vehicle associated with the UE; and one or more RV target road resources for the manipulation of the one or more RVs.

[0189] Aspect 14: The method according to any one of Aspects 1-13, wherein the manipulation message is an emergency manipulation message.

[0190] Aspect 15: The method according to any one of Aspects 1-14, wherein the manipulation message instructs the one or more RVs to manipulate, and wherein the negotiation with the one or more other UEs associated with the manipulation message includes receiving a response to the manipulation message, wherein the response is at least partially based on the target road resources of the manipulation to instruct rejection of the manipulation or at least one of the one or more RV manipulations and a proposed manipulation for the vehicle associated with the UE.

[0191] Aspect 16: The method according to any one of Aspects 1-15, wherein performing negotiation with one or more other UEs associated with the manipulation message comprises: receiving a response to the manipulation message from a UE of the one or more other UEs, wherein the response indicates rejection of the manipulation and a proposed RV manipulation for a vehicle associated with the UE of the one or more other UEs, and wherein the proposed RV manipulation for a vehicle associated with the UE of the one or more other UEs is at least partially based on the one or more RV manipulations indicated in the manipulation message.

[0192] Aspect 17: The method according to any one of Aspects 1-16, wherein performing the action comprises: determining, at least in part, based on the performance of the negotiation, that the manipulation has been authorized, wherein one or more responses to the manipulation message indicate acceptance of the manipulation; and sending an authorized manipulation message to the one or more other UEs, the authorized manipulation message identifying a target road resource for the manipulation.

[0193] Aspect 18: The method according to aspect 17, wherein the authorized manipulation message identifies the target road resource for the manipulation and one or more target road resources for the one or more RVs to be manipulated.

[0194] Aspect 19: The method according to any one of Aspects 1-18, wherein the manipulation message identifies one or more target road resources for the manipulation, the method further comprising: determining dynamic location information associated with a target road resource among the one or more target road resources.

[0195] Aspect 20: According to the method of aspect 19, determining the dynamic location information associated with the target road resource includes: determining the dynamic forward position of the target road resource; determining the dynamic rear position of the target road resource; and determining the speed associated with the target road resource.

[0196] Aspect 21: According to the method of aspect 20, the dynamic location information in the manipulation message is identified by at least one of the following: the location of the dynamic forward position of the target road resource at a first time, the location of the dynamic rear position of the target road resource at a first time, or an indication of the speed associated with the target road resource.

[0197] Aspect 22: The method according to any one of Aspects 19-21, wherein determining the dynamic location information associated with the target road resource includes: determining the dynamic location of the target road resource, wherein the dynamic location of the target road resource is a dynamic forward location or a dynamic rear location; and determining the speed associated with the target road resource.

[0198] Aspect 23: According to the method of aspect 22, the dynamic location information in the manipulation message is identified by at least one of the following: an identifier indicating that the dynamic location of the target road resource is associated with a dynamic forward position or a dynamic rear position, the location of the dynamic location of the target road resource at a first time, a distance identifier indicating the distance from the location of the dynamic location to the opposite end of the target road resource, or an indication of the speed associated with the target road resource.

[0199] Aspect 24: A wireless communication method performed by a user equipment (UE) includes: receiving from a different UE an operation message for operation of a vehicle associated with the different UE; and performing a negotiation with the different UE associated with the operation message, wherein the negotiation includes at least one of: identifying in the operation message a remote vehicle (RV) operation for the vehicle associated with the UE, or sending a response to the operation message to the different UE indicating a proposed operation for the vehicle associated with the different UE.

[0200] Aspect 25: The method according to aspect 24, wherein the vehicle associated with the UE is an RV, and the vehicle associated with the different UE is a master vehicle.

[0201] Aspect 26: The method according to any one of Aspects 24-25, wherein performing the negotiation includes determining, at least in part, a proposed operation for a vehicle associated with the different UE based on the target road resources for the operation, sending a response to the operation message to the different UE, the response indicating rejection of the operation and the proposed operation for the vehicle associated with the different UE.

[0202] Aspect 27: The method according to aspect 26, wherein determining the proposed operation for a vehicle associated with the different UE includes determining the proposed road resource for the proposed operation based at least in part on the target road resource for the operation, and wherein the response to the operation message indicating the proposed operation identifies the proposed road resource for the proposed operation.

[0203] Aspect 28: The method according to aspect 27, wherein the proposed road for the proposed manipulation resource has the same format as the target road resource for the manipulation.

[0204] Aspect 29: The method according to any one of Aspects 27-28, wherein the proposed road resource identifier is associated with information that is different from the information associated with the target road resource.

[0205] Aspect 30: The method according to any one of Aspects 27-29 further includes: receiving a second manipulation message for a second manipulation of a vehicle associated with the different UE, wherein the second manipulation message identifies a second target road resource, and wherein the second target road resource is at least partially based on a proposed road resource for the proposed manipulation.

[0206] Aspect 31: The method according to any one of Aspects 24-30, wherein the RV operation for the vehicle associated with the UE is at least partially based on the operation of the vehicle associated with the different UE.

[0207] Aspect 32: According to the method of aspect 31, wherein performing negotiation includes: determining whether a vehicle associated with the UE is capable of performing the RV operation identified in the manipulation message, and sending a response to the manipulation message to the different UE, the response indicating acceptance of the manipulation or rejection of the manipulation, based at least in part on the determination that a vehicle associated with the UE is capable of performing the RV operation identified in the manipulation message.

[0208] Aspect 33: The method according to any one of Aspects 24-32, wherein the manipulation message for manipulation of a vehicle associated with the different UE identifies one or more target road resources, the one or more target road resources including one or more target road resources for manipulation of a vehicle associated with the different UE and one or more target road resources for manipulation of one or more RVs.

[0209] Aspect 34: The method according to aspect 33 further includes: identifying the one or more target road resources for manipulation of a vehicle associated with the different UE based at least in part on a vehicle identifier associated with the vehicle associated with the different UE, the vehicle identifier being included in the one or more target road resources for manipulation of a vehicle associated with the different UE.

[0210] Aspect 35: The method according to any one of aspects 33-34 further includes: identifying, at least in part, a target road resource for the vehicle associated with the UE among the one or more target road resources operated for the one or more RVs based on a vehicle identifier associated with the vehicle associated with the UE, the vehicle identifier being included in the target road resource among the one or more target road resources operated for the one or more RVs.

[0211] Aspect 36: The method according to any one of Aspects 24-35, wherein the manipulation message for the manipulation of a vehicle associated with the different UE identifies one or more target road resources for the manipulation of a vehicle associated with the different UE and one or more target road resources for the manipulation of one or more RVs.

[0212] Aspect 37: The method according to any one of Aspects 24-36, wherein the manipulation message is an emergency manipulation message.

[0213] Aspect 38: The method according to any one of Aspects 24-37, wherein the manipulation message identifies an RV manipulation for a vehicle associated with the UE, and wherein performing the negotiation includes determining at least one of rejecting the manipulation or the RV manipulation; determining a proposed manipulation for a vehicle associated with the different UE based at least in part on the target road resources for the manipulation; and sending a response to the manipulation message to the different UE, the response indicating rejection of the manipulation and the proposed manipulation for the vehicle associated with the different UE, based at least in part on the determination of the proposed manipulation for the vehicle associated with the different UE.

[0214] Aspect 39: The method according to any one of Aspects 24-38, wherein the manipulation message identifies an RV manipulation for a vehicle associated with the UE, and wherein performing the negotiation includes determining at least one of rejecting the manipulation or the RV manipulation; determining a different RV manipulation for a vehicle associated with the UE based at least in part on the RV manipulation indicated in the manipulation message; and sending a response to the manipulation message to the different UE, the response indicating rejection of the manipulation and the different RV manipulation for the vehicle associated with the UE, based at least in part on the determination of the different RV manipulation for the vehicle associated with the UE.

[0215] Aspect 40: The method according to any one of Aspects 24-39 further includes: receiving an authorized manipulation message from the different UE, the authorized manipulation message identifying a target road resource for the manipulation.

[0216] Aspect 41: The method according to aspect 40, wherein the authorized manipulation message identifies the target road resource for the manipulation and the target road resource for RV manipulation of the vehicle associated with the UE.

[0217] Aspect 42: The method according to any one of aspects 24-41, wherein the manipulation message identifies one or more target road resources for the manipulation, and wherein the target road resource among the one or more target road resources indicates dynamic location information associated with the target road resource.

[0218] Aspect 43: According to the method of aspect 42, the dynamic location information associated with the target road resource indicates: the dynamic forward position of the target road resource; the dynamic rear position of the target road resource; and the speed associated with the target road resource.

[0219] Aspect 44: According to the method of aspect 43, the dynamic location information in the manipulation message is identified by at least one of the following: the location of the dynamic forward position of the target road resource at a first time, the location of the dynamic rear position of the target road resource at a first time, or an indication of the speed associated with the target road resource.

[0220] Aspect 45: The method according to any one of Aspects 42-44, wherein the dynamic location information associated with the target road resource indicates: the dynamic location of the target road resource, wherein the dynamic location of the target road resource is a dynamic forward position or a dynamic rear position; and the speed associated with the target road resource.

[0221] Aspect 46: According to the method of aspect 45, the dynamic location information in the manipulation message is identified by at least one of the following: an identifier indicating that the dynamic location of the target road resource is associated with a dynamic forward position or a dynamic rear position, the location of the dynamic location of the target road resource at a first time, a distance identifier indicating the distance from the location of the dynamic location to the opposite end of the target road resource, or an indication of the speed associated with the target road resource.

[0222] Aspect 47: An apparatus for wireless communication at a device, comprising a processor, a memory coupled to the processor, and instructions stored in the memory and executable by the processor to cause the apparatus to perform one or more aspects of aspects 1-23.

[0223] Aspect 48: An apparatus for wireless communication, comprising a memory and one or more processors coupled to the memory, the memory and the one or more processors being configured to perform the methods of one or more aspects of aspects 1-23.

[0224] Aspect 49: An apparatus for wireless communication, comprising at least one component for performing the methods of one or more aspects of aspects 1-23.

[0225] Aspect 50: A non-transitory computer-readable medium storing code for wireless communication, the code including instructions executable by a processor to perform methods of one or more aspects of aspects 1-23.

[0226] Aspect 51: A non-transitory computer-readable medium storing a set of instructions for wireless communication, the set of instructions including one or more instructions, when executed by one or more processors of a device, causing the device to perform one or more methods of aspects 1-23.

[0227] Aspect 52: An apparatus for wireless communication at a device, comprising a processor, a memory coupled to the processor, and instructions stored in the memory and executable by the processor to cause the apparatus to perform one or more aspects of aspects 24-46.

[0228] Aspect 53: An apparatus for wireless communication, comprising a memory and one or more processors coupled to the memory, the memory and the one or more processors being configured to perform the methods of one or more aspects of aspects 24-46.

[0229] Aspect 54: An apparatus for wireless communication, comprising at least one component for performing the methods of one or more aspects of aspects 24-46.

[0230] Aspect 55: A non-transitory computer-readable medium storing code for wireless communication, the code including instructions executable by a processor to perform methods of one or more aspects of aspects 24-46.

[0231] Aspect 56: A non-transitory computer-readable medium storing a set of instructions for wireless communication, the set of instructions including one or more instructions, when executed by one or more processors of a device, causing the device to perform one or more methods of aspects 24-46.

[0232] The foregoing disclosure provides illustrations and descriptions, but is not intended to consume or limit the aspects to the precise form disclosed. Modifications and changes can be made based on the foregoing disclosure, or from practice in the various aspects.

[0233] As used herein, the term "component" is intended to be understood broadly as hardware and / or a combination of hardware and software. Whether referred to as software, firmware, middleware, microcode, hardware description language, or other forms, software should be broadly interpreted to mean instructions, instruction sets, code, code segments, program code, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, threads of execution, procedures, and / or functions. As used herein, processors are implemented as hardware and / or a combination of hardware and software. Clearly, the systems and / or methods described herein can be implemented in various forms of hardware and / or hardware and software combinations. The actual dedicated control hardware or software code used to implement these systems and / or methods does not limit these aspects. Therefore, this document does not refer to specific software code to describe the operation and behavior of systems and / or methods—it should be understood that software and hardware can be designed to implement systems and / or methods, at least in part, based on the descriptions herein.

[0234] As used in this article, depending on the context, satisfying the threshold can refer to a value greater than the threshold, greater than or equal to the threshold, less than the threshold, less than or equal to the threshold, equal to the threshold, not equal to the threshold, or a similar value.

[0235] Even if a particular combination of features is stated in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of the aspects. In fact, many of these features can be combined in ways not specifically stated in the claims and / or not disclosed in the specification. Although each dependent claim listed below may depend directly on only one claim, the disclosure of the aspects includes every dependent claim in combination with every other claim in the claim set. As used herein, the phrase “at least one of” in the list of items refers to any combination of those items containing a single member. As an example, “at least one of a, b, or c” is intended to cover a, b, c, ab, ac, bc, and abc, as well as any combination with multiple identical elements (e.g., aa, aaa, aab, aac, abb, acc, bb, bbb, bbc, cc, and ccc, or any other order of a, b, and c).

[0236] Unless explicitly stated otherwise, no element, action, or instruction used herein should be construed as essential or necessary. Furthermore, as used herein, the article “a” is intended to include one or more items and may be used interchangeably with “one or more.” Furthermore, as used herein, the article “the” is intended to include one or more items referenced in combination with the article “the” and may be used interchangeably with “the one or more.” Furthermore, as used herein, the terms “set” and “group” are intended to include one or more items (e.g., related items, unrelated items, or a combination of related and unrelated items) and may be used interchangeably with “one or more.” If only one item is intended to be used, the phrase “only one” or similar language is used. Additionally, as used herein, the term “having” or similar words are intended to be open-ended terms. Furthermore, the phrase “based on” is intended to mean “at least partially based on” unless explicitly stated otherwise. Furthermore, as used herein, the term “or” is intended to be included when used in a series form and may be used interchangeably with “and / or” unless explicitly stated otherwise (e.g., if used in combination with “either of both” or “only one of”).

Claims

1. A user equipment (UE) for wireless communication, comprising: a memory; and one or more processors coupled to the memory, the one or more processors configured to: transmit, to a set of one or more UEs respectively associated with one or more remote vehicles (RVs), a maneuver message for a maneuver of a vehicle associated with the UE; perform, with one or more other UEs, a negotiation associated with the maneuver message, wherein the negotiation comprises at least one of: indicating one or more remote vehicle (RV) maneuvers in the maneuver message, or receiving, from a UE of the one or more other UEs associated with one or more UEs, a response to the maneuver message indicating a suggested maneuver for the vehicle of the UE; and perform an action based at least in part on performing the negotiation, wherein, to perform the action, the one or more processors are configured to: determine that the maneuver has been authorized based at least in part on performing the negotiation, wherein one or more responses to the maneuver message indicate acceptance of the maneuver; and transmit, to the one or more other UEs, an authorized maneuver message identifying a target road resource for the maneuver, wherein the target road resource is an area to be used to perform the maneuver, wherein the authorized maneuver message identifies the target road resource for the maneuver and one or more target road resources for the one or more RV maneuvers. the response indicating the suggested maneuver for the vehicle of the UE indicates a rejection of the maneuver, and wherein the suggested maneuver is based at least in part on a target road resource for the maneuver.

2. The UE of claim 1, wherein, a suggested road resource for the suggested maneuver has a same format as a target road resource for the maneuver, identifying similar or identical information as the target road resource. the one or more processors are further configured to:

3. The UE of claim 2, wherein, transmit a second maneuver message for a second maneuver of the vehicle associated with the UE, wherein the second maneuver message identifies a second target road resource, and wherein the second target road resource is based at least in part on a suggested road resource for the suggested maneuver.

4. The UE of claim 2, wherein, the maneuver message for the maneuver of the vehicle associated with the UE identifies one or more target road resources, the one or more target road resources comprising: one or more target road resources for the maneuver of the vehicle associated with the UE; and 5. The UE of claim 1, wherein, one or more target road resources for the one or more RV maneuvers. the one or more target road resources for the maneuver of the vehicle associated with the UE include a vehicle identifier associated with the vehicle associated with the UE. a target road resource of the one or more target road resources for the one or more RV maneuvers is identified by a vehicle identifier associated with a vehicle of the one or more vehicles associated with the one or more other UEs.

6. The UE of claim 5, wherein, the maneuver message indicates the one or more RV maneuvers, and 7. The UE of claim 5, wherein, the one or more target road resources for the one or more RV maneuvers are identified by a vehicle identifier associated with a vehicle of the one or more vehicles associated with the one or more other UEs.

8. The UE of claim 1, wherein, ​ wherein, to perform the negotiation associated with the maneuver message with the one or more other UEs, the one or more processors are configured to: receive a response to the maneuver message, wherein the response indicates: a rejection of at least one of the maneuver or an RV maneuver of the one or more RV maneuvers, and a suggested maneuver for the vehicle associated with the UE targeting a road resource of the maneuver.

9. The UE of claim 1, wherein, to perform the negotiation associated with the maneuver message with the one or more other UEs, the one or more processors are configured to: receive a response to the maneuver message from a UE of the one or more other UEs, wherein the response indicates a rejection of the maneuver and a suggested RV maneuver for a vehicle associated with the UE of the one or more other UEs, and wherein the suggested RV maneuver for the vehicle associated with the UE of the one or more other UEs is based at least in part on the one or more RV maneuvers indicated in the maneuver message.

10. The UE of claim 1, wherein, the maneuver message identifies one or more target road resources for the maneuver, and the one or more processors are further configured to: determine, for a target road resource of the one or more target road resources, dynamic position information associated with the target road resource.

11. The UE of claim 10, wherein, the dynamic position information is identified in the maneuver message using at least one of: a location of a dynamic front position of the target road resource at a first time; a location of a dynamic back position of the target road resource at the first time; or an indication of a speed associated with the target road resource.

12. The UE of claim 10, wherein, the one or more processors to determine the dynamic position information associated with the target road resource are configured to: determine a dynamic position of the target road resource, wherein the dynamic position of the target road resource is a dynamic front position or a dynamic back position; and determine a speed associated with the target road resource.

13. The UE of claim 10, wherein, the dynamic position information is identified in the maneuver message using at least one of: an identifier indicating that the dynamic position of the target road resource is associated with a dynamic front position or a dynamic back position; a location of the dynamic position of the target road resource at a first time; a distance identifier indicating a distance from the location of the dynamic position to an opposite end of the target road resource; or an indication of a speed associated with the target road resource.

14. A method of wireless communication performed by a user equipment (UE), comprising: transmitting, to a set of one or more UEs respectively associated with one or more remote vehicles (RVs), a maneuver message for a maneuver of a vehicle associated with the UE; performing a negotiation associated with the maneuver message with one or more other UEs, wherein the negotiation comprises at least one of: indicating one or more remote vehicle (RV) maneuvers in the maneuver message, or ​ receiving, from a UE of the one or more other UEs associated with the one or more UEs, a response to the maneuver message, the response indicating a suggested maneuver for a vehicle of the UE; and performing an action based at least in part on performing the negotiation, wherein performing the action comprises: determining that the maneuver has been authorized based at least in part on performing the negotiation, wherein the one or more responses to the maneuver message indicate acceptance of the maneuver; and sending, to the one or more other UEs, an authorized maneuver message, the authorized maneuver message identifying a target road resource for the maneuver, wherein the target road resource is an area that is to be used to perform the maneuver, wherein the authorized maneuver message identifies the target road resource for the maneuver and one or more target road resources for the one or more RV maneuvers.

15. The method of claim 14, wherein, the response indicating the suggested maneuver for a vehicle of the UE indicates a rejection of the maneuver, and wherein the suggested maneuver is based at least in part on a target road resource for the maneuver.

16. The method of claim 15, wherein, a suggested road resource for the suggested maneuver has a same format as a target road resource for the maneuver, identifying similar or identical information as the target road resource.

17. The method of claim 15, further comprising: sending a second maneuver message for a second maneuver of the vehicle associated with the UE, wherein the second maneuver message identifies a second target road resource, and wherein the second target road resource is based at least in part on a suggested road resource for the suggested maneuver.

18. The method of claim 14, wherein, the maneuver message for the maneuver of the vehicle associated with the UE identifies one or more target road resources, the one or more target road resources comprising: one or more target road resources for the maneuver of the vehicle associated with the UE; and one or more target road resources for the one or more RV maneuvers.

19. The method of claim 18, wherein, the one or more target road resources for the maneuver of the vehicle associated with the UE comprise a vehicle identifier associated with the vehicle associated with the UE.

20. The method of claim 18, wherein, a target road resource of the one or more target road resources for the one or more RV maneuvers is identified by a vehicle identifier associated with a vehicle of the one or more vehicles associated with the one or more other UEs.

21. The method of claim 14, wherein, the maneuver message indicates the one or more RV maneuvers, and wherein performing the negotiation with the one or more other UEs associated with the maneuver message comprises: receiving a response to the maneuver message, wherein the response indicates: a rejection of at least one of the maneuver or an RV maneuver of the one or more RV maneuvers, and a suggested maneuver for a vehicle associated with the UE based at least in part on a target road resource for the maneuver.

22. The method of claim 14, wherein, performing the negotiation with the one or more other UEs associated with the maneuver message comprises: receiving a response to the maneuver message, wherein the response indicates: a rejection of at least one of the maneuver or an RV maneuver of the one or more RV maneuvers, and a suggested maneuver for a vehicle associated with the UE based at least in part on a target road resource for the maneuver. receiving, from a UE of the one or more other UEs, a response to the maneuver message, wherein the response indicates a rejection of the maneuver and a suggested RV maneuver for a vehicle associated with a UE of the one or more other UEs, and wherein the suggested RV maneuver for the vehicle associated with the UE of the one or more other UEs is based at least in part on the one or more RV maneuvers indicated in the maneuver message.

23. The method of claim 14, wherein, the maneuver message identifies one or more target road resources for the maneuver, the method further comprising: determining, for a target road resource of the one or more target road resources, dynamic location information associated with the target road resource.

24. The method of claim 23, wherein, the dynamic location information is identified in the maneuver message using at least one of: a location of a dynamic front location of the target road resource at a first time; a location of a dynamic back location of the target road resource at the first time; or an indication of a speed associated with the target road resource.

25. The method of claim 23, wherein, determining the dynamic location information associated with the target road resource includes: determining a dynamic location of the target road resource, wherein the dynamic location of the target road resource is a dynamic front location or a dynamic back location; and determining a speed associated with the target road resource.

26. The method of claim 23, wherein, the dynamic location information is identified in the maneuver message using at least one of: an identifier indicating that the dynamic location of the target road resource is associated with a dynamic front location or a dynamic back location; a location of the dynamic location of the target road resource at a first time; a distance identifier indicating a distance from the location of the dynamic location to an opposite end of the target road resource; or an indication of a speed associated with the target road resource.

27. A wireless communication apparatus for execution at a user equipment (UE), the apparatus comprising means for performing a method of any of claims 14-26.

28. A computer-readable medium having program code recorded thereon, wherein the program code is executable by one or more processors of a user equipment (UE) to cause the processors to perform a method of any of claims 14-26.

29. A computer program product comprising computer-readable instructions that, when executed by a processor, cause the processor to perform a method of any of claims 14-26. ​

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