Techniques for sharing sensor messages in sidelink communications

Abstract

Some aspects described herein relate to the following operations: detecting, for a first vehicle, the presence of an obstacle in a path of travel of the vehicle; determining, for a second vehicle, a sight-stopping distance between the second vehicle and the obstacle; and sending a message including a notification about the obstacle to the second vehicle if the sight-stopping distance is within a threshold.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This patent application claims priority to provisional patent application No. 63 / 073,394, filed on September 1, 2020, and entitled “TECHNIQUES FOR SHARING SENSOR MESSAGES IN SIDELINK COMMUNICATIONS,” and U.S. patent application No. 17 / 462,950, filed on August 31, 2021, and entitled “TECHNIQUES FOR SHARING SENSOR MESSAGES IN SIDELINK COMMUNICATIONS,” which are assigned to the assignee and are hereby expressly incorporated herein by reference for all purposes. Technical Field

[0003]

[0004] Generally speaking, aspects of the present disclosure relate to wireless communication systems, and more particularly, aspects of the present disclosure relate to performing sidelink communications between devices. Background Art

[0004] Wireless communication systems are widely deployed to provide various types of communication content, such as voice, video, packet data, messaging, broadcast, and the like. These systems may be multiple-access systems capable of supporting communication with multiple users by sharing available system resources (e.g., time, frequency, and power). Examples of such multiple-access systems 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, and single-carrier frequency division multiple access (SC-FDMA) systems.

[0005] These multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different wireless devices to communicate at a city, country, region, and even global level. For example, the fifth generation (5G) wireless communication technology, which may be referred to as 5G New Radio (5G NR), is envisioned to extend and support a wide variety of usage scenarios and applications with respect to current mobile network generations. In one aspect, 5G communication technologies may include: enhanced mobile broadband that addresses human-centric use cases for accessing multimedia content, services, and data; ultra-reliable low-latency communications (URLLC) with certain specifications for latency and reliability; and massive machine-type communications that may allow for a significant number of connected devices and the transmission of relatively low amounts of non-delay-sensitive information. However, as the demand for mobile broadband access continues to increase, further improvements to 5G communication technologies and other technologies may be expected.

[0006] In some wireless communication technologies, such as 5G, user equipment (UE) communicates with a base station to receive access to a wireless network and may also communicate with other UEs on a sidelink channel. Sidelink communications may be used in vehicle-based communications, such as vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), etc., which are collectively referred to as vehicle-to-everything (V2X) communications in 5G NR. Vehicle-based UEs may be configured to transmit basic safety messages (BSMs) to each other on sidelink communications, where the BSMs may include information from the vehicle, such as position, motion parameters, braking parameters, etc. Summary of the Invention

[0007] The following is a brief summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects and is neither intended to identify key or critical elements of all aspects nor to delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that will be presented later.

[0008] According to one example, an apparatus for wireless communication is provided, the apparatus comprising: a transceiver, a memory configured to store instructions, and one or more processors communicatively coupled to the memory and the transceiver. The one or more processors are configured to execute the instructions to cause the apparatus to: detect, for a first vehicle, the presence of an obstacle in a path of travel of the vehicle; determine, for a second vehicle, a sight-stopping distance between the second vehicle and the obstacle; and send a message including a notification regarding the obstacle to the second vehicle if the sight-stopping distance is within a threshold.

[0009] In another example, a method of wireless communication is provided. The method includes: detecting, for a first vehicle, the presence of an obstacle in a path of travel of the vehicle; determining, for a second vehicle, a sight-stopping distance between the second vehicle and the obstacle; and sending a message including a notification regarding the obstacle to the second vehicle if the sight-stopping distance is within a threshold.

[0010] In another example, an apparatus for wireless communication of V2X messages is provided. The apparatus includes: means for detecting the presence of an obstacle in a travel path of a first vehicle; means for determining a sight-stop distance between a second vehicle and the obstacle; and means for transmitting a message including a notification regarding the obstacle to the second vehicle if the sight-stop distance is within a threshold.

[0011] In another example, a computer-readable medium including code executable by one or more processors for wireless communication of V2X messages is provided. The code includes code for: detecting, for a first vehicle, the presence of an obstacle in a path of travel of the vehicle; determining, for a second vehicle, a sight-stopping distance between the second vehicle and the obstacle; and transmitting, to the second vehicle, a message including a notification regarding the obstacle if the sight-stopping distance is within a threshold.

[0012] To accomplish the foregoing and related objectives, one or more aspects include the features hereinafter fully described and particularly pointed out in the claims. The following description and the accompanying drawings set forth in detail certain illustrative features of one or more aspects. However, these features are indicative of but a few of the various ways in which the principles of the various aspects may be employed, and this description is intended to include all such aspects and their equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The disclosed aspects will be described below with reference to the accompanying drawings, which are provided to illustrate rather than limit the disclosed aspects, wherein like designations represent like elements, and in which:

[0014] Figure 1 An example of a wireless communication system according to various aspects of the present disclosure is shown;

[0015] Figure 2 is a block diagram illustrating an example of a UE according to various aspects of the present disclosure;

[0016] Figure 3 is a flow chart illustrating an example of a method for sending a sensor-related message according to various aspects of the present disclosure;

[0017] Figure 4 shows examples of driving scenarios according to various aspects of the present disclosure; and

[0018] Figure 5 is a block diagram illustrating an example of a MIMO communication system including a base station and UEs according to various aspects of the present disclosure. DETAILED DESCRIPTION

[0019] Various aspects will now be described with reference to the accompanying drawings. In the following description, for the purpose of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects. However, it will be apparent that such aspects may be implemented without these specific details.

[0020] In summary, the described features relate to sharing sensor-related messages between devices using sidelink communications. For example, in fifth-generation (5G) New Radio (NR), vehicle-based user equipment (UE) can communicate with each other using sidelink communications, which can include vehicle-to-vehicle (V2V) communications, vehicle-to-infrastructure (V2I) communications, and the like, which can be collectively referred to as vehicle-to-everything (V2X) communications. In this regard, sidelink communications can occur between nearby UEs without going through a base station or other network node, but in some examples, a base station can manage and provide resources for sidelink communications. V2X communications can include basic safety messages (BSMs), which can include vehicle information such as the location of the vehicle sending the BSM (e.g., Global Positioning System (GPS) location), motion parameters (e.g., speed, acceleration, etc.), braking parameters, and the like. Other vehicles can receive the BSMs from the sending vehicle and can determine or apply the parameters received in the BSMs for certain purposes, such as notifying the driver of the receiving vehicle of a safety issue raised by or identified from the BSM of another vehicle.

[0021] Application layer standards are being defined for advanced V2X features including sensor sharing (e.g., broadcasting of detected vehicles and / or objects) and coordinated driving (e.g., sharing and negotiating intended maneuvers). Messages including parameters that enable these features can be exchanged between vehicles or between vehicles and infrastructure components or roadside units (RSUs). In one example, sensor sharing can assist in coordinated driving because all vehicles participating in a maneuver can understand the road conditions and environment in the vicinity of the planned maneuver through their own sensors and via sensor sharing information received from other participating vehicles. As such, reliable sensor sharing can improve coordinated driving. 5G NR V2X introduces application-aware, distance-based high reliability for multicast communications, achieving enhanced reliability based on range (e.g., distance) at the physical layer.

[0022] In order for sensor-shared data to be useful to the receiving vehicle, the receiving vehicle should benefit from receiving the data so that it has sufficient time to react to the information. For example, if the information received in a sensor-related message includes an obstacle in the road, the vehicle receiving the message can benefit from receiving the data while having sufficient time to initiate a maneuver. The reaction time required for a vehicle to react to an object can be specified as a reaction distance or range to the detected object information included in the message. 5G NR V2X currently defines a mechanism that enforces high-reliability transmission for a group of participants based on the specification of the scope of a particular V2X service. However, there is no mechanism defined in 5G or at the application layer for the sender of a message to determine the appropriate distance that the physical layer should use to enforce high-reliability transmission. In various aspects described herein, vehicles can also transmit sensor-related messages to each other, such as warnings of obstacles in the travel path. For example, a vehicle can use sidelink communication to send a sensor-related message to other nearby vehicles, where the sensor-related message may indicate the presence of an obstacle in the travel path.

[0023] In some aspects described herein, a vehicle detecting an obstacle (also referred to herein as an "ego vehicle") can determine a sight stopping distance (SSD) to one or more nearby receiving vehicles that are capable of receiving messages from the ego vehicle. In one example, the ego vehicle can determine the SSD based on information received in a BSM from one or more nearby receiving vehicles. The ego vehicle can determine to send a message notifying the obstacle to receiving vehicles with SSDs determined to be within a threshold distance of the obstacle. For example, the ego vehicle can calculate the SSD based on one or more of the following: motion parameters indicated for one or more receiving vehicles (e.g., oncoming speed), road conditions determined by the ego vehicle or indicated by one or more receiving vehicles (e.g., weather-related conditions), internal vehicle conditions reported by one or more receiving vehicles (e.g., braking status), speed of the obstacle, etc.

[0024] Using such parameters to determine the SSD of a vehicle can allow for determining an appropriate range to enforce 5G NR distance-based reliability for sending messages, and the ego vehicle can send messages accordingly to comply with the distance-based reliability. This can improve driving safety for both human-driven and autonomous vehicles by providing advance notification of obstacles to nearby vehicles, allowing the driver (or autonomous driving system) to take action based on the notification of the obstacle. In one example, the rule set for enforcing the reliability range of messages can be standardized in an application layer standard in a group including the Society of Automotive Engineers (SAE), the European Telecommunications Standards Institute (ETSI)-Intelligent Transportation Systems (ITS), the Chinese SAE (C-SAE), etc. For example, in SAE, the application layer standard for such messages can include the J3224 sensor sharing message standard.

[0025] See below Figure 1-5 The described features are given in more detail.

[0026] As used in this application, the terms "component", "module", "system" and the like are intended to include computer-related entities, such as but not limited to hardware, software, a combination of hardware and software, or software in execution. For example, a component can be but not limited to the following: a process running on a processor, a processor, an object, an executable file, a thread of execution, a program and / or a computer. By way of illustration, both an application and a computing device running on a computing device can be a component. One or more components can reside in a process and / or a thread of execution, and a component can be located on a computer and / or distributed between two or more computers. In addition, these components can be executed from various computer-readable media with various data structures stored thereon. Components can communicate by means of local and / or remote processes, such as according to signals with one or more data packets (e.g., data from a component as follows: the component interacts with another component in a local system, a distributed system, and / or interacts with other systems across a network such as the Internet). Software shall be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, etc., whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise.

[0027] The technology described herein can be used in various wireless communication systems, such as CDMA, TDMA, FDMA, OFDMA, SC-FDMA, and other systems. The terms "system" and "network" are often used interchangeably. A CDMA system can implement radio technologies such as CDMA2000, Universal Terrestrial Radio Access (UTRA), and the like. CDMA2000 covers IS-2000, IS-95, and IS-856 standards. IS-2000 versions 0 and A are commonly referred to as CDMA2000 1X, 1X, and the like. IS-856 (TIA-856) is commonly referred to as CDMA2000 1xEV-DO, High Rate Packet Data (HRPD), and the like. UTRA includes Wideband CDMA (WCDMA) and other variations of CDMA. A TDMA system can implement radio technologies such as Global System for Mobile Communications (GSM). OFDMA systems can implement technologies such as Ultra Mobile Broadband (UMB), Evolved UTRA (E-UTRA), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, Flash OFDM, etc. TM UTRA and E-UTRA are part of the Universal Mobile Telecommunications System (UMTS). 3GPP Long Term Evolution (LTE) and Advanced LTE (LTE-A) are new versions of UMTS that use E-UTRA. UTRA, E-UTRA, UMTS, LTE, LTE-A, and GSM are described in documents from an organization named "3rd Generation Partnership Project" (3GPP). CDMA2000 and UMB are described in documents from an organization named "3rd Generation Partnership Project 2" (3GPP2). The techniques described herein can be used for the systems and radio technologies mentioned above, as well as other systems and radio technologies, including cellular (e.g., LTE) communications on shared radio frequency spectrum bands. However, for example purposes, the following description describes an LTE / LTE-A system, and LTE terminology is used in most of the description below, but the techniques are applicable to applications beyond LTE / LTE-A applications (e.g., for fifth generation (5G) new radio (NR) networks or other next generation communication systems).

[0028] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements discussed without departing from the scope of this disclosure. Various processes or components may be omitted, replaced, or added to the various examples as appropriate. For example, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Furthermore, features described in some examples may be combined into other examples.

[0029] Various aspects or features will be presented in terms of systems that may include a number of devices, components, modules, etc. It should be understood and appreciated that the various systems may include additional devices, components, modules, etc. and / or may not include all of the devices, components, modules, etc. discussed in connection with the figures. Combinations of these methods may also be used.

[0030] Figure 1 1 is a schematic diagram illustrating an example of a wireless communication system and access network 100. The wireless communication system (also referred to as a wireless wide area network (WWAN)) may include a base station 102, a UE 104, an evolved packet core (EPC) 160, and / or a 5G core (5GC). The base station 102 may include a macro cell (a high-power cellular base station) and / or a small cell (a low-power cellular base station). A macro cell may include a base station. Small cells include femto cells, pico cells, and micro cells. In one example, the base station 102 may also include a gNB 180, as further described herein. In one example, some nodes of the wireless communication system may include a modem 240 and a communication component 242 for transmitting sensor-related messages to other UEs 104 via sidelink communications, as described herein. While the UE 104 is shown with the modem 240 and communication component 242, this is an illustrative example, and substantially any node or type of node may include the modem 240 and communication component 242 to provide the corresponding functionality described herein.

[0031] Base stations 102 configured for 4G LTE (which may be collectively referred to as the Evolved Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (E-UTRAN)) may be connected to the EPC 160 via a backhaul link 132 (e.g., using an S1 interface). Base stations 102 configured for 5G NR (which may be collectively referred to as the Next Generation RAN (NG-RAN)) may be connected to the 5GC 190 via a backhaul link 184. Among other functions, the base stations 102 may perform one or more of the following functions: transmission of user data, radio channel encryption and decryption, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection establishment and release, load balancing, distribution of non-access stratum (NAS) messages, NAS node selection, synchronization, radio access network (RAN) sharing, multimedia broadcast multicast service (MBMS), user and device tracking, RAN information management (RIM), paging, positioning, and delivery of warning messages. Base stations 102 may communicate with each other via backhaul links 134 (eg, using an X2 interface) directly or indirectly (eg, through EPC 160 or core network 190). Backhaul links 134 may be wired or wireless.

[0032] Base station 102 can communicate wirelessly with one or more UEs 104. Each of base stations 102 can provide communication coverage for a corresponding geographic coverage area 110. There can be overlapping geographic coverage areas 110. For example, a small cell 102′ can have a coverage area 110′ that overlaps with the coverage area 110 of one or more macro base stations 102. A network that includes both small cells and macro cells can be referred to as a heterogeneous network. A heterogeneous network can also include a home evolved Node B (eNB) (HeNB), which can provide service to a restricted group, which can be referred to as a closed subscriber group (CSG). The communication link 120 between base station 102 and UE 104 can include uplink (UL) (also referred to as reverse link) transmissions from UE 104 to base station 102 and / or downlink (DL) (also referred to as forward link) transmissions from base station 102 to UE 104. The communication link 120 can use multiple-input multiple-output (MIMO) antenna technology, including spatial multiplexing, beamforming, and / or transmit diversity. The communication link may be through one or more carriers. The base station 102 / UE 104 may use a spectrum of up to Y MHz (e.g., 5, 10, 15, 20, 100, 400, etc. MHz) bandwidth per carrier allocated in a carrier aggregation of up to Yx MHz (x component carriers) for transmission in the DL and / or UL directions. The carriers may be adjacent to each other or may not be adjacent to each other. The allocation of carriers may be asymmetric with respect to DL and UL (e.g., more or fewer carriers may be allocated for DL ​​compared to UL). The component carrier may include a primary component carrier and one or more secondary component carriers. The primary component carrier may be referred to as a primary cell (PCell), and the secondary component carrier may be referred to as a secondary cell (SCell).

[0033] In another example, some UEs 104 can communicate with each other using device-to-device (D2D) communication links 158. The D2D communication links 158 can use the DL / UL WWAN spectrum. The D2D communication links 158 can use one or more sidelink channels, such as a physical sidelink broadcast channel (PSBCH), a physical sidelink discovery channel (PSDCH), a physical sidelink shared channel (PSSCH), and a physical sidelink control channel (PSCCH). The D2D communication can be carried out through various wireless D2D communication systems such as FlashLinQ, WiMedia, Bluetooth, ZigBee, Wi-Fi based on IEEE 802.11 standards, LTE, or NR.

[0034] The wireless communication system may also include a Wi-Fi access point (AP) 150 that communicates with a Wi-Fi station (STA) 152 in the 5 GHz unlicensed spectrum via a communication link 154. When communicating in the unlicensed spectrum, the STA 152 / AP 150 may perform a clear channel assessment (CCA) to determine whether the channel is available before communicating.

[0035] The small cell 102′ can operate in licensed and / or unlicensed spectrum. When operating in the unlicensed spectrum, the small cell 102′ can employ NR and use the same 5 GHz unlicensed spectrum used by the Wi-Fi AP 150. The small cell 102′ employing NR in the unlicensed spectrum can improve coverage and / or increase capacity of the access network.

[0036] Base station 102 (whether a small cell 102′ or a large cell (e.g., a macro base station)) may include an eNB, gNodeB (gNB), or other type of base station. Some base stations (e.g., gNB 180) may operate in the traditional sub-6 GHz spectrum, in millimeter wave (mmW) frequencies, and / or near-mmW frequencies to communicate with UE 104. When gNB 180 operates in mmW or near-mmW frequencies, gNB 180 may be referred to as a mmW base station. Extremely high frequency (EHF) is a portion of the RF spectrum in the electromagnetic spectrum. EHF has a range of 30 GHz to 300 GHz and has a wavelength between 1 mm and 10 mm. Radio waves in this band may be referred to as millimeter waves. Near-mmW can extend down to frequencies of 3 GHz and have a wavelength of 100 mm. Super high frequency (SHF) bands extend between 3 GHz and 30 GHz and are also referred to as centimeter waves. Communications using mmW / near-mmW radio frequency bands have extremely high path loss and short range. The mmW base station 180 can utilize beamforming 182 with the UE 104 to compensate for the extremely high path loss and short range. The base stations 102 referenced herein can include gNBs 180.

[0037] EPC 160 may include a Mobility Management Entity (MME) 162, other MMEs 164, a Serving Gateway 166, a Multimedia Broadcast Multicast Service (MBMS) Gateway 168, a Broadcast Multicast Service Center (BM-SC) 170, and a Packet Data Network (PDN) Gateway 172. MME 162 may communicate with a Home Subscriber Server (HSS) 174. MME 162 is a control node that handles signaling between UE 104 and EPC 160. Generally, MME 162 provides bearer and connection management. All user Internet Protocol (IP) packets are transmitted through Serving Gateway 166, which itself is connected to PDN Gateway 172. PDN Gateway 172 provides IP address allocation and other functions to UEs. PDN Gateway 172 and BM-SC 170 are connected to IP Services 176. IP Services 176 may include the Internet, an intranet, an IP Multimedia Subsystem (IMS), PS streaming services, and / or other IP services. The BM-SC 170 may provide functionality for MBMS user service provision and delivery. The BM-SC 170 may serve as an entry point for content provider MBMS transmissions, may be used to admit and initiate MBMS bearer services within a public land mobile network (PLMN), and may be used to schedule MBMS transmissions. The MBMS gateway 168 may be used to distribute MBMS services to base stations 102 belonging to a multicast broadcast single frequency network (MBSFN) area broadcasting a particular service, and may be responsible for session management (start / stop) and collecting eMBMS-related billing information.

[0038] 5GC 190 may include an access and mobility management function (AMF) 192, other AMFs 193, a session management function (SMF) 194, and a user plane function (UPF) 195. AMF 192 may communicate with a unified data management (UDM) 196. AMF 192 may be a control node that handles signaling between UE 104 and 5GC 190. Typically, AMF 192 may provide QoS flow and session management. User Internet Protocol (IP) packets (e.g., from one or more UEs 104) may be transmitted through UPF 195. UPF 195 may provide UE IP address allocation for one or more UEs, as well as other functions. UPF 195 is connected to IP services 197. IP services 197 may include the Internet, an intranet, an IP multimedia subsystem (IMS), PS streaming services, and / or other IP services.

[0039] A base station may also be referred to as a gNB, a Node B, an evolved Node B (eNB), an access point, a base transceiver station, a radio base station, a radio transceiver, a transceiver functional unit, a basic service set (BSS), an extended service set (ESS), a transmit reception point (TRP), or some other appropriate terminology. Base station 102 provides an access point to EPC 160 or 5GC 190 for UE 104. Examples of UE 104 include a cellular phone, a smartphone, a Session Initiation Protocol (SIP) phone, a laptop computer, a personal digital assistant (PDA), a satellite radio unit, a positioning system (e.g., satellite, terrestrial), a multimedia device, a video device, a digital audio player (e.g., an MP3 player), a camera, a game console, a tablet device, a smart device, a robot, a drone, industrial / manufacturing equipment, a wearable device (e.g., a smart watch, smart clothing, smart glasses, virtual reality glasses, a smart wristband, smart jewelry (e.g., a smart ring, a smart bracelet)), a vehicle / vehicle equipment, a meter (e.g., a parking meter, an electricity meter, a gas meter, a water meter, a flow meter), a gas pump, a large or small kitchen appliance, a medical / healthcare device, an implant, a sensor / actuator, a display, or any other similarly functional device. Some of the UEs 104 may be referred to as IoT devices (e.g., a meter, a pump, a monitor, a camera, industrial / manufacturing equipment, an appliance, a vehicle, a robot, a drone, etc.). IoT UEs may include MTC / enhanced MTC (eMTC, also known as CAT-M, Cat M1) UEs, NB-IoT (also known as CAT NB1) UEs, and other types of UEs. In the present disclosure, eMTC and NB-IoT may refer to future technologies that may evolve from or be based on these technologies. For example, eMTC may include FeMTC (further eMTC), eFeMTC (further enhanced eMTC), mMTC (massive MTC), etc., and NB-IoT may include eNB-IoT (enhanced NB-IoT), FeNB-IoT (further enhanced NB-IoT), etc. UE 104 may also be referred to as a station, mobile station, user station, mobile unit, user unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile user station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, or some other appropriate terminology.

[0040] In one example, the communication component 242 of UE 104-a (and / or other UEs) can use one or more vehicle sensors to detect obstacles in the driving path or area and can send an associated message to a nearby UE (e.g., UE 104-b) on a sidelink (e.g., D2D communication link 158). The communication component 242 can determine whether to send a message to a given UE based on an SSD determined for the given UE, where the SSD can be calculated based on various parameters related to the vehicle hosting the given UE, parameters related to the obstacle, road condition parameters, etc., as further described herein. In another example, the communication component 242 can further determine whether to send a message to a given UE based on one or more of the location of the obstacle relative to the given UE.

[0041] Now go to Figure 2-5 , various aspects are depicted with reference to one or more components and one or more methods that can perform the actions or operations described herein, where aspects with dashed lines may be optional. Although the following Figure 3 The operations described in the foregoing are presented in a particular order and / or performed by exemplary components, but it should be understood that the order in which the actions, and the components perform the actions, may vary depending on the implementation. Furthermore, it should be understood that the following actions, functions, and / or components described may be performed by a specially programmed processor, a processor executing specially programmed software or computer-readable media, or any other combination of hardware components and / or software components capable of performing the described actions or functions.

[0042] Reference Figure 2 One example implementation of a UE 104 may include various components, some of which have been described above and further described herein, including components such as one or more processors 212 and memory 216 in communication via one or more buses 244, and a transceiver 202, which may operate in conjunction with a modem 240 and / or a communication component 242 for transmitting sensor-related messages to other UEs 104 via sidelink communications, as described herein. The UE 104 may be hosted by a vehicle 200, implemented within a vehicle 200, etc., to facilitate V2X communications, such as V2V communications with other vehicles, such as a receiving vehicle 201.

[0043] In one aspect, the one or more processors 212 may include a modem 240 that utilizes one or more modem processors and / or may be part of the modem 240. Thus, various functions associated with the communication component 242 may be included in the modem 240 and / or the processor 212 and, in one aspect, may be performed by a single processor, while in other aspects, different ones of these functions may be performed by a combination of two or more different processors. For example, in one aspect, the one or more processors 212 may include any one or any combination of the following: a modem processor, a baseband processor, a digital signal processor, a transmit processor, a receive processor, or a transceiver processor associated with the transceiver 202. In other aspects, some of the features of the one or more processors 212 and / or the modem 240 associated with the communication component 242 may be performed by the transceiver 202.

[0044] In addition, the memory 216 can be configured to store data used herein and / or local versions of the applications 275 executed by the at least one processor 212 or one or more of the communication component 242 and / or its subcomponents. The memory 216 can include any type of computer-readable medium usable by a computer or the at least one processor 212, such as random access memory (RAM), read-only memory (ROM), tape, magnetic disk, optical disk, volatile memory, non-volatile memory, and any combination thereof. In one aspect, for example, the memory 216 can be a non-transitory computer-readable storage medium storing one or more lines of computer-executable code that define one or more of the communication component 242 and / or its subcomponents, and / or data associated therewith, when the UE 104 is operating the at least one processor 212 to execute one or more of the communication component 242 and / or its subcomponents.

[0045] The transceiver 202 may include at least one receiver 206 and at least one transmitter 208. The receiver 206 may include hardware for receiving data and / or software executable by a processor, the code including instructions and stored in a memory (e.g., a computer-readable medium). The receiver 206 may be, for example, a radio frequency (RF) receiver. In one aspect, the receiver 206 may receive signals transmitted by at least one base station 102 or another UE. In addition, the receiver 206 may process these received signals and may also obtain signal measurements such as, but not limited to, Ec / Io, signal-to-noise ratio (SNR), reference signal received power (RSRP), received signal strength indicator (RSSI), etc. The transmitter 208 may include hardware for transmitting data and / or software executable by a processor, the code including instructions and stored in a memory (e.g., a computer-readable medium). Suitable examples of the transmitter 208 may include, but are not limited to, an RF transmitter.

[0046] In addition, in an aspect, the UE 104 may include an RF front end 288 that can operate in communication with one or more antennas 265 and the transceiver 202 to receive and transmit radio transmissions, e.g., the UE 104 receives wireless communications transmitted by at least one base station 102 or another UE or transmits wireless communications. The RF front end 288 can be connected to the one or more antennas 265 and can include one or more low noise amplifiers (LNAs) 290, one or more switches 292, one or more power amplifiers (PAs) 298, and one or more filters 296 for transmitting and receiving RF signals.

[0047] In one aspect, the LNAs 290 can amplify the received signal to a desired output level. In one aspect, each LNA 290 can have a specified minimum gain value and a maximum gain value. In one aspect, the RF front end 288 can use one or more switches 292 to select a particular LNA 290 and its specified gain value based on the desired gain value for a particular application.

[0048] Furthermore, for example, the RF front end 288 can utilize one or more PAs 298 to amplify the signal for RF output to a desired output power level. In one aspect, each PA 298 can have a specified minimum gain value and a maximum gain value. In one aspect, the RF front end 288 can utilize one or more switches 292 to select a particular PA 298 and its specified gain value based on the desired gain value for a particular application.

[0049] Furthermore, for example, the RF front end 288 can use one or more filters 296 to filter a received signal to obtain an input RF signal. Similarly, in one aspect, for example, a corresponding filter 296 can be used to filter the output from a corresponding PA 298 to produce an output signal for transmission. In one aspect, each filter 296 can be connected to a specific LNA 290 and / or PA 298. In one aspect, the RF front end 288 can use one or more switches 292 to select a transmit path or a receive path using a specific filter 296, LNA 290, and / or PA 298 based on a configuration as specified by the transceiver 202 and / or processor 212.

[0050] As such, the transceiver 202 can be configured to transmit and receive wireless signals via the RF front end 288 through one or more antennas 265. In one aspect, the transceiver can be tuned to operate at a specified frequency so that the UE 104 can communicate with, for example, one or more base stations 102 or one or more cells associated with one or more base stations 102, or one or more other UEs (e.g., in D2D, sidelink, or V2X communications). In one aspect, for example, the modem 240 can configure the transceiver 202 to operate at a specified frequency and power level based on the UE configuration of the UE 104 and the communication protocol used by the modem 240.

[0051] In one aspect, the modem 240 can be a multi-band, multi-mode modem that can process digital signals and communicate with the transceiver 202 so that digital data is sent and received using the transceiver 202. In one aspect, the modem 240 can be multi-band and can be configured to support multiple frequency bands for a specific communication protocol. In one aspect, the modem 240 can be multi-mode and configured to support multiple operating networks and communication protocols. In one aspect, the modem 240 can control one or more components of the UE 104 (e.g., the RF front end 288, the transceiver 202) based on a specified modem configuration to enable transmission and / or reception of signals from the network. In one aspect, the modem configuration can be based on the mode of the modem and the frequency band in use. In another aspect, the modem configuration can be based on UE configuration information associated with the UE 104 (e.g., provided by the network during cell selection and / or cell reselection).

[0052] The UE 104 may also include or be operatively coupled to one or more sensors 246. Although shown within the UE 104, the sensors 246 may be physically mounted on the vehicle 200 to detect obstacles or other conditions and may be communicatively coupled to the UE 104 to provide information thereto. For example, the one or more sensors 246 may include a proximity sensor for detecting obstacles near an area or surface of the vehicle 200, a speed sensor for detecting obstacles relative to the speed of the vehicle 200 in which the obstacles are moving, and / or the like. The sensors 246 and / or corresponding processors may provide obstacle information to the UE 104 or components thereof (e.g., the processor 212) at various times, e.g., upon detecting an obstacle, as a periodic notification of any obstacles detected within a time period, and / or the like.

[0053] In one aspect, the communication component 242 may optionally include: an obstacle detection component 252 for detecting obstacles in the travel path or area based on information received from one or more sensors 246 configured to detect obstacles; and / or an SSD determination component 254 for determining the SSD of a receiving vehicle (e.g., receiving vehicle 201) associated with the obstacle, as described herein.

[0054] In one aspect, the processor 212 may correspond to Figure 5 Similarly, the memory 216 may correspond to one or more processors in conjunction with the UE described in the embodiment of the present invention. Figure 5 The memory described by the UE in .

[0055] Figure 3 A flow chart illustrating an example of a method 300 for sending a sensor-related message based on a determined SSD of a recipient vehicle is shown. In one example, a UE (e.g., UE 104-a) may use Figure 1 and 2 One or more of the components described in the method 300 may be used to perform the functions described in the method 300.

[0056] In method 300, at block 302, a first vehicle may be configured to detect the presence of an obstacle in the path of a second vehicle. In one aspect, obstacle detection component 252 (e.g., in conjunction with processor 212, memory 216, transceiver 202, communication component 242, sensor 246, etc.) may detect the presence of an obstacle in the path of a second vehicle (e.g., vehicle 201) for the first vehicle (e.g., vehicle 200). For example, sensor 246 may be located around vehicle 200 and configured to detect obstacles based on proximity, speed, etc. In one example, sensor 246 (e.g., via processor 212 or another processor in vehicle 200 or UE 104) may provide obstacle information to obstacle detection component 252. For example, the obstacle information may include the distance from sensor 246 to the obstacle (e.g., as measured by sensor 246), the speed or acceleration of the obstacle (e.g., if the obstacle is moving) measured by sensor 246, and the like. In one example, the obstacle detection component 252 can detect obstacles based on obstacle information received from the sensor 246, such as notification of a potential obstacle, a determination that an obstacle may require notification based on an identification of the obstacle (e.g., identification of the object type, such as another vehicle, a person, etc.), a distance to the obstacle, a speed or direction of travel of the obstacle, etc.

[0057] In method 300, at block 304, an SSD between the second vehicle and the obstacle can be determined for the second vehicle. In one aspect, SSD determination component 254 (e.g., in conjunction with processor 212, memory 216, transceiver 202, communication component 242, sensor 246, etc.) can determine the SSD between the second vehicle and the obstacle for the second vehicle. For example, SSD determination component 254 can determine the SSD based on various parameters associated with the second vehicle (e.g., receiving vehicle 201), the obstacle, the first vehicle (e.g., ego vehicle 200), etc.

[0058] In one example, at least for a human-driven vehicle, the SSD can be defined as the distance required for the vehicle to stop relative to a stationary object in its path. This distance can be expressed as a function of road grade, human perception time, and vehicle braking time. The SSD can be a function of vehicle speed, road grade, driver reaction time, etc., and / or can be based on one or more formulas. Example formulas may include the following:

[0059] SSD = [Distance traveled from object detection to brake application] + [Distance required to stop the vehicle from the moment the brakes are applied]

[0060] SSD = [Braking Reaction Distance] + [Braking Distance]

[0061]

[0062] Where V is the vehicle speed (e.g., in miles per hour (mph)), t is the perception reaction time (PRT), which in one example may be 2.5 seconds, and a is the deceleration rate, which in one example may be 11.2 feet per second (ft / s). Thus, for example, the SSD may be based on the speed of the affected vehicle. For sensor sharing, the relevant speed may be the speed of the vehicle receiving the sensor-related message (e.g., not necessarily the speed of the vehicle sending the message). As described above, the speed of the vehicle receiving such a message (e.g., vehicle 201) may be obtained or otherwise identified by the vehicle sending the message (e.g., vehicle 200) from a basic safety message (BSM) sent by the receiving vehicle (e.g., vehicle 201). Although BSM is referenced herein, similar concepts may be applied using other messages transmitted between vehicles based on one or more of a variety of standards or communication technologies. For example, such other messages may include collaborative awareness messages (CAMs).

[0063] In one example, optionally, at block 306, one or more messages may be received from the second vehicle. In one aspect, the communication component 242 (e.g., in conjunction with the processor 212, the memory 216, the transceiver 202, etc.) may receive one or more messages from the second vehicle. For example, as described above, the one or more messages may include a BSM sent by the second vehicle, which may include information related to the location of the second vehicle (e.g., GPS location), the motion of the second vehicle (e.g., speed, acceleration, direction, etc.), other internal vehicle condition parameters of the second vehicle (such as braking parameters, tire pressure parameters, etc.), detected road condition parameters, etc.

[0064] In one example, when determining the SSD at block 304, the SSD may optionally be determined at block 308 based on one or more messages received from the second vehicle. In one aspect, the SSD determination component 254 (e.g., in conjunction with the processor 212, the memory 216, the transceiver 202, the communication component 242, etc.) may determine the SSD based on one or more messages (which may include one or more BSMs) received from the second vehicle (e.g., the recipient vehicle 201). For example, the one or more BSMs may indicate a maximum speed V of the oncoming vehicle (e.g., the second vehicle). BSM,MAX Or one or more parameters for determining the maximum speed. In one example, the SSD determining component 254 can determine the SSD of the second vehicle (e.g., the recipient vehicle 201) based on the indicated maximum speed using a formula similar to the following formula:

[0065]

[0066] Figure 4 An example is shown in FIG, which shows a vehicle with an ego vehicle (V EGO ) driving scenario 400, the ego vehicle detects an obstacle 402 in the driving path or area of ​​the ego vehicle. For example, the ego vehicle can detect the obstacle 402 based on input from one or more sensors on the ego vehicle (as described above) or based on sensor data that can be received from other vehicles, infrastructure, etc. in V2X communication. In one example, the ego vehicle can also detect the receiving vehicles RV1, RV2 based on its BSM transmission. The ego vehicle can create a sensor-related message to indicate the presence of the obstacle, and / or can determine a message range for sending the sensor-related message to the recipient vehicles within the message range. For example, the ego vehicle can use the maximum value of the received speeds from RV1, RV2 (e.g., max(V RV1 ,V RV2 ))(For example, it can be used as V in the above formula BSM,MAX ) to determine the message range as SSD.

[0067] In one example, when determining the SSD at block 304, the SSD can optionally be determined at block 310 based on the speed of the obstacle. In one aspect, the SSD determination component 254 (e.g., in conjunction with the processor 212, the memory 216, the transceiver 202, the communication component 242, etc.) can determine the SSD based on the speed of the obstacle. For example, as described above, the SSD determination component 254 can determine the speed of the obstacle based on input from one or more sensors 246. For example, the one or more sensors 246 can detect the speed of the obstacle and report it to the SSD determination component 254. In another example, the one or more sensors 246 can report the position or location of the obstacle over multiple time periods to the SSD determination component 254, and the SSD determination component 254 can determine the proximity detected over the multiple time periods based on the position or location, and thus determine the speed of the obstacle. In another example, the one or more sensors 246 can include a speed sensor that can determine and report the speed of the obstacle. In yet another example, one or more other vehicles, infrastructure equipment, etc. can report the speed of the obstacle to the SSD determination component 254 (e.g., in a BSM or other message). In yet another example, the obstacle may be a vehicle or other object that may send a BSM to the SSD determination component 254 indicating the speed of the obstacle and / or parameters from which the speed may be determined (e.g., position or location at a point in time), among other parameters.

[0068] In one example, the SSD determination component 254 may use a formula similar to the following formula based on the speed of the second vehicle (eg, the recipient vehicle 201) and the speed of the obstacle (V HAZARD) to determine the SSD of the second vehicle:

[0069]

[0070] Figure 4 An example is shown in FIG. 4 , which shows an ego vehicle (V ) with a detected obstacle 406. EGO ) in the driving scene 404, the obstacle 406 may be another vehicle (RV2) in the driving path or area of ​​the ego vehicle. For example, as described above, the ego vehicle may detect the obstacle 406 (RV2) and / or its speed (V) based on input from one or more sensors on the ego vehicle, a BSM received from the obstacle (in the case where the obstacle is a vehicle), etc. HAZARD ). In another example, the ego vehicle may also detect the receiving vehicle RV1 based on its BSM transmission. In one example, based on the detection of the obstacle (RV1), the speed of the obstacle (RV1), the speed of the other vehicle (RV2), the calculated SSD, etc., the ego vehicle may create a sensor-related message to indicate the presence of the obstacle, and / or may determine a message range for sending the sensor-related message to the recipient vehicle within the message range. For example, the ego vehicle may use the sum of the speeds received from the recipient vehicle RV1 and the obstacle RV2 (e.g., V RV1 +V RV2 )(For example, as V in the above formula BSM,MAX ) to determine the message range as SSD.

[0071] In one example, when determining the SSD at block 304, the SSD can be determined based on one or more detected conditions, optionally at block 312. In one aspect, the SSD determination component 254 (e.g., in conjunction with the processor 212, the memory 216, the transceiver 202, the communication component 242, etc.) can determine the SSD based on the one or more detected conditions. For example, the one or more detected conditions may include conditions detected by the first vehicle (e.g., vehicle 200), conditions detected by the second vehicle (e.g., vehicle 201) (which may be transmitted to the first vehicle (e.g., in a BSM), etc. For example, the detected conditions may include detected road conditions, such as weather conditions (e.g., precipitation, wind, road friction, etc.). As described above, for example, the detected road conditions may be determined by sensors 246 on the vehicle, received in a message from the recipient vehicle (e.g., in an application layer message), etc. In another example, the detected conditions may include internal vehicle conditions of the recipient vehicle (e.g., brake status, tire pressure, etc.), or other conditions detected by vehicle 200 or received in a message from the recipient vehicle. In any case, the detected road or vehicle conditions may affect the effective SSD of the vehicle. Therefore, in one example, the SSD determination component 254 may adjust the SSD by an explicit margin based on the one or more detected road or vehicle conditions. For example, the SSD determination component 254 may adjust the SSD by increasing the PRT, t, or both (in the above formula).

[0072] In one example, the SSD determination component 254 can determine the detected condition based on wiper status, road friction, rain sensor information, etc. detected at the first vehicle (vehicle 200) and / or the second vehicle (receiving vehicle 201). As described above, in the event that the second vehicle (e.g., the receiving vehicle 201) detects a condition, the second vehicle can send one or more messages notifying the first vehicle (e.g., vehicle 200) of the condition or related parameters. In another example, the SSD determination component 254 can determine the detected condition based on brake status information (e.g., anti-lock braking system status, stability control status, traction control status, etc.), tire status information (e.g., tire pressure, which can be a function of an indicated tire temperature or tire leakage rate, wheel status, etc.) of the first vehicle (e.g., vehicle 200) or received from the second vehicle (e.g., the receiving vehicle 201). In any case, for example, different detected conditions and / or associated condition values ​​may have associated SSD adjustments, and the SSD determination component 254 may determine the SSD adjustment based on the detected conditions or associated values ​​and / or apply the SSD adjustment when determining the SSD (e.g., by summing the SSD adjustments to determine ΔSSD).

[0073] In one example, the SSD determination component 254 may use a formula similar to the following formula based on the speed of the second vehicle (eg, the recipient vehicle 201) and / or the speed of the obstacle (V HAZARD ) and / or by adjusting the SSD (by ΔSSD) to account for the detected condition, determining the SSD of the second vehicle:

[0074]

[0075] Figure 4 An example is shown in FIG. 4 , which shows an ego vehicle (V ) with a detected obstacle 406. EGO ) driving scene 408, the obstacle 406 may be another vehicle (RV2) in the driving path or area of ​​the ego vehicle. For example, as described above, the ego vehicle may detect the obstacle 406 (RV2) and / or its speed (V) based on input from one or more sensors on the ego vehicle, a BSM received from the obstacle (in the case where the obstacle is a vehicle), etc. HAZARD ). In one example, the ego vehicle may also detect the recipient vehicle RV1 based on its BSM transmission. Additionally, for example, the ego vehicle may also detect one or more conditions (such as rain 410), which may be based on information from sensors on the ego vehicle, messages received from one or more recipient vehicles, etc. The ego vehicle may create a sensor-related message to indicate the presence of an obstacle, and / or may determine a message range for sending a sensor-related message to recipient vehicles within the message range. For example, the ego vehicle may use the sum of the velocities received from the recipient vehicle RV1 and the obstacle RV2 (e.g., V RV1 +V RV2 ) (e.g., in the above formula) to determine the message range as the SSD. In this regard, for example, the ego vehicle can adjust the SSD based on the detected condition (e.g., to provide a safety margin for the SSD).

[0076] In method 300, at block 314, if the SSD is within a threshold, a message including a notification of the obstacle may be sent to the second vehicle. In one aspect, communication component 242 (e.g., in conjunction with processor 212, memory 216, transceiver 202, etc.) may send a message including a notification of the obstacle to the second vehicle (e.g., recipient vehicle 201) and if the SSD is within a threshold. For example, the message may be a sensor-related message (as described herein) to warn or notify of an obstacle. The message may include an indication of the obstacle and / or other obstacle information, such as location, distance, speed, size, classification (e.g., vehicle, stationary obstacle, etc.), parameters used to determine the presence of the obstacle (e.g., road conditions), etc. For example, the message may be another BSM, CAM, or other message transmitted between vehicles on a sidelink. Furthermore, for example, the threshold may be a fixed value for all detected vehicles, or may be different for each vehicle, each vehicle type, each driving scenario, each location (e.g., each country, state, city, road, etc.), etc. In another example, the threshold may be configured for the vehicle 200 via a base station or other network configuration.

[0077] In one example, sending a message can include determining a message range for applying the message (e.g., based on a calculated SSD of one or more vehicles). For example, a sensor-related message can be an application layer message sent to one or more receiving vehicles and can include (e.g., as a parameter) a message range for applying the message based on the SSD. Thus, for example, a receiving vehicle can receive the message (e.g., when within a physical range to receive the message), and the receiving vehicle can determine whether to apply the message at the physical layer based on the expected message range indicated in the message. In this example, the message can be appropriately delivered to the receiving vehicle to allow the receiving vehicle to be notified of the obstacle. The receiving vehicle can take further action based on the notification, such as triggering avoidance (e.g., whether the vehicle is human-driven or autonomously driven), or take further action based on other displays or uses of the notification.

[0078] Figure 5 1 is a block diagram of a MIMO communication system 500 including UEs 104-a, 104-b. The MIMO communication system 500 may be shown with reference to Figure 1 Aspects of the wireless communication access network 100 are described. UE 104-a may be a reference Figure 1-2Examples of various aspects of UE 104 are described. UE 104-a may be equipped with antennas 534 and 535, and UE 104-b may be equipped with antennas 552 and 553. In MIMO communication system 500, UEs 104-a, 104-b may be equipped with antennas 552 and 553. In MIMO communication system 500, UEs 104-a, 104-b may be able to transmit data simultaneously on multiple communication links. Each communication link may be referred to as a "layer," and the "rank" of a communication link may indicate the number of layers used for communication. For example, in a 2x2 MIMO communication system in which UE 104-a transmits two "layers," the rank of the communication link between UE 104-a and UE 104-b is 2.

[0079] At UE 104-a, a transmit (Tx) processor 520 may receive data from a data source. The transmit processor 520 may process the data. The transmit processor 520 may also generate control symbols or reference symbols. The transmit MIMO processor 530 may perform spatial processing (e.g., precoding) on ​​the data symbols, control symbols, or reference symbols (if applicable), and may provide an output symbol stream to transmit modulators / demodulators 532 and 533. Each modulator / demodulator 532 to 533 may process a corresponding output symbol stream (e.g., for OFDM, etc.) to obtain an output sample stream. Each modulator / demodulator 532 to 533 may further process (e.g., convert to analog, amplify, filter, and up-convert) the output sample stream to obtain a DL signal. In one example, the DL signals from the modulators / demodulators 532 and 533 may be transmitted via antennas 534 and 535, respectively.

[0080] UE 104-b may be a reference Figure 1-2 Examples of various aspects of UE 104 are described. At UE 104-b, UE antennas 552 and 553 can receive signals from UE 104-a (e.g., on a sidelink) and can provide received signals to demodulators / demodulators 554 and 555, respectively. Each demodulator / demodulator 554 to 555 can condition (e.g., filter, amplify, downconvert, and digitize) a respective received signal to obtain input samples. Each demodulator / demodulator 554 to 555 can further process the input samples (e.g., for OFDM, etc.) to obtain received symbols. A MIMO detector 556 can obtain received symbols from demodulators 554 and 555, perform MIMO detection on the received symbols (if applicable), and provide detected symbols. A receive (Rx) processor 558 may process (eg, demodulate, deinterleave, and decode) the detected symbols, provide decoded data for the UE 104 - b to a data output, and provide decoded control information to a processor 580 or memory 582 .

[0081] At UE 104-b, a transmit processor 564 may receive data from a data source and process the data. The transmit processor 564 may also generate reference symbols for a reference signal. The symbols from the transmit processor 564 may be precoded by a transmit MIMO processor 566 (if applicable), further processed by modulators / demodulators 554 and 555 (e.g., for SC-FDMA, etc.), and transmitted to UE 104-a based on communication parameters received from UE 104-a. At UE 104-a, the signal from UE 104-b may be received by antennas 534 and 535, processed by demodulators / demodulators 532 and 533, detected by a MIMO detector 536 (if applicable), and further processed by a receive processor 538. The receive processor 538 may provide decoded data to a data output and to processor 540 or memory 542.

[0082] In some cases, processor 540 may execute stored instructions to instantiate communication component 242 (e.g., see Figure 1 and 2 ).

[0083] The components of the UE 104-a, 104-b may be implemented, individually or collectively, with one or more ASICs adapted to perform some or all of the applicable functions in hardware. Each of the mentioned modules may be a means for performing one or more functions associated with the operation of the MIMO communication system 500. Similarly, the components of the UE 104-a may be implemented, individually or collectively, with one or more ASICs adapted to perform some or all of the applicable functions in hardware. Each of the mentioned components may be a means for performing one or more functions associated with the operation of the MIMO communication system 500.

[0084] The following aspects are merely illustrative, and aspects thereof may be combined with aspects of other embodiments or teachings described herein without limitation.

[0085] Aspect 1 is a method for wireless communication of V2X messages, comprising: detecting, for a first vehicle, the presence of an obstacle in a driving path of the vehicle; determining, for a second vehicle, a line-of-sight stopping distance between the second vehicle and the obstacle as being within a threshold; and sending a message including a notification about the obstacle to the second vehicle based on determining the line-of-sight stopping distance to be within the threshold.

[0086] In aspect 2, the method of aspect 1 includes wherein determining the sight-line stopping distance is based at least in part on determining an oncoming speed of the second vehicle and a determined position of the obstacle.

[0087] In aspect 3, the method of aspect 2 includes receiving a basic safety message from the second vehicle indicating the oncoming speed of the second vehicle.

[0088] In aspect 4, the method according to any one of aspects 2 or 3 includes wherein determining the sight-line stopping distance is also based at least in part on road conditions.

[0089] In aspect 5, the method according to aspect 4 includes receiving an indication of the road condition from the second vehicle or another vehicle.

[0090] In aspect 6, the method according to aspect 5 includes: wherein the road condition includes at least one of a weather condition or an internal vehicle condition.

[0091] In aspect 7, the method according to any one of aspects 4 to 6 includes detecting the road condition based on input from a sensor of the first vehicle.

[0092] In aspect 8, the method according to any one of aspects 2 to 7 includes wherein determining the sight-stop distance is also based at least in part on a detected speed of the obstacle.

[0093] In aspect 9, the method according to any one of aspects 1 to 8 includes: wherein determining the sight stopping distance is based at least in part on determining the oncoming speed of the second vehicle and one or more other vehicles and the determined position of the obstacle.

[0094] In aspect 10, the method according to any one of aspects 1 to 9 includes: wherein sending the message includes providing the line-of-sight stop distance in the message for determining a distance-based reliability for sending the message based on the line-of-sight stop distance.

[0095] In aspect 11, the method of any one of aspects 1 to 10 includes wherein the line-of-sight stop distance is received in the message and provided to a physical layer for use in determining distance-based reliability.

[0096] Aspect 12 is a method for wireless communication of V2X messages, comprising: detecting, for a first vehicle, the presence of an obstacle in a driving path of the vehicle; determining, for a second vehicle, a line-of-sight stopping distance between the second vehicle and the obstacle; and sending a message including a notification about the obstacle to the second vehicle if the line-of-sight stopping distance is within a threshold.

[0097] In aspect 13, the method of aspect 1 includes wherein determining the sight-line stopping distance is based at least in part on an oncoming speed of the second vehicle and a position of the obstacle.

[0098] In aspect 14, the method of aspect 13 includes receiving a basic safety message from the second vehicle indicating the oncoming speed of the second vehicle.

[0099] In aspect 15, the method according to any one of aspects 13 or 14 includes wherein determining the sight-line stopping distance is also based at least in part on road conditions.

[0100] In aspect 16, the method according to aspect 15 includes receiving an indication of the road condition from the second vehicle or another vehicle.

[0101] In aspect 17, the method of aspect 16 includes: wherein the road condition includes at least one of a weather condition or an internal vehicle condition.

[0102] In aspect 18, the method according to any one of aspects 15 to 17 includes detecting the road condition based on input from a sensor of the first vehicle.

[0103] In aspect 19, the method according to any one of aspects 13 to 18 includes wherein determining the sight-stop distance is also based at least in part on a detected speed of the obstacle.

[0104] In aspect 20, the method of any one of aspects 12 to 19 includes wherein determining the sight-line stopping distance is based at least in part on the oncoming speeds of the second vehicle and one or more other vehicles and the position of the obstacle.

[0105] In aspect 21, the method according to any one of aspects 12 to 20 includes: wherein sending the message includes providing the line-of-sight stop distance in the message to indicate the distance-based reliability for sending the message based on the line-of-sight stop distance.

[0106] In aspect 22, the method of any one of aspects 12 to 21 includes wherein the line-of-sight stop distance is received in the message and provided to a physical layer for indicating distance-based reliability.

[0107] Aspect 23 is an apparatus for wireless communication, comprising: a transceiver, a memory configured to store instructions, and one or more processors communicatively coupled to the memory and the transceiver. The one or more processors are configured to perform one or more of the methods according to any one of aspects 1 to 22.

[0108] Aspect 24 is an apparatus for wireless communication, comprising: means for performing one or more of the methods according to any one of aspects 1 to 22.

[0109] Aspect 25 is a computer-readable medium comprising code executable by one or more processors for wireless communication, the code comprising code for performing one or more of the methods according to any one of aspects 1 to 22.

[0110] The above detailed description, described above in conjunction with the accompanying drawings, describes examples and does not represent all examples that can be implemented or within the scope of the claims. The term "example" as used herein means "serving as an example, instance, or illustration" rather than "preferred" or "having advantages over other examples." The detailed description includes specific details for the purpose of providing an understanding of the described techniques. However, these techniques can be implemented without these specific details. In some cases, known structures and devices are shown in block diagram form to avoid obscuring the concepts of the described examples.

[0111] Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be mentioned throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or computer-executable code or instructions stored on a computer-readable medium, or any combination thereof.

[0112] The various illustrative blocks and components described in conjunction with the disclosure herein may be implemented or executed using a dedicated programmed device designed to perform the functions described herein (e.g., but not limited to, a processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof). The dedicated programmed processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The dedicated programmed processor may also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in combination with a DSP core, or any other such configuration).

[0113] The functions described herein may be implemented using hardware, software, or any combination thereof. If implemented using software executed by a processor, the functions may be stored on or transmitted via a non-transitory computer-readable medium as one or more instructions or codes. Other examples and implementations are within the scope and spirit of this disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a dedicated programmed processor, hardware, hard wiring, or a combination of any of these. Features implementing the functions may also be physically located at various locations, including being distributed so that parts of the functions are implemented at different physical locations. In addition, the term "or" is intended to mean an inclusive "or," not an exclusive "or." That is, unless otherwise specified or clear from the context, a phrase such as "X employs A or B" is intended to mean any of the natural inclusive permutations. That is, for example, any of the following examples satisfies the phrase "X employs A or B": X employs A; X employs B; or X employs both A and B. Furthermore, as used herein (including in the claims), “or” used in a list of items ending with “at least one of” indicates a disjunctive list so that, for example, a list of “at least one of A, B, or C” means A or B or C or AB or AC or BC or ABC (A and B and C).

[0114] Computer readable medium comprises computer storage medium and communication medium, and communication medium comprises any medium that promotes the transmission of computer program from one place to another place.Storage medium can be any available medium that can be accessed by general-purpose computer or special-purpose computer.By way of example and not limitation, computer readable medium can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage device or can be used for carrying or storing the program code unit of expectation and any other medium that can be accessed by general-purpose or special-purpose computer or general or special-purpose processor in the form of instruction or data structure.In addition, any connection is suitably referred to as computer readable medium.For example, if software is to use coaxial cable, optical fiber cable, twisted pair, digital subscriber line (DSL) or wireless technology such as infrared, radio and microwave to send from website, server or other remote source, then coaxial cable, optical fiber cable, twisted pair, DSL or wireless technology such as infrared, radio and microwave are included in the definition of medium. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, wherein disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above are also included within the scope of computer-readable media.

[0115] To enable those skilled in the art to implement or use the present disclosure, the foregoing description of the present disclosure is provided. It will be apparent to those skilled in the art that various modifications to the present disclosure will be apparent, and without departing from the spirit or scope of the present disclosure, the overall principles defined herein may be applied to other variations. In addition, although the elements of the various aspects and / or embodiments described may be described and claimed in the singular, the plural number is intended unless explicitly stated to limit the singular. Additionally, unless otherwise stated, all or part of any aspect and / or embodiment may be utilized together with all or part of any other aspect and / or embodiment. Therefore, the present disclosure is not limited to the examples and designs described herein, but is given the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An apparatus for wireless communication, comprising: transceiver; a memory configured to store instructions; as well as one or more processors communicatively coupled to the memory and the transceiver, wherein the one or more processors are configured to execute the instructions to cause the apparatus to: detecting, for the first vehicle, the presence of an obstacle in a travel path of the second vehicle; and sending a message including a notification about the obstacle to the second vehicle if the second vehicle is within a message range of the first vehicle and if a sight-stop distance between the second vehicle and the obstacle is within a threshold, wherein the sight-stop distance is based at least in part on a detected speed of the obstacle, and The message range is a function of the sight stop distance.

2. The device according to claim 1, wherein The sight-stopping distance is also based at least in part on the oncoming speed of the second vehicle and the location of the obstacle.

3. The device according to claim 2, wherein The one or more processors are further configured to execute the instructions to cause the apparatus to receive a base safety message from the second vehicle indicating the oncoming speed of the second vehicle.

4. The device according to claim 2, wherein The sight-stopping distance is also based at least in part on road conditions or internal vehicle conditions indicative of the road conditions.

5. The device according to claim 4, wherein The one or more processors are further configured to execute the instructions to cause the apparatus to receive an indication of the road condition or the internal vehicle condition from the second vehicle or another vehicle.

6. The device according to claim 5, wherein The road conditions include weather conditions.

7. The device according to claim 4, wherein The one or more processors are further configured to execute the instructions to cause the apparatus to detect the road condition based on input from a sensor of the first vehicle.

8. The device according to claim 1, wherein The message range is also a function of the oncoming speeds of the second vehicle and one or more other vehicles.

9. The device according to claim 1, wherein The one or more processors are configured to execute the instructions so that the apparatus sending the message includes providing the line-of-sight stop distance in the message to indicate a distance-based reliability for sending the message based on the line-of-sight stop distance.

10. The device according to claim 1, wherein The line-of-sight stop distance is received in the message and provided to the physical layer for indicating distance-based reliability.

11. A method for wireless communication of vehicle-to-everything (V2X) messages, comprising: detecting, for the first vehicle, the presence of an obstacle in a travel path of the second vehicle; as well as sending a message including a notification about the obstacle to the second vehicle if the second vehicle is within a message range of the first vehicle and if a sight-stop distance between the second vehicle and the obstacle is within a threshold, wherein the sight-stop distance is based at least in part on a detected speed of the obstacle, and The message range is a function of the sight stop distance.

12. The method according to claim 11, wherein The sight-stopping distance is also based at least in part on the oncoming speed of the second vehicle and the location of the obstacle.

13. The method according to claim 12, further comprising: A base safety message is received from the second vehicle indicating the oncoming speed of the second vehicle.

14. The method according to claim 12, wherein: The sight-stopping distance is also based at least in part on road conditions or internal vehicle conditions indicative of the road conditions.

15. The method according to claim 14, further comprising: An indication of the road condition or the interior vehicle condition is received from the second vehicle or another vehicle.

16. The method according to claim 15, wherein The road conditions include weather conditions.

17. The method according to claim 14, further comprising: The road condition is detected based on input from a sensor of the first vehicle.

18. The method according to claim 11, wherein The message range is also a function of the oncoming speeds of the second vehicle and one or more other vehicles.

19. The method according to claim 11, wherein Sending the message includes providing the line-of-sight stop distance in the message to indicate a distance-based reliability for sending the message based on the line-of-sight stop distance.

20. The method according to claim 11, wherein The line-of-sight stop distance is received in the message and provided to the physical layer for indicating distance-based reliability.

21. An apparatus for wireless communication of vehicle-to-everything (V2X) messages, comprising: means for detecting, for the first vehicle, the presence of an obstacle in a path of travel of the second vehicle; as well as means for sending a message including a notification about the obstacle to the second vehicle if the second vehicle is within a message range of the first vehicle and if a sight-stop distance between the second vehicle and the obstacle is within a threshold, wherein the sight-stop distance is based at least in part on a detected speed of the obstacle, and The message range is a function of the sight stop distance.

22. The device according to claim 21, wherein The sight-stopping distance is also based at least in part on the oncoming speed of the second vehicle and the location of the obstacle.

23. The apparatus according to claim 22, further comprising: Means for receiving a base safety message from the second vehicle indicating the oncoming speed of the second vehicle.

24. The apparatus according to claim 22, wherein The sight-stopping distance is also based at least in part on road conditions or internal vehicle conditions indicative of the road conditions.

25. The apparatus according to claim 24, further comprising: Means for receiving an indication of the road condition or the interior vehicle condition from the second vehicle or another vehicle.

26. The device according to claim 25, wherein The road conditions include weather conditions.

27. The apparatus of claim 24, further comprising: Means for detecting the road condition based on input from a sensor of the first vehicle.

28. The apparatus according to claim 21, wherein The message range is also a function of the oncoming speeds of the second vehicle and one or more other vehicles.

29. The apparatus of claim 21, further comprising: means for providing the line-of-sight stop distance in the message to indicate a distance-based reliability for sending the message based on the line-of-sight stop distance.

30. The apparatus according to claim 21, wherein The line-of-sight stop distance is received in the message and provided to the physical layer for indicating distance-based reliability.

31. A non-transitory computer-readable medium comprising code executable by one or more processors for wireless communication of vehicle-to-everything (V2X) messages, the code comprising code for: detecting, for the first vehicle, the presence of an obstacle in a travel path of the second vehicle; and sending a message including a notification about the obstacle to the second vehicle if the second vehicle is within a message range of the first vehicle and if a sight-stop distance between the second vehicle and the obstacle is within a threshold, in, The sight-stop distance is based at least in part on a detected speed of the obstacle, and The message range is a function of the sight stop distance.

32. The non-transitory computer readable medium of claim 31, wherein: The sight-stopping distance is also based at least in part on the oncoming speed of the second vehicle and the location of the obstacle.

33. The non-transitory computer-readable medium of claim 32, further comprising: Code for receiving, from the second vehicle, a base safety message indicating the oncoming speed of the second vehicle.

34. The non-transitory computer readable medium of claim 32, wherein: The sight-stopping distance is also based at least in part on road conditions or internal vehicle conditions indicative of the road conditions.

35. The non-transitory computer-readable medium of claim 34, further comprising: Code for receiving an indication of the road condition or the interior vehicle condition from the second vehicle or another vehicle.

Images