Group-based PRS broadcast for sidelink localization

Abstract

Various aspects relate to group-based positioning reference signal (PRS) broadcasting in a wireless communication network. Wireless communication devices communicating on a side link channel in the wireless communication network may be grouped into one or more positioning groups. Within each positioning group, a corresponding order of the wireless communication devices in the positioning group may be identified. The wireless communication devices in the positioning group may then transmit PRSs between them on the side link channel based on the order of the wireless communication devices in the positioning group.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This patent application claims priority to and the benefit of pending non-provisional application No. 17 / 387,874 filed with the U.S. Patent Office on July 28, 2021, and provisional application No. 63 / 059,756 filed with the U.S. Patent Office on July 31, 2020, both of which are assigned to the assignee of this application and are incorporated herein by reference in their entirety as if fully set forth herein for all applicable purposes. Technical Field

[0003] The techniques discussed below relate generally to wireless communication networks, and more particularly, to broadcasting a positioning reference signal (PRS) in a sidelink network. Background Art

[0004] Various network configurations can facilitate wireless communications between devices. In one configuration, a cellular network can enable user equipment (UE) to communicate with each other through signaling with nearby base stations or cells. Another wireless communication network configuration is a device-to-device (D2D) network, in which UEs can directly signal each other instead of via an intermediate base station or cell. For example, a D2D communication network can utilize sidelink signaling to facilitate direct communication between UEs. In some sidelink network configurations, UEs can also communicate in a cellular network, typically under the control of a base station. Thus, UEs can be configured for uplink and downlink signaling via a base station, and are also configured for sidelink signaling directly between UEs without transmitting through a base station.

[0005] An example of a sidelink wireless communication network is a vehicle-to-everything (V2X) communication network. V2X communication involves the exchange of information not only between the vehicles themselves, but also between vehicles and external systems, such as street lights, buildings, pedestrians, and cellular communication networks. V2X systems enable vehicles to obtain information related to weather, nearby accidents, road conditions, activities of nearby vehicles and pedestrians, objects near the vehicle, and other relevant information that can be used to improve the vehicle driving experience, increase vehicle safety, and support autonomous vehicles. Summary of the invention

[0006] An overview of one or more aspects of the present disclosure is given below to provide a basic understanding of these aspects. This overview is not an extensive review of all expected features of the present disclosure, and is neither intended to identify key or important elements of all aspects of the present disclosure, nor is it intended to describe the scope of any or all aspects of the present disclosure. Its sole purpose is to present some concepts of one or more aspects of the present disclosure in some form as a preface to a more detailed description presented later.

[0007] In one example, a method of wireless communication at a first wireless communication device is disclosed. The method includes broadcasting a first group formation message on a sidelink channel to form a positioning group including a plurality of wireless communication devices, the plurality of wireless communication devices including the first wireless communication device. The method also includes transmitting a positioning reference signal (PRS) between the plurality of wireless communication devices in the positioning group on the sidelink channel based on an order of the plurality of wireless communication devices in the positioning group.

[0008] Another example provides a first wireless communication device in a wireless communication network. The wireless communication device includes a wireless transceiver, a memory, and a processor communicatively coupled to the wireless transceiver and the memory. The processor and the memory can be configured to broadcast a first group formation message on a side link channel via the wireless transceiver to form a positioning group including a plurality of wireless communication devices, the plurality of wireless communication devices including the first wireless communication device. The processor and the memory can also be configured to transmit a positioning reference signal (PRS) between the plurality of wireless communication devices in the positioning group on the side link channel via the wireless transceiver based on the order of the plurality of wireless communication devices in the positioning group.

[0009] Another example provides a first wireless communication device in a wireless communication network. The wireless communication device includes a module for broadcasting a first group formation message on a side link channel to form a positioning group including a plurality of wireless communication devices, the plurality of wireless communication devices including the first wireless communication device. The first wireless communication device also includes a module for transmitting a positioning reference signal (PRS) between the plurality of wireless communication devices in the positioning group on the side link channel based on an order of the plurality of wireless communication devices in the positioning group.

[0010] Another example provides an article of manufacture for use by a first wireless communication device in a wireless communication network. The article includes a computer-readable medium having instructions stored therein, the instructions executable by one or more processors of the first wireless communication device to broadcast a first group formation message on a sidelink channel to form a positioning group including a plurality of wireless communication devices, the plurality of wireless communication devices including the first wireless communication device, and to transmit a positioning reference signal (PRS) on the sidelink channel between the plurality of wireless communication devices in the positioning group based on an order of the plurality of wireless communication devices in the positioning group.

[0011] By reading the following detailed description, these and other aspects will become more comprehensive. After reading the description of the following specific illustrative examples in conjunction with the accompanying drawings, it will be clear to those of ordinary skill in the art that other aspects, features and examples. Although features can be discussed relative to some of the following examples and the accompanying drawings, all examples can include one or more advantageous features discussed here. In other words, although one or more examples can be discussed as having certain advantageous features, according to the various examples discussed here, one or more such features can also be used. In a similar manner, although illustrative examples can be discussed below as equipment, system or method examples, such illustrative examples can be implemented in various equipment, systems and methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a diagram illustrating an example of a wireless radio access network in accordance with some aspects.

[0013] Figure 2 is a diagram illustrating an example of a wireless communication network employing sidelink communications in accordance with some aspects.

[0014] Figure 3 is a signaling diagram illustrating an example of sidelink based positioning according to some aspects.

[0015] Figure 4 is a diagram illustrating an example of transmitting a positioning reference signal (PRS) in a sidelink communication network according to some aspects.

[0016] Figure 5 is a signaling diagram illustrating an example of positioning group formation for group-based PRS broadcasting according to some aspects.

[0017] Figure 6 is a diagram illustrating an example of time domain allocation for positioning group formation and group-based PRS broadcasting according to some aspects.

[0018] Figure 7 is a diagram illustrating an example of a group formation message sent by a group initiator according to some aspects.

[0019] Figure 8 is a diagram illustrating an example of a group formation message sent by a group responder according to some aspects.

[0020] Fig. 9 is a diagram illustrating an example of a group association message sent by a group initiator according to some aspects.

[0021] Fig.10 is a diagram illustrating an example of positioning group formation according to some aspects.

[0022] Fig.11is a diagram illustrating an example of group-based PRS broadcasting in accordance with some aspects.

[0023] Fig.12 is a block diagram illustrating an example of a hardware implementation for a wireless communication device employing a processing system in accordance with some aspects.

[0024] Fig.13 is a flow chart of an example method for group-based PRS broadcasting in accordance with some aspects.

[0025] Fig.14 is a flow chart of another example method for group-based PRS broadcasting in accordance with some aspects.

[0026] Fig.15 is a flow chart of another example method for group-based PRS broadcasting in accordance with some aspects.

[0027] Fig.16 is a flow chart of another example method for group-based PRS broadcasting in accordance with some aspects.

[0028] Fig.17 is a flow chart of another example method for group-based PRS broadcasting in accordance with some aspects.

[0029] Fig.18 is a flow chart of another example method for group-based PRS broadcasting in accordance with some aspects.

[0030] Fig.19 is a flow chart of another example method for group-based PRS broadcasting in accordance with some aspects.

[0031] Fig. 20 is a flow chart of another example method for group-based PRS broadcasting in accordance with some aspects. DETAILED DESCRIPTION

[0032] The detailed description set forth below in conjunction with the accompanying drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein may be practiced. The detailed description includes specific details for the purpose of providing a thorough understanding of the various concepts. However, it will be apparent to those skilled in the art that these concepts may be practiced without these specific details. In some cases, in order to avoid confusion with these concepts, well-known structures and components are shown in block diagram form.

[0033] Although aspects and examples are described in this application by way of illustration of some examples, it will be understood by those skilled in the art that additional implementations and use cases may occur in many different arrangements and scenarios. The innovations described herein can be implemented across many different platform types, devices, systems, shapes, sizes, and packaging arrangements. For example, various aspects and / or uses may be implemented by integrated chip examples and other devices based on non-module components (e.g., end-user devices, vehicles, communication devices, computing devices, industrial devices, retail / purchase devices, medical devices, using AI devices, etc.). Although some examples may or may not be specifically targeted at use cases or applications, a variety of applicability of the described innovations may occur. The scope of implementations may range from chip-level or modular components to non-modular, non-chip-level implementations, and further to aggregated, distributed, or OEM devices or systems incorporating one or more aspects of the described innovations. In some practical settings, the device incorporating the described aspects and features may also have to include additional components and features for implementing and practicing the claimed and described examples. For example, the transmission and reception of wireless signals must include multiple components for analog and digital purposes (e.g., hardware components including antennas, RF chains, power amplifiers, modulators, buffers, processor(s), interleavers, adders / accumulators, etc.). It is intended that the innovations described herein can be implemented in devices, chip-level components, systems, distributed arrangements, end-user devices, etc. of a variety of different sizes, shapes, and configurations.

[0034] The various concepts presented throughout this disclosure may be implemented across a variety of telecommunication systems, network architectures and communication standards. Figure 1 , as a non-limiting illustrative example, a schematic diagram of a radio access network 100 is provided. The RAN 100 may implement any suitable one or more wireless communication technologies to provide radio access. As an example, the RAN 100 may operate in accordance with the Third Generation Partnership Project (3GPP) New Radio (NR) specification (commonly referred to as 5G). As another example, the RAN 100 may operate under a mix of 5G NR and Evolved Universal Terrestrial Radio Access Network (eUTRAN) standards (commonly referred to as LTE). 3GPP refers to such a hybrid RAN as the Next Generation RAN, or NG-RAN. Of course, many other examples may be utilized within the scope of the present disclosure.

[0035] The geographical area covered by the radio access network 100 may be divided into a plurality of cellular areas (cells) which may be uniquely identified by a user equipment (UE) based on an identity broadcast over the geographical area from an access point or base station. Figure 1Cells 102, 104, 106, and cell 108 are shown, each of which may include one or more sectors (not shown). A sector is a sub-area of ​​a cell. All sectors within a cell are served by the same base station. A radio link within a sector may be identified by a single logical identifier belonging to the sector. In a cell divided into sectors, multiple sectors within a cell may be formed by antenna groups, each antenna being responsible for communicating with a UE in a portion of the cell.

[0036] Typically, a corresponding base station (BS) serves each cell. In a broad sense, a base station is a network element in a radio access network, responsible for radio transmission and reception to or from a UE in one or more cells. Those skilled in the art may also refer to a BS as a base transceiver station (BTS), a radio base station, a radio transceiver, a transceiver function, a basic service set (BSS), an extended service set (ESS), an access point (AP), a node B (NB), an eNode B (eNB), a gNode B (gNB), a transmit and receive point (TRP), or some other suitable term. In some examples, a base station may include two or more TRPs, which may be co-located or non-co-located. Each TRP may communicate on the same or different carrier frequencies in the same or different frequency bands. In an example where RAN 100 operates according to LTE and 5G NR standards, one of the base stations may be an LTE base station, and the other base station may be a 5G NR base station.

[0037] Various base station arrangements can be used. Figure 1 , two base stations 110 and 112 are shown in cells 102 and 104; and a third base station 114 is shown as controlling a remote radio head (RRH) 116 in cell 106. That is, the base station may have an integrated antenna, or may be connected to an antenna or RRH by a feeder cable. In the example shown, cells 102, 104, and 106 may be referred to as macro cells because base stations 110, 112, and 114 support cells with large sizes. In addition, a base station 118 is shown in cell 108, which may overlap with one or more macro cells. In this example, cell 108 may be referred to as a small cell (e.g., a micro cell, a pico cell, a femto cell, a home base station, a home node B, a home e Node B, etc.) because base station 118 supports a cell with a relatively small size. The cell size may be determined based on system design and component constraints.

[0038] It should be understood that the radio access network 100 may include any number of wireless base stations and cells. In addition, relay nodes may be deployed to extend the size or coverage of a given cell. The base stations 110, 112, 114, 118 provide wireless access points to the core network for any number of mobile devices.

[0039] Figure 1 Also included is an unmanned aerial vehicle (UAV) 120, which may be a drone or a quadcopter. UAV 120 may be configured to function as a base station, or more specifically, as a mobile base station. That is, in some examples, the cell is not necessarily stationary, and the geographic area of ​​the cell may move depending on the location of a mobile base station such as UAV 120.

[0040] Typically, a base station may include a backhaul interface for communicating with a backhaul portion of the network (not shown). The backhaul may provide a link between the base station and a core network (not shown), and in some examples, the backhaul may provide interconnections between the various base stations. The core network may be part of a wireless communication system and may be independent of the radio access technology used in the radio access network. Various types of backhaul interfaces may be employed, such as a direct physical connection using any suitable transport network, a virtual network, and the like.

[0041] RAN 100 is shown as supporting wireless communications for multiple mobile devices. In the standards and specifications published by the Third Generation Partnership Project (3GPP), mobile devices are generally referred to as user equipment (UE), but those skilled in the art may also refer to them as mobile stations (MS), user stations, mobile units, user units, wireless units, remote units, mobile devices, wireless devices, wireless communication devices, remote devices, mobile user stations, access terminals (AT), mobile terminals, wireless terminals, remote terminals, mobile phones, terminals, user agents, mobile clients, clients, or some other suitable terms. UE may be a device that provides network service access to a user.

[0042] In this document, "mobile" devices do not necessarily have the ability to move, and can be stationary. The term mobile device or mobile device refers to various devices and technologies. For example, some non-limiting examples of mobile devices include, for example, mobile phones, cellular (cellular) phones, smart phones, session initiation protocol (SIP) phones, laptop computers, personal computers (PCs), notebooks, netbooks, smart books, tablet computers, personal digital assistants (PDAs) and various embedded systems corresponding to "Internet of Things" (IoT). Mobile devices can also be cars or other vehicles, remote sensors or actuators, robots or robotic devices, satellite radios, global positioning system (GPS) devices, object tracking devices, unmanned aircraft, multi-copters, quadcopters, remote control devices, consumers and / or wearable devices, such as glasses, wearable cameras, virtual reality devices, smart watches, health or fitness trackers, digital audio players (e.g., MP3 players), cameras, game consoles, etc. Mobile devices can also be digital homes or smart home devices, such as home audio, video and / or multimedia devices, electrical appliances, vending machines, smart lighting, home security systems, smart meters, etc. The mobile device may also be a smart energy device, a security device, a solar panel or solar array, a municipal infrastructure device that controls power (e.g., smart grid), lighting, water, etc., an industrial automation and enterprise device, a logistics controller, an agricultural device, etc. In addition, the mobile device may provide connected medical or telemedicine support, i.e., remote health care. Telehealth devices may include remote health monitoring devices and remote health management devices, whose communications may be given priority treatment or priority access over other types of information, for example, in terms of priority access to critical service data transmission and / or associated QoS for critical service data transmission.

[0043] Within the RAN 100, a cell may include UEs that may communicate with one or more sectors of each cell. For example, UEs 122 and 124 may communicate with base station 110; UEs 126 and 128 may communicate with base station 112; UEs 130 and 132 may communicate with base station 114 via RRH 116; UE 134 may communicate with base station 118; and UE 136 may communicate with mobile base station 120. Here, each base station 110, 112, 114, 118, and 120 may be configured to provide an access point to a core network (not shown) for all UEs in the respective cells. In some examples, UAV 120 (e.g., a quadcopter) may be a mobile network node and may be configured to function as a UE. For example, UAV 120 may operate within cell 102 by communicating with base station 110.

[0044] Wireless communication between RAN 100 and UE (e.g., UE 122 or 124) can be described as utilizing an air interface. Transmissions from a base station (e.g., base station 110) to one or more UEs (e.g., UEs 122 and 124) over an air interface can be referred to as downlink (DL) transmissions. According to certain aspects of the present disclosure, the term downlink can refer to point-to-multipoint transmissions initiated at a scheduling entity (further described below; e.g., base station 110). Another way to describe the scheme can be to use the term broadcast channel multiplexing. Transmissions from a UE (e.g., UE 122) to a base station (e.g., base station 110) can be referred to as uplink (UL) transmissions. According to other aspects of the present disclosure, the term uplink can refer to point-to-point transmissions initiated at a scheduled entity (further described below; e.g., UE 122).

[0045] For example, DL transmission may include unicast or broadcast transmission of control information and / or service information (e.g., user data service) from a base station (e.g., base station 110) to one or more UEs (e.g., UEs 122 and 124), and UL transmission may include transmission of control information and / or service information from a UE (e.g., UE 122). In addition, uplink and / or downlink control information and / or service information may be time-divided into frames, subframes, time slots and / or symbols. As used herein, a symbol may refer to a time unit in an orthogonal frequency division multiplexing (OFDM) waveform in which each subcarrier carries one resource element (RE). A time slot may carry 7 or 14 OFDM symbols. A subframe may refer to a duration of 1 millisecond. Multiple subframes or time slots may be grouped together to form a single frame or radio frame. In the present disclosure, a frame may refer to a predetermined duration (e.g., 10 ms) for wireless transmission, each frame including, for example, 10 subframes per 1 ms. Of course, these definitions are not required, and any suitable scheme for organizing the waveform may be utilized, and the various time divisions of the waveform may have any suitable duration.

[0046] The air interface in the RAN 100 may utilize one or more multiplexing and multiple access algorithms to enable various devices to communicate simultaneously. For example, the 5G NR specification provides multiple access for UL or reverse link transmissions from UEs 122 and 124 to base station 110, and utilizes orthogonal frequency division multiplexing (OFDM) with a cyclic prefix (CP) to multiplex DL or forward link transmissions from base station 110 to UEs 122 and 124. In addition, for UL transmissions, the 5G NR specification provides support for discrete Fourier transform-spread spectrum-OFDM (DFT-s-OFDM) through CP (also known as single carrier FDMA (SC-FDMA)). However, within the scope of the present disclosure, multiplexing and multiple access are not limited to the above schemes, and may be provided using time division multiple access (TDMA), code division multiple access (CDMA), frequency division multiple access (FDMA), sparse code multiple access (SCMA), resource extension multiple access (RSMA), or other suitable multiple access schemes. In addition, multiplexed DL transmissions from base station 110 to UEs 122 and 124 may be provided using time division multiplexing (TDM), code division multiplexing (CDM), frequency division multiplexing (FDM), orthogonal frequency division multiplexing (OFDM), sparse code multiplexing (SCM), or other suitable multiplexing schemes.

[0047] In addition, the air interface in the RAN 100 may utilize one or more duplex algorithms. Duplex refers to a point-to-point communication link in which two endpoints can communicate with each other bidirectionally. Full-duplex means that two endpoints can communicate with each other at the same time. Half-duplex means that only one endpoint can send information to the other endpoint at a time. Wireless links utilizing time division duplex (TDD) often implement half-duplex emulation. In TDD, transmissions in different directions on a given channel are separated from each other using time division multiplexing. That is, at certain times, the channel is dedicated to transmissions in one direction, and at other times, the channel is dedicated to transmissions in another direction, where the direction can change very quickly, such as several times per time slot. In wireless links, full-duplex channels generally rely on physical isolation of transmitters and receivers, as well as suitable interference cancellation techniques. Wireless links generally use frequency division duplex (FDD) or space division duplex (SDD) to implement full-duplex emulation. In FDD, transmissions in different directions can operate on different carrier frequencies (e.g., within paired spectrum). In SDD, transmissions in different directions on a given channel are separated from each other using space division multiplexing (SDM). In other examples, full-duplex communication can be implemented within an unpaired spectrum (e.g., within a single carrier bandwidth), where transmissions in different directions occur within different sub-bands of the carrier bandwidth. This type of full-duplex communication may be referred to herein as sub-band full-duplex (SBFD), also known as flexible duplex.

[0048] In the RAN 100, the ability of a UE to communicate independently of its location while moving is called mobility. Various physical channels between the UE and the RAN are usually established, maintained, and released under the control of an access and mobility management function (AMF). In some scenarios, the AMF may include a security context management function (SCMF) and a security anchor function (SEAF) that perform authentication. The SCMF may manage the security context of the control plane and user plane functions in whole or in part.

[0049] In some examples, the RAN 100 may enable mobility and handover (i.e., transferring a UE's connection from one radio channel to another). For example, during a call with a scheduling entity, or at any other time, the UE may monitor various parameters of the signal from its serving cell and various parameters of neighboring cells. Based on the quality of these parameters, the UE may maintain communication with one or more neighboring cells. During this period, if the UE moves from one cell to another, or if the signal quality from a neighboring cell exceeds the signal quality from the serving cell for a given amount of time, the UE may perform a transfer or handover from the serving cell to a neighboring (target) cell. For example, a UE 124 (shown as a vehicle, although any suitable form of UE may be used) may move from a geographic area corresponding to its serving cell 102 to a geographic area corresponding to a neighboring cell 106. When the signal strength or quality from a neighboring cell 106 exceeds the signal strength or quality of its serving cell 102 for a given amount of time, the UE 124 may send a report message to its serving base station 110 indicating this situation. In response, the UE 124 may receive a handover command, and the UE may perform a handover to the cell 106.

[0050] In various implementations, the air interface in the RAN 100 may utilize licensed spectrum, unlicensed spectrum, or shared spectrum. Licensed spectrum provides exclusive use of a portion of the spectrum, typically achieved by a mobile network operator purchasing a license from a government regulator. Unlicensed spectrum provides shared use of a portion of the spectrum without the need for a government-granted license. Although some technical rules generally still need to be followed to access unlicensed spectrum, generally any operator or device can gain access. Examples of licensed spectrum include the Intelligent Transport System (ITS) band in the 5.9 GHz band. Shared spectrum may be between licensed and unlicensed spectrum, where technical rules or restrictions may be required to access the spectrum, but the spectrum may still be shared by multiple operators and / or multiple RATs. For example, a license holder of a portion of licensed spectrum may provide licensed shared access (LSA) to share the spectrum with other parties, for example, to obtain access under appropriate conditions determined by the license holder.

[0051] In some examples, access to the air interface may be scheduled, where a scheduling entity (e.g., a base station) allocates resources (e.g., time-frequency resources) for communications between some or all devices and apparatuses within its service area or cell. In the present disclosure, as discussed further below, a scheduling entity may be responsible for scheduling, allocating, reconfiguring, and releasing resources for one or more scheduled entities. That is, for scheduled communications, a UE or scheduled entity utilizes resources allocated by the scheduling entity.

[0052] The base station is not the only entity that can act as a scheduling entity. That is, in some examples, the UE can act as a scheduling entity to schedule resources for one or more scheduled entities (e.g., one or more other UEs). For example, two or more UEs (e.g., UEs 138, 140, and 142) can use the side link signal 137 to communicate with each other without relaying the communication through the base station. In some examples, UEs 138, 140, and 142 can be used as scheduling entities or transmitting side link devices and / or scheduled entities or receiving side link devices, respectively, to schedule resources and transmit side link signals 137 between them without relying on scheduling or control information from the base station. In other examples, two or more UEs (e.g., UEs 126 and 128) within the coverage of a base station (e.g., base station 112) can also transmit side link signals 127 on a direct link (side link) without conveying the communication through base station 112. In this example, base station 112 can allocate resources to UEs 126 and 128 for side link communication. In either case, such sidelink signaling 127 and 137 may be implemented in a peer-to-peer (P2P) network, a device-to-device (D2D) network, a vehicle-to-vehicle (V2V) network, a vehicle-to-everything (V2X) network, a mesh network, or other suitable direct link network.

[0053] In some examples, a D2D relay framework may be included in the cellular network to facilitate relaying of communications to / from base station 112 via a D2D link (e.g., side link 127 or 137). For example, one or more UEs (e.g., UE 128) within the coverage of base station 112 may operate as relay UEs to extend the coverage of base station 112, improve transmission reliability to one or more UEs (e.g., UE 126), and / or allow the base station to recover from a failed UE link due to, for example, blocking or fading.

[0054] The two main technologies that V2X networks can use include dedicated short-range communications (DSRC) based on the IEEE 802.11p standard and cellular V2X based on LTE and / or 5G (new radio) standards. Various aspects of the present disclosure may be directed to new radio (NR) cellular V2X networks, which for simplicity are referred to herein as V2X networks. However, it should be understood that the concepts disclosed herein may not be limited to a specific V2X standard, or may be directed to sidelink or D2D networks other than V2X networks.

[0055] Figure 2 An example of a wireless communication network 200 configured to support D2D or sidelink communications is shown. In some examples, sidelink communications may include V2X communications. V2X communications involve not only the direct wireless exchange of information between the vehicles (e.g., vehicles 202 and 204) themselves, but also the direct wireless exchange of information between vehicles 202 / 204 and infrastructure 206 (e.g., roadside units (RSUs)), such as street lights, buildings, traffic cameras, toll booths or other fixed objects, vehicles 202 / 204 and pedestrians 208, and vehicles 202 / 204 and cellular networks (e.g., base stations 210). In some examples, V2X communications may be implemented in accordance with the New Radio (NR) cellular V2X standard defined by 3GPP, Release 15 or 16, or other suitable standards.

[0056] V2X communication enables vehicles 202 and 204 to obtain information related to weather, nearby accidents, road conditions, activities of nearby vehicles and pedestrians, objects near the vehicle, and other relevant information that can be used to improve the vehicle driving experience and increase vehicle safety. For example, such V2X data can enable autonomous driving and improve road safety and traffic efficiency. For example, V2X-connected vehicles 202 and 204 can use the exchanged V2X data to provide in-vehicle collision warnings, road hazard warnings, neighboring emergency vehicle warnings, pre- / post-collision warnings and information, emergency braking warnings, forward traffic jam warnings, lane change warnings, smart navigation services, and other similar information. In addition, V2X data received by the V2X-connected mobile device of the pedestrian / cyclist 208 can be used to trigger warning sounds, vibrations, flashing lights, etc. to prevent imminent danger.

[0057] Sidelink communications between vehicle UEs (V-UEs) 202 and 204 or between V-UEs 202 or 204 and RSUs 206 or pedestrian UEs (P-UEs) 208 are performed on sidelink channels 212. In some examples, the sidelink channel 212 may support a proximity services (ProSe) PC5 interface. In various aspects of the present disclosure, the sidelink channel 212 implementing the PC5 interface may also be used to support D2D communications in other proximity use cases. Examples of other proximity use cases may include proximity services based on smart wearable devices, public safety, or business (e.g., entertainment, education, office, medical, and / or interaction). In Figure 2 In the example shown, ProSe communication may further occur between UEs 214 and 216 .

[0058] ProSe communication can support different operation scenarios, such as in-coverage, out-of-coverage, and partial coverage. Out-of-coverage refers to a scenario in which a UE (e.g., UE 214 and 216) is outside the coverage of a base station (e.g., base station 210), but each UE is still configured for ProSe communication. Partial coverage refers to a scenario in which some UEs (e.g., V-UE 204) are outside the coverage of the base station 210, while other UEs (e.g., V-UE 202 and P-UE 208) communicate with the base station 210. In-coverage refers to a scenario in which a UE (e.g., V-UE 202 and P-UE 208) communicates with a base station 210 (e.g., gNB) via a Uu (e.g., cellular interface) connection to receive ProSe service authorization and provisioning information to support ProSe operation.

[0059] To facilitate D2D sidelink communication between, for example, UEs 214 and 216 via sidelink 212, UEs 214 and 216 may transmit discovery signals therebetween. In some examples, each discovery signal may include a synchronization signal, such as a primary synchronization signal (PSS) and / or a secondary synchronization signal (SSS), that facilitates device discovery and enables synchronization of communications on sidelink 212. For example, UE 216 may utilize the discovery signal to measure the signal strength and channel state of a potential sidelink (e.g., sidelink 212) with another UE (e.g., UE 214). UE 216 may utilize the measurement results to select a UE (e.g., UE 214) for sidelink communication or relay communication.

[0060] In any of the above-described operating scenarios, various mobile sidelink devices (e.g., V-UEs 202 and 204, P-UE 208, and other mobile sidelink devices communicating on sidelink channel 212) may use a sidelink positioning mechanism to determine their locations (e.g., geographic coordinates) in sidelink network 200. To support sidelink positioning, positioning reference signals (PRS) may be sent between RSU 206, V-UEs 202 and 204, and P-UE 208. In some examples, the PRS may be a sequence-based signal and may also be sent over an unlicensed spectrum (e.g., an ITS band) or a licensed spectrum.

[0061] Depending on the capabilities of the mobile side link devices (e.g., V-UE 202 / 204 and P-UE 208), the corresponding position of each mobile side link device can be determined using side link based (SL-b) positioning or side link assisted (SL-a) positioning. In SL-b positioning, each mobile side link device calculates its own position in a distributed manner using the broadcast PRS. In SL-a positioning, the RSU 206 or other server in the network calculates the position of the mobile side link device. In SL-a positioning or SL-b positioning, the position of the mobile side link device (e.g., V-UE 202) can be determined based on the TDoA between the PRS broadcasts between the V-UE 202 and at least one other side link device (e.g., RSU 206).

[0062] Figure 3 is a signaling diagram illustrating an example of sidelink (SL-b) based positioning according to some aspects. Figure 3 In the illustrated example, the V-UE 304 is shown communicating with the RSU 302 on a sidelink channel. In some examples, the sidelink channel may include an unlicensed spectrum (e.g., an ITS band). The V-UE 304 may correspond to, for example, Figure 2 Any of the V-UEs 202 or 204 shown. In addition, the RSU 302 may correspond to, for example, Figure 2 The RSU 206 shown. It should be understood that Figure 3 The signaling diagram shown can be implemented between any two wireless communication devices (e.g., RSUs, V-UEs, P-UEs, etc.), and can also be implemented between more than two wireless communication devices (e.g., between a V-UE 304 and multiple RSUs 302, between one or more RSUs and one or more P-UEs or V-UEs, and / or between a V-UE and two or more other V-UEs or P-UEs).

[0063] Figure 3The transmission and reception of signals over time are depicted. For example, at 306, the RSU 302 broadcasts a first PRS on the sidelink channel at an initial time (t1). The first PRS may include, for example, a PRS sequence. The PRS sequence may be a broadband random sequence broadcast on an unlicensed band. In some examples, the PRS may include a sequence identifier (ID) that identifies the PRS sequence. The first PRS may be received at the V-UE 304 at a second time (t2) after t1. At 308, the V-UE 304 broadcasts a second PRS on the sidelink channel at a third time (t3), which is received at the RSU 302 at a fourth time (t4).

[0064] In order to enable the V-UE 304 to calculate its position based on the TDoA of the first and second PRSs, at 310, the RSU 302 sends a PRS measurement message including various positioning information to the V-UE 304 on the sidelink channel. For example, the positioning information included in the payload of the PRS measurement message may include the departure time (t1) of the first PRS and the arrival time (t4) of the second PRS. Other positioning information may include a PRS sequence ID, a clock error noise standard deviation of the RSU 302, a clock drift standard deviation of the RSU 302, a position of the RSU 302, and other suitable information. The PRS measurement message may also include the respective UE IDs (e.g., layer 2 (L2) media access control (MAC) IDs) of the RSU 302 and the V-UE 304.

[0065] At 312, the V-UE 304 may calculate its position based on the positioning information included in the PRS measurement message, the arrival time of the first PRS (t2), the departure time of the second PRS (t3), and the clock error of the V-UE 304 (e.g., clock drift standard deviation and clock error noise standard deviation) determined using its own Kalman filter. For example, the position of the V-UE 304 (z n ) can be calculated as:

[0066]

[0067] where v light is the speed of light, α is an adjustment parameter based on the clock error of RSU 302 and V-UE 304, r is the position of RSU 302, and x is unknown.

[0068] In an example utilizing SL-a positioning, the V-UE 304 may send a PRS measurement message to the RSU 302 including, for example, the arrival time of the first PRS (t2), the departure time of the second PRS (t3), and other positioning information such as the clock error of the V-UE 304, the speed of the V-UE 304, and the location of the V-UE 304 at the time of the PRS broadcast (if known).

[0069] Figure 4 4 is a diagram illustrating an example of communication of a positioning reference signal (PRS) in a sidelink communication network 400 according to some aspects. Figure 4 In the illustrated example, a V-UE 402 is shown in wireless communication with a plurality of RSUs 404, 406, and 408 on a sidelink channel. In some examples, the sidelink channel may include an unlicensed spectrum (e.g., an ITS band). The V-UE 402 may correspond to, for example, Figure 2 and / or Figure 3 In addition, RSUs 404, 406, and 408 may correspond to, for example, Figure 2 and / or Figure 3 Any RSU shown. It should also be understood that in some examples, V-UE 402 can be a P-UE or other mobile side link device. In addition, one or more of RSUs 404, 406, and 408 can be other V-UEs, P-UEs, and / or other mobile side link devices.

[0070] Figure 4 Further illustrated is the change in PRS communication over time between the V-UE 402 and the RSUs 404, 406, and 408. For example, a first PRS 410 (represented as signal 1) may be broadcast from the RSU 404, followed by a second PRS 412 (represented as signal 2) broadcast from the RSU 406, followed by a third PRS 414 (represented as signal 3) broadcast by the RSU 408, followed by a fourth PRS 416 (represented as signal 4) broadcast by the V-UE 402. When each of the RSUs 404, 406, and 408 receives the fourth PRS 416, each of the RSUs 404, 406, and 408 may then send respective PRS measurement signals 418, 420, and 422 (represented as signals 5, 6, and 7) to the V-UE 402. As described above, the V-UE 402 may then calculate its position based on the PRS measurement signals 418 , 420 , and 422 , the departure time of the fourth PRS 416 , and the respective arrival times of the other PRSs 410 , 412 , and 414 at the V-UE 402 .

[0071] The efficiency and accuracy of SL-b positioning (or SL-a positioning) depends on the waiting time (e.g., time gap 424) between PRSs 410, 412, 414, and 416. When listen-before-talk (LBT) or another channel sensing mechanism is implemented to access the sidelink channel, the availability of the sidelink channel to each wireless communication device (e.g., V-UE 402, RSU 404, RSU 406, and RSU 408) may vary, thereby affecting the PRS waiting time.

[0072] Therefore, in various aspects of the present disclosure, wireless communication devices (e.g., V-UE, P-UE, RSU, etc.) communicating via a side link channel in a side link wireless communication network may be grouped into one or more positioning groups. Within each positioning group, the corresponding order of the wireless communication devices in the positioning group may be identified. The wireless communication devices (e.g., positioning group members) in a particular positioning group may then transmit PRS between them on the side link channel based on the determined order of the wireless communication devices. For example, the side link channel may be reserved for a channel occupancy time (CoT), during which time each wireless communication device in the positioning group may broadcast a PRS in the positioning group and transmit a PRS measurement message to other positioning group members, thereby reducing PRS waiting time.

[0073] In some examples, the wireless communication device may be configured to form a positioning group by broadcasting a group formation message on a side link channel. One of the wireless communication devices in each positioning group may be considered to be the initiator device that initiates the positioning group, and other wireless communication devices in the positioning group may be considered to be responder devices. For example, the initiator device may broadcast an initiator (or first) group formation message to form a positioning group. Other wireless communication devices receiving the initiator group formation message may then respond with subsequent responder group formation messages, which identify the initiator device and other responder devices that previously responded to the first group formation message. Therefore, the responder group formation message may be built on top of each other so that the last responder group formation message identifies the initiator device and all other responder devices in the positioning group.

[0074] The initiator device may then determine the order of the wireless communication devices in the positioning group based on each responder group formation message, and send (e.g., broadcast or multicast) a group association message identifying the members of the positioning group and their order. The initiator device may then reserve a side link channel for the CoT based on the number of wireless communication devices in the positioning group, and broadcast a first PRS during the CoT. The responder devices may then broadcast their respective PRSs within the CoT based on the order of the wireless communication devices. Thus, the respective transmission timing of each PRS from each wireless communication device in the positioning group may be determined based on the order.

[0075] In some examples, LBT can be used to reserve a side link channel. For example, an initiator device (e.g., an RSU, a V-UE, a P-UE, etc.) can perform an LBT process to determine whether it can reserve a side link channel. In some aspects, the LBT process can include sensing energy on the channel and comparing the energy to an energy detection (ED) threshold. For example, if the energy detected on the channel is equal to or below an ED threshold level (e.g., indicating that the channel is relatively free of traffic), the initiator device can reserve the side link channel for the CoT and send a first PRS.

[0076] Depending on the categories, different categories of LBT processes can be defined. For example, Category 1 (Cat.1) LBT specifies that LBT is not used. Cat.2 LBT specifies the use of LBT without random backoff. Cat.3 LBT specifies the use of LBT with random backoff with a fixed size contention window. Cat.4 LBT specifies the use of LBT with random backoff with a variable size contention window. On the one hand, the initiator device can implement Cat 4 LBT to reserve CoT for all positioning group members. Thereafter, the responder devices can implement Cat 2 LBT to broadcast their PRS.

[0077] In some examples, wireless communication devices in the sidelink communication network can be classified as anchor devices or non-anchor devices. Anchor devices can include, for example, RSUs (e.g., RSUs 404, 406, and 408), and V-UEs (e.g., V-UE 402) and P-UEs that include precise internal positioning devices (e.g., GPS or other navigation systems). Non-anchor devices can include, for example, V-UEs and P-UEs that do not include precise internal positioning devices. Therefore, based on positioning accuracy (e.g., allowed accuracy tolerance or deviation), anchor devices can be considered to have known locations, while based on positioning accuracy, non-anchor devices can be considered to have unknown locations.

[0078] In some aspects, the initiator device may include an anchor device, and the responder device may include at least a non-anchor device. In some examples, an anchor device that receives a group formation message from another anchor initiator device may become a responder device of the initiator device, or become an initiator device of another positioning group. For example, the anchor device may compare the reference signal received power (RSRP) of the group formation message received from another anchor initiator device to determine whether to become a responder device of another initiator device. For example, if the RSRP of the received group formation message is greater than or equal to a threshold (threshold power), the anchor device may become a responder device. Otherwise, if the RSRP of the received group formation message is less than the threshold, the anchor device may become an initiator device of another positioning group. In this example, another anchor initiator device may be excluded from the positioning group (e.g., another anchor initiator device may form its own, separate positioning group).

[0079] Similarly, for a responder device, if multiple group formation messages are received from multiple anchor initiator devices, the responder device may select one of the anchor initiator devices and join the positioning group of the selected anchor initiator device (e.g., by sending a responder group formation message including the selected anchor initiator device ID). In some examples, each positioning group may be configured with a maximum number of members. If one of the positioning groups has reached the maximum number of members, the responder device may select another positioning group, or may become an initiator if no other positioning groups are available. In some examples, a non-anchor device may not receive a group formation message from any anchor initiator device. In this example, the non-anchor device may become an initiator device to initiate a positioning group for the non-anchor device.

[0080] In some examples, positioning group formation may be performed periodically. For example, a group formation message for forming a new positioning group may be broadcast at a period that is less than a PRS cycle (e.g., having a longer duration) to enable the positioning group to complete multiple PRS cycles before changing the positioning group. In some examples, a PRS cycle may be 100 milliseconds. In this example, positioning group formation may be performed every 1000 milliseconds.

[0081] For example, positioning group formation may be performed in a group phase in the time domain. The group phase may be followed by a PRS phase including one or more PRS cycles. The group phase may also include an initiator subphase and a responder subphase. The anchor device may send an initiator group formation message in the initiator subphase. The responder device may send a responder group formation message in the responder subphase. In addition, a non-anchor device that has not received an initiator group formation message in the initiator subphase may send an initiator group formation message in the responder subphase. The group phase may also include a second initiator subphase after the responder subphase, in which the initiator device may send a group association message identifying the members of the positioning group and their order.

[0082] Figure 5 is a signaling diagram illustrating an example of positioning group formation for group-based PRS broadcasting according to some aspects. Figure 5 In the example shown, an initiator wireless communication device (WCD1) 502 wirelessly communicates with responder wireless communication devices 504 and 506 (WCD2 and WCD3, respectively) on a side link channel. In some examples, the side link channel may include an unlicensed spectrum (e.g., an ITS spectrum). In other examples, the side link channel may include a licensed spectrum. The side link channel may utilize LBT or another channel detection mechanism for channel access.

[0083] Each of the wireless communication devices 502, 504, and 506 may correspond to Figure 2 , Figure 3 and / or Figure 4 , any of the RSUs, V-UEs, or P-UEs shown in . In some examples, the initiator wireless communication device 502 (referred to herein as the initiator device for simplicity) may be an anchor device. In other examples, in examples where no group formation message is received from an anchor device, the initiator device 502 may be a non-anchor device. The responder wireless communication devices 504 and 506 (referred to herein as responder devices for simplicity) may be non-anchor devices or anchor devices (e.g., if the initiator device 502 is in close proximity to the anchor device).

[0084] At 508, the initiator device 502 may broadcast a first group formation message on a side link channel to form a positioning group. At 510, the responder device 504 may broadcast a second group formation message on a side link channel to join the positioning group. The second group formation message may include, for example, an initiator ID of the initiator device. At 512, the responder device 506 may broadcast a third group formation message on the side link channel to join the positioning group. The third group information may include, for example, an initiator ID of the initiator device and a responder ID 504 of the responder device. Each of the first, second, and third group formation messages may further include other device information associated with the transmitting device. Examples of device information may include, but are not limited to, initiator information indicating whether the transmitting device is an initiator device of the positioning group, anchor information indicating whether the transmitting device is an anchor device or a non-anchor device, power information indicating whether the transmitting device is power-limited (e.g., operating in a discontinuous reception mode), and a group ID identifying the transmitting device within the positioning group. In some examples, the group ID may be a random number within the group. In other examples, the group ID may be a UE ID (e.g., MAC ID) of the transmitting device.

[0085] At 514, the initiator device 502 may determine the order of the wireless communication devices 502, 504, and 506 in the positioning group. For example, upon receiving each of the second and third group formation messages, the initiator device 502 may include the responder devices 504 and 506 in the positioning group. The initiator device 502 may then be listed first in the order of the wireless communication devices, followed by the other responder devices 504 and 506. The initiator device 502 may use various factors to determine the order of the responder devices 504 and 506. For example, the order of the responder devices 504 and 506 may be determined based on the device information included in the group formation message. In an example, the order may correspond to a descending order of the responder devices.

[0086] At 516, initiator device 502 may broadcast or multicast a group association message to responder devices 504 and 506. The group association message may include an initiator ID of the initiator device and a corresponding responder ID of each responder device 504 and 506 listed in order of wireless communication devices (e.g., descending order).

[0087] At 518, 520, and 522, the initiator device 502 and the responder devices 504 and 506 may each broadcast a corresponding PRS based on the order of the wireless communication devices listed in the group association message. For example, at 518, the initiator device 502 may broadcast a first PRS. Then, at 520, the responder device 504 may broadcast a second PRS. Then, at 522, the responder device 506 may broadcast a third PRS. In some examples, the initiator device 502 may implement Cat 4 LBT to send the first PRS and reserve a side link channel for the CoT within which all PRSs (and corresponding PRS measurement messages) may be sent. Thereafter, the responder devices 504 and 506 may implement Cat 2 LBT to broadcast their PRSs.

[0088] Figure 6 is a diagram illustrating an example of time domain allocation for positioning group formation and group-based PRS broadcasting according to some aspects. Figure 6 In the example shown, the side link channel can be divided into a group phase (two of which 602a and 602b are shown for simplicity) and a PRS phase (one of which 604 is shown for simplicity). The PRS phase 604 includes one or more PRS cycles. Each PRS cycle includes a group-based PRS broadcast through one or more positioning groups. For example, within the PRS cycle, the wireless communication devices within each positioning group can broadcast their PRS (and corresponding PRS measurement messages) within the corresponding CoT reserved by the corresponding initiator device. In some examples, the period of the group phases 602a and 602b is less than the period of the PRS cycle. For example, the PRS cycle can be 100 milliseconds, and the period of the group phases 602a and 602b can be 1000 milliseconds. Therefore, 10 PRS cycles can occur between the group phases 602a and 602b.

[0089] Each group phase 602a and 602b may be further divided in time into a first initiator subphase 606, a responder subphase 608, and a second initiator subphase 610. In the first initiator subphase 606, the anchor device may send an initiator group formation message to initiate a positioning group. In the responder subphase 608, the responder device (e.g., a non-anchor device that broadcasted the initiator group formation message in the initiator subphase 606 and an anchor device that is immediately adjacent to another anchor device) may broadcast a responder group formation message. In the second initiator subphase 610, the initiator device may broadcast or multicast a group association message that identifies the members of their respective positioning groups and the respective PRS broadcast order of the members in their respective positioning groups.

[0090] exist Figure 6In the example shown, the anchor device may broadcast its initiator group formation message at time Unif (X+0, X+T1), where T1 is the time budget for the anchor device to broadcast its group formation message. In some examples, T1=100 milliseconds. Here, X refers to the periodicity of group phases 602a and 602b (e.g., X=0 milliseconds, 1000 milliseconds, 2000 milliseconds, 3000 milliseconds, ...). In some examples, each subsequent group phase (e.g., group phase 602b) may start after a time gap (X+T_g) from the end of PRS phase 604 to minimize interference on the side link channel. Similarly, the responder device may broadcast its responder device group formation message at time Unif (X+T1, X+T2), where T2 is the time budget for the responder device to broadcast its group formation message. In some examples, T2≥100 milliseconds. Each initiator device may then broadcast its group association message at time Unif(X+T2, X+T3), where T3 is the time budget for the initiator device to broadcast its group association message. In some examples, T3≤100 milliseconds.

[0091] Figure 7 is a diagram illustrating an example of a group formation message 700 that may be sent by a group initiator according to some aspects. The group formation message 700 payload includes a plurality of basic fields 702 that carry device information. The group formation message may also include a header (not shown) that may include, for example, a UE ID (e.g., a MAC ID) of a transmitting device (e.g., an initiator device). The basic fields 702 may include, for example, an initiator field 704 that carries initiator information, an anchor field 706 that carries anchor information, a power field 708 that carries power information, and a group ID field 710 that carries a group ID of the transmitting device. The initiator information in field 704 indicates whether the transmitting device is an initiator device of the positioning group. For example, the initiator information in field 704 may include a single bit I={0,1}, where I=1 indicates that the transmitting device is an initiator device and I=0 indicates that the transmitting device is a responder device. The anchor information in field 706 indicates whether the transmitting device is an anchor device or a non-anchor device. For example, the anchor information in the field 706 may include a single bit A={0, 1}, where A=1 indicates that the transmitting device is an anchor device, and A=0 indicates that the transmitting device is a non-anchor device.

[0092] The power information in field 708 indicates whether the transmitting device is power limited (e.g., operating in DRX mode). For example, the power information 708 may include a single bit P={0, 1}, where P=1 indicates that the transmitting device is power limited. For P=1 devices, the PRS cycle period may be smaller than the conventional PRS cycle period to accommodate the DRX mode of the transmitting device. Therefore, during the PRS phase, a transmitting device with P=1 may not transmit a PRS within every PRS cycle. The group ID in field 710 identifies the transmitting device within the positioning group. In some examples, the group ID may be a random number within the group. For example, Figure 7 As shown, the group ID may be a single bit ID selected from mod(N) = {0, 1, ..., N}. In other examples, the group ID may be a UE ID (eg, MAC ID) of the transmitting device.

[0093] Figure 8 8 is a diagram illustrating an example of a group formation message 800 that may be sent by a group responder according to some aspects. Figure 8 In the example shown, the group formation message 800 payload includes a basic field 802 and a responder field 804. The group formation message 800 may also include a header (not shown) that includes, for example, a UE ID (e.g., MAC ID) of the sending responder device. The basic field 802 includes Figure 7 The basic fields 802 include the same fields as shown in the figure, and carry device information of the sending device (e.g., the responder device that sends the group formation message 800). For example, the basic field 802 includes an initiator field 806 carrying initiator information, an anchor field 808 carrying anchor information, a power field 810 carrying power information, and a group ID field 812 carrying the group ID of the sending device, as shown in the above combination. Figure 7 discussed.

[0094] The responder field 804 may include an initiator ID field 814 carrying the initiator ID of the initiator device of the positioning group and a responder ID field 816 carrying a responder ID list. Each responder ID included in the responder ID field 816 is associated with a responder device that previously sent a responder group formation message 800 in the responder sub-phase, and the responder group formation message 800 includes the initiator ID of the initiator device of the positioning group and the responder IDs of other responder devices that previously sent other responder group formation messages 800. In some examples, the initiator ID and the responder ID can be the UE ID of each of the initiator and responder devices. In other examples, the initiator ID and the responder ID can each be based on the corresponding group ID of the initiator and responder device. For example, the initiator ID can include the concatenation of the initiator group ID and the initiator UE ID. In addition, each responder ID can include the concatenation of the corresponding responder group ID and the corresponding responder UE ID. As another example, the initiator ID and the responder ID can include the initiator group ID and the responder group ID, respectively.

[0095] Fig. 9 is a diagram illustrating an example of a group association message 900 that may be sent by a group initiator according to some aspects. Fig. 9 In the example shown, the group association message 900 payload includes a basic field 902 and a responder ID field 904. The group association message 900 may also include a header (not shown), which may include, for example, a UE ID (e.g., MACID) of the initiator device. The basic field 902 includes Figure 7 The basic fields 902 include the same fields as shown in the figure, and carry the device information of the sending device (for example, the initiator device that sends the group association message 900). For example, the basic field 902 includes an initiator field 906 carrying initiator information, an anchor field 908 carrying anchor information, a power field 910 carrying power information, and a group ID field 912 carrying the group ID of the sending device, as shown in the above combination. Figure 7 discussed.

[0096] The responder ID field 904 includes a list of responder IDs 914 that identify the members of the positioning group (e.g., responder devices) and the order of the responder devices in the positioning group. In some examples, the responder ID 914 can be a UE ID or a corresponding group ID for each responder device. In other examples, each responder ID 914 can include a concatenation of a corresponding responder group ID and a corresponding responder UE ID for each responder device in the positioning group.

[0097] The order of the responder IDs 914 included in the responder ID field 904 corresponds to the order of the responder devices in the positioning group (e.g., the order in which the responder devices can send their respective PRSs). In some examples, the responder IDs 914 are listed in descending order, where the top (first) responder ID identifies the first responder device that sends the PRS after the initiator device, the second responder ID identifies the second responder device that sends the PRS after the first responder device, and so on.

[0098] In some examples, the order of responder IDs 914 may be determined based on device information included in the basic field of the responder group formation message sent by each responder device. Figure 8 , the initiator field 806 may include the most significant bit (MSB), and the group ID field 812 may include the least significant bit (LSB). In this example, again referring to Fig. 9 , the order of the responder IDs 914 in the responder ID field 904 may result in anchor devices being listed before non-anchor devices, and power limited devices (e.g., which may normally be non-anchor devices) being listed after non-power limited devices. By placing power limited responder devices at the bottom of the responder ID list, reduced latency between PRSs may be achieved even though the power limited device may not be awake during a particular PRS cycle.

[0099] Fig.10 1 is a diagram illustrating an example of a positioning group formed by multiple wireless communication devices (WCD1 1002, WCD2 1004, WCD3 1006, WCD4 1008, and WCD5 1010) communicating on a side link channel in accordance with some aspects. Each wireless communication device 1002, 1004, 1006, 1008, and 1010 may correspond to a side link device (e.g., a V2X device) such as an RSU, V-UE, P-UE, or other side link device. Fig.10 In the example shown, WCD1 1002, WCD2 1004, and WCD4 1008 are anchor devices, while WCD3 1006 and WCD5 1010 are non-anchor devices.

[0100] During a first initiator subphase 1012 of the group phase in the time domain, one or more of the anchor devices WCD1 1002, WCD2 1004, and WCD4 1008 may broadcast an initiator group formation message (IGFM) on a side link channel. For example, at a first time (t1), WCD1 1002 may broadcast a first initiator group formation message on a side link channel to form a positioning group 1018a including WCD1 1002. The first initiator group formation message may be received by each of the other wireless communication devices 1004, 1006, 1008, and 1010. Each receiving wireless communication device 1004, 1006, 1008, and 1010 may then determine whether to join the WCD1 positioning group 1018a based on the first initiator group formation message.

[0101] For example, WCD4 1008 may receive a first initiator group formation message broadcast from WCD1 1002 and measure a received power (e.g., RSRP) of the first initiator group formation message at WCD4 1008 to determine whether to join the WCD1 positioning group 1018a. In some examples, WCD4 1008 may compare the received power of the first initiator group formation message with a threshold (e.g., a threshold power) to determine whether to join the WCD1 positioning group 1018a. In an example, if the received power of the first initiator group formation message is less than the threshold, thereby indicating that WCD1 1002 is far away from WCD4 1008, WCD4 1008 may decide not to join the WCD1 positioning group 1018a. However, if the received power of the first initiator group formation message is greater than or equal to the threshold, thereby indicating that WCD1 1002 is proximate to WCD4 1008, as shown in FIG. Fig.10 As shown in the example of , WCD4 1008 may decide to join WCD1 positioning group 1018a. Therefore, at the second time (t2), WCD4 1008 may not send an initiator group formation message.

[0102] As another example, WCD2 1004 may also receive the first initiator group formation message broadcasted from WCD1 1002 and measure the received power of the first initiator group formation message at WCD2 1004. If the received power measured at WCD2 1004 is greater than or equal to a threshold (e.g., the threshold may be the same as or different from the threshold used by WCD4 1008), WCD2 1004 may decide to join the WCD1 positioning group 1018a. However, if the received power of the first initiator group message is less than the threshold, such as Fig.10As shown in the example of , WCD2 1004 may decide not to join WCD1 positioning group 1018a. Therefore, at a third time (t3), WCD2 1004 may broadcast a second initiator group formation message on the side link channel to form a second positioning group 1018b including WCD2 1004.

[0103] During the responder subphase 1014 of the group phase, the responder devices may broadcast a corresponding responder group formation message (RGFM) to join one of the positioning groups 1018a and 1018b. Here, the responder devices include the anchor device WCD4 1008 and the non-anchor devices WCD3 1006 and WCD5 1010. Each responder device WCD3 1006, WCD4 1008, and WCD5 1010 may receive each of the first initiator group formation message broadcast by WCD1 1002 and the second initiator group formation message broadcast by WCD2 1004, and determine whether to join the WCD1 positioning group 1018a or the WCD2 positioning group 1018b based on the received initiator group formation message.

[0104] For example, WCD3 1006 may receive a first initiator group formation message broadcast by WCD1 1002 and a second initiator group formation message broadcast by WCD2 1004. WCD3 1006 may further measure a received power (e.g., RSRP) of each of the first and second initiator group formation messages and compare the received power of each of the first and second initiator group formation messages to select one of the positioning groups 1018a or 1018b based on the higher received power in the first or second initiator group formation message measured at WCD3 1006. Fig.10 In the example shown, the received power of the first initiator group formation message broadcast by WCD1 1002 measured by WCD3 1006 is higher than the received power of the second initiator group formation message broadcast by WCD2 1004. Thus, at a fourth time (t4), WCD3 1006 may broadcast a first responder group formation message to join the WCD1 positioning group 1018a. The first responder group formation message may include the initiator ID of the initiator device WCD1 1002 and the device information of WCD3 1006 (e.g., Figure 8 802 as shown in FIG.

[0105] Anchor responder device WCD4 1008 elects not to send an initiator group formation message during initiator subphase 1012 based on a high RSRP (e.g., greater than or equal to a threshold) of a first initiator group formation message broadcast by WCD1 1002 measured by WCD4 1008 at a first time (t1). Thus, during responder subphase 1014, at a fifth time (t5), WCD4 1008 may broadcast a second responder group formation message to join WCD1 positioning group 1018a. The second responder group formation message may include an initiator ID of initiator device WCD1 1002, a responder ID of WCD3 1006 that previously broadcast a responder group formation message to join WCD1 positioning group 1018, and device information of WCD4 1008 (e.g., Figure 8 802 as shown in FIG.

[0106] The non-anchor responder device WCD5 1010 may also receive the first initiator group formation message broadcast by WCD1 1002 and the second initiator group formation message broadcast by WCD2 1004. WCD5 1010 may further measure the received power (e.g., RSRP) of each of the first and second initiator group formation messages and compare the received power of each of the first and second initiator group formation messages to select one of the positioning groups 1018a or 1018b based on the higher received power in the first or second initiator group formation message measured at WCD5 1010.

[0107] In addition, WCD5 1010 may also receive each responder group formation message previously broadcasted by WCD3 1006 and WCD4 1008 in responder subphase 1014, and determine the positioning groups 1018a and 1018b selected by each responder device WCD3 1006 and WCD4 1008. WCD5 1010 may also determine the number of responder devices that have joined each of positioning groups 1018a and 1018b based on the received responder group formation message. In addition, WCD5 1010 may determine whether any one of positioning groups 1018a and 1018b has reached the maximum number of members. For example, the maximum number of positioning group members may be preconfigured for all positioning groups, or may be included in the initiator group formation message broadcasted by the initiator device. For example, if positioning group 1018a has reached the maximum number of members, WCD5 1010 may select another positioning group 1018b. In an example where more than two positioning groups are available, WCD5 1010 may select the positioning group that has the highest initiator group formation message RSRP and has not yet reached the maximum number of members.

[0108] exist Fig.10In the example shown, at the sixth time (t6), based on the higher received power of the initiator group formation message broadcast by WCD2 1004 or the maximum number of members reached by positioning group 1018a, WCD5 1010 may broadcast a third responder group formation message to join WCD2 positioning group 1018b. The third responder group formation message may include the initiator ID of initiator device WCD2 1004 and device information of WCD5 1010 (e.g., Figure 8 802 as shown in FIG.

[0109] During the second initiator subphase 1016, the initiator devices (e.g., WCD1 1002 and WCD2 1004) of each of the positioning groups 1018a and 1018b may broadcast respective group association messages that identify the members of each positioning group and specify the respective order of the members in the positioning group. For example, at a seventh time (t7), WCD1 1002 may broadcast a first group association message that includes the initiator ID of WCD1 1002 and the responder IDs of WCD3 1006 and WCD4 1008 listed in the order in which the respective PRSs were sent. Additionally, at an eighth time (t8), WCD2 1004 may broadcast a second group association message that includes the initiator ID of WCD2 1004 and the responder ID of WCD5 1010.

[0110] Fig.11 is a diagram illustrating an example of group-based PRS broadcasting according to some aspects. For example, during a PRS cycle within a PRS phase in the time domain, Fig.11 An example of group-based PRS broadcasting is shown in FIG. Fig.11 As shown, the initiator device of the positioning group can reserve a side link channel for CoT 1102, which is sufficient for each member of the positioning group to transmit a PRS. In some examples, the initiator device can implement Cat 4 LBT to reserve CoT 1102 for all positioning group members and send a first PRS (e.g., initiator PRS 1104) at time T_{LBT}. Thereafter, the responder devices in the positioning group can implement Cat 2 LBT to broadcast their PRSs 1106, 1108, 1110, and 1112. Each PRS 1104-1112 may include a corresponding PRS sequence. For example, each PRS sequence may be a broadband random sequence broadcast on an unlicensed band. In some examples, each PRS may also include a sequence identifier (ID) that identifies the PRS sequence.

[0111] Each responder device may determine the corresponding transmission timing of its PRS within the CoT 1102 based on the group association message indicating the order of responder devices within the positioning group. For example, each PRS 1104-1112 may have the same (e.g., set) duration, denoted as t_{PRS}. In addition, each responder device may provide a corresponding gap 1114, denoted as t_{gap}, between the end of a previously transmitted PRS and the responder device PRS. In some examples, the gap 1114 may be 25 μs. Upon determining that the first responder device (R1) is listed first in the order of responder devices within the group association message, the first responder device (R1) may transmit a second PRS (R1 PRS) 1106 at time T_{LBT}+t_{PRS}+t_{gap}. Similarly, the second responder device (R2) may transmit a third PRS (R2 PRS) at time T_{LBT}+2t_{PRS}+2t_{gap}. In addition, the third responder device (R3) can send a fourth PRS (R3 PRS) 1108 at time T_{LBT}+3t_{PRS}+3t_{gap}. In general, the k-th wireless communication device PRS broadcast time can be determined as: T_{LBT}+(k-1)T_{PRS}+(k-1)T_{gap}. By providing a fixed gap 1114 between the PRS and the known order of PRS transmission, the waiting time between PRSs can be reduced, thereby improving the efficiency and accuracy of sidelink positioning.

[0112] Other responder devices (e.g., responder device R4) may transmit their respective PRSs (e.g., R4 PRS 1112) at respective transmission times similarly determined based on the order listed in the group association message. In some examples, a power-constrained responder device (RD) (e.g., Figure 8 1104-1112).

[0113] Fig.121 is a block diagram illustrating an example of a hardware implementation of a wireless communication device 1200 employing a processing system 1214. For example, the wireless communication device 1200 may correspond to a sidelink (e.g., V2X) device such as an RSU, a V-UE, a P-UE, or other suitable sidelink device (as described above with reference to Figure 1-Figure 5 or Fig.10 shown and described).

[0114] The wireless communication device 1200 may be implemented with a processing system 1214 including one or more processors 1204. Examples of the processor 1204 include a microprocessor, a microcontroller, a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a state machine, a gated logic, a discrete hardware circuit, and other suitable hardware configured to perform various functions described throughout the present disclosure. In various examples, the wireless communication device 1200 may be configured to perform any one or more of the functions described herein. That is, the processor 1204 used in the wireless communication device 1200 may be used to implement any one or more of the processes and steps described below.

[0115] In this example, the processing system 1214 may be implemented with a bus architecture, generally represented by bus 1202. Bus 1202 may include any number of interconnecting buses and bridges, depending on the specific application and overall design constraints of the processing system 1214. Bus 1202 links various circuits together, including one or more processors (generally represented by processor 1204), memory 1205, and computer readable media (generally represented by computer readable media 1206). Bus 1202 may also link various other circuits, such as timing sources, peripherals, voltage regulators, and power management circuits, which are well known in the art and are not described further.

[0116] The bus interface 1208 provides an interface between the bus 1202 and the transceiver 1210. The transceiver 1210 provides a module for communicating with various other devices on a transmission medium (e.g., an air interface). The bus interface 1208 also provides an interface between the bus 1202 and a power source (e.g., a battery) 1220. Depending on the nature of the device, a user interface 1212 (e.g., a keyboard, a display, a touch screen, a speaker, a microphone, a control knob, etc.) may also be provided. Of course, such a user interface 1212 is optional and may be omitted in some examples.

[0117] The processor 1204 is responsible for managing the bus 1202 and general processing, including executing software stored on the computer-readable medium 1206. Software should be broadly interpreted as instructions, instruction sets, codes, code segments, program codes, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, executable programs, execution threads, processes, functions, etc., regardless of whether it is called software, firmware, middleware, microcode, hardware description language or other. The software, when executed by the processor 1204, causes the processing system 1214 to perform the various functions described below for any particular device. The computer-readable medium 1206 and the memory 1205 can also be used to store data manipulated by the processor 1204 when executing the software.

[0118] Computer readable medium 1206 may be a non-transitory computer readable medium. As examples, non-transitory computer readable media include magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips), optical disks (e.g., compact disks (CDs) or digital versatile disks (DVDs)), smart cards, flash memory devices (e.g., cards, sticks, or key drives), random access memory (RAM), read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), registers, removable disks, and any other suitable devices for storing software and / or instructions that can be accessed and read by a computer. Computer readable medium 1206 may reside in processing system 1214, external to processing system 1214, or distributed among multiple entities including processing system 1214. Computer readable medium 1206 may be embodied in a computer program product. For example, a computer program product may include a computer readable medium in packaging materials. In some examples, computer readable medium 1206 may be part of memory 1205. Those skilled in the art will recognize how best to implement the described functionality presented throughout this disclosure depending on the particular application and the overall design constraints imposed on the overall system.

[0119] In some aspects of the present disclosure, the processor 1204 may include circuits configured for various functions. For example, the processor 1204 may include a communication and processing circuit 1242 configured to communicate with other wireless communication devices (e.g., RSU, V-UE, P-UE, etc.) on a side link channel. In some examples, the communication and processing circuit 1242 may include one or more hardware components that provide a physical structure for performing processes related to wireless communication (e.g., signal reception and / or signal transmission) and signal processing (e.g., processing received signals and / or processing signals for transmission).

[0120] In some examples, the communication and processing circuitry 1242 may be configured to broadcast a group formation message on a side link channel via the transceiver 1210. The communication and processing circuitry 1242 may also be configured to receive one or more group formation messages broadcast by other wireless communication devices via the transceiver 1210. The communication and processing circuitry 1242 may further be configured to store the received group formation message (GFM) 1216 in the memory 1205 for further processing.

[0121] The communication and processing circuitry 1242 may also be configured to broadcast or receive, via the transceiver 1210, a group association message (GAM) 1218 indicating an order 1222 of a plurality of wireless communication devices within a positioning group including the wireless communication device 1200. The communication and processing circuitry 1242 may also be configured to broadcast a positioning reference signal (PRS) within the positioning group and receive PRS broadcasts from other wireless communication devices within the positioning group. The communication and processing circuitry 1242 may also be configured to execute communication and processing instructions (software) 1252 stored in the computer-readable medium 1206 to implement one or more functions described herein.

[0122] The processor 1204 may also include a group formation circuit 1244 configured to generate a group formation message (e.g., an initiator group formation message or a responder group formation message) to be broadcast on the side link channel and process group formation messages (e.g., an initiator group formation message and / or a responder group formation message) received from other wireless communication devices. In an example where the wireless communication device 1200 is an anchor device, the group formation circuit 1244 may be configured to determine whether an initiator group formation message has been received from another anchor initiator wireless communication device during an initiator subphase of a current group phase in which a positioning group may be formed.

[0123] If an initiator group formation message has been received, the group formation circuit 1244 may measure the received power (e.g., RSRP) of the initiator group formation message and compare the received power with a threshold 1224, which may be stored, for example, in the memory 1205. If the received power of the initiator group formation message is greater than the threshold 1224, the initiator group formation message 1216 may be stored in the memory 1205 and used by the group formation circuit 1244 to generate a responder group formation message during the responder subphase of the current group phase to join the positioning group initiated by the initiator group formation message. Here, the anchor device 1200 acts as a responder device. Otherwise, if the received power of the initiator group formation message is less than or equal to the threshold 1224, the group formation circuit 1244 may discard the received initiator group formation message and generate a new initiator group formation message to form a new positioning group of the wireless communication device 1200. Here, the anchor device acts as an initiator device. If another initiator group formation message is not received within the initiator subphase, the anchor device 1200 may function as an initiator device and the group formation circuit 1244 may generate an initiator group formation message to form a positioning group for the wireless communication device 1200 .

[0124] In an example where the wireless communication device 1200 is an initiator device that broadcasts an initiator group formation message to form a positioning group during a current initiator subphase, the group formation circuit 1244 may be further configured to receive one or more responder group formation messages 1216 from responder devices within the responder subphase of the current group phase. Each responder group formation message 1216 may include, for example, device information associated with the corresponding responder device, the initiator ID of the initiator device 1200, and the corresponding responder IDs of other responder devices that previously broadcasted a responder group formation message to join the positioning group of the initiator device 1200. The received responder group formation message 1216 may be stored, for example, in the memory 1205 for further processing. For example, the group formation circuit 1244 may also be configured to use the received responder group formation message 1216 to determine the order 1222 in which the responder devices send the corresponding PRS in the PRS phase after the current group phase in time. The order 1222 may be based on, for example, the device information associated with each responder device. In some examples, the order 1222 may include a list of responder devices in descending order, such that the first listed responder device should broadcast the PRS after the initiator device, the second listed responder device should broadcast the PRS after the first listed responder device, etc. The group formation circuit 1244 may also be configured to generate a group association message (GAM) 1218 for the positioning group. The GAM 1218 may include, for example, an initiator ID of the initiator device 1200 and the order 1222 of the responder devices. The GAM 1218 may be broadcast within a second initiator subphase of the current group phase.

[0125] In an example where the wireless communication device 1200 is a non-anchor device, the non-anchor device 1200 may determine whether an initiator group formation message has been received from an initiator device during the initiator subphase of the current group phase. If the initiator group formation message has not been received, the group formation circuit 1244 may function as an initiator device to generate an initiator group formation message and broadcast the initiator group formation message during the responder subphase of the current group phase to form a positioning group for the non-anchor device 1200.

[0126] If one or more initiator group formation messages 1216 have been received, the non-anchor device 1200 may act as a responder device to select a positioning group to join based on the received initiator group formation messages 1216. The received initiator group formation messages may be stored, for example, in the memory 1205 until a positioning group is selected for the non-anchor device. For example, the group formation circuit 1244 may measure the received power (e.g., RSRP) of each initiator group formation message 1216 and select the positioning group associated with the initiator group formation message 1216 having the highest received power.

[0127] As another example, the group formation circuit 1244 may determine the number of members of each positioning group associated with the received initiator group formation message 1216. The number of members of a particular positioning group may be determined, for example, based on the responder group formation message 1216 received for the particular positioning group during the responder subphase of the current group phase. For example, the group formation circuit 1244 may be configured to count the number of responder group formation messages 1216 received by each positioning group. If the number of members of the positioning group has reached the maximum number of members, the group formation circuit 1244 may not select the positioning group. On the contrary, the group formation circuit 1244 may select another positioning group whose number of members has not yet reached the maximum number of members. Here, the maximum number of members of the positioning group may be predetermined and stored in, for example, the memory 1205, or included in the initiator group formation message. In some examples, the group formation circuit 1244 may also select a positioning group whose number of members is less than the maximum number of members from the remaining positioning groups based on the received power of the corresponding initiator group formation message 1216.

[0128] Once a positioning group to join is selected, the group formation circuit 1244 may then generate a responder group formation message to be broadcast during the responder subphase of the current group phase. The responder group formation message may include, for example, device information associated with the non-anchor device 1200, an initiator ID of the initiator device of the selected positioning group, and the corresponding responder IDs of the responder devices that previously broadcasted the responder group formation message 1216 to join the positioning group before the group formation circuit 1244 generated the responder group formation message. In addition, the group formation circuit 1244 may receive a GAM 1218 including a sequence 1222 of responder devices from the initiator device of the positioning group. The group formation circuit 1244 may be further configured to execute group formation instructions (software) 1254 stored in the computer-readable medium 1206 to implement one or more functions described herein.

[0129] The processor 1204 may also include a PRS generation circuit 1246, which is configured to generate a PRS to be broadcast to the positioning group during the PRS phase. For example, the PRS may include a PRS sequence. The PRS sequence may be a broadband random sequence broadcast on an unlicensed band. In some examples, the PRS may include a sequence identifier (ID) that identifies the PRS sequence. The PRS generation circuit 1246 may also determine the transmission timing of the PRS based on the order 1222 of the wireless communication devices in the positioning group. In an example where the wireless communication device is an initiator device of the positioning group, the PRS generation circuit 1246 may be configured to implement Cat 4 LBT to reserve a side link channel for the CoT and broadcast a first PRS to the positioning group within the CoT. In an example where the wireless communication device is a responder device, the PRS generation circuit 1246 may be configured to broadcast the PRS to the positioning group within the CoT at a transmission time determined according to the order 1222 of the responder device. The PRS generation circuit 1246 may also be configured to execute the PRS generation instructions (software) 1256 stored in the computer-readable medium 1206 to implement one or more functions described herein.

[0130] Fig.13 1 is a flow chart of an exemplary method 1300 for group-based PRS broadcasting according to some aspects. As described below, some or all of the illustrated features may be omitted in certain implementations within the scope of the present disclosure, and some of the illustrated features may not be necessary for all example implementations. In some examples, as described above and as Fig.12 As shown, the method may be performed by the wireless communication device 1200, a processor or a processing system, or any suitable means for performing the described functions.

[0131] At box 1302, a wireless communication device (e.g., a first wireless communication device) may broadcast a first group formation message on a side link channel to form a positioning group including a plurality of wireless communication devices, including the first wireless communication device. In some examples, the first wireless communication device may broadcast the first group formation message within a group phase in the time domain. The group phase may include at least an initiator subphase and a responder subphase, in which the initiator device may broadcast a corresponding group formation message, and in the responder subphase, the responder device may broadcast a corresponding group formation message. The initiator device may include at least an anchor device, each anchor device having a corresponding known position based on a position accuracy. The responder device includes at least a non-anchor device, each non-anchor device having a corresponding unknown position based on a position accuracy.

[0132] In some examples, when the first wireless communication device is one of the anchor devices, the first wireless communication device may broadcast a first group formation message in the initiator subphase to identify the first wireless communication device as the initiator device of the positioning group. In some examples, the first wireless communication device may receive a second group formation message from the second wireless communication device in the initiator subphase, compare the received power of the second group formation message with a threshold, and broadcast the first group formation message in the initiator subphase when the received power is less than the threshold. In this example, the first wireless communication device may exclude the second wireless communication device from the positioning group.

[0133] In some examples, the first wireless communication device may receive a third group formation message from a third wireless communication device within the responder subphase. The third wireless communication device may be one of the responder devices. The first wireless communication device may also include a third wireless communication device in the positioning group. In some examples, the third wireless communication device may be one of the non-anchor devices or another of the anchor devices.

[0134] In some examples, each of the plurality of group formation messages including the first and third group formation messages includes initiator information indicating whether the transmitting device of the corresponding group formation message in the plurality of group formation messages is the initiator device of the positioning group, anchor information indicating whether the transmitting device is one of the anchor devices, power information indicating whether the transmitting device is power limited, and a group identity (ID) identifying the transmitting device within the positioning group. In some examples, the group ID includes a random number. In some examples, the third group formation message also includes the initiator ID of the initiator device of the positioning group, and the corresponding responder ID of each responder device that broadcasts the corresponding group formation message in the responder subphase before the third group formation message. In some examples, the initiator ID is based on the group ID of the initiator device, and each responder ID is based on the corresponding group ID of each responder device.

[0135] In some examples, when the first wireless communication device is a responder device among the responder devices of the positioning group, the first wireless communication device may broadcast a first group formation message within the responder subphase. In some examples, the first wireless communication device is one of the non-anchor devices or one of the anchor devices. In some examples, the first wireless communication device may also receive a fourth group formation message from a first initiator device among the initiator devices associated with the first positioning group within the initiator subphase, and receive a fifth group formation message from a second initiator device among the initiator devices associated with the second positioning group within the initiator subphase. In an example, the first wireless communication device may compare a first received power of the fourth group formation message with a second received power of the fifth group formation message, and select one of the first positioning group or the second positioning group to broadcast the first group formation message therein based on a higher received power between the first received power and the second received power at the first wireless communication device. In another example, the first wireless communication device may determine that the corresponding number of members of one of the first positioning group or the second positioning group has reached the corresponding maximum number of members, and select the other of the first positioning group or the second positioning group whose corresponding number of members is less than the corresponding maximum number of members.

[0136] In some examples, the first wireless communication device may determine that no group formation message is received in the initiator subphase, and when the first wireless communication device is one of the non-anchor devices, broadcast a first group formation message in the responder subphase to identify the first wireless communication device as the initiator device of the positioning group. Fig.12 The group forming circuit 1244 shown and described, in conjunction with the communication and processing circuit 1242 and the transceiver 1210, may provide a means for broadcasting a first group forming message on a sidelink channel.

[0137] In box 1304, the first wireless communication device can identify the order of multiple wireless communication devices in the positioning group. In some examples, the first wireless communication device can broadcast a group association message that identifies the multiple wireless communication devices within the group and the order of the multiple wireless communication devices in the positioning group starting from the initiator device. In some examples, each of the multiple group formation messages includes a basic field value generated as a synthesis of initiator information, anchor information, power information, and a group ID, and the order of the multiple wireless communication devices is listed in the group association message in descending order of the corresponding basic field value associated with each of the multiple wireless communication devices. In some examples, the group association message includes a corresponding responder ID for each of the multiple wireless communication devices in the positioning group. For example, the above in combination Fig.12 The group forming circuit 1244 shown and described may provide a means for identifying the order.

[0138] At block 1306, the first wireless communication device may transmit a positioning reference signal (PRS) on a sidelink channel between a plurality of wireless communication devices in a positioning group based on an order of the plurality of wireless communication devices. In some examples, the first wireless communication device may reserve a sidelink channel for a channel occupancy time (CoT) for transmitting the PRS in a PRS phase that is temporally subsequent to the group phase. In some examples, the first wireless communication device may determine a corresponding transmission timing of each PRS within the CoT based on an order of the plurality of wireless communication devices. For example, the above in combination Fig.12 The PRS generation circuit 1246 shown and described, along with the communication and processing circuit 1242 and the transceiver 1210, may provide a means for transmitting the PRS based on this sequence.

[0139] Fig.14 14 is a flow chart of another exemplary method 1400 for group-based PRS broadcasting according to some aspects. As described below, some or all of the illustrated features may be omitted in certain implementations within the scope of the present disclosure, and some of the illustrated features may not be necessary for all example implementations. In some examples, as described above and as Fig.12 As shown, the method may be performed by the wireless communication device 1200, a processor or a processing system, or any suitable module for performing the described functions.

[0140] At box 1402, a wireless communication device (e.g., a first wireless communication device) may broadcast a first group formation message on a side link channel to form a positioning group including a plurality of wireless communication devices, including the first wireless communication device. In some examples, the first wireless communication device may broadcast the first group formation message during a group phase in the time domain. The group phase may include at least an initiator subphase and a responder subphase, in which the initiator device may broadcast a corresponding group formation message, and in the responder subphase, the responder device may broadcast corresponding other group formation messages. The initiator device may include at least an anchor device, each having a corresponding known position based on a position accuracy. The responder device includes at least a non-anchor device, each having a corresponding unknown position based on a position accuracy.

[0141] In some examples, when the first wireless communication device is one of the anchor devices, the first wireless communication device may broadcast a first group formation message during the initiator subphase to identify the first wireless communication device as the initiator device of the positioning group. In some examples, the first wireless communication device may receive a second group formation message from the second wireless communication device during the initiator subphase, compare the received power of the second group formation message with a threshold, and broadcast the first group formation message during the initiator subphase when the received power is less than the threshold. In this example, the first wireless communication device may exclude the second wireless communication device from the positioning group.

[0142] In some examples, the first wireless communication device may receive a third group formation message from a third wireless communication device within the responder subphase. The third wireless communication device may be one of the responder devices. The first wireless communication device may also include a third wireless communication device in the positioning group. In some examples, the third wireless communication device may be one of the non-anchor devices or another of the anchor devices.

[0143] In some examples, each of the plurality of group formation messages including the first and third group formation messages includes initiator information indicating whether the transmitting device of the corresponding group formation message in the plurality of group formation messages is the initiator device of the positioning group, anchor information indicating whether the transmitting device is one of the anchor devices, power information indicating whether the transmitting device is power limited, and a group identity (ID) identifying the transmitting device within the positioning group. In some examples, the group ID includes a random number. In some examples, the third group formation message also includes the initiator ID of the initiator device of the positioning group, and the corresponding responder ID of each responder device that broadcasts the corresponding group formation message in the responder subphase before the third group formation message. In some examples, the initiator ID is based on the group ID of the initiator device, and each responder ID is based on the corresponding group ID of each responder device.

[0144] In some examples, when the first wireless communication device is a responder device among the responder devices of the positioning group, the first wireless communication device may broadcast the first group formation message within the responder subphase. In some examples, the first wireless communication device is one of the non-anchor devices or one of the anchor devices. In some examples, the first wireless communication device may also receive a fourth group formation message from a first initiator device among the initiator devices associated with the first positioning group during the initiator subphase, and receive a fifth group formation message from a second initiator device among the initiator devices associated with the second positioning group during the initiator subphase. In one example, the first wireless communication device may compare a first received power of the fourth group formation message with a second received power of the fifth group formation message, and select one of the first positioning group or the second positioning group to broadcast the first group formation message therein based on a higher received power between the first received power and the second received power at the first wireless communication device. In another example, the first wireless communication device may determine that the corresponding number of members of one of the first positioning group or the second positioning group has reached the corresponding maximum number of members, and select the other of the first positioning group or the second positioning group whose corresponding number of members is less than the corresponding maximum number of members.

[0145] In some examples, the first wireless communication device may determine that no group formation message is received during the initiator subphase, and when the first wireless communication device is one of the non-anchor devices, broadcast a first group formation message in the responder subphase to identify the first wireless communication device as the initiator device of the positioning group. Fig.12 The group forming circuit 1244, together with the communication and processing circuit 1242 and the transceiver 1210, shown and described, may provide a means for broadcasting a first group forming message on a sidelink channel.

[0146] At block 1404, the first wireless communication device may transmit a positioning reference signal (PRS) on a sidelink channel between a plurality of wireless communication devices in the positioning group based on an order of the plurality of wireless communication devices in the positioning group. In some examples, the first wireless communication device may reserve the sidelink channel during a channel occupation time (CoT) for transmission of a PRS during a PRS phase that is temporally subsequent to the group phase. In some examples, the first wireless communication device may determine a corresponding transmission timing of each PRS within the CoT based on an order of the plurality of wireless communication devices.

[0147] In some examples, the first wireless communication device may broadcast a group association message that identifies a plurality of wireless communication devices within the group and an order of the plurality of wireless communication devices in the positioning group starting from an initiator device. In some examples, each of the plurality of group formation messages includes a basic field value generated as a synthesis of initiator information, anchor information, power information, and a group ID, and the order of the plurality of wireless communication devices is listed in the group association message in descending order of the corresponding basic field value associated with each of the plurality of wireless communication devices. In some examples, the group association message includes a corresponding responder ID of each of the plurality of wireless communication devices in the positioning group. For example, the above in combination Fig.12 The PRS generation circuit 1246 shown and described, along with the communication and processing circuit 1242 and the transceiver 1210, may provide a means for transmitting the PRS based on this sequence.

[0148] Fig.15 1 is a flow chart of another exemplary method 1500 for group-based PRS broadcasting according to some aspects. As described below, some or all of the illustrated features may be omitted in certain implementations within the scope of the present disclosure, and some of the illustrated features may not be necessary for all example implementations. In some examples, the method may be performed by the wireless communication device 1200, a processor or processing system, or any suitable module for performing the described functions, as described above and as shown in Fig.12 shown.

[0149] At block 1502, a wireless communication device (e.g., a first wireless communication device) may receive a group formation message from a second wireless communication device during an initiator subphase of a group phase in a time domain. The initiator subphase may be a duration during which an initiator device may broadcast a corresponding initiator group formation message. The initiator devices may include at least anchor devices, each having a corresponding known location based on location accuracy. The group phase may also include a responder subphase, in which responder devices may broadcast corresponding responder group formation messages. Responder devices may include at least non-anchor devices, each having a corresponding unknown location based on location accuracy. For example, the above in conjunction with Fig.12 The group formation circuitry 1244 shown and described along with the communication and processing circuitry 1242 and transceiver 1210 may provide a means for receiving a group formation message.

[0150] At block 1504, the first wireless communication device may compare the received power of the group formation message to a threshold. Fig.12 The group forming circuitry 1244 shown and described may provide means for comparing a received power of a group forming message to a threshold value.

[0151] In an example where the received power of the group formation message is less than the threshold (the "yes" branch of block 1506), at block 1508, the first wireless communication device may broadcast an initiator group formation message during the initiator subphase to form a positioning group including a plurality of wireless communication devices including the first wireless communication device. Fig.12 The group formation circuit 1244 shown and described together with the communication and processing circuit 1242 and the transceiver 1210 may provide a means for broadcasting a first group formation message. In addition, at block 1510, the first wireless communication device may exclude the second wireless communication device from the positioning group. For example, the above combination Fig.12 The group forming circuit 1244 shown and described may provide means for excluding a second wireless communication device from a positioning group.

[0152] In an example where the received power of the group formation message is greater than the threshold (the "No" branch of block 1506), at block 1512, the first wireless communication device may broadcast a responder group formation message during the responder subphase of the group phase. In this example, the first wireless communication device is a responder device in the responder devices of the positioning group. In some examples, the first wireless communication device is one of the non-anchor devices or one of the anchor devices. For example, the above combination Fig.12 The group formation circuitry 1244 shown and described, together with the communication and processing circuitry 1242 and the transceiver 1210, may provide a means for broadcasting a responder group formation message during the responder sub-phase.

[0153] Fig.161 is a flow chart of another exemplary method 1600 for group-based PRS broadcasting according to some aspects. As described below, some or all of the illustrated features may be omitted in certain implementations within the scope of the present disclosure, and some of the illustrated features may not be necessary for all example implementations. In some examples, as described above and as Fig.12 As shown, the method may be performed by the wireless communication device 1200, a processor or a processing system, or any suitable module for performing the described functions.

[0154] In block 1602, a wireless communication device (e.g., a first wireless communication device) may broadcast a first group formation message during an initiator subphase of a group phase in a time domain to form a positioning group including a plurality of wireless communication devices, the plurality of wireless communication devices including the first wireless communication device. The initiator subphase may be a duration during which the initiator device may broadcast a corresponding group formation message. The initiator devices may include at least anchor devices, each having a corresponding known location based on location accuracy. The group phase may also include a responder subphase, in which responder devices may broadcast corresponding other group formation messages. The responder devices include at least non-anchor devices, each having a corresponding unknown location based on location accuracy. For example, the above in conjunction with Fig.12 The group forming circuit 1244 shown and described together with the communication and processing circuit 1242 and the transceiver 1210 may provide a means for broadcasting a first group forming message.

[0155] At block 1604, the first wireless communication device may receive a second group formation message from a second wireless communication device during a responder subphase of the group phase. The second wireless communication device may be one of the responder devices. For example, the second wireless communication device may be one of the non-anchor devices or another of the anchor devices. For example, the above Fig.12 The group forming circuit 1244 shown and described together with the communication and processing circuit 1242 and the transceiver 1210 may provide a means for receiving a second group forming message.

[0156] At block 1606, the first wireless communication device may include the second wireless communication device in the positioning group. Fig.12 The group forming circuit 1244 shown and described may provide means for including a second wireless communication device in a positioning group.

[0157] Fig.17 17 is a flow chart of another exemplary method 1700 for group-based PRS broadcasting according to some aspects. As described below, some or all of the illustrated features may be omitted in certain implementations within the scope of the present disclosure, and some of the illustrated features may not be necessary for all example implementations. In some examples, as described above and as Fig.12As shown, the method may be performed by the wireless communication device 1200, a processor or a processing system, or any suitable module for performing the described functions.

[0158] At block 1702, a wireless communication device (e.g., a first wireless communication device) may broadcast a first group formation message to form a positioning group including a plurality of wireless communication devices including the first wireless communication device. The first wireless communication device may broadcast the first group formation message during a group phase in the time domain. The group phase may include at least an initiator subphase and a responder subphase, in which the initiator device may broadcast a corresponding group formation message, and in which the responder device may broadcast corresponding other group formation messages. The initiator device may include at least an anchor device, each having a corresponding known position based on a position accuracy. The responder device includes at least a non-anchor device, each having a corresponding unknown position based on a position accuracy.

[0159] In some examples, when the first wireless communication device is one of the anchor devices, the first wireless communication device may broadcast a first group formation message during the initiator subphase to identify the first wireless communication device as the initiator device of the positioning group. In some examples, the first wireless communication device may receive a second group formation message from the second wireless communication device during the initiator subphase, compare the received power of the second group formation message with a threshold, and broadcast the first group formation message during the initiator subphase when the received power is less than the threshold. In this example, the first wireless communication device may exclude the second wireless communication device from the positioning group.

[0160] In some examples, the first wireless communication device may receive a third group formation message from a third wireless communication device within the responder subphase. The third wireless communication device may be one of the responder devices. The first wireless communication device may also include a third wireless communication device in the positioning group. In some examples, the third wireless communication device may be one of the non-anchor devices or another of the anchor devices.

[0161] In some examples, each of the multiple group formation messages including the first and third group formation messages includes initiator information indicating whether the sending device of the corresponding group formation message in the multiple group formation messages is the initiator device of the positioning group, anchor information indicating whether the sending device is one of the anchor devices, power information indicating whether the sending device is power limited, and a group identity (ID) identifying the sending device within the positioning group. In some examples, the group ID includes a random number. In some examples, the third group formation message also includes the initiator ID of the initiator device of the positioning group, and the corresponding responder ID of each responder device that broadcasts the corresponding group formation message in the responder subphase before the third group formation message. In some examples, the initiator ID is based on the group ID of the initiator device, and each responder ID is based on the corresponding group ID of each responder device. For example, the above in combination Fig.12 The group forming circuit 1244 shown and described in conjunction with the communication and processing circuit 1242 and the transceiver 1210 may provide a means for broadcasting a first group forming message.

[0162] At block 1704, the first wireless communication device may broadcast a group association message that identifies a plurality of wireless communication devices within the positioning group and an order of the plurality of wireless communication devices in the positioning group starting from an initiator device. In some examples, each of the plurality of group formation messages includes a basic field value generated as a synthesis of initiator information, anchor information, power information, and a group ID, and the order of the plurality of wireless communication devices is listed in the group association message in descending order of the corresponding basic field value associated with each of the plurality of wireless communication devices. In some examples, the group association message includes a corresponding responder ID of each of the plurality of wireless communication devices in the positioning group. For example, the above in conjunction with Fig.12 The group forming circuitry 1244 shown and described together with the communication and processing circuitry 1242 and the transceiver 1210 may provide a means for broadcasting group association messages.

[0163] At block 1706, the first wireless communication device may transmit a positioning reference signal (PRS) between the plurality of wireless communication devices in the positioning group on a sidelink channel based on the order of the plurality of wireless communication devices in the positioning group. Fig.12 The PRS generation circuit 1246 shown and described, along with the communication and processing circuit 1242 and the transceiver 1210, may provide a means for transmitting the PRS based on the sequence.

[0164] Fig.18 1 is a flow chart of another exemplary method 1800 for group-based PRS broadcasting according to some aspects. As described below, some or all of the illustrated features may be omitted in certain implementations within the scope of the present disclosure, and some of the illustrated features may not be necessary for all example implementations. In some examples, as described above and as Fig.12 As shown, the method may be performed by the wireless communication device 1200, a processor or a processing system, or any suitable module for performing the described functions.

[0165] In box 1802, a wireless communication device (e.g., a first wireless communication device) may broadcast a first group formation message during a group phase in the time domain to form a positioning group including a plurality of wireless communication devices, the plurality of wireless communication devices including the first wireless communication device. The group phase may include at least an initiator subphase and a responder subphase, in which the initiator device may broadcast a corresponding group formation message, and in the responder subphase, the responder device may broadcast corresponding other group formation messages. The initiator device may include at least an anchor device, each having a corresponding known position based on a position accuracy. The responder device may include at least a non-anchor device, each having a corresponding unknown position based on a position accuracy. For example, the above in combination Fig.12 The group forming circuit 1244 shown and described in conjunction with the communication and processing circuit 1242 and the transceiver 1210 may provide a means for broadcasting a first group forming message.

[0166] At block 1804, the first wireless communication device may reserve a sidelink channel during a channel occupation time (CoT) for transmitting a positioning reference signal (PRS) during a PRS phase that temporally follows the group phase. Fig.12 The group forming circuit 1244 shown and described together with the communication and processing circuit 1242 and the transceiver 1210 can provide a module for reserving a sidelink channel.

[0167] At block 1806, the first wireless communication device may determine the corresponding transmission timing of each PRS within the CoT based on the order of the plurality of wireless communication devices in the positioning group. Fig.12 The group forming circuit 1244 shown and described may provide means for determining respective transmission timings of the PRSs.

[0168] At block 1808, the first wireless communication device may transmit a PRS between the plurality of wireless communication devices in the positioning group on a side link channel based on the order of the plurality of wireless communication devices. Fig.12 The PRS generation circuit 1246 shown and described, along with the communication and processing circuit 1242 and the transceiver 1210, may provide a means for transmitting the PRS based on this sequence.

[0169] Fig.191 is a flow chart of another exemplary method 1900 for group-based PRS broadcasting according to some aspects. As described below, some or all of the illustrated features may be omitted in certain implementations within the scope of the present disclosure, and some of the illustrated features may not be necessary for all example implementations. In some examples, as described above and as Fig.12 As shown, the method may be performed by the wireless communication device 1200, a processor or a processing system, or any suitable module for performing the described functions.

[0170] At block 1902, a wireless communication device (e.g., a first wireless communication device) may receive a first group formation message from a first initiator device associated with a first positioning group during an initiator subphase of a group phase in a time domain. The initiator subphase may be a duration during which the initiator device may broadcast a corresponding group formation message. The initiator devices may include at least anchor devices, each having a corresponding known location based on location accuracy. The group phase may also include a responder subphase, in which responder devices may broadcast corresponding other group formation messages. The responder devices may include at least non-anchor devices, each having a corresponding unknown location based on location accuracy. For example, the above in conjunction with Fig.12 The group forming circuit 1244 shown and described together with the communication and processing circuit 1242 and the transceiver 1210 may provide a means for receiving a first group forming message.

[0171] At block 1904, the first wireless communication device may receive a second group formation message from a second initiator device associated with a second positioning group during the initiator subphase. Fig.12 The group forming circuit 1244 shown and described together with the communication and processing circuit 1242 and the transceiver 1210 may provide a means for receiving a second group forming message.

[0172] At block 1906, the first wireless communication device may compare the first received power of the first group of messages to the second received power of the second group of messages. Fig.12 The group forming circuitry 1244 shown and described may provide means for comparing received powers of group forming messages.

[0173] At block 1908, the first wireless communication device may select one of the first positioning group or the second positioning group based on the higher received power between the first received power and the second received power. Fig.12 The group forming circuit 1244 shown and described may provide a means for selecting one of the positioning groups.

[0174] At block 1910, the first wireless communication device may broadcast a responder group formation message during a responder subphase of a group phase within a selected positioning group. Fig.12The group forming circuitry 1244 shown and described, along with the communication and processing circuitry 1242 and transceiver 1210, may provide a means for broadcasting a responder group forming message.

[0175] Fig. 20 2 is a flow chart of another exemplary method 2000 for group-based PRS broadcasting according to some aspects. As described below, some or all of the illustrated features may be omitted in certain implementations within the scope of the present disclosure, and some of the illustrated features may not be necessary for all example implementations. In some examples, as described above and as Fig.12 As shown, the method may be performed by the wireless communication device 1200, a processor or a processing system, or any suitable module for performing the described functions.

[0176] In block 2002, a wireless communication device (e.g., a first wireless communication device) may receive a first group formation message from a first initiator device associated with a first positioning group during an initiator subphase of a group phase in a time domain. The initiator subphase may be a duration during which the initiator device may broadcast a corresponding group formation message. The initiator devices may include at least anchor devices, each having a corresponding known location based on location accuracy. The group phase may also include a responder subphase, in which responder devices may broadcast corresponding other group formation messages. The responder devices may include at least non-anchor devices, each having a corresponding unknown location based on location accuracy. For example, the above in conjunction with Fig.12 The group forming circuit 1244 shown and described together with the communication and processing circuit 1242 and the transceiver 1210 may provide a means for receiving a first group forming message.

[0177] At block 2004, the first wireless communication device may receive a second group formation message from a second initiator device associated with a second positioning group during the initiator subphase. Fig.12 The group forming circuit 1244 shown and described together with the communication and processing circuit 1242 and the transceiver 1210 may provide a means for receiving a second group forming message.

[0178] At block 2006, the first wireless communication device may determine that the number of members of one of the first positioning group or the second positioning group has reached the corresponding maximum number of members. Fig.12 The group forming circuit 1244 shown and described may provide means for determining that the number of corresponding members of one of the positioning groups has reached a maximum number.

[0179] At block 2008, the first wireless communication device may select another of the first positioning group or the second positioning group whose corresponding number of members is less than the corresponding maximum number of members. Fig.12The group forming circuit 1244 shown and described may provide a means for selecting another positioning group.

[0180] At block 2010, the first wireless communication device may broadcast a responder group formation message during a responder subphase of a group phase within a selected positioning group. Fig.12 The group forming circuitry 1244 shown and described, along with the communication and processing circuitry 1242 and transceiver 1210, may provide a means for broadcasting a responder group forming message.

[0181] In one configuration, the wireless communication device 1200 includes means for group-based PRS broadcasting as described in the present disclosure. In one aspect, the aforementioned means may be Fig.12 The processor 1204 shown in FIG. 1 is configured to perform the functions listed in the aforementioned modules. On the other hand, the aforementioned modules may be a circuit or any device configured to perform the functions described in the aforementioned modules.

[0182] Of course, in the above examples, the circuits included in the processor 1204 are provided only as examples, and other modules for performing the described functions may be included in various aspects of the present disclosure, including but not limited to instructions stored in the computer-readable storage medium 1206, or in Figure 1-Figure 5 , Fig.10 and / or Fig.12 Any other suitable device or module described in any of the above, and using, for example, Figure 13-Figure 20 Describe the process and / or algorithm.

[0183] Figure 5 and Figure 13-Figure 19 The processes shown in may include additional aspects, such as any single aspect or any combination of aspects described below, and / or in combination with one or more other processes described elsewhere herein.

[0184] Aspect 1: A wireless communication method, the method comprising: at a first wireless communication device: broadcasting a first group formation message on a side link channel to form a positioning group including multiple wireless communication devices, the multiple wireless communication devices including the first wireless communication device; and based on the order of the multiple wireless communication devices in the positioning group, transmitting a positioning reference signal (PRS) between the multiple wireless communication devices in the positioning group on the side link channel.

[0185] Aspect 2: A method according to Aspect 1, wherein broadcasting a first group formation message further comprises: broadcasting the first group formation message during a group phase in a time domain, the group phase comprising at least an initiator subphase and a responder subphase, wherein the initiator device may broadcast a corresponding group formation message in the initiator subphase, and the responder device may broadcast a corresponding group formation message in the responder subphase.

[0186] Aspect 3: A method according to aspect 2, wherein: the initiator device includes at least anchor devices, each including a corresponding known location based on location accuracy, and the responder device includes at least non-anchor devices, each including a corresponding unknown location based on location accuracy.

[0187] Aspect 4: A method according to Aspect 3, wherein broadcasting a first group formation message within the group phase further comprises broadcasting a first group formation message within an initiator sub-phase based on the first wireless communication device being one of the anchor devices, so as to identify the first wireless communication device as an initiator device of the positioning group.

[0188] Aspect 5: A method according to Aspect 4, wherein broadcasting a first group formation message within an initiator sub-phase further comprises: receiving a second group formation message from a second wireless communication device within the initiator sub-phase; comparing a received power of the second group formation message with a threshold; and in response to the received power being less than the threshold, broadcasting the first group formation message within the initiator sub-phase.

[0189] Aspect 6: The method according to Aspect 5 also includes: excluding the second wireless communication device from the positioning group.

[0190] Aspect 7: The method according to any one of Aspects 4 to 6 also includes: receiving a third group formation message from a third wireless communication device within the responder sub-phase, wherein the third wireless communication device is one of the responder devices; and including the third wireless communication device in the positioning group.

[0191] Aspect 8: The method according to aspect 7, wherein the third wireless communication device is one of the non-anchor devices or another one of the anchor devices.

[0192] Aspect 9: The method according to Aspect 7 or 8, wherein each of the multiple group formation messages including the first group formation message and the third group formation message includes: initiator information indicating whether the sending device of the corresponding group formation message in the multiple group formation messages is the initiator device of the positioning group; anchor information indicating whether the sending device is one of the anchor devices; power information indicating whether the sending device is power limited; and a group identification (ID) identifying the sending device within the positioning group.

[0193] Aspect 10: A method according to Aspect 9, wherein the group ID comprises a random number.

[0194] Aspect 11: A method according to Aspect 9 or 10, wherein the third group formation message also includes: the initiator ID of the initiator device of the positioning group, and the corresponding responder ID of each responder device that broadcasts the corresponding group formation message within the responder sub-phase before the third group formation message.

[0195] Aspect 12: A method according to Aspect 11, wherein the initiator ID is based on the group ID of the initiator device, and each responder ID is based on the corresponding group ID of each responder device.

[0196] Aspect 13: The method according to Aspect 11 or 12 also includes: broadcasting a group association message, which identifies multiple wireless communication devices in the group and locates the order of multiple wireless communication devices in the group starting from the initiator device.

[0197] Aspect 14: A method according to Aspect 13, wherein: each of the multiple group formation messages includes a basic field value generated as a synthesis of initiator information, anchor information, power information and group ID, and the order of the multiple wireless communication devices is listed in the group association message in descending order of the corresponding basic field values ​​associated with each of the multiple wireless communication devices.

[0198] Aspect 15: A method according to Aspect 14, wherein the group association message includes a corresponding responder ID of each of the multiple wireless communication devices in the positioning group.

[0199] Aspect 16: The method according to any one of Aspects 4 to 15 further includes: reserving a side link channel within a channel occupation time (CoT) for transmission of a PRS within a PRS phase that is temporally subsequent to the group phase.

[0200] Aspect 17: The method according to Aspect 16 also includes: determining the corresponding transmission timing of each PRS within the CoT according to the order of multiple wireless communication devices.

[0201] Aspect 18: A method according to Aspect 3, wherein broadcasting the first group formation message within the group phase further includes: based on the first wireless communication device being a responder device among the responder devices of the positioning group, broadcasting the first group formation message during the responder sub-phase.

[0202] Aspect 19: The method according to aspect 18, wherein the first wireless communication device is one of the non-anchor devices or one of the anchor devices.

[0203] Aspect 20: The method according to Aspect 18 or 19 further includes: receiving a fourth group formation message from a first initiator device among the initiator devices associated with the first positioning group within the initiator sub-phase; and receiving a fifth group formation message from a second initiator device among the initiator devices associated with the second positioning group within the initiator sub-phase.

[0204] Aspect 21: The method according to Aspect 20 also includes: comparing the first reception power of the fourth group formation message with the second reception power of the fifth group formation message; and based on the higher reception power between the first reception power and the second reception power at the first wireless communication device, selecting one of the first positioning group or the second positioning group to broadcast the first group formation message therein.

[0205] Aspect 22: The method according to Aspect 20 also includes: determining that the corresponding number of members of one of the first positioning group or the second positioning group has reached the corresponding maximum number of members; and selecting another one of the first positioning group or the second positioning group, whose corresponding number of members is less than the corresponding maximum number of members.

[0206] Aspect 23: A method according to Aspect 3, wherein broadcasting a first group formation message within the group phase further comprises: determining that no group formation message is received within the initiator sub-phase; and based on the first wireless communication device being one of the non-anchor devices, broadcasting the first group formation message within the responder sub-phase to identify the first wireless communication device as the initiator device of the positioning group.

[0207] Aspect 24: A first wireless communication device in a wireless communication network comprises a wireless transceiver, a memory, and a processor coupled to the wireless transceiver and the memory, wherein the processor and the memory are configured to execute the method of any one of Aspects 1 to 23.

[0208] Aspect 25: A first wireless communication device in a wireless communication network, comprising at least one module for executing the method of any one of Aspects 1 to 23.

[0209] Aspect 26: An article of manufacture for use by a first wireless communication device in a wireless communication network, the article comprising a computer-readable medium storing instructions executable by one or more processors of the first wireless communication device to perform the method of any one of aspects 1 to 23.

[0210] Several aspects of a wireless communication network have been described with reference to exemplary embodiments. As those skilled in the art will readily appreciate, various aspects described throughout this disclosure may be extended to other telecommunication systems, network architectures, and communication standards.

[0211] For example, various aspects may be implemented in other systems defined by 3GPP, such as Long Term Evolution (LTE), Evolved Packet System (EPS), Universal Mobile Telecommunications System (UMTS), and / or Global System for Mobile Communications (GSM). Various aspects may also be extended to systems defined by the Third Generation Partnership Project 2 (3GPP2), such as CDMA2000 and / or Evolution Data Optimized (EV-DO). Other examples may be implemented in systems employing IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, Ultra Wideband (UWB), Bluetooth, and / or other suitable systems. The actual telecommunication standard, network architecture, and / or communication standard employed will depend on the specific application and the overall design constraints imposed on the system.

[0212] In the present disclosure, the word "exemplary" is used to mean "serving as an example, instance or illustration". Any implementation or aspect described herein as "exemplary" is not necessarily to be construed as being preferred or advantageous over other aspects of the present disclosure. Likewise, the term "aspect" does not require that all aspects of the present disclosure include the features, advantages or modes of operation discussed. The term "coupling" as used herein refers to a direct or indirect coupling between two objects. For example, if object A physically contacts object B, and object B contacts object C, then objects A and C can still be considered to be coupled to each other - even if they are not in direct physical contact with each other. For example, a first object can be coupled to a second object even if the first object has never been in direct physical contact with the second object. The terms "circuit" and "circuitry" are used broadly and are intended to include hardware implementations of electrical devices and conductors that, when connected and configured, implement the performance of the functions described in the present disclosure, without limitation to the type of electronic circuits, and software implementations of information and instructions that, when executed by a processor, enable the performance of the functions described in the present disclosure.

[0213] Figure 1-Figure 20 One or more components, steps, features and / or functions shown in the drawings can be rearranged and / or combined into a single component, step, feature or function, or embodied in several components, steps or functions. Additional elements, components, steps and / or functions can also be added without departing from the novel features disclosed herein. Figure 1-Figure 5 , Fig.10 and / or Fig.12 The devices, apparatuses and / or components shown in the can be configured to perform one or more methods, features or steps described herein. The novel algorithms described herein can also be effectively implemented in software and / or embedded in hardware.

[0214] It should be understood that the specific order or hierarchy of steps in the disclosed methods is an illustration of an exemplary process. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the methods can be rearranged. The accompanying method claims present elements of the various steps in an example order, and are not meant to be limited to the specific order or hierarchy presented unless specifically stated therein.

[0215] The foregoing description is provided to enable those skilled in the art to practice the various aspects described herein. It will be readily apparent to those skilled in the art that various modifications to these aspects are to be made, and the general principles defined herein may be applicable to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein, but to conform to the full scope consistent with the language of the claims, wherein, unless otherwise stated, the elements in the singular form are not intended to mean "one and only one", but to mean "one or more". Unless otherwise stated, the term "some" refers to one or more. The phrase "at least one" of a series of items refers to any combination of these items, including a single member. For example, "at least one of a, b, or c" is intended to cover a; b; c; a and b; a and c; b and c; and a, b, and c. All structural and functional equivalents of the elements of the various aspects described in this disclosure known to or to be known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be included in the claims. In addition, nothing disclosed herein is intended to be dedicated to the public, regardless of whether such disclosure is explicitly stated in the claims.

Claims

1. A first wireless communication device in a wireless communication network, comprising: Wireless transceiver; Memory; as well as a processor communicatively coupled to the wireless transceiver and to a memory, wherein the processor and the memory are configured to: broadcasting a first group formation message on a side link channel via a wireless transceiver to form a positioning group including a plurality of wireless communication devices, the plurality of wireless communication devices including the first wireless communication device, the first group formation message being broadcast during a group phase in a time domain, the group phase comprising at least an initiator subphase and a responder subphase, in which an initiator device can broadcast a corresponding group formation message, and in which a responder device can broadcast corresponding other group formation messages; as well as Based on the order of the plurality of wireless communication devices in the positioning group, a positioning reference signal PRS is transmitted between the plurality of wireless communication devices in the positioning group on a sidelink channel via a wireless transceiver.

2. The first wireless communication device according to claim 1, wherein: The initiator device includes at least anchor devices, each anchor device includes a corresponding known location based on location accuracy, and The responder devices include at least non-anchor devices, each of which includes a corresponding unknown location based on a location accuracy.

3. The first wireless communication device according to claim 2, wherein: The processor and memory are further configured to: Based on the first wireless communication device being one of the anchor devices, a first group formation message is broadcast during the initiator subphase to identify the first wireless communication device as an initiator device of the positioning group.

4. The first wireless communication device according to claim 3, wherein: The processor and memory are further configured to: receiving a second group formation message from a second wireless communication device during the initiator subphase; comparing the received power of the second group of forming messages to a threshold; as well as In response to the received power being less than the threshold, a first group formation message is broadcast during an initiator subphase.

5. The first wireless communication device according to claim 4, wherein: The processor and memory are further configured to: The second wireless communication device is excluded from the positioning group.

6. The first wireless communication device according to claim 3, wherein: The processor and memory are further configured to: receiving, within the responder subphase, a third group formation message from a third wireless communication device, wherein the third wireless communication device is one of the responder devices; and A third wireless communication device is included in the positioning group.

7. The first wireless communication device according to claim 6, wherein: The third wireless communication device is one of the non-anchor devices or another one of the anchor devices.

8. The first wireless communication device according to claim 6, wherein: Each group forming message of the plurality of group forming messages including the first group forming message and the third group forming message comprises: initiator information, which indicates whether a sending device of a corresponding group formation message among the plurality of group formation messages is an initiator device of the positioning group, Anchor information indicating whether the sending device is one of the anchor devices, Power information indicating whether the transmitting device is power limited, and Identifies the group ID of the sending device within the positioning group.

9. The first wireless communication device according to claim 8, wherein: The group ID includes a random number.

10. The first wireless communication device according to claim 8, wherein: The third group of formation messages also includes: The initiator ID of the initiator device of the positioning group, and A respective responder ID of each responder device that broadcasts a respective group forming message prior to the third group forming message within the responder subphase.

11. The first wireless communication device of claim 10, wherein the initiator ID is based on a group ID of the initiator device, and each responder ID is based on a corresponding group ID of each responder device.

12. The first wireless communication device according to claim 10, wherein: The processor and memory are further configured to: A group association message is broadcasted, the group association message identifying the plurality of wireless communication devices within a positioning group and an order of the plurality of wireless communication devices in the positioning group starting from an initiator device.

13. The first wireless communication device according to claim 12, wherein: Each of the plurality of group formation messages includes a basic field value generated as a synthesis of initiator information, anchor information, power information, and a group ID, and The order of the plurality of wireless communication devices is listed in the group association message in descending order of a corresponding basic field value associated with each of the plurality of wireless communication devices.

14. The first wireless communication device according to claim 13, wherein: The group association message includes a respective responder ID for each of the plurality of wireless communication devices in a positioning group.

15. The first wireless communication device according to claim 3, wherein: The processor and memory are further configured to: The sidelink channel is reserved for a channel occupation time (CoT) for transmission of PRSs in a PRS phase that is temporally subsequent to the group phase.

16. The first wireless communication device according to claim 15, wherein: The processor and memory are further configured to: A corresponding transmission timing of each PRS within the CoT is determined according to the order of the plurality of wireless communication devices.

17. The first wireless communication device according to claim 2, wherein: The processor and memory are further configured to: A first group formation message is broadcast during the responder subphase based on the first wireless communication device being one of the responder devices of the positioning group.

18. The first wireless communication device according to claim 17, wherein: The first wireless communication device is one of the non-anchor devices or one of the anchor devices.

19. The first wireless communication device according to claim 17, wherein: The processor and memory are further configured to: receiving, during the initiator subphase, a fourth group formation message from a first initiator device among the initiator devices associated with the first positioning group; as well as During the initiator subphase, a fifth group formation message is received from a second initiator device among the initiator devices associated with the second positioning group.

20. The first wireless communication device according to claim 19, wherein: The processor and memory are further configured to: comparing a first received power of a fourth group forming messages with a second received power of a fifth group forming messages; as well as Based on a higher received power between the first received power and the second received power at the first wireless communication device, one of the first positioning group or the second positioning group is selected to broadcast the first group formation message therein.

21. The first wireless communication device according to claim 19, wherein: The processor and memory are further configured to: determining that a corresponding number of members of one of the first positioning group or the second positioning group has reached a corresponding maximum number of members; and Select the other one of the first positioning group or the second positioning group whose corresponding number of members is smaller than the corresponding maximum number of members.

22. The first wireless communication device according to claim 2, wherein: The processor and memory are further configured to: determining that no group formation message was received during the initiator subphase; and Based on the first wireless communication device being one of the non-anchor devices, a first group formation message is broadcasted in the responder subphase to identify the first wireless communication device as an initiator device of the positioning group.

23. A method of wireless communication, the method comprising, at a first wireless communication device: broadcasting a first group formation message on a side link channel to form a positioning group including a plurality of wireless communication devices, the plurality of wireless communication devices including the first wireless communication device, the first group formation message being broadcast during a group phase in a time domain, the group phase including at least an initiator subphase and a responder subphase, in which an initiator device can broadcast a corresponding group formation message, and in which a responder device can broadcast corresponding other group formation messages; and A positioning reference signal (PRS) is transmitted between the plurality of wireless communication devices in the positioning group on a sidelink channel based on an order of the plurality of wireless communication devices in the positioning group.

24. The method according to claim 23, The initiator device includes at least an anchor device, each anchor device includes a corresponding known location based on location accuracy, and The responder devices include at least non-anchor devices, and each non-anchor device includes a corresponding unknown position based on position accuracy.

25. The method of claim 24, wherein broadcasting a first group formation message within the group phase further comprises: Based on the first wireless communication device being one of the anchor devices, broadcasting a first group formation message during the initiator subphase to identify the first wireless communication device as an initiator device of the positioning group, and further comprising: receiving a third group formation message from a third wireless communication device during the responder subphase, wherein the third wireless communication device is one of the responder devices; and A third wireless communication device is included in the positioning group, wherein the third wireless communication device is one of the non-anchor devices or another one of the anchor devices.

26. The method of claim 24, wherein broadcasting a first group formation message within the group phase further comprises: A first group formation message is broadcast during the responder subphase based on the first wireless communication device being one of the responder devices of the positioning group.

27. The method of claim 24, wherein broadcasting a first group formation message within the group phase further comprises: determining that no group formation message was received during the initiator subphase; and Based on the first wireless communication device being one of the non-anchor devices, a first group formation message is broadcast during the responder subphase to identify the first wireless communication device as an initiator device of the positioning group.

28. A first wireless communication device in a wireless communication network, comprising: means for broadcasting a first group formation message on a side link channel to form a positioning group including a plurality of wireless communication devices including the first wireless communication device, the first group formation message being broadcast during a group phase in a time domain, the group phase comprising at least an initiator subphase and a responder subphase, in which an initiator device can broadcast a corresponding group formation message, and in which a responder device can broadcast corresponding other group formation messages; and Means for transmitting a positioning reference signal (PRS) between the plurality of wireless communication devices in a positioning group on a sidelink channel based on an order of the plurality of wireless communication devices in the positioning group.

29. The first wireless communication device of claim 28, wherein the initiator device comprises at least anchor devices, each anchor device comprising a respective known location based on location accuracy, and The responder devices include at least non-anchor devices, and each non-anchor device includes a corresponding unknown position based on position accuracy.

30. A computer-readable storage medium storing instructions which, when executed by a processor, cause the processor to perform the method according to any one of claims 23-27.

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