Alternative coordinate systems for sensor sharing

Abstract

Methods, systems, and devices for wireless communications are described. A user equipment (UE) may detect an object and determine to share location information associated with the object with one or more UEs. The UE may select a reference entity that can be detected by one or more other UEs and determine a location of the detected object relative to the location of the selected reference entity. The UE may send a sensor sharing message to one or more second UEs, the sensor sharing message including the location information of the object relative to the selected reference entity and an indication of the selected reference entity. The one or more second UEs may detect the location of the reference entity and determine the location of the detected object based on the location of the reference entity and the location of the detected object relative to the location of the reference entity.

Description

Technical Field

[0001] The following relates to wireless communications, and more particularly to alternative coordinate systems for sensor sharing. Background Art

[0002] Wireless communication systems are widely deployed to provide various types of communication content, such as voice, video, packet data, messaging, broadcasting, etc. These systems can support communication with multiple users by sharing available system resources (e.g., time, frequency and power). Examples of such multiple access systems include fourth generation (4G) systems such as long term evolution (LTE) systems, advanced LTE (LTE-A) systems or LTE-A Pro systems, and fifth generation (5G) systems that can be referred to as new radio (NR) systems. These systems can use techniques such as code division multiple access (CDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), orthogonal frequency division multiple access (OFDMA) or discrete Fourier transform extended orthogonal frequency division multiplexing (DFT-S-OFDM). A wireless multiple access communication system may include one or more base stations or one or more network access nodes, each base station or network access node supporting communication of multiple communication devices simultaneously, which may be referred to as user equipment (UE) in addition.

[0003] In some systems, such as in a vehicle-to-everything (V2X) system, a UE may share the location information of a perceived object with one or more other UEs. For example, a UE may detect the location of an object relative to the location of the UE, and may send sensor sharing information indicating the detected location of the object. The UE may receive the shared location information from the sending UE and determine the location of the perceived object relative to the receiving UE. By determining the location of an object based on the location of a UE (e.g., a UE sending sensor sharing information and a UE receiving sensor sharing information), the UE may rely on a positioning system, such as a global positioning system (GPS), a global navigation satellite system (GNSS), or both. In some cases, the error associated with determining the absolute position of a UE using a positioning system may be relatively large (e.g., on the scale of one or several meters). A large absolute position error of an object may adversely affect UE decisions related to the object, and thus have a significant impact on the safety and driving decisions of the UE. Summary of the invention

[0004] The described technology relates to improved methods, systems, devices and apparatuses that support alternative coordinate systems for sensor sharing. In general, the described technology provides for sharing sensor information to transmit location information related to a perceived object relative to a location of a common reference entity. A user equipment (UE) can detect an object and determine to share location information associated with the object with one or more other UEs. The UE can select a reference entity that can be detected by one or more other UEs and determine the location of the detected object relative to the location of the selected reference entity. The UE can send a sensor sharing message (SSM) to one or more other UEs, the SSM including location information of the object relative to the selected reference entity and an indication of the selected reference entity. One or more other UEs can detect the location of the reference entity and determine the location of the object based on the detected location of the reference entity and the indicated location of the object relative to the reference entity included in the SSM. In this way, the UE receiving the SSM can determine the location of the object based on sensor detection measurements (e.g., for the object and the reference entity) instead of using a positioning system measurement for the UE. Since the potential error scale associated with the sensor may be significantly smaller than the potential error scale associated with the positioning system, using an alternative coordinate system relative to the reference entity can improve the accuracy of object detection, thereby effectively improving safety and driving decisions at the UE.

[0005] A method of wireless communication at a first UE is described. The method may include: detecting an object; selecting a reference entity that can be detected by a second UE; determining a position of the object relative to the selected reference entity; and sending a sensor sharing message to the second UE including the position of the object relative to the selected reference entity and an indication of the selected reference entity.

[0006] An apparatus for wireless communication at a first UE is described. The apparatus may include a processor, a memory coupled to the processor, and instructions stored in the memory. The instructions are executable by the processor to cause the apparatus to: detect an object; select a reference entity detectable by a second UE; determine a position of the object relative to the selected reference entity; and send a sensor sharing message to the second UE including the position of the object relative to the selected reference entity and an indication of the selected reference entity.

[0007] Another apparatus for wireless communication at a first UE is described. The apparatus may include components for: detecting an object; selecting a reference entity that can be detected by a second UE; determining a position of the object relative to the selected reference entity; and sending a sensor sharing message to the second UE including the position of the object relative to the selected reference entity and an indication of the selected reference entity.

[0008] A non-transitory computer-readable medium storing code for wireless communication at a first UE is described. The code may include instructions executable by a processor to: detect an object; select a reference entity detectable by a second UE; determine a position of the object relative to the selected reference entity; and send a sensor sharing message to the second UE including the position of the object relative to the selected reference entity and an indication of the selected reference entity.

[0009] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, determining a position of an object relative to a selected reference entity may include operations, features, components, or instructions for determining a first position of the object relative to a first UE, determining a second position of the selected reference entity relative to the first UE, and calculating the position of the object relative to the selected reference entity based on the first position and the second position.

[0010] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the position of the object relative to the selected reference entity includes a first position of the object, and the sensor sharing message also includes a second position of the object relative to the first UE and an absolute position of the first UE.

[0011] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for determining an absolute position of the first UE using a positioning system, wherein the positioning system includes a global positioning system, a global navigation satellite system, or both.

[0012] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for determining a level of accuracy of an absolute position for the first UE based on a positioning system for the first UE, the sensor sharing message also including an indication of the level of accuracy of the absolute position for the first UE.

[0013] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the sensor sharing message also includes an indication of a level of accuracy for the location of the object.

[0014] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the indication of the selected reference entity includes a location of the selected reference entity relative to the first UE, and the sensor sharing message also includes an indication of a level of accuracy for the location of the selected reference entity.

[0015] In some examples of methods, apparatus, and non-transitory computer-readable media described herein, selecting a reference entity may include operations, features, components, or instructions for selecting a reference entity based on a predicted observability metric associated with the reference entity.

[0016] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, selecting a reference entity may include operations, features, components, or instructions for receiving a set of sensor sharing messages including a corresponding list of detected entities from a set of UEs, and selecting a reference entity from a set of candidate entities common to the corresponding list of detected entities of the set of sensor sharing messages.

[0017] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, selecting a reference entity may include operations, features, components, or instructions for receiving, from a set of UEs, a set of indicators associated with corresponding local HD maps of the set of UEs, and selecting a reference entity from a set of candidate entities marked in each local HD map in the corresponding local HD maps of the set of UEs based on the set of indicators.

[0018] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, selecting a reference entity may include operations, features, components, or instructions for sending a first sensor sharing message indicating a candidate entity set to a second UE, wherein the sensor sharing message includes a second sensor sharing message, receiving a response message indicating a preferred entity of the candidate entity set from the second UE, and selecting a reference entity based on the preferred entity.

[0019] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for sending a first sensor sharing message to a second UE indicating the first UE's ability to send a location of an object relative to a selected reference entity, wherein the sensor sharing message includes a second sensor sharing message, and receiving a response message from the second UE including an interest indicator for receiving the location of the object relative to the selected reference entity, wherein the second sensor sharing message includes the location of the object relative to the selected reference entity based on the interest indicator.

[0020] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the response message may also include operations, features, components, or instructions for selecting a reference entity based on the set of candidate entities.

[0021] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, an object may be detected using a sensor equipped to the first UE, the sensor comprising a laser incidence detection and ranging sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor, or any combination thereof.

[0022] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for detecting a reference entity using a sensor, and determining a position of an object sent in a sensor sharing message relative to a selected reference entity based on detecting both the object and the reference entity using the same sensor.

[0023] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for receiving an absolute position of a selected reference entity from a roadside unit, wherein a position of an object relative to the selected reference entity can be determined based on the absolute position of the selected reference entity.

[0024] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the selected reference entity corresponds to a fixed location and the object includes a vulnerable road user, a vehicle, an obstacle, or a combination thereof.

[0025] A method of wireless communication at a first UE is described. The method may include: receiving a sensor sharing message including an indication of a selected reference entity and a first position of an object relative to the selected reference entity from a second UE; detecting a second position of the selected reference entity relative to the first UE; and determining a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity.

[0026] An apparatus for wireless communication at a first UE is described. The apparatus may include a processor, a memory coupled to the processor, and instructions stored in the memory. The instructions are executable by the processor to cause the apparatus to: receive a sensor sharing message including an indication of a selected reference entity and a first position of an object relative to the selected reference entity from a second UE; detect a second position of the selected reference entity relative to the first UE; and determine a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity.

[0027] Another apparatus for wireless communication at a first UE is described. The apparatus may include components for: receiving a sensor sharing message including an indication of a selected reference entity and a first position of an object relative to the selected reference entity from a second UE; detecting a second position of the selected reference entity relative to the first UE; and determining a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity.

[0028] A non-transitory computer-readable medium storing code for wireless communication at a first UE is described. The code may include instructions executable by a processor to: receive a sensor sharing message including an indication of a selected reference entity and a first position of an object relative to the selected reference entity from a second UE; detect a second position of the selected reference entity relative to the first UE; and determine a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity.

[0029] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the sensor sharing message also includes a fourth position of the object relative to the second UE and an absolute position of the second UE.

[0030] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the sensor sharing message may also include operations, features, components, or instructions for determining a first location of an object to determine a third location of the object relative to the first UE based on a level of accuracy of the absolute location of the second UE satisfying a threshold.

[0031] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the sensor sharing message may also include operations, features, components, or instructions for determining a first position of an object to determine a third position of the object relative to the first UE based on a level of accuracy for the first position of the object satisfying a threshold.

[0032] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the indication of the selected reference entity includes a fourth position of the selected reference entity relative to the second UE, and the second position of the selected reference entity relative to the first UE can be detected based on the fourth position of the selected reference entity relative to the second UE.

[0033] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for sending a first sensor sharing message including a detected entity list to a second UE, wherein the sensor sharing message includes a second sensor sharing message, and a selected reference entity may be selected from the detected entity list.

[0034] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for sending an indicator associated with a local HD map to a second UE, where the selected reference entity may be selected from a set of candidate entities marked in the local HD map.

[0035] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for receiving a first sensor sharing message indicating a candidate entity set from a second UE, wherein the sensor sharing message includes a second sensor sharing message, and sending a response message indicating a preferred entity in the candidate entity set to the second UE, wherein the selected reference entity may be based on the preferred entity.

[0036] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for receiving a first sensor sharing message from a second UE indicating the ability of the first UE to send a first position of an object relative to a selected reference entity, wherein the sensor sharing message includes a second sensor sharing message, and sending a response message to the second UE including an interest indicator for receiving the first position of the object relative to the selected reference entity, wherein the second sensor sharing message includes the first position of the object relative to the selected reference entity based on the interest indicator.

[0037] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for selecting a candidate entity set, wherein the response message also includes the candidate entity set and the selected reference entity may be based on the candidate entity set.

[0038] Some examples of the methods, apparatus, and non-transitory computer-readable media described herein may also include operations, features, components, or instructions for detecting a selected reference entity using a sensor equipped to the first UE, the sensor comprising a laser incidence detection and ranging sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor, or any combination thereof.

[0039] In some examples of the methods, apparatus, and non-transitory computer-readable media described herein, the selected reference entity corresponds to a fixed location and the object includes a vulnerable road user, a vehicle, an obstacle, or a combination thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figures 1 to 4 An example of a wireless communication system supporting an alternative coordinate system for sensor sharing in accordance with aspects of the present disclosure is illustrated.

[0041] Figure 5 An example of a process flow supporting an alternative coordinate system for sensor sharing in accordance with aspects of the present disclosure is illustrated.

[0042] Figure 6 and Figure 7 A block diagram of a device supporting an alternative coordinate system for sensor sharing in accordance with aspects of the present disclosure is shown.

[0043] Figure 8 A block diagram of a communication manager supporting an alternative coordinate system for sensor sharing is shown in accordance with aspects of the present disclosure.

[0044] Fig. 9 A diagram of a system including a device supporting an alternative coordinate system for sensor sharing is shown in accordance with aspects of the present disclosure.

[0045] Figures 10 to 13 A flow chart is shown illustrating a method of supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure. DETAILED DESCRIPTION

[0046] The wireless communication system may include or support a network for vehicle-based communications, such as vehicle-to-everything (V2X) communications, vehicle-to-vehicle (V2V) communications, cellular V2X (CV2X) communications, or similar communications. Some vehicles may be manufactured or modified to support V2X and may be equipped with sensors, including cameras, radars, laser incidence detection and ranging (lidar), ultrasound, or some combination thereof. These sensors may be used to detect the environment around the vehicle, including other vehicles, obstacles, and road users (e.g., pedestrians, cyclists, etc.), which may also be referred to as vulnerable road users (VRUs). Vehicles, which may also be referred to as user equipment (UE) in this article, may follow application layer protocols for V2X sensor sharing. Sensor sharing between UEs may include propagating information related to detected vehicles, VRUs, and / or other objects through sensors on one or more UEs. A UE may share sensor information with one or more other UEs via a sensor sharing message (SSM), and the one or more other UEs may make decisions, such as autonomous driving decisions, based on the shared sensor information.

[0047] The UE may detect a sensed object (e.g., a VRU, a vehicle, a wild animal, a stationary object, an obstacle, or some other object), and the UE may share the location information of the sensed object with one or more other UEs via the SSM. In some cases, the UE may measure the location of the object relative to the absolute location of the UE, where the absolute location of the UE is a geographical coordinate determined by a positioning system, such as a global positioning system (GPS), a global navigation satellite system (GNSS), or both. The UE may send an indication of the location of the sensed object to one or more receiving UEs, where the indicated location is the absolute location relative to the UE. However, in some cases, the absolute location error may be large relative to the sensor error. For example, the absolute location determined based on GPS signaling may include an error on the scale of four to five meters, while the sensor (e.g., a camera, radar, lidar, or other sensor) may be accurate to within a few centimeters. In some cases, the error contribution caused by the absolute location error may adversely affect the ability of the UE receiving the SSM to use the shared sensor information to improve performance. For example, the error contribution caused by the absolute location error may adversely affect the UE decision (e.g., based on the UE's inaccurate determination of the location of the object), thereby potentially adversely affecting the safety and driving planning of the UE.

[0048] According to the techniques described herein, a UE may share the location of a perceived object with one or more other UEs, regardless of the absolute locations of the sensing UE and the receiving UE. The UE may determine the relative location of the perceived object relative to a common reference point, such as a roadside feature that may be detected by both the sensing UE (e.g., a UE that determines sensor sharing information to be included in an SSM) and one or more receiving UEs (e.g., a UE that receives the SSM). The common reference point may be used as a basis for an alternative coordinate system to represent the location of the perceived object. The sensing UE may send an indication of the common reference point and an indication of the location of the perceived object relative to the common reference point to one or more receiving UEs in the SSM.

[0049] Based on the information in the SSM, the receiving UE can determine the position of the common reference point relative to the receiving UE, and determine the position of the perceived object relative to the receiving UE based on the indicated position of the object relative to the common reference point. In some cases, determining the position of the object based on the position of the object relative to the common reference point enables the position of the perceived object to be transmitted independently of the absolute position of one or more UEs. Therefore, the error associated with determining the position of the perceived object relative to the receiving UE may include the sensor error caused by detecting the common reference point and the sensor error caused by determining the position of the perceived object relative to the common reference point. In some cases, the sensor error may be smaller than the absolute position error caused by the positioning system. In such a case, since the receiving UE can determine more accurate positioning information for the object, the transmission of the position of the object relative to the common reference point can improve system performance compared to transmitting the position of the object based on the absolute position of one or more UEs. The improved accuracy of the object position can support improved safety and autonomous driving operations for the UE.

[0050] Aspects of the present disclosure are initially described in the context of wireless communication systems. Aspects of the present disclosure are further illustrated and described with reference to process flow diagrams. Aspects of the present disclosure are further illustrated and described with reference to apparatus diagrams, system diagrams, and flow diagrams involving alternative coordinate systems for sensor sharing.

[0051] Figure 1 An example of a wireless communication system 100 supporting an alternative coordinate system for sensor sharing according to various aspects of the present disclosure is illustrated. The wireless communication system 100 may include one or more base stations 105, one or more UEs 115, and a core network 130. In some examples, the wireless communication system 100 may be a long term evolution (LTE) network, an advanced LTE (LTE-A) network, an LTE-A Pro network, or a new radio (NR) network. In some examples, the wireless communication system 100 may support enhanced broadband communications, ultra-reliable (e.g., mission-critical) communications, low-latency communications, communications with low-cost and low-complexity devices, or any combination thereof.

[0052] The base stations 105 may be dispersed throughout a geographic area to form the wireless communication system 100, and may be devices of different forms or with different capabilities. The base stations 105 and the UEs 115 may communicate wirelessly via one or more communication links 125. Each base station 105 may provide a coverage area 110 over which the UEs 115 and the base stations 105 may establish one or more communication links 125. The coverage area 110 may be an example of a geographic area over which the base stations 105 and the UEs 115 may support communication of signals according to one or more radio access technologies.

[0053] The UEs 115 may be dispersed throughout the coverage area 110 of the wireless communication system 100, and each UE 115 may be stationary or mobile, or stationary or mobile at different times. The UEs 115 may be devices of different forms or with different capabilities. Figure 1 Some example UEs 115 are shown in FIG. 1. The UEs 115 described herein may be able to communicate with various types of devices, such as other UEs 115, base stations 105, or network devices (e.g., core network nodes, relay devices, integrated access and backhaul (IAB) nodes, or other network devices), such as Figure 1 shown.

[0054] Base stations 105 may communicate with core network 130, or with each other, or both. For example, base stations 105 may interface with core network 130 via one or more backhaul links 120 (e.g., via S1, N2, N3, or other interfaces). Base stations 105 may communicate with each other via backhaul links 120 (e.g., via X2, Xn, or other interfaces) directly (e.g., directly between base stations 105) or indirectly (e.g., via core network 130), or both. In some examples, backhaul links 120 may be or include one or more wireless links.

[0055] One or more of the base stations 105 described herein may include or may be referred to by a person of ordinary skill in the art as a base station transceiver, a radio base station, an access point, a radio transceiver, a NodeB, an eNodeB (eNB), a next generation NodeB or a giga-NodeB (any of which may be referred to as a gNB), a Home NodeB, a Home eNodeB, or other suitable terminology.

[0056] UE 115 may include or may be referred to as a mobile device, a wireless device, a remote device, a handheld device or a subscriber device, or some other suitable term, where a "device" may also be referred to as a unit, a station, a terminal or a client, etc. UE 115 may also include or may be referred to as a personal electronic device, such as a cellular phone, a personal digital assistant (PDA), a tablet computer, a laptop computer, or a personal computer. In some examples, UE 115 may include or be referred to as a wireless local loop (WLL) station, an Internet of Things (IoT) device, an Internet of Everything (IoE) device, or a machine type communication (MTC) device, etc., which may be implemented in various objects, such as appliances, vehicles, meters, etc.

[0057] The UE 115 described herein may be able to communicate with various types of devices, such as other UEs 115, which may sometimes act as relays, as well as base stations 105 and network devices including macro eNBs or gNBs, small cell eNBs or gNBs, or relay base stations, such as Figure 1 shown.

[0058] UE 115 and base station 105 can communicate with each other wirelessly via one or more communication links 125 on one or more carriers. The term "carrier" may refer to a set of radio spectrum resources having a defined physical layer structure for supporting communication link 125. For example, a carrier for communication link 125 may include a portion of a radio frequency spectrum band (e.g., bandwidth portion (BWP)) that operates according to one or more physical layer channels for a given radio access technology (e.g., LTE, LTE-A, LTE-APro, NR). Each physical layer channel may carry acquisition signaling (e.g., synchronization signals, system information), control signaling for coordinating operations for carriers, user data, or other signaling. The wireless communication system 100 may use carrier aggregation or multi-carrier operation to support communication with UE 115. UE 115 may be configured with multiple downlink component carriers and one or more uplink component carriers according to a carrier aggregation configuration. Carrier aggregation may be used with both frequency division duplex (FDD) and time division duplex (TDD) component carriers.

[0059] The signal waveform transmitted through the carrier may be composed of multiple subcarriers (e.g., using multi-carrier modulation (MCM) techniques, such as orthogonal frequency division multiplexing (OFDM) or discrete Fourier transform spread OFDM (DFT-S-OFDM)). In a system employing MCM techniques, a resource element may include a symbol period (e.g., the duration of a modulation symbol) and a subcarrier, where the symbol period and the subcarrier spacing are anti-correlated. The number of bits carried by each resource element may depend on the modulation scheme (e.g., the order of the modulation scheme, the coding rate of the modulation scheme, or both). Therefore, the more resource elements received by UE 115 and the higher the order of the modulation scheme, the higher the data rate of UE 115 may be. Wireless communication resources may refer to a combination of radio frequency spectrum resources, time resources, and spatial resources (e.g., spatial layers or beams), and the use of multiple spatial layers may further improve the data rate or data integrity of communications with UE 115.

[0060] The time interval of the base station 105 or the UE 115 may be expressed as a multiple of a basic time unit. For example, the basic time unit may be T s =1 / (Δf max ·N f ) seconds sampling period, where Δf max It can represent the maximum supported subcarrier spacing, and N fThe maximum supported discrete Fourier transform (DFT) size may be indicated. Time intervals of communication resources may be organized according to radio frames, each having a specified duration (e.g., 10 milliseconds (ms)). Each radio frame may be identified by a system frame number (SFN), e.g., ranging from 0 to 1023.

[0061] Each frame may include multiple consecutively numbered subframes or time slots, and each subframe or time slot may have the same duration. In some examples, the frame may be divided (e.g., in the time domain) into subframes, and each subframe may be further divided into multiple time slots. Alternatively, each frame may include a variable number of time slots, and the number of time slots may depend on the subcarrier spacing. Each time slot may include multiple symbol periods (e.g., depending on the length of the cyclic prefix preceding each symbol period). In some wireless communication systems 100, the time slot may be further divided into multiple micro-time slots containing one or more symbols. In addition to the cyclic prefix, each symbol period may contain one or more (e.g., N f The duration of a symbol period may depend on the subcarrier spacing or the operating frequency band.

[0062] A subframe, slot, mini-slot, or symbol may be the smallest scheduling unit (e.g., in the time domain) of the wireless communication system 100 and may be referred to as a transmission time interval (TTI). In some examples, the TTI duration (e.g., the number of symbol periods in a TTI) may be variable. Additionally or alternatively, the smallest scheduling unit of the wireless communication system 100 may be dynamically selected (e.g., in a burst of a shortened TTI (sTTI)).

[0063] Physical channels may be multiplexed on a carrier according to various techniques. Physical control channels and physical data channels may be multiplexed on a downlink carrier, for example, using one or more of a time division multiplexing (TDM) technique, a frequency division multiplexing (FDM) technique, or a hybrid TDM-FDM technique. A control region (e.g., a control resource set (CORESET)) for a physical control channel may be defined by the number of symbol periods and may extend across a system bandwidth or a subset of a system bandwidth of a carrier. One or more control regions (e.g., CORESETs) may be configured for a set of UEs 115. For example, one or more UEs 115 may monitor or search for a control region for control information according to one or more search space sets, and each search space set may include one or more control channel candidates of one or more aggregation levels arranged in a cascaded manner. The aggregation level for a control channel candidate may refer to the number of control channel resources (e.g., control channel elements (CCEs)) associated with a coding information for a control information format having a given payload size. A search space set may include a common search space set configured for sending control information to multiple UEs 115 and a UE-specific search space set for sending control information to a specific UE 115.

[0064] Each base station 105 can provide communication coverage via one or more cells (e.g., macro cells, small cells, hot spots, or other types of cells, or various combinations thereof). The term "cell" can refer to a logical communication entity used to communicate with the base station 105 (e.g., via a carrier), and can be associated with an identifier (e.g., a physical cell identifier (PCID), a virtual cell identifier (VCID), or other identifier) ​​used to distinguish adjacent cells. In some examples, a cell can also refer to a geographic coverage area 110 or a portion of a geographic coverage area 110 (e.g., a sector) on which a logical communication entity operates. Depending on various factors such as the capabilities of the base station 105, these cells can range from smaller areas (e.g., structures, subsets of structures) to larger areas. For example, a cell can be or include a building, a subset of a building, or an external space between or overlapping geographic coverage areas 110, and the like.

[0065] A macro cell typically covers a relatively large geographic area (e.g., several kilometers in radius) and may allow unrestricted access by a UE 115 that has a service subscription with a network provider that supports the macro cell. A small cell may be associated with a base station 105 of lower power than a macro cell, and the small cell may operate in the same or different (e.g., licensed, unlicensed) frequency band as the macro cell. A small cell may provide unrestricted access to a UE 115 that has a service subscription with a network provider, or may provide restricted access to a UE 115 associated with a small cell (e.g., a UE 115 in a closed subscriber group (CSG), a UE 115 associated with a user in a home or office, etc.). A base station 105 may support one or more cells, and may also support communications on one or more cells using one or more component carriers.

[0066] In some examples, a carrier may support multiple cells, and different cells may be configured according to different protocol types (e.g., MTC, narrowband IoT (NB-IoT), enhanced mobile broadband (eMBB)) that may provide access to different types of devices.

[0067] In some examples, base stations 105 may be mobile and, therefore, provide communication coverage for mobile geographic coverage areas 110. In some examples, different geographic coverage areas 110 associated with different technologies may overlap, but the different geographic coverage areas 110 may be supported by the same base station 105. In other examples, overlapping geographic coverage areas 110 associated with different technologies may be supported by different base stations 105. The wireless communication system 100 may include, for example, a heterogeneous network in which different types of base stations 105 provide coverage for various geographic coverage areas 110 using the same or different radio access technologies.

[0068] The wireless communication system 100 can be configured to support ultra-reliable communication or low-latency communication or various combinations thereof. For example, the wireless communication system 100 can be configured to support ultra-reliable low-latency communication (URLLC) or mission-critical communication. UE115 can be designed to support ultra-reliable, low-latency or critical functions (e.g., mission-critical functions). Ultra-reliable communication can include private communication or group communication, and can be supported by one or more mission-critical services (such as mission-critical push-to-talk (MCPTT), mission-critical video (MCVideo), or mission-critical data (MCData). Support for mission-critical functions can include prioritization of services, and mission-critical services can be used for public safety or general commercial applications. The terms ultra-reliable, low-latency, mission-critical, and ultra-reliable low-latency are used interchangeably in this article.

[0069] In some examples, the UE 115 is also able to communicate directly with other UEs 115 via a device-to-device (D2D) communication link 135 (e.g., using a peer-to-peer (P2P) or D2D protocol). One or more UEs 115 utilizing D2D communication may be within the geographic coverage area 110 of the base station 105. Other UEs 115 in such a group may be outside the geographic coverage area 110 of the base station 105, or may not otherwise be able to receive transmissions from the base station 105. In some examples, a group of UEs 115 communicating via D2D communication may utilize a one-to-many (1:M) system, in which each UE 115 transmits to each other UE 115 in the group. In some examples, the base station 105 facilitates the scheduling of resources for D2D communication. In other cases, D2D communication is performed between UEs 115 without the participation of the base station 105.

[0070] In some systems, the D2D communication link 135 can be an example of a communication channel (such as a sidelink communication channel) between vehicles (e.g., UE 115). In some examples, vehicles can communicate using V2X communication, V2V communication, or some combination of these communications. Vehicles can signal information related to traffic conditions, signal scheduling, weather, safety, emergency situations, or any other information related to the V2X system. In some examples, vehicles in a V2X system can communicate with roadside infrastructure (such as roadside units), or communicate with a network using vehicle-to-network (V2N) communication via one or more network nodes (e.g., base station 105), or both.

[0071] The core network 130 may provide user authentication, access authentication, tracking, Internet Protocol (IP) connection, and other access, routing, or mobility functions. The core network 130 may be an evolved packet core (EPC) or a 5G core (5GC), which may include at least one control plane entity (e.g., a mobility management entity (MME), an access and mobility management function (AMF)) for managing access and mobility and at least one user plane entity (e.g., a serving gateway (S-GW), a packet data network (PDN) gateway (P-GW), or a user plane function (UPF)) for routing packets or interconnections to an external network. The control plane entity may manage non-access stratum (NAS) functions associated with the core network 130 for UE 115 served by the base station 105, such as mobility, authentication, and bearer management. User IP packets may be delivered through a user plane entity, which may provide IP address allocation and other functions. The user plane entity may be connected to the IP service 150 of one or more network operators. IP services 150 may include access to the Internet, an intranet, an IP Multimedia Subsystem (IMS), or packet-switched streaming services.

[0072] Some network devices, such as base stations 105, may include subcomponents, such as access network entities 140, which may be examples of access node controllers (ANCs). Each access network entity 140 may communicate with UE 115 through one or more other access network transmission entities 145, which may be referred to as radio heads, smart radio heads, or transmit / receive points (TRPs). Each access network transmission entity 145 may include one or more antenna panels. In some configurations, the various functions of each access network entity 140 or base station 105 may be distributed across various network devices (e.g., radio heads and ANCs), or merged into a single network device (e.g., base station 105).

[0073] The wireless communication system 100 may operate using one or more frequency bands, typically in the range of 300 megahertz (MHz) to 300 gigahertz (GHz). Typically, the region from 300 MHz to 3 GHz is referred to as the ultra-high frequency (UHF) region or decimeter band because the wavelength ranges from approximately one decimeter to one meter in length. UHF waves may be blocked or redirected by buildings and environmental features, but the waves may be sufficient to penetrate structures for macro cells to provide services to UEs 115 located indoors. Transmission of UHF waves may be associated with smaller antennas and shorter distances (e.g., less than 100 kilometers) compared to transmission of smaller frequencies and longer waves in the high frequency (HF) or very high frequency (VHF) portions of the spectrum below 300 MHz.

[0074] The wireless communication system 100 can utilize both licensed and unlicensed radio frequency spectrum bands. For example, the wireless communication system 100 can employ license assisted access (LAA), unlicensed LTE (LTE-U) radio access technology, or NR technology in an unlicensed band such as the 5 GHz industrial, scientific, and medical (ISM) band. When operating in an unlicensed radio frequency spectrum band, devices such as base stations 105 and UEs 115 can employ carrier sensing for conflict detection and avoidance. In some examples, operations in an unlicensed band can be based on a carrier aggregation configuration (e.g., LAA) in conjunction with component carriers operating in a licensed band. Operations in an unlicensed spectrum can include downlink transmissions, uplink transmissions, P2P transmissions, or D2D transmissions, among others.

[0075] The base station 105 or UE 115 may be equipped with multiple antennas, which may be used to employ technologies such as transmit diversity, receive diversity, multiple-input multiple-output (MIMO) communications, or beamforming. The antennas of the base station 105 or UE 115 may be located within one or more antenna arrays or antenna panels, which may support MIMO operations or transmit or receive beamforming. For example, one or more base station antennas or antenna arrays may be co-located at an antenna assembly such as an antenna tower. In some examples, the antennas or antenna arrays associated with the base station 105 may be located at different geographical locations. The base station 105 may have an antenna array with multiple rows and columns of antenna ports, which the base station 105 may use to support beamforming for communications with the UE 115. Similarly, the UE 115 may have one or more antenna arrays, which may support various MIMO or beamforming operations. Additionally or alternatively, the antenna panel may support radio frequency beamforming for signals sent via the antenna ports.

[0076] Beamforming (which may also be referred to as spatial filtering, directional transmission, or directional reception) is a signal processing technique that may be used at a transmitting device or a receiving device (e.g., a base station 105 or a UE 115) to form or direct an antenna beam (e.g., a transmit beam, a receive beam) along a spatial path between the transmitting device and the receiving device. Beamforming may be achieved by combining signals transmitted via antenna elements of an antenna array so that some signals propagating in a particular direction relative to the antenna array experience constructive interference, while other signals experience destructive interference. Adjustments to signals transmitted via antenna elements may include the transmitting device or the receiving device applying an amplitude offset, a phase offset, or both to signals carried via antenna elements associated with the device. Adjustments associated with each antenna element may be defined by a set of beamforming weights associated with a particular direction (e.g., relative to the antenna array of the transmitting device or the receiving device, or relative to some other direction).

[0077] In some systems, UE 115 may share sensor-based information with other UEs 115 via D2D communication link 135. For example, D2D communication link 135 may be an example of a sidelink communication link, such as a V2X or V2V communication link (e.g., if UE 115 is an example of a vehicle or vehicle component in a V2X system). UE 115 may periodically or aperiodically share sensor-based information to alert other UEs 115 of aspects of the UE environment detected using one or more sensors. For example, UE 115 may be equipped with one or more of a lidar sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor, or any combination thereof.

[0078] If the UE 115 detects an object (e.g., a VRU, a vehicle, a wild animal, a stationary object, an obstacle, or some other object), the UE 115 may share the location information of the perceived object with one or more other UEs 115 via the SSM. In some cases, the UE 115 may measure the location of the object relative to the absolute location of the UE 115, where the absolute location of the UE 115 is a geographic coordinate determined by a positioning system (such as GPS, GNSS, or both). The UE 115 may send an indication of the location of the perceived object to one or more receiving UEs 115, where the indicated location is the absolute location relative to the UE 115.

[0079] The receiving UE 115 receiving the SSM may determine the location of the sensing object relative to the location of the receiving UE 115. For example, the receiving UE 115 may determine the location of the sensing object based on the absolute location of the receiving UE 115, the absolute location of the indication of the sensing UE 115, and the location of the sensing object relative to the indication of the sensing UE 115. For example, if the location of the sensing UE 115 is defined as (x 1 ,y 1 ,z 1 ), the relative position of the perceived object is defined as (Δx, Δy, Δz), and the position of the receiving UE 115 is defined as (x 2 ,y 2 ,z 2 ), the receiving UE 115 can calculate (x 1 ,y 1 ,z 1 )+(Δx,Δy,Δz)-(x 2 ,y 2 ,z 2 ) to determine the location of the perceived object relative to the location of the receiving UE 115.

[0080] When determining the position of a sensing object relative to the receiving UE 115 based on the absolute position of the receiving UE 115, the absolute position of the sensing UE 115, and the position of the sensing object relative to the absolute position of the sensing UE 115, there are at least three potential sources of measurement errors in the calculation: an absolute position error associated with determining the absolute position of the receiving UE 115, an absolute position error associated with determining the absolute position of the sensing UE 115, and a sensor error associated with sensing the position of the sensing object relative to the sensing UE 115. For example, the sensing UE 115 may perform two measurements that may include errors (e.g., one absolute position measurement and one relative position measurement), and the receiving UE 115 may perform a measurement that may include errors (e.g., one absolute position measurement).

[0081] In some cases, the absolute position error may be large relative to the sensor error. For example, the absolute position determined based on GPS signaling may include an error on the scale of one or several meters, while the relative position determined based on a lidar sensor may include an error on the scale of one or several centimeters (e.g., about 100 times smaller than the absolute position error). In some cases, the error contribution caused by the absolute position error may adversely affect the ability of the receiving UE 115 to use the shared sensor information from the sensing UE 115 to improve performance. Additionally or alternatively, the error contribution caused by the absolute position error may adversely affect the decision-making of the UE 115, which may in turn affect the safety and autonomous driving of the UE 115. For example, if a vehicle receives an inaccurate object position, the vehicle may determine an erroneous trajectory prediction for one or more objects, which may lead to danger, collision, or inefficient driving decisions.

[0082] The technology described herein relates to improved methods, systems, devices, and apparatuses that support alternative coordinate systems for sensor sharing. In general, a UE 115 may determine the position of a detected object relative to a common reference point, such as a roadside feature that may be detected by a UE 115 that sends an SSM and one or more other UEs 115 that receive the SSM. The UE 115 may send an indication of the position of the perceived object relative to the common reference point to one or more other UEs 115. In some examples, the receiving UE 115 may determine the position of the common reference point relative to the receiving UE 115, and determine the position of the perceived object relative to the receiving UE 115 based on the position of the perceived object relative to the common reference point. In some cases, determining the position of the perceived object based on the relative position of the perceived object to the common reference point may enable the position of the perceived object to be transmitted independently of the absolute position of one or more UEs 115 (e.g., the UE 115 that sends the SSM and the UE 115 that receives the SSM). In some cases, transmitting the position of the perceived object independently of the absolute position may reduce or otherwise mitigate the error associated with measuring the absolute position, thereby more accurately transmitting and determining the position of the object. In some examples, in addition to or in lieu of including in the SSM the location of the object relative to the absolute location of UE 115, UE 115 may include in the SSM the location of the object relative to a reference entity.

[0083] Figure 2 An example of a wireless communication system 200 that supports an alternative coordinate system for sensor sharing according to aspects of the present disclosure is illustrated. In some examples, the wireless communication system 200 can implement aspects of the wireless communication system 100. The wireless communication system 200 can include UE 115-a and UE 115-b, which can be reference Figure 1An example of a UE 115 is described. UE 115-a and UE 115-b may support sensor sharing for vehicle-based communications, such as V2X, V2V, and CV2X communications. For example, UE 115-a may share location information for use by UE 115-b.

[0084] In the wireless communication system 200, UE 115-a can share sensor information with UE 115-b via a wireless link 205. The wireless link 205 can be an example of a side link communication link, a link supporting broadcast transmission, or a combination thereof. UE 115-a can send an SSM 210 containing sensor information to UE 115-b via the wireless link 205. Additionally or alternatively, UE 115-a can broadcast the SSM 210 for use by multiple UEs 115 within a sensor sharing range 225. UE 115-a can share the location of a perceived object 215 relative to a common reference point 220 in the SSM 210.

[0085] UE 115-a may identify a perceived object 215 and determine to share the location of the perceived object 215 with UE 115-b (or any other UE 115 within the sensor sharing range 225 and monitoring the SSM 210). UE 115-a may select a common reference point 220 to support sharing the location of the perceived object 215. UE 115-a may determine the location of the perceived object 215 relative to the location of the selected common reference point 220. In some cases, UE 115-a may determine the location of the perceived object 215 in a coordinate system based on the location of the common reference point 220. For example, UE 115-a may determine the location of the perceived object 215 in a coordinate system in which the common reference point 220 is located at the origin, and the location of the perceived object is described as a set of coordinates relative to the origin (e.g., common reference point 220). In some cases, the distance and direction between the perceived object 215 and the common reference point 220 may be referred to as an offset.

[0086] UE 115-a may configure SSM 210 to share position information of perceived object 215 with UE 115-b. In some cases, SSM 210 may include an indication of common reference point 220 and an indication of an offset between a selected common reference point 220 and perceived object 215. In some cases, the indication of common reference point 220 may include an absolute position of common reference point 220, an object identifier (ID) of common reference point 220 (e.g., a reference entity corresponding to common reference point 220). In some cases, the indication of common reference point 220 may include one or more of latitude, longitude, or altitude of common reference point 220. For example, SSM 210 may include a field including an indication of common reference point 220, where the field may be referred to as refPosSec (e.g., a reference position field for a second coordinate system) and may contain Position3D (e.g., latitude, longitude, and altitude of common reference point 220). In some cases, the indication of the offset between the selected common reference point 220 and the perceived object 215 may indicate the position of the perceived object 215 relative to the selected common reference point 220 in a field of the SSM 210. In some cases, the indication of the offset between the selected common reference point 220 and the perceived object 215 may be a set of coordinates relative to the position of the common reference point 220. For example, the SSM 210 may include a field including the indication of the offset between the selected common reference point 220 and the perceived object 215, where the field may be referred to as posSec (e.g., a position field for a second coordinate system) and may contain PositionOffsetLLV (e.g., the latitude, longitude, and altitude of the position of the perceived object 215 relative to the common reference point 220).

[0087] Additionally, in some cases, the SSM 210 may be configured to include an indication of accuracy associated with the indication of the common reference point 220, an indication of accuracy associated with the indication of the offset between the common reference point 220 and the perceived object 215, or both. In some cases, the indication of accuracy associated with the indication of the common reference point 220 may provide an indication of accuracy or error (e.g., potential sensor error) associated with one or more of the latitude, longitude, or altitude of the common reference point 220. For example, the SSM 210 may include a field that includes an indication of accuracy associated with the indication of the common reference point 220, where the field may be referred to as accuracySsec (e.g., an accuracy field for the selected reference entity of the second coordinate system) and may include a DF_PositionConfidenceSet (e.g., the latitude, longitude, and altitude accuracy of the selected reference entity). In some cases, the indication of accuracy associated with the indication of the offset between the common reference point 220 and the perceived object 215 may provide an indication of the accuracy or error (e.g., potential sensor error) associated with the accuracy of the position offset between the perceived object 215 and the common reference point 220. For example, the SSM 210 may include a field including an indication of accuracy associated with the indication of the offset between the common reference point 220 and the perceived object 215, where the field may be referred to as accuracySec (e.g., an accuracy field for the position offset of the object for the second coordinate system) and may include a DF_PositionConfidenceSet (e.g., the latitude, longitude, and altitude accuracy of the position offset of the object).

[0088] UE 115-a may select a common object detectable by both UE 115-a and UE 115-b to be used as a common reference point 220. In some examples, the common object may be a roadside feature such as a street light, a traffic light, a stop sign, a speed sign, a tree, a fire hydrant, or any other permanent or semi-permanent feature (e.g., that does not move).

[0089] In some examples, UE 115-a may select an entity that is obvious and observable to all (or most) UEs 115 within the sensor sharing range 225, such as a traffic light. For example, UE 115-a may predict or otherwise determine observability metrics for multiple entities observable by UE 115-a (e.g., based on the location of the entity, obstacles around the entity, characteristics of the entity, etc.), and may select the entity as a reference entity (e.g., common reference point 220) based on the predicted observability metrics. For example, UE 115-a may determine one or more predicted observability metrics to inform the selection of a fixed entity for use as common reference point 220. The predicted observability metrics may be related to one or more physical characteristics of the fixed entity and one or more characteristics of the sensor sharing range 225. Additionally or alternatively, one or more predicted observability metrics may be based on one or more SSMs shared by other UEs 115 within the sensor sharing range 225 and received by UE 115-a. For example, the predicted observability metric may provide a metric of how many UEs 115 within the sensor sharing range 225 detect a particular fixed entity. Additionally or alternatively, one or more predicted observability metrics may measure whether a particular fixed entity is relatively prominent compared to the surrounding environment.

[0090] In some examples, UE 115-a may monitor one or more other SSMs transmitted by other UEs 115 (such as UE 115-b within sensor sharing range 225) and may select an object as a reference entity (e.g., common reference point 220) based on the received SSMs. For example, UE 115-a may select a common object reported in each received SSM (e.g., in a detected object field of the SSM, such as detObj). In some cases, UE 115-a may select objects detected by all other UEs 115 transmitting SSMs within sensor sharing range 225. In some other cases, UE 115-a may determine a set of objects detected in different SSMs and may select objects based on the occurrence rate of the objects across SSMs, based on the ability of the UE 115 transmitting the SSM to use an alternative coordinate system, or based on both.

[0091] In some examples, UE 115-a may select a common object marked in a local high definition (HD) map of UE 115 within sensor sharing range 225. For example, UE 115-a may receive an indicator associated with a local HD map from UE 115 within sensor sharing range 225 (e.g., in an SSM or other message), where the indicator indicates the local HD map or an entity marked in the local HD map. UE 115-a may select an object as a reference entity (e.g., common reference point 220) based on the local HD map of UE 115 (e.g., an object marked in all or most of the local HD map indicated to UE 115-a).

[0092] In some examples, UE 115-a may indicate multiple candidate reference entities in a first SSM 210 (or multiple first SSMs 210) to be used as a common reference point 220. UE 115-a may receive an indication of preference for one or more candidates from UE 115-b or multiple UEs 115 (e.g., in one or more additional SSMs or other messages). For example, a response message (e.g., an SSM, a UE capability message, etc.) may include a field for indicating one or more preferred entities (e.g., a sorted order of the entities) to be used as a common reference point 220 of an alternative coordinate system. UE 115-a may select an object as a reference entity (e.g., a common reference point 220) based on the indicated preferences from UE 115-b or from a set of UEs 115. For example, UE 115-a may implement functionality or other processes for weighting preferences (e.g., sorted entities) from multiple UEs 115, and may select a reference entity for the indicated candidate reference entities based on the weighted preferences.

[0093] In some examples, UE 115-a may indicate in a first SSM 210 an ability to share the location of a perceived object 215 via an alternative coordinate system for sensor sharing (e.g., using location information relative to a reference entity). In response to receiving the indication of the capability, UE 115-b may send an interest indicator (e.g., indicating that UE 115-b may use location information relative to a reference entity to determine the location of an object), a list of reference entities that may be used as a common reference point 220, or both in a response message (e.g., an SSM, a UE capabilities message, etc.). UE 115-a may select a reference entity (e.g., a common reference point 220) based on the response message from UE 115-b (e.g., selecting the reference entity from the list of reference entities) to use as the common reference point 220 for transmission of the SSM 210. Additionally or alternatively, UE 115-b may send a message (e.g., an SSM, a UE capabilities message, etc.) indicating the ability to determine the location of an object using an alternative coordinate system, and UE 115-a may select an object to use as a reference entity based on the indicated capability from UE 115-b.

[0094] UE 115-a may indicate a selected reference entity in SSM 210 so that UE 115-b may determine that the same reference entity is used to determine the relative position of an object. In some cases, the indication of the reference entity (e.g., an indication of a common reference point 220) may be the location of the common reference point 220. The location of the common reference point 220 may be an absolute location of the common reference point 220 or a relative location of the common reference point 220. In some cases, the absolute location of the common reference point 220 may be known based on a local HD map. In some other cases, the absolute location of the common reference point 220 may be determined based on the relative location of the common reference point 220 to the absolute location of UE 115-a. However, since the indication may be used by UE 115-b to determine the selected reference entity—rather than calculating the location of the perceived object 215—using the absolute location of UE 115-a to indicate the selected reference entity may not adversely affect the accuracy of determining the location of the perceived object 215.

[0095] UE 115-b may receive SSM 210 from UE 115-a and use the location information included in SSM 210 to inform operations, such as driving decisions. UE 115-b may determine the location of perceived object 215 relative to UE 115-b based on the indicated common reference point 220 and the location of perceived object 215 relative to common reference point 220. In some cases, the absolute location of common reference point 220 may be considered an approximate location. In some such cases, UE 115-b may use the approximate location of common reference point 220 to locate common reference point 220 using one or more sensors on UE 115-b, and UE 115-b may use the one or more sensors to determine the offset between UE 115-b and common reference point 220. UE 115 - b may use the determined offset between UE 115 - b and the common reference point 220 to determine an offset between UE 115 - b and the perceived object 215 (eg, using an indicated position of the perceived object 215 relative to the common reference point 220 in the SSM 210 ).

[0096] Figure 3 An example of a wireless communication system 300 supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure is illustrated. In some examples, the wireless communication system 300 can implement aspects of the wireless communication system 100 and the wireless communication system 200. The wireless communication system 300 can include a sensing vehicle 305 and a receiving vehicle 310, which can be reference vehicles. Figure 1 and Figure 2 An example of a UE 115 is depicted. A sensing vehicle 305 and a receiving vehicle 310 may travel along a road 350.

[0097] The sensing vehicle 305 may detect the presence of a VRU 315 (or another object of interest), which may be a reference Figure 2 An example of a sensing object 215 is described. The sensing vehicle 305 can determine the location of the shared VRU 315 with the receiving vehicle 310. In some cases, the sensing vehicle 305 can determine the location of the shared VRU 315 relative to the common reference point 320 or relative to the absolute location of the sensing vehicle 305 based on the accuracy of the absolute location measurement.

[0098] The sensing vehicle 305 may select a fixed entity to use as a common reference point 320. Figure 3As shown, while the sensing vehicle 305 may select a streetlight as the common reference point 320, the sensing vehicle 305 may select any object that is detectable by both the sensing vehicle 305 and the receiving vehicle 310, such as a traffic light, a tree, a fire hydrant, a point on a building, or a similar roadside feature. In some cases, the sensing vehicle 305 may select a fixed entity for use as the common reference point 320 that is obvious and observable to all receiving UEs 115 within the sensor sharing range of the sensing vehicle 305. Additionally or alternatively, the sensing vehicle 305 may select a common object for use as the common reference point 320 based on signaling or instructions from the receiving vehicle 310.

[0099] The sensing vehicle 305 may determine the position of the VRU 315 relative to the common reference point 320 by measuring the position of the common reference point 320 to the sensing vehicle 305 (eg, using one or more sensors) and measuring the position of the VRU 315 relative to the sensing vehicle 305 (eg, using one or more sensors).

[0100] The sensing vehicle 305 can determine the position of the common reference point 320 relative to the sensing vehicle 305 by measuring the distance between the sensing vehicle 305 and the common reference point 320 in the x-direction, y-direction, and z-direction relative to a coordinate system 355-a (e.g., a coordinate system centered on the sensing vehicle 305 or otherwise using the sensing vehicle 305 as an origin), which can be referred to as a reference point-to-sensing vehicle offset 330. For example, the coordinate system 355-a can be centered on a sensor of the sensing vehicle 305 that is used to sense the common reference point 320, the VRU 315, or both. The reference point-to-sensing vehicle offset 330 can be represented as a vector (x 1 ,y 1 ,z 1 ), where x 1 is the distance between the common reference point 320 and the sensing vehicle 305 in the x direction, and y 1 is the distance between the common reference point 320 and the sensing vehicle 305 in the y direction, and z 1 is in the z direction (ie, orthogonal to the xy plane and in Figure 3 The sensing vehicle 305 can also determine the position of the VRU 315 relative to the sensing vehicle 305 by measuring the displacement between the sensing vehicle 305 and the VRU 315 in the x-direction, the y-direction, and the z-direction, which can be referred to as the sensing vehicle to VRU offset 335. The sensing vehicle to VRU offset 335 can be represented as a vector (x 2 ,y 2 ,z 2 ), where x 2is the distance between the VRU 315 and the sensing vehicle 305 in the x direction, and y 2 is the distance between the VRU 315 and the sensing vehicle 305 in the y direction, and z 2 is the distance between the VRU 315 and the sensing vehicle 305 in the z-direction (eg, reference coordinate system 355 - a ).

[0101] The sensing vehicle 305 may determine the position of the VRU 315 relative to the position of the selected common reference point 320 by adding the common reference point to sensing vehicle offset 330 and the sensing vehicle to VRU offset 335, which may be referred to as the reference point to VRU offset 325. The reference point to VRU offset 325 may be represented as a vector (Δx 1 ,Δy 1 ,Δz 1 ), where Δx 1 is the distance between the common reference point 320 and the VRU 315 in the x direction, Δy 1 is the distance between the common reference point 320 and the VRU 315 in the y direction, and Δz 1 is the distance between the common reference point 320 and the VRU 315 in the z direction. In some examples, the reference point to VRU offset 325 may be determined as follows: (Δx 1 ,Δy 1 ,Δz 1 )=(x 1 ,y 1 ,z 1 )+(x 2 ,y 2 ,z 2 ). Such calculations may convert the location of the VRU 315 from a coordinate system 355 - a corresponding to the sensing vehicle 305 based coordinate system 355 - b (eg, an alternative coordinate system) based on the common reference point 320 .

[0102] The sensing vehicle 305 may determine the location of the VRU 315 relative to the common reference point 320 based on coordinates, vectors, or both. For example, the sensing vehicle 305 may determine the coordinates of the VRU 315 and the common reference point 320 relative to the sensing vehicle 305. For example, the sensing vehicle 305 may define its location as (0,0,0) (e.g., corresponding to the coordinate system 355-a), and may define the coordinates of the VRU 315 and the common reference point 320 based on the distances between the sensing vehicle 305 and the VRU 315 and the common reference point 320 in the x-direction, the y-direction, and the z-direction. The sensing vehicle 305 may determine the coordinates of the VRU 315 as (x,y,z). 1 ,y 1 ,z 1) and the coordinates of the common reference point 320 are determined as (x 2 ,y 2 ,z 2 ). The sensing vehicle 305 may determine the position of the VRU 315 relative to the common reference point 320 by determining the coordinates of the VRU 315 relative to the common reference point 320. In some cases, the sensing vehicle 305 may move the origin of the coordinate system 355-a to define the position of the common reference point 320 as the origin (e.g., corresponding to the coordinate system 355-b), and may determine the coordinates of the VRU 315 relative to the common reference point 320. For example, the sensing vehicle 305 may determine the coordinates of the VRU 315 relative to the common reference point 320 by performing a coordinate transformation. For example, the coordinate transformation may be defined as (x 3 ,y 3 ,z 3 )=(x 1 ,y 1 ,z 1 )-(x 2 ,y 2 ,z 2 ), where (x 3 ,y 3 ,z 3 ) is the coordinate of VRU 315 relative to common reference point 320, (x 1 ,y 1 ,z 1 ) are the coordinates of the VRU 315 relative to the sensing vehicle 305, and (x 2 ,y 2 ,z 2 ) are the coordinates of the common reference point 320 relative to the sensing vehicle 305.

[0103] The sensing vehicle 305 may share the common reference point 320 and the indication of the reference point to VRU offset 325 with the receiving vehicle 310 via the SSM. The sensing vehicle 305 may also include an indication of the accuracy of the common reference point 320 and the indication of the reference point to VRU offset 325 in the SSM.

[0104] The receiving vehicle 310 may determine the location of the VRU 315 relative to the location of the receiving vehicle 310 based on the information received from the sensing vehicle 305 in the SSM. For example, the receiving vehicle 310 may determine the location of the VRU 315 relative to the location of the receiving vehicle 310 by determining a location offset between the receiving vehicle 310 and a common reference point 320 (which may be referred to as a reference point-to-receiving vehicle offset 340), and adding the reference point-to-receiving vehicle offset 340 and the reference point-to-VRU offset 325 (e.g., using vectors, coordinates, or both).

[0105] The receiving vehicle 310 may receive an indication of the location of the common reference point 320 from the sensing vehicle 305. The receiving vehicle 310 may use the indication of the location of the common reference point 320 to determine the location of the common reference point 320 relative to the receiving vehicle 310, which may be referred to as a reference point to receiving vehicle offset 340. The reference point to receiving vehicle offset 340 may be represented as a vector (x 3 ,y 3 ,z 3 ), where x 3 is the distance between the common reference point 320 and the receiving vehicle 310 in the x direction, and y 3 is the distance between the common reference point 320 and the receiving vehicle 310 in the y direction, and z 3 is the distance in the z direction between the common reference point 320 and the receiving vehicle 310. The receiving vehicle 310 may determine a reference point to receiving vehicle offset 340 based on the indication of the common reference point 320 in the received SSM using one or more sensors at the receiving vehicle 310. In addition, the receiving vehicle 310 may determine a reference point to VRU offset 325 based on a value indicated in the received SSM and calculated by the sensing vehicle 305.

[0106] The receiving vehicle 310 can determine the position of the VRU 315 relative to the position of the receiving vehicle 310 by adding the reference point to receiving vehicle offset 340 and the reference point to VRU offset 325 (e.g., using vectors, coordinates, or both), which can be referred to as the receiving vehicle to VRU offset 345. The receiving vehicle to VRU offset 345 can be represented as a vector (Δx 2 ,Δy 2 ,Δz 2 ), where Δx 2 is the distance between the receiving vehicle 310 and the VRU 315 in the x direction, Δy 2 is the distance between the receiving vehicle 310 and the VRU 315 in the y direction, and Δz 2 is the distance between the receiving vehicle 310 and the VRU 315 in the z direction. In some examples, the receiving vehicle to VRU offset 345 may be determined as follows: (Δx 2 ,Δy 2 ,Δz 2 )=(x 3 ,y 3 ,z 3 )+(Δx 1 ,Δy 1 ,Δz 1). Thus, without detecting the VRU 315 using one or more sensors, the receiving vehicle 310 can determine the location of the VRU 315 based on the received SSM and the common reference point 320. The receiving vehicle 310 can use this information to assist in autonomous driving operations (e.g., to avoid collision with the VRU 315) or other operations or messaging.

[0107] In some examples, the SSM may include positioning information of an object (e.g., VRU 315) using a primary coordinate system (e.g., relative to the absolute position of the sensing vehicle 305), a secondary coordinate system (e.g., relative to a common reference point 320 as described herein), or both. For example, the SSM may include fields for defining the position, accuracy, or both of the two coordinate systems. If one coordinate system is used, the sensing vehicle 305 may leave one or more fields blank (or include a default value). Alternatively, the sensing vehicle 305 may include location information for the two coordinate systems. The receiving vehicle 310 may use the location information of one or both coordinate systems. For example, the receiving vehicle 310 may determine whether to use the primary coordinate system or the secondary coordinate system based on a measure of accuracy of the primary coordinate system, the secondary coordinate system, or both, based on the ability of the receiving vehicle 310 to use the secondary coordinate system, based on the ability of the receiving vehicle 310 to detect the common reference point 320, or based on some combination thereof. Alternatively, the receiving vehicle 310 may determine the location of the VRU 315 using both the primary coordinate system and the secondary coordinate system.

[0108] Figure 4 An example of a wireless communication system 400 supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure is illustrated. In some examples, the wireless communication system 400 can implement aspects of the wireless communication system 100, the wireless communication system 200, the wireless communication system 300, or a combination thereof. The wireless communication system 400 can include a sensing vehicle 405, a connected vehicle 410, and a non-connected vehicle 415, which can be reference Figures 1 to 3 An example of a UE 115 is depicted. A sensing vehicle 405 , a connected vehicle 410 , and a non-connected vehicle 415 may travel along a road 445 .

[0109] The sensing vehicle 405 may detect the presence of the VRU 420 (or another object) and the non-connected vehicle 415. The non-connected vehicle 415 may be an example of a vehicle that does not support V2X communication. The sensing vehicle 405 may determine to broadcast location information about the VRU 420 and the non-connected vehicle 415 so that it can be used by other UEs 115 (such as the connected vehicle 410) within the sensor sharing range of the sensing vehicle 405.

[0110] The sensing vehicle 405 may broadcast location information about the VRU 420 and the non-connected vehicle 415 in the SSM, which may be a reference Figure 2 An example of an SSM 210 is described. In some examples, the sensing vehicle 405 can broadcast location information in one or more coordinate systems. For example, the sensing vehicle 405 can provide information about the location of the VRU 420 and the non-connected vehicle 415 in the same SSM in a coordinate system relative to the absolute location of the sensing vehicle 405, in a coordinate system relative to the location of the common reference point 425, or in both.

[0111] In some cases, two or more objects may be observed by different sensors on the sensing vehicle 405. For example, since the VRU 420 and the common reference point 425 are observed in the first sensor range 430, the VRU 420 and the common reference point 425 may be detected by the first sensor, and since the non-connected vehicle 415 is observed in the second sensor range 435, the non-connected vehicle 415 may be detected by the second sensor. In some cases, based on the sensing vehicle 405 sensing the positions of the VRU 420 and the common reference point 425 using the same sensor, the sensing vehicle 405 may support calculating the relative position of the VRU 420 relative to the common reference point 425. In some cases, the sensing vehicle 405 may perform additional transformations on the position information to associate the positions of the objects observed by the different sensors. For example, the sensing vehicle 405 may perform additional transformations so that the positions of the objects detected by sensors other than the sensor used to detect the common reference point 425 can be broadcast in a coordinate system relative to the position of the common reference point 425. In some other cases, the sensing vehicle 405 may determine not to calculate the relative position of objects detected by different sensors on the sensing vehicle 405. For example, the sensing vehicle 405 may refrain from calculating the relative position of the non-connected vehicle 415 with respect to the common reference point 425 based on detecting the non-connected vehicle 415 and the common reference point 425 using different sensors. In some cases, the determination to broadcast or not broadcast the relative position of objects observed by different sensors on the sensing vehicle 405 may be based on one or more error thresholds associated with the position measurements, transformations, or both.

[0112] In some cases, the wireless communication system 400 may include a roadside unit (RSU), such as RSU 440. RSU 440 may assist in determining a reference point or fixed entity to be used as a common reference point 425 for sharing location information by the sensing vehicle 405. In some cases, the RSU 440 may broadcast an indication of a preferred fixed entity to be used as a common reference point 425 for an alternative coordinate system, and this indication may include the absolute location of the common reference point 425. In some examples, the sensing vehicle 405, the connected vehicle 410, or both may use the indication of the absolute location of the common reference point 425 to determine the location of one or more observed objects and inform driving decisions.

[0113] In some cases, the RSU 440 may be used to determine the absolute position of the common reference point 425 determined by the sensing vehicle 405. The RSU 440 may contain relatively accurate absolute position information about objects near the RSU 440. In some cases, the RSU 440 may receive an SSM from the sensing vehicle 405 containing position information about the common reference point 420. The RSU 440 may determine more accurate absolute position information for the indicated common reference point 425, and the RSU 440 may broadcast the more accurate absolute position information for use by the sensing vehicle 405, the connected vehicle 410, or both.

[0114] In some cases, the sensing vehicle 405 may use the RSU 440 as a common reference point 425 for sharing location information associated with the VRU 420. In some cases, the absolute location of the RSU 440 may be known to all UEs 115 within the wireless communication system 400. Additionally or alternatively, the location of the RSU 440 may be used to offset absolute location errors associated with determining the absolute location of the common reference point 425.

[0115] Figure 5 An example of a process flow 500 supporting an alternative coordinate system for sensor sharing in accordance with aspects of the present disclosure is illustrated. In some examples, the process flow 500 may implement aspects of the wireless communication system 100, the wireless communication system 200, the wireless communication system 300, the wireless communication system 400, or a combination thereof. The process flow 500 may be implemented by a UE 115-c and a UE 115-d to share sensor information to improve UE decisions and performance.

[0116] In the following description of process flow 500, operations between UE 115-c and UE 115-d may be performed in an order different from the example order shown, or operations performed by UE 115-c and UE 115-d may be performed in a different order or at a different time. Certain operations may also be omitted from process flow 500, and other operations may be added to process flow 500. UE 115-c and UE 115-d may be as described in reference Figures 1 to 4 Examples of UE 115, vehicles, or both are described.

[0117] At 505, UE 115-c may detect an object. The object may be an object within a sensor range of UE 115-c. UE 115-c may detect the object with one or more lidars, radars, cameras, or ultrasound. The object may be a stationary or moving object that may be on, near, or above a road. The object may be any object, such as a VRU, a wild animal, a non-connected vehicle, road gravel, or any other such object. UE 115-c may determine to share the location of the detected object with UE 115-d.

[0118] At 510, UE 115-c may select a reference entity that is detectable by UE 115-d. In some cases, the selection of the reference entity may include selecting the reference entity based on a predicted observability metric associated with the reference entity. Additionally or alternatively, the selection of the reference entity may include receiving one or more SSMs including a list of detected entities from UE 115-d, and selecting the reference entity from a set of candidate entities from the list of detected entities. Additionally or alternatively, the selection of the reference entity may include receiving one or more indicators associated with a local HD map of a UE 115 (such as UE 115-d) from UE 115-d, and selecting the reference entity from a set of candidate entities marked in each of the corresponding local HD maps of multiple UEs 115 based on the one or more indicators.

[0119] At 515, the UE 115-c may determine the position of the object relative to the selected reference entity. In some cases, the UE 115-c may determine the position of the object relative to the selected reference entity by determining the position of the object relative to the UE 115-c, determining the position of the selected reference entity relative to the UE 115-c, and calculating the position of the object relative to the selected reference entity based on the relative position of the UE 115-c.

[0120] At 520, UE 115-c may send an SSM including a location of the object relative to a selected reference entity and an indication of the selected reference entity to UE 115-d. In some examples, the SSM may also include an indication of a level of accuracy for the location of the object. In some examples, the indication of the selected reference entity may include the location of the selected reference entity relative to UE 115-c.

[0121] At 525, UE 115-d may detect a location of a reference entity relative to the location of UE 115-d. In some cases, UE 115-d may detect the selected reference entity using a sensor equipped to UE 115-d. The sensor may include a lidar sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor, or any combination thereof.

[0122] At 530, UE 115-d may determine the location of the object relative to UE 115-d based on the location of the object relative to the location of the selected reference entity and the detected location of the selected reference entity. In this manner, UE 115-d may determine the location of the object independent of the absolute location of UE 115-c and the absolute location of UE 115-d.

[0123] Thus, the error associated with the determined position of the object may be based on three sensor measurements (e.g., the position of the reference entity relative to UE 115-c, the position of the object relative to UE 115-c, and the position of the reference entity relative to UE 115-d). Because the sensor measurement error may be significantly smaller than the absolute positioning measurement error, the error associated with the position of the object determined in this manner may be significantly smaller than the error associated with determining the position of the object relative to UE 115-c. For example, the error associated with determining the position of the object relative to UE 115-c may be based on one sensor measurement and two absolute positioning measurements (e.g., the absolute position of UE 115-c, the position of the object relative to UE 115-c, and the absolute position of UE 115-d). Therefore, using an alternative coordinate system for sensor sharing based on a reference entity may improve the accuracy of the transmitted object positioning.

[0124] Figure 6 A block diagram 600 of a device 605 supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure is shown. The device 605 can be an example of aspects of a UE 115 as described herein. The device 605 can include a receiver 610, a communication manager 615, and a transmitter 620. The device 605 can also include a processor. Each of these components can communicate with each other (e.g., via one or more buses).

[0125] The receiver 610 may receive information such as packets, user data, or control information associated with various information channels (e.g., a control channel related to an alternative coordinate system for sensor sharing, a data channel, and an information channel, etc.). The information may be passed to other components of the device 605. The receiver 610 may be a reference Fig. 9Examples of various aspects of the transceiver 920 are described. The receiver 610 may utilize a single antenna or a set of antennas.

[0126] The communication manager 615 may be an example of a first UE. In some examples, the communication manager 615 may: detect an object; select a reference entity that can be detected by a second UE; determine the position of the object relative to the selected reference entity; and send an SSM including the position of the object relative to the selected reference entity and an indication of the selected reference entity to the second UE. Additionally or alternatively, the communication manager 615 may: receive an SSM including an indication of the selected reference entity and a first position of the object relative to the selected reference entity from the second UE; detect a second position of the selected reference entity relative to the first UE; and determine a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity. The communication manager 615 may be an example of various aspects of the communication manager 910 described herein.

[0127] The communication manager 615 or its subcomponents may be implemented in hardware, in code (e.g., software or firmware) executed by a processor, or any combination thereof. If implemented in code executed by a processor, the functions of the communication manager 615 or its subcomponents may be performed by a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described in the present disclosure.

[0128] The communication manager 615 or its subcomponents can be physically located in a variety of locations, including being distributed so that portions of the functionality are implemented by one or more physical components at different physical locations. In some examples, the communication manager 615 or its subcomponents can be independent and distinct components according to various aspects of the present disclosure. In some examples, according to various aspects of the present disclosure, the communication manager 615 or its subcomponents can be combined with one or more other hardware components, including but not limited to input / output (I / O) components, a transceiver, a network server, another computing device, one or more other components described in the present disclosure, or a combination thereof.

[0129] Transmitter 620 can transmit signals generated by other components of device 605. In some examples, transmitter 620 can be co-located with receiver 610 in a transceiver module. For example, transmitter 620 can be a reference Fig. 9 Examples of various aspects of the transceiver 920 are described. The transmitter 620 may utilize a single antenna or a set of antennas.

[0130] In some examples, the communication manager 615 can be implemented as an integrated circuit or chipset for a mobile device modem, and the receiver 610 and the transmitter 620 can be implemented as analog components (e.g., amplifiers, filters, antennas) coupled to the mobile device modem to enable wireless transmission and reception on one or more frequency bands. Additionally or alternatively, the communication manager 615 can be implemented as a component of a vehicle that supports V2X communication.

[0131] The communication manager 615 as described herein may be implemented to achieve one or more potential advantages. One implementation may allow the device 605 to share the location of a perceived object relative to a reference entity location with one or more other UEs within the network. Based on the techniques for sharing the location information of the perceived object, the device 605 may support more accurate communication of the location of the perceived object to other UEs. For example, by indicating the location of the object relative to a reference object via an alternative coordinate system (e.g., relative to an absolute location relative to the device 605), the device 605 may reduce potential errors associated with the communicated location.

[0132] Thus, device 605 can increase the likelihood of accurately transmitting the location of a perceived object to one or more other UEs, and can accordingly improve the quality of information provided to UE decisions (such as driving decisions). In some examples, based on the greater likelihood of more accurate location information, device 605 can improve the user experience and improve the safety of vehicle operations associated with V2X communications.

[0133] Figure 7 A block diagram 700 of a device 705 supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure is shown. The device 705 can be an example of aspects of the device 605 or UE 115 as described herein. The device 705 can include a receiver 710, a communication manager 715, and a transmitter 750. The device 705 can also include a processor. Each of these components can communicate with each other (e.g., via one or more buses).

[0134] The receiver 710 may receive information such as packets, user data, or control information associated with various information channels (e.g., a control channel related to an alternative coordinate system for sensor sharing, a data channel, and an information channel, etc.). The information may be passed to other components of the device 705. The receiver 710 may be a reference Fig. 9 Examples of various aspects of the transceiver 920 are described. The receiver 710 may utilize a single antenna or a set of antennas.

[0135] The communication manager 715 can be an example of aspects of the communication manager 615 as described herein. The communication manager 715 can include a sensor component 720, a reference component 725, a location component 730, an SSM component 735, an SSM receiving component 740, a reference detection component 745, or any combination thereof. The communication manager 715 can be an example of aspects of the communication manager 910 described herein.

[0136] The communication manager 715 can be implemented at the first UE. The sensor component 720 can detect the object. The reference component 725 can select a reference entity that can be detected by the second UE. The position component 730 can determine the position of the object relative to the selected reference entity. The SSM component 735 can send an SSM including the position of the object relative to the selected reference entity and an indication of the selected reference entity to the second UE.

[0137] Additionally or alternatively, the SSM receiving component 740 can receive from the second UE an SSM including an indication of the selected reference entity and a first position of the object relative to the selected reference entity. The reference detection component 745 can detect a second position of the selected reference entity relative to the first UE. The position component 730 can determine a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity.

[0138] Transmitter 750 can transmit signals generated by other components of device 705. In some examples, transmitter 750 can be co-located with receiver 710 in a transceiver module. For example, transmitter 750 can be a reference Fig. 9 Examples of various aspects of the transceiver 920 are described. The transmitter 750 may utilize a single antenna or a set of antennas.

[0139] Figure 8 A block diagram 800 of a communication manager 805 supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure is shown. The communication manager 805 can be an example of aspects of the communication manager 615, the communication manager 715, or the communication manager 910 described herein. The communication manager 805 can include a sensor component 810, a reference component 815, a position component 820, an SSM component 825, an absolute position component 830, an accuracy component 835, a capability component 840, an indicator component 845, a sensor determination component 850, an RSU component 855, an SSM reception component 860, a reference detection component 865, a reference entity component 870, a map component 875, a candidate component 880, a preference component 885, or any combination of these or other components. Each of these modules can communicate with each other directly or indirectly (e.g., via one or more buses). The communication manager 805 can be implemented at a first UE.

[0140] The sensor component 810 can detect an object, and the reference component 815 can select a reference entity that can be detected by the second UE. In some cases, the object can be an example of a VRU, a vehicle, an obstacle, or a combination thereof, and the selected reference entity can correspond to a fixed location. The position component 820 can determine the position of the object relative to the selected reference entity. The SSM component 825 can send an SSM including the position of the object relative to the selected reference entity and an indication of the selected reference entity to the second UE.

[0141] In some examples, the position component 820 can determine a first position of the object relative to the first UE, determine a second position of a selected reference entity relative to the first UE, and calculate the position of the object relative to the selected reference entity based on the first position and the second position.

[0142] In some cases, the position of the object relative to the selected reference entity includes a first position of the object, and the SSM also includes a second position of the object relative to the first UE and an absolute position of the first UE. The absolute position component 830 can determine the absolute position of the first UE using a positioning system, wherein the positioning system includes GPS, GNSS, or both. The accuracy component 835 can determine the accuracy level of the absolute position of the first UE based on the positioning system for the first UE, and the SSM also includes an indication of the accuracy level of the absolute position of the first UE. In some cases, the SSM also includes an indication of the accuracy level of the position of the object.

[0143] In some cases, the indication of the selected reference entity includes a location of the selected reference entity relative to the first UE.In some such cases, the SSM also includes an indication of a level of accuracy for the location of the selected reference entity.

[0144] In some examples, the reference component 815 can select a reference entity based on a predicted observability metric associated with the reference entity.

[0145] In some examples, the referencing component 815 can receive an SSM set including a corresponding list of detected entities from the set of UEs, and the referencing component 815 can select a reference entity from a set of candidate entities that are common to the corresponding list of detected entities of the SSM set.

[0146] In some examples, the reference component 815 can receive, from the set of UEs, a set of indicators associated with the corresponding local HD maps of the set of UEs, and the reference component 815 can select a reference entity from a set of candidate entities marked in each local HD map in the corresponding local HD maps of the set of UEs based on the set of indicators.

[0147] In some examples, the reference component 815 can send a first SSM indicating a candidate entity set to the second UE, where the SSM is an example of a second SSM. In some such examples, the reference component 815 can receive a response message from the second UE indicating a preferred entity of the candidate entity set, and the reference component 815 can select a reference entity based on the preferred entity.

[0148] The capability component 840 may send a first SSM to the second UE indicating the capability of the first UE to send the location of the object relative to the selected reference entity, where the SSM is an example of a second SSM. The indicator component 845 may receive a response message from the second UE in response to the first SSM including an interest indicator for receiving the location of the object relative to the selected reference entity, where the second SSM includes the location of the object relative to the selected reference entity based on the interest indicator. In some examples, the response message also includes a candidate entity set selected by the second UE, and the indicator component 845 may select the reference entity based on the candidate entity set.

[0149] In some cases, the object may be detected using a sensor equipped to the first UE. The sensor may be an example of a laser incidence detection and ranging sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor, or any combination thereof. In some examples, the sensor component 810 may detect a reference entity using a sensor. The sensor determination component 850 may determine the location of the object relative to the selected reference entity sent in the SSM based on detecting both the object and the reference entity using the same sensor.

[0150] The RSU component 855 can receive an absolute position of a selected reference entity from the RSU, wherein the position of the object relative to the selected reference entity is determined based on the absolute position of the selected reference entity.

[0151] Additionally or alternatively, the SSM receiving component 860 can receive from the second UE an SSM including an indication of a selected reference entity and a first position of an object relative to the selected reference entity. In some cases, the selected reference entity can correspond to a fixed location, and the object can be an example of a VRU, a vehicle, an obstacle, or a combination thereof.

[0152] The reference detection component 865 can detect a second position of the selected reference entity relative to the first UE.The position component 820 can determine a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity.

[0153] In some cases, the SSM also includes a fourth position of the object relative to the second UE and the absolute position of the second UE. In some such cases, the SSM may also include an indication of a level of accuracy for the absolute position of the second UE, and the accuracy component 835 may determine to use the first position of the object to determine a third position of the object relative to the first UE based on the level of accuracy for the absolute position of the second UE satisfying a threshold.

[0154] In some examples, the SSM also includes an indication of a level of accuracy for a first position of the object relative to a selected reference entity, and the accuracy component 835 can determine to use the first position of the object to determine a third position of the object relative to the first UE based on the level of accuracy for the first position of the object relative to the selected reference entity satisfying a threshold.

[0155] In some cases, the indication of the selected reference entity includes a fourth position of the selected reference entity relative to the second UE, and the second position of the selected reference entity relative to the first UE is detected based on the fourth position of the selected reference entity relative to the second UE.

[0156] The reference entity component 870 can send a first SSM including a detected entity list to the second UE, where the SSM can be an example of a second SSM, and the selected reference entity is selected from the detected entity list.

[0157] The map component 875 can send an indicator associated with a local HD map to the second UE, wherein the selected reference entity is selected from a set of candidate entities marked in the local HD map.

[0158] Candidate component 880 can receive a first SSM from the second UE indicating a candidate entity set, wherein the SSM is an example of a second SSM. Preference component 885 can send a response message to the second UE indicating a preference entity of the candidate entity set, wherein the selected reference entity is based on the preference entity.

[0159] In some examples, capability component 840 can receive from a second UE a first SSM indicating the capability of the first UE to send a first position of an object relative to a selected reference entity, where the SSM is an example of a second SSM. In some such examples, indicator component 845 can send to the second UE a response message including an interest indicator for receiving a first position of an object relative to a selected reference entity, where the second SSM includes the first position of the object relative to the selected reference entity based on the interest indicator. In some examples, candidate component 880 can select a candidate entity set, where the response message also includes the candidate entity set and the selected reference entity is based on the candidate entity set.

[0160] In some examples, the sensor component 810 can detect the selected reference entity using a sensor equipped to the first UE. The sensor can be an example of a laser incidence detection and ranging sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor, or any combination thereof.

[0161] Fig. 9 A diagram of a system 900 including a device 905 supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure is shown. The device 905 may be an example of or include components of a device 605, a device 705, or a UE 115 as described herein. The device 905 may include components for two-way voice and data communications, including components for sending and receiving communications, including a communication manager 910, an I / O controller 915, a transceiver 920, an antenna 925, a memory 930, and a processor 940. These components may communicate electronically via one or more buses (e.g., a bus 945).

[0162] The communication manager 910 may be implemented at the first UE. The communication manager 910 may: detect an object; select a reference entity that can be detected by the second UE; determine the position of the object relative to the selected reference entity; and send an SSM including the position of the object relative to the selected reference entity and an indication of the selected reference entity to the second UE. Additionally or alternatively, the communication manager 910 may: receive an SSM including an indication of the selected reference entity and a first position of the object relative to the selected reference entity from the second UE; detect a second position of the selected reference entity relative to the first UE; and determine a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity.

[0163] I / O controller 915 can manage input and output signals for device 905. I / O controller 915 can also manage peripheral devices that are not integrated into device 905. In some cases, I / O controller 915 can represent a physical connection or port to an external peripheral device. In some cases, I / O controller 915 can utilize a variety of communication protocols such as TCP, HTTP, and HTTPS. 905. In some cases, the I / O controller 915 may represent or interact with a modem, keyboard, mouse, touch screen, or similar device. In some cases, the I / O controller 915 may be implemented as part of a processor. In some cases, a user may interact with the device 905 via the I / O controller 915 or via hardware components controlled by the I / O controller 915.

[0164] The transceiver 920 can communicate bidirectionally via one or more antennas, wired or wireless links as described above. For example, the transceiver 920 can represent a wireless transceiver and can communicate bidirectionally with another wireless transceiver. The transceiver 920 can also include a modem to modulate packets and provide the modulated packets to an antenna for transmission, and demodulate packets received from an antenna.

[0165] In some cases, a wireless device may include a single antenna 925. However, in some cases, the device may have more than one antenna 925 that is capable of sending or receiving multiple wireless transmissions simultaneously.

[0166] The memory 930 may include random access memory (RAM) and read-only memory (ROM). The memory 930 may store computer-readable, computer-executable code 935 including instructions that, when executed, cause the processor to perform the various functions described herein. In some cases, the memory 930 may contain a basic I / O system (BIOS), etc., which may control basic hardware or software operations, such as interaction with peripheral components or devices.

[0167] The processor 940 may include an intelligent hardware device (e.g., a general purpose processor, a DSP, a central processing unit (CPU), a microcontroller, an ASIC, an FPGA, a programmable logic device, a discrete gate or transistor logic component, a discrete hardware component, or any combination thereof). In some cases, the processor 940 may be configured to operate a memory array using a memory controller. In other cases, the memory controller may be integrated into the processor 940. The processor 940 may be configured to execute computer-readable instructions stored in a memory (e.g., memory 930) to cause the device 905 to perform various functions (e.g., functions or tasks that support an alternative coordinate system for sensor sharing).

[0168] The code 935 may include instructions for implementing various aspects of the present disclosure, including instructions for supporting wireless communications. The code 935 may be stored in a non-transitory computer-readable medium such as a system memory or other type of memory. In some cases, the code 935 may not be directly executed by the processor 940, but may cause a computer (e.g., when compiled and executed) to perform the functions described herein.

[0169] Fig.10 A flow chart is shown that illustrates a method 1000 for supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure. The operations of the method 1000 may be implemented by a UE 115 or a component thereof as described herein. For example, the operations of the method 1000 may be implemented by a UE 115 or a component thereof as described herein. Figures 6 to 9In some examples, the UE may execute an instruction set to control the functional elements of the UE to perform the functions described below. Additionally or alternatively, the UE may use dedicated hardware to perform various aspects of the functions described below.

[0170] At 1005, a UE (eg, a first UE) may detect an object. The operations of 1005 may be performed according to the methods described herein. In some examples, aspects of the operations of 1005 may be performed as described in reference to Figures 6 to 9 The described sensor assembly is implemented.

[0171] At 1010, the UE may select a reference entity that can be detected by the second UE. The operations of 1010 may be performed according to the methods described herein. In some examples, aspects of the operations of 1010 may be performed by, for example, a reference entity. Figures 6 to 9 The described reference components are implemented.

[0172] At 1015, the UE may determine the position of the object relative to the selected reference entity. The operations of 1015 may be performed according to the methods described herein. In some examples, aspects of the operations of 1015 may be performed as described in reference to Figures 6 to 9 The described location components are performed.

[0173] At 1020, the UE may send an SSM including a location of the object relative to the selected reference entity and an indication of the selected reference entity to the second UE. The operations of 1020 may be performed according to the methods described herein. In some examples, aspects of the operations of 1020 may be performed as described in reference to Figures 6 to 9 The described SSM components are implemented.

[0174] Fig.11 A flow chart is shown that illustrates a method 1100 for supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure. The operations of the method 1100 may be implemented by a UE 115 or a component thereof as described herein. For example, the operations of the method 1100 may be implemented by a UE 115 or a component thereof as described herein. Figures 6 to 9 In some examples, the UE may execute an instruction set to control the functional elements of the UE to perform the functions described below. Additionally or alternatively, the UE may use dedicated hardware to perform various aspects of the functions described below.

[0175] At 1105, a UE (eg, a first UE) may detect an object. The operations of 1105 may be performed according to the methods described herein. In some examples, aspects of the operations of 1105 may be performed as described in reference to Figures 6 to 9 The described sensor assembly is implemented.

[0176] At 1110, the UE may select a reference entity that can be detected by the second UE. The operations of 1110 may be performed according to the methods described herein. In some examples, aspects of the operations of 1110 may be performed by, for example, a reference entity. Figures 6 to 9 The described reference components are implemented.

[0177] At 1115, the UE may determine a first position of the object relative to the first UE. The operations of 1115 may be performed according to the methods described herein. In some examples, aspects of the operations of 1115 may be performed as described in reference to Figures 6 to 9 The described location components are performed.

[0178] At 1120, the UE may determine a second position of the selected reference entity relative to the first UE. The operations of 1120 may be performed according to the methods described herein. In some examples, aspects of the operations of 1120 may be performed by, for example, referring to Figures 6 to 9 The described location components are performed.

[0179] At 1125, the UE may calculate the position of the object relative to the selected reference entity based on the first position and the second position. The operations of 1125 may be performed according to the methods described herein. In some examples, aspects of the operations of 1125 may be performed as described in reference to Figures 6 to 9 The described location components are performed.

[0180] At 1130, the UE may send an SSM including a location of the object relative to the selected reference entity and an indication of the selected reference entity to the second UE. The operations of 1130 may be performed according to the methods described herein. In some examples, aspects of the operations of 1130 may be performed as described in reference to Figures 6 to 9 The described SSM components are implemented.

[0181] Fig.12 A flow chart is shown that illustrates a method 1200 for supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure. The operations of the method 1200 may be implemented by a UE 115 or a component thereof as described herein. For example, the operations of the method 1200 may be implemented by a UE 115 or a component thereof as described herein. Figures 6 to 9 In some examples, the UE may execute an instruction set to control the functional elements of the UE to perform the functions described below. Additionally or alternatively, the UE may use dedicated hardware to perform various aspects of the functions described below.

[0182] At 1205, a UE (e.g., a first UE) may receive from a second UE an SSM including an indication of a selected reference entity and a first position of an object relative to the selected reference entity. The operations of 1205 may be performed according to the methods described herein. In some examples, aspects of the operations of 1205 may be performed by, for example, Figures 6 to 9 The described SSM receiving component is executed.

[0183] At 1210, the UE may detect a second position of the selected reference entity relative to the first UE. The operations of 1210 may be performed according to the methods described herein. In some examples, aspects of the operations of 1210 may be performed by, for example, referring to Figures 6 to 9 The described reference detection assembly is performed.

[0184] At 1215, the UE may determine a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity. The operations of 1215 may be performed according to the methods described herein. In some examples, aspects of the operations of 1215 may be performed as described in reference to Figures 6 to 9 The described location components are performed.

[0185] Fig.13 A flow chart is shown that illustrates a method 1300 for supporting an alternative coordinate system for sensor sharing according to aspects of the present disclosure. The operations of the method 1300 may be implemented by a UE 115 or a component thereof as described herein. For example, the operations of the method 1300 may be implemented by a UE 115 or a component thereof as described herein. Figures 6 to 9 In some examples, the UE may execute an instruction set to control the functional elements of the UE to perform the functions described below. Additionally or alternatively, the UE may use dedicated hardware to perform various aspects of the functions described below.

[0186] At 1305, the UE may receive from a second UE an SSM including an indication of a selected reference entity, a first position of an object relative to the selected reference entity, and an indication of a level of accuracy for the first position. The operations of 1305 may be performed according to the methods described herein. In some examples, aspects of the operations of 1305 may be performed by, for example, Figures 6 to 9 The described SSM receiving component is executed.

[0187] At 1310, the UE may determine to use the first position of the object to determine the position of the object relative to the first UE based on the accuracy level for the first position. The operations of 1310 may be performed according to the methods described herein. In some examples, aspects of the operations of 1310 may be performed as described in reference to Figures 6 to 9 The described SSM receiving component is executed.

[0188] At 1315, the UE may detect a second position of the selected reference entity relative to the first UE. The operations of 1315 may be performed according to the methods described herein. In some examples, aspects of the operations of 1315 may be performed by, for example, referring to Figures 6 to 9 The described reference detection assembly is performed.

[0189] At 1320, the UE may determine a third position of the object relative to the first UE based on the first position of the object and the second position of the selected reference entity. The operations of 1320 may be performed according to the methods described herein. In some examples, aspects of the operations of 1320 may be performed as described in reference to Figures 6 to 9 The described location components are performed.

[0190] The following provides an overview of various aspects of the present disclosure:

[0191] Aspect 1: A method for wireless communication at a first UE, comprising: detecting an object; selecting a reference entity that can be detected by a second UE; determining a position of the object relative to the selected reference entity; and sending an SSM to the second UE including the position of the object relative to the selected reference entity and an indication of the selected reference entity.

[0192] Aspect 2: A method according to Aspect 1, wherein determining the position of an object relative to a selected reference entity comprises: determining a first position of the object relative to a first UE; determining a second position of the selected reference entity relative to the first UE; and calculating the position of the object relative to the selected reference entity based at least in part on the first position and the second position.

[0193] Aspect 3: A method according to aspects 1 to 2, wherein: the position of the object relative to the selected reference entity includes a first position of the object; and the SSM also includes a second position of the object relative to the first UE and an absolute position of the first UE.

[0194] Aspect 4: The method according to aspect 3 further includes: determining the absolute position of the first UE using a positioning system, wherein the positioning system includes a global positioning system, a global navigation satellite system, or both.

[0195] Aspect 5: The method according to aspects 3 to 4 also includes: determining the accuracy level of the absolute position of the first UE at least in part based on the positioning system for the first UE, and the SSM also includes an indication of the accuracy level of the absolute position of the first UE.

[0196] Aspect 6: The method according to aspects 1 to 5, wherein the SSM further includes an indication of a level of accuracy for the location of the object.

[0197] Aspect 7: A method according to aspects 1 to 6, wherein: the indication of the selected reference entity includes the location of the selected reference entity relative to the first UE; and the SSM also includes an indication of the accuracy level of the location of the selected reference entity.

[0198] Aspect 8: The method of aspects 1 to 7, wherein selecting the reference entity comprises: selecting the reference entity based at least in part on a predicted observability metric associated with the reference entity.

[0199] Aspect 9: A method according to aspects 1 to 8, wherein selecting a reference entity comprises: receiving multiple SSMs including corresponding lists of detected entities from multiple UEs; and selecting a reference entity from a set of candidate entities common to the corresponding lists of detected entities of the multiple SSMs.

[0200] Aspect 10: A method according to Aspects 1 to 9, wherein selecting a reference entity includes: receiving multiple indicators associated with corresponding local HD maps of the multiple UEs from multiple UEs; and selecting a reference entity from a set of candidate entities marked in each local HD map in the corresponding local HD maps of the multiple UEs based at least in part on the multiple indicators.

[0201] Aspect 11: A method according to Aspects 1 to 10, wherein selecting a reference entity includes: sending a first SSM indicating multiple candidate entities to a second UE, wherein the SSM includes a second SSM; receiving a response message indicating a preferred entity among the multiple candidate entities from the second UE; and selecting the reference entity at least in part based on the preferred entity.

[0202] Aspect 12: The method according to Aspects 1 to 11 further includes: sending a first SSM to a second UE indicating the ability of the first UE to send the position of an object relative to a selected reference entity, wherein the SSM includes a second SSM; and receiving a response message from the second UE including an interest indicator for receiving the position of the object relative to the selected reference entity, wherein the second SSM includes the position of the object relative to the selected reference entity at least in part based on the interest indicator.

[0203] Aspect 13: The method according to aspect 12, wherein the response message also includes a plurality of candidate entities selected by the second UE, and wherein selecting the reference entity includes: selecting the reference entity based at least in part on the plurality of candidate entities.

[0204] Aspect 14: A method according to aspects 1 to 13, wherein the object is detected using a sensor equipped to the first UE, the sensor comprising a laser incidence detection and ranging sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor, or any combination thereof.

[0205] Aspect 15: The method according to Aspect 14 further includes: detecting a reference entity using a sensor; and determining a position of the object sent in the sensor sharing message relative to the selected reference entity based at least in part on detecting both the object and the reference entity using the same sensor.

[0206] Aspect 16: The method according to aspects 1 to 15 further includes: receiving an absolute position of a selected reference entity from the RSU, wherein the position of the object relative to the selected reference entity is determined at least in part based on the absolute position of the selected reference entity.

[0207] Aspect 17: A method according to aspects 1 to 16, wherein: the selected reference entity corresponds to a fixed location; and the object includes a VRU, a vehicle, an obstacle, or a combination thereof.

[0208] Aspect 18: A method for wireless communication at a first UE, comprising: receiving an SSM from a second UE including an indication of a selected reference entity and a first position of an object relative to the selected reference entity; detecting a second position of the selected reference entity relative to the first UE; and determining a third position of the selected reference entity relative to the first UE and determining a third position of the object relative to the first UE based at least in part on the first position of the object and the second position of the selected reference entity.

[0209] Aspect 19: The method according to Aspect 18, wherein the SSM also includes a fourth position of the object relative to the second UE and the absolute position of the second UE.

[0210] Aspect 20: A method according to Aspect 19, wherein the SSM also includes an indication of a level of accuracy of the absolute position of the second UE, the method further comprising: determining a first position of the object using the object to determine a third position of the object relative to the first UE based at least in part on the level of accuracy of the absolute position of the second UE satisfying a threshold.

[0211] Aspect 21: A method according to Aspects 18 to 20, wherein the sensor sharing message also includes an indication of a level of accuracy for a first position of the object relative to a selected reference entity, the method further comprising: determining a third position of the object relative to the first UE using the first position of the object to be determined at least in part based on the level of accuracy for the first position of the object satisfying a threshold.

[0212] Aspect 22: A method according to Aspects 18 to 21, wherein: the indication of the selected reference entity includes a fourth position of the selected reference entity relative to the second UE; and the second position of the selected reference entity relative to the first UE is detected at least in part based on the fourth position of the selected reference entity relative to the second UE.

[0213] Aspect 23: The method according to aspects 18 to 22 further includes: sending a first SSM including a detected entity list to the second UE, wherein the SSM includes a second SSM, and the selected reference entity is selected from the detected entity list.

[0214] Aspect 24: The method according to aspects 18 to 23 further includes: sending an indicator associated with a local HD map to the second UE, wherein the selected reference entity is selected from a set of candidate entities marked in the local HD map.

[0215] Aspect 25: The method according to Aspects 18 to 24 further includes: receiving a first SSM indicating multiple candidate entities from a second UE, wherein the SSM includes a second SSM; and sending a response message to the second UE indicating a preferred entity among the multiple candidate entities, wherein the selected reference entity is at least partially based on the preferred entity.

[0216] Aspect 26: The method according to Aspects 18 to 25 further includes: receiving a first SSM from a second UE indicating the ability of the first UE to send a first position of an object relative to a selected reference entity, wherein the SSM includes a second SSM; and sending a response message to the second UE including an interest indicator for receiving the first position of the object relative to the selected reference entity, wherein the second SSM includes the first position of the object relative to the selected reference entity at least in part based on the interest indicator.

[0217] Aspect 27: The method according to Aspect 26 further includes: selecting a plurality of candidate entities, wherein the response message further includes the plurality of candidate entities and the selected reference entity is based at least in part on the plurality of candidate entities.

[0218] Aspect 28: The method according to Aspects 18 to 27 also includes: using a sensor equipped to the first UE to detect the selected reference entity, the sensor including a lidar sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor or any combination thereof.

[0219] Aspect 29: An apparatus for wireless communication at a UE, comprising: a processor; a memory coupled to the processor; and instructions stored in the memory and executable by the processor to cause the apparatus to perform a method according to any one of Aspects 1 to 17.

[0220] Aspect 30: An apparatus for wireless communication at a UE, comprising at least one component for performing a method according to any one of aspects 1 to 17.

[0221] Aspect 31: A non-transitory computer-readable medium storing code for wireless communication at a UE, the code comprising instructions executable by a processor to perform the method according to any one of aspects 1 to 17.

[0222] Aspect 32: An apparatus for wireless communication at a UE, comprising: a processor; a memory coupled to the processor; and instructions stored in the memory and executable by the processor to cause the apparatus to perform a method according to any one of aspects 18 to 28.

[0223] Aspect 33: An apparatus for wireless communication at a UE, comprising at least one component for performing a method according to any one of aspects 18 to 28.

[0224] Aspect 34: A non-transitory computer-readable medium storing code for wireless communication at a UE, the code comprising instructions executable by a processor to perform the method according to any one of aspects 18 to 28.

[0225] It should be noted that the methods described herein describe possible implementations, and that the operations and steps may be rearranged or otherwise modified, and other implementations are possible. Furthermore, aspects from two or more methods may be combined.

[0226] Although aspects of LTE, LTE-A, LTE-APro, or NR systems are described for illustrative purposes, and LTE, LTE-A, LTE-APro, or NR terminology is used in much of the description, the techniques described herein may still be applicable beyond LTE, LTE-A, LTE-APro, or NR networks. For example, the techniques described may be applicable to various other wireless communication systems, such as Ultra Mobile Broadband (UMB), Institute of Electrical and Electronics Engineers (IEEE) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, Flash-OFDM, and other systems and radio technologies not explicitly mentioned herein.

[0227] The information and signals described herein may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referred to throughout the specification may be represented by voltage, current, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0228] The various illustrative blocks and modules described in conjunction with the disclosure herein may be implemented or executed using a general purpose processor, DSP, ASIC, CPU, FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in an alternative, the processor may be any processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration).

[0229] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Other examples and implementations are within the scope of the present disclosure and the appended claims. For example, due to the nature of software, the functions described herein may be implemented using software executed by a processor, hardware, firmware, hard wiring, or any combination of these. Features that implement the functions may also be physically located in various locations, including being distributed so that parts of the functions are implemented at different physical locations.

[0230] Computer readable medium includes two kinds of non-temporary computer storage medium and communication medium, and communication medium includes any medium that promotes transferring a computer program from one place to another place.Non-temporary storage medium can be any available medium that can be accessed by a general or special computer.By way of example and not limitation, non-temporary computer readable medium can include RAM, ROM, electrically erasable programmable read-only memory (EEPROM), flash memory, compact disk (CD) ROM or other optical disk storage, disk storage or other magnetic storage device, or can be used for carrying or storing desired program code components and any other non-temporary medium that can be accessed by a general or special computer or a general or special processor in the form of an instruction or data structure.In addition, any connection is appropriately referred to as a computer readable medium.For example, if software is sent from a website, a server or other remote source using a coaxial cable, an optical cable, a twisted pair, a digital subscriber line (DSL) or wireless technologies such as infrared, radio and microwaves, etc., then coaxial cable, optical fiber cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwaves, etc. are all included in the definition of computer readable medium. Disk and disc, as used herein, includes CDs, laser discs, optical discs, digital versatile discs (DVDs), floppy disks and Blu-ray discs, where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above are also included within the scope of computer-readable media.

[0231] As used herein, including in the claims, "or" as used in a list of items (e.g., a list of items ending with a phrase such as "at least one of" or "one or more of") indicates an inclusive list, so that, for example, a list of at least one of A, B, or C means A or B or C or AB or AC or BC or ABC (i.e., A and B and C). In addition, as used herein, the phrase "based on" should not be interpreted as a reference to a closed set of conditions. For example, an example step described as "based on condition A" can be based on both condition A and condition B without departing from the scope of the present disclosure. In other words, as used herein, the phrase "based on" should be interpreted in the same manner as the phrase "based at least in part on."

[0232] In the drawings, similar components or features may have the same reference number. In addition, various components of the same type may be distinguished by following the reference number with a dash and a second reference number that distinguishes the similar components. If only the first reference number is used in the specification, the description applies to any of the similar components having the same first reference number without regard to the second or other subsequent reference numbers.

[0233] The descriptions set forth herein in conjunction with the accompanying drawings describe example configurations and do not represent all examples that may be implemented or within the scope of the claims. The term "example" as used herein means "used as an example, instance, or illustration," rather than "preferred" or "superior to other examples." The specific implementation includes specific details to provide an understanding of the described technology. However, the techniques may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form to avoid obscuring the concepts of the described examples.

[0234] The description herein is provided to enable one of ordinary skill in the art to implement or use the present disclosure. Various modifications to the present disclosure will be apparent to one of ordinary skill in the art, and the general principles defined herein may be applied to other variations without departing from the scope of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but should be given the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. An apparatus for wireless communication at a first user equipment UE, include: processor; a memory coupled to the processor; as well as instructions stored in the memory and executable by the processor to cause the apparatus to: Detection object; selecting a reference entity detectable by the second UE; determining a position of the object relative to a selected reference entity; as well as A sensor sharing message including the position of the object relative to the selected reference entity and an indication of the selected reference entity is sent to the second UE.

2. The apparatus of claim 1 , wherein the instructions for determining the position of the object relative to the selected reference entity are executable by the processor to cause the apparatus to: Determining a first position of the object relative to the first UE; determining a second position of the selected reference entity relative to the first UE; as well as The position of the object relative to the selected reference entity is calculated based at least in part on the first position and the second position.

3. The apparatus of claim 1 , wherein the instructions for determining the position of the object relative to the selected reference entity are executable by the processor to cause the apparatus to: determining a first position of the object relative to the first UE; and The sensor sharing message also includes a first position of the object relative to the first UE and an absolute position of the first UE.

4. The apparatus of claim 3, wherein the instructions are further executable by the processor to cause the apparatus to: The absolute position of the first UE is determined using a positioning system, wherein the positioning system comprises a global positioning system, a global navigation satellite system, or both.

5. The apparatus of claim 3, wherein the instructions are further executable by the processor to cause the apparatus to: A level of accuracy of the absolute position for the first UE is determined based at least in part on a positioning system for the first UE, the sensor sharing message also including an indication of the level of accuracy of the absolute position for the first UE. The apparatus of claim 1 , wherein the sensor sharing message further comprises an indication of a level of accuracy for the location of the object.

7. The device according to claim 1, in: The indication of the selected reference entity comprises a location of the selected reference entity relative to the first UE; and The sensor sharing message also includes an indication of a level of accuracy of the position for the selected reference entity.

8. The apparatus of claim 1, wherein the instructions for selecting the reference entity are further executable by the processor to cause the apparatus to: The reference entity is selected based at least in part on a predicted observability metric associated with the reference entity.

9. The apparatus of claim 1, wherein the instructions for selecting the reference entity are further executable by the processor to cause the apparatus to: receiving a plurality of sensor sharing messages including respective lists of detected entities from a plurality of UEs; and The reference entity is selected from a set of candidate entities common to the respective lists of detected entities of the plurality of sensor sharing messages.

10. The apparatus of claim 1, wherein the instructions for selecting the reference entity are further executable by the processor to cause the apparatus to: receiving, from a plurality of UEs, a plurality of indicators associated with respective local high definition maps of the plurality of UEs; and The reference entity is selected from a set of candidate entities marked in each of the respective local HD maps of the plurality of UEs based at least in part on the plurality of indicators.

11. The apparatus of claim 1 , wherein the instructions for selecting the reference entity are further executable by the processor to cause the apparatus to: sending a first sensor sharing message indicating a plurality of candidate entities to the second UE, wherein the sensor sharing message includes a second sensor sharing message; receiving, from the second UE, a response message indicating a preferred entity of the plurality of candidate entities; as well as The reference entity is selected based at least in part on the preference entity.

12. The apparatus of claim 1, wherein the instructions are further executable by the processor to cause the apparatus to: sending a first sensor sharing message to the second UE indicating the capability of the first UE to transmit the position of the object relative to the selected reference entity, wherein the sensor sharing message includes a second sensor sharing message; and A response message is received from the second UE including an interest indicator for receiving the location of the object relative to the selected reference entity, wherein the second sensor sharing message includes the location of the object relative to the selected reference entity based at least in part on the interest indicator.

13. The apparatus of claim 12, wherein the response message further comprises a plurality of candidate entities selected by the second UE, and the instructions for selecting the reference entity are further executable by the processor to cause the apparatus to: The reference entity is selected based at least in part on the plurality of candidate entities.

14. The apparatus of claim 1, wherein the object is detected using a sensor equipped to the first UE, the sensor comprising a laser incidence detection and ranging sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor, or any combination thereof.

15. The apparatus of claim 14, wherein the instructions are further executable by the processor to cause the apparatus to: detecting the reference entity using the sensor; and A determination is made to send the position of the object relative to the selected reference entity in the sensor sharing message based at least in part on detecting both the object and the reference entity using the same sensor.

16. The apparatus of claim 1, wherein the instructions are further executable by the processor to cause the apparatus to: An absolute position of the selected reference entity is received from a roadside unit, wherein the position of the object relative to the selected reference entity is determined based at least in part on the absolute position of the selected reference entity.

17. The device according to claim 1, in: The selected reference entity corresponds to a fixed location; and The objects include vulnerable road users, vehicles, obstacles or a combination thereof.

18. An apparatus for wireless communication at a first user equipment UE, include: processor; a memory coupled to the processor; as well as instructions stored in the memory and executable by the processor to cause the apparatus to: receiving, from a second UE, a sensor sharing message including an indication of a selected reference entity and a first position of an object relative to the selected reference entity; detecting a second position of the selected reference entity relative to the first UE; as well as Based at least in part on the first position of the object and the second position of the selected reference entity, a third position of the object relative to the first UE is determined.

19. The apparatus of claim 18, wherein the sensor sharing message further comprises a fourth position of the object relative to the second UE and an absolute position of the second UE.

20. The apparatus of claim 19, wherein the sensor sharing message further comprises an indication of a level of accuracy of the absolute position of the second UE, and the instructions are further executable by the processor to cause the apparatus to: Determining to use the first position of the object to determine the third position of the object relative to the first UE based at least in part on the accuracy level for the absolute position of the second UE satisfying a threshold.

21. The apparatus of claim 18, wherein the sensor sharing message further comprises an indication of a level of accuracy for the first position of the object relative to the selected reference entity, and the instructions are further executable by the processor to cause the apparatus to: Determining to use the first position of the object to determine the third position of the object relative to the first UE based at least in part on the accuracy level for the first position of the object relative to the selected reference entity satisfying a threshold.

22. The device according to claim 18, in: the indication of the selected reference entity comprising a fourth position of the selected reference entity relative to the second UE; and The second position of the selected reference entity relative to the first UE is detected based at least in part on the fourth position of the selected reference entity relative to the second UE.

23. The apparatus of claim 18, wherein the instructions are further executable by the processor to cause the apparatus to: A first sensor sharing message including a detected entity list is sent to the second UE, wherein the sensor sharing message includes a second sensor sharing message, and the selected reference entity is selected from the detected entity list.

24. The apparatus of claim 18, wherein the instructions are further executable by the processor to cause the apparatus to: An indicator associated with a local HD map is sent to the second UE, wherein the selected reference entity is selected from a set of candidate entities marked in the local HD map.

25. The apparatus of claim 18, wherein the instructions are further executable by the processor to cause the apparatus to: receiving, from the second UE, a first sensor sharing message indicating a plurality of candidate entities, wherein the sensor sharing message includes a second sensor sharing message; and A response message is sent to the second UE indicating a preferred entity among the plurality of candidate entities, wherein the selected reference entity is based at least in part on the preferred entity.

26. The apparatus of claim 18, wherein the instructions are further executable by the processor to cause the apparatus to: receiving, from the second UE, a first sensor sharing message indicating a capability of the second UE to transmit the first position of the object relative to the selected reference entity, wherein the sensor sharing message comprises a second sensor sharing message; and A response message is sent to the second UE including an interest indicator for receiving the first position of the object relative to the selected reference entity, wherein the second sensor sharing message includes the first position of the object relative to the selected reference entity based at least in part on the interest indicator.

27. The apparatus of claim 26, wherein the instructions are further executable by the processor to cause the apparatus to: A plurality of candidate entities is selected, wherein the response message further includes the plurality of candidate entities and the selected reference entity is based at least in part on the plurality of candidate entities.

28. The apparatus of claim 18, wherein the instructions are further executable by the processor to cause the apparatus to: The selected reference entity is detected using a sensor equipped to the first UE, the sensor comprising a laser incidence detection and ranging sensor, a radar sensor, a camera-based sensor, a long-range scanning sensor, a front object detection sensor, a mid-range blind spot detection sensor, a long-range lane change assist sensor, or any combination thereof.

29. The device according to claim 18, in: The selected reference entity corresponds to a fixed location; and The objects include vulnerable road users, vehicles, obstacles or a combination thereof.

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