Determining object presence using information from vehicle user equipment

Abstract

Various aspects of the present disclosure generally relate to wireless communication. In some aspects, a first vehicle user equipment (VUE) can transmit, to a node, first information associated with a presence of an object in an area of interest, the first information based at least in part on a sensing, by the first VUE, of the area of interest. The VUE can receive, from the node, second information associated with the presence of the object in the area of interest, the second information based at least in part on a sensing, by a second VUE, of the area of interest. The VUE can determine whether the object is present in the area of interest based at least in part on the first information and the second information. The VUE can perform an action based at least in part on whether the object is present in the area of interest. Numerous other aspects are provided.

Description

[0001] Cross-references to related applications

[0002] This patent application claims priority to U.S. nonprovisional patent application No. 17 / 110,733, filed December 3, 2020, entitled “DETERMINING AN OBJECTPRESENCE USING INFORMATION FROM VEHICLE USER EQUIPMENTS”, which is hereby expressly incorporated herein by reference.

[0003] open field

[0004] Various aspects of this disclosure generally relate to wireless communication, and to techniques and apparatus for determining the presence of an object using information from vehicle user equipment (VUE).

[0005] background

[0006] Wireless communication systems are widely deployed to provide a variety of telecommunications services such as telephone, video, data, messaging, and broadcasting. Typical wireless communication systems employ multiple access technologies that can support communication with multiple users by sharing available system resources (e.g., bandwidth, transmit power). Examples of such multiple access technologies include Code Division Multiple Access (CDMA) systems, Time Division Multiple Access (TDMA) systems, Frequency Division Multiple Access (FDMA) systems, Orthogonal Frequency Division Multiple Access (OFDMA) systems, Single Carrier Frequency Division Multiple Access (SC-FDMA) systems, Time Division Synchronous Code Division Multiple Access (TD-SCDMA) systems, and Long Term Evolution (LTE). LTE / LTE-Advanced is an enhancement set of the Universal Mobile Telecommunications System (UMTS) mobile standard issued by the 3rd Generation Partnership Project (3GPP).

[0007] A wireless network may include several base stations (BSs) capable of supporting communication between several user equipments (UEs). UEs can communicate with the base stations (BSs) via downlinks and uplinks. A downlink (or forward link) refers to the communication link from the BS to the UE, while an uplink (or reverse link) refers to the communication link from the UE to the BS. As will be described in more detail herein, a BS may be referred to as a B-node, gNB, access point (AP), radio headend, transmit / receive point (TRP), new radio (NR) BS, 5G B-node, etc.

[0008] The multiple access technologies mentioned above have been adopted in various telecommunications standards to provide a common protocol enabling different user equipment to communicate at the city, country, region, and even global levels. New Radio (NR) (also known as 5G) is an enhancement set to the LTE mobile standard issued by the 3rd Generation Partnership Project (3GPP). NR is designed to better support mobile broadband internet access by using Orthogonal Frequency Division Multiplexing (OFDM) with a Cyclic Prefix (CP) (CP-OFDM) on the downlink (DL), and CP-OFDM and / or SC-FDM (e.g., also known as Discrete Fourier Transform Extended OFDM (DFT-s-OFDM)) on the uplink (UL), as well as supporting beamforming, multiple-input multiple-output (MIMO) antenna technologies and carrier aggregation to improve spectral efficiency, reduce costs, improve service, utilize new spectrum, and better integrate with other open standards. Further improvements to LTE, NR, and other radio access technologies remain useful as the demand for mobile broadband access continues to grow.

[0009] Overview

[0010] In some aspects, a method of performing wireless communication by a first vehicle user equipment (VUE) includes: transmitting to a node first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest performed by the first VUE; receiving from the node second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by a second VUE; determining, at least partially based on the first information and the second information, whether the object exists in the region of interest; and performing an action at least partially based on whether the object exists in the region of interest.

[0011] In some aspects, a method for performing wireless communication by a node includes: receiving from a first VUE the first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest by the first VUE; receiving from a second VUE the second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest by the second VUE; and transmitting third information at least partially based on the first information and the second information, wherein the third information indicates a probability associated with the presence of the object in the region of interest, based at least partially on one or more of sensing of the region of interest by the first VUE and sensing of the region of interest by the second VUE.

[0012] In some aspects, a first VUE for wireless communication includes a memory and one or more processors operatively coupled to the memory, the memory and the one or more processors being configured to: transmit to a node first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest performed by the first VUE; receive from the node second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by a second VUE; determine, at least partially based on the first information and the second information, whether the object exists in the region of interest; and perform an action at least partially based on whether the object exists in the region of interest.

[0013] In some aspects, a node for wireless communication includes a memory and one or more processors operatively coupled to the memory, the memory and the one or more processors being configured to: receive from a first VUE the first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest by the first VUE; receive from a second VUE the second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest by the second VUE; and transmit third information at least partially based on the first information and the second information, wherein the third information indicates a probability associated with the presence of the object in the region of interest, at least partially based on one or more of sensing of the region of interest by the first VUE and sensing of the region of interest by the second VUE.

[0014] In some aspects, a non-transient computer-readable medium storing a set of instructions for wireless communication, the set of instructions comprising one or more instructions, which, when executed by one or more processors of a first VUE, cause the first VUE to: transmit to a node first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest performed by the first VUE; receive from the node second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by a second VUE; determine, at least partially based on the first information and the second information, whether the object exists in the region of interest; and perform an action at least partially based on whether the object exists in the region of interest.

[0015] In some aspects, a non-transient computer-readable medium storing a set of instructions for wireless communication, the set of instructions comprising one or more instructions, which, when executed by one or more processors of a node, cause the node to: receive from a first VUE first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest by the first VUE; receive from a second VUE second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest by the second VUE; and transmit third information at least partially based on the first information and the second information, wherein the third information indicates a probability associated with the presence of the object in the region of interest, at least partially based on one or more of sensing of the region of interest by the first VUE and sensing of the region of interest by the second VUE.

[0016] In some aspects, a first device for wireless communication includes: means for transmitting to a node first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest performed by the first device; means for receiving from the node second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by a second device; means for determining, at least partially based on the first information and the second information, whether the object exists in the region of interest; and means for performing an action at least partially based on whether the object exists in the region of interest.

[0017] In some aspects, an apparatus for wireless communication includes: means for receiving from a first VUE first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest by the first VUE; means for receiving from a second VUE second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest by the second VUE; and means for transmitting third information at least partially based on the first information and the second information, wherein the third information at least indicates a probability associated with the presence of the object in the region of interest, based in part on one or more of sensing of the region of interest by the first VUE and sensing of the region of interest by the second VUE.

[0018] The aspects generally include, as substantially described herein with reference to the accompanying drawings and description, methods, apparatus, systems, computer program products, non-transient computer-readable media, user equipment, base stations, wireless communication equipment, and / or processing systems.

[0019] The foregoing has broadly outlined the features and technical advantages of the examples according to this disclosure in an effort to facilitate a better understanding of the following detailed description. Additional features and advantages will be described thereafter. The disclosed concepts and specific examples can be readily used as the basis for modifying or designing other structures for implementing the same purposes as this disclosure. Such equivalent constructions do not depart from the scope of the appended claims. The characteristics of the concepts disclosed herein, in both their organization and manner of operation, and their associated advantages, will be better understood by considering the following description in conjunction with the accompanying drawings. Each drawing is provided for illustrative and descriptive purposes and not for defining limitations on the claims. Brief description of the attached diagram

[0021] To gain a more detailed understanding of the features described above in this disclosure, reference can be made to various aspects of the above brief overview, some of which are illustrated in the accompanying drawings. However, it should be noted that the drawings illustrate only certain typical aspects of this disclosure and should not be considered as limiting its scope, as other equivalent aspects are permissible in this description. Identical reference numerals in different drawings may identify the same or similar elements.

[0022] Figure 1 This is a diagram illustrating examples of wireless networks according to various aspects of this disclosure.

[0023] Figure 2 This is a diagram illustrating an example of communication between a base station and a UE in a wireless network according to various aspects of this disclosure.

[0024] Figure 3 This is a diagram illustrating an example of an object blocking an object at a traffic intersection, according to various aspects of this disclosure.

[0025] Figures 4-6 This is a diagram illustrating an example of how the use of information from one or more VUEs is associated with determining the existence of an object, according to various aspects of this disclosure.

[0026] Figures 7-8 This is a diagram illustrating an example process associated with determining the existence of an object using information from one or more VUEs, according to various aspects of this disclosure.

[0027] Figures 9-10 This is a block diagram of an example device for wireless communication according to various aspects of this disclosure.

[0028] Detailed description

[0029] The various aspects of this disclosure are described more fully below with reference to the accompanying drawings. However, this disclosure may be implemented in many different forms and should not be construed as being limited to any specific structure or function given throughout this disclosure. Rather, these aspects are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this disclosure to those skilled in the art. Based on the teachings herein, those skilled in the art will appreciate that the scope of this disclosure is intended to cover any aspect of this disclosure disclosed herein, whether implemented independently of or in combination with any other aspect of this disclosure. For example, any number of aspects set forth herein may be used to implement an apparatus or method of practice. Furthermore, the scope of this disclosure is intended to cover such apparatus or methods practiced using additional structures, functionalities, or structures and functionalities that complement or supplement the various aspects of this disclosure set forth herein. It should be understood that any aspect of this disclosure disclosed herein may be implemented by one or more elements of the claims.

[0030] Several aspects of a telecommunications system will now be described with reference to various devices and techniques. These devices and techniques will be described in the following detailed description and explained in the accompanying drawings by various blocks, modules, components, circuits, steps, processes, algorithms, etc. (collectively, "elements"). These elements can be implemented using hardware, software, or a combination thereof. Whether such elements are implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system.

[0031] It should be noted that although the aspects herein may be described using terms commonly associated with 5G or NR radio access technology (RAT), the aspects of this disclosure may be applied to other RATs, such as 3G RAT, 4G RAT, and / or RATs after 5G (e.g., 6G).

[0032] Figure 1 This is a diagram illustrating an example of a wireless network 100 according to various aspects of this disclosure. The wireless network 100 may be a 5G (NR) network and / or an LTE network, etc., or may include elements thereof. The wireless network 100 may include several base stations 110 (shown as BS 110a, BS 110b, BS 110c, and BS 110d) and other network entities. A base station (BS) is an entity that communicates with a user equipment (UE) and may also be referred to as an NR BS, B-node, gNB, 5G B-node (NB), access point, transmit / receive point (TRP), etc. Each BS may provide communication coverage for a specific geographic area. In 3GPP, the term "cell" may refer to the coverage area of ​​a BS and / or the BS subsystem serving that coverage area, depending on the context in which the term is used.

[0033] A BS can provide communication coverage for macrocells, picocells, femtocells, and / or another type of cell. Macrocells can cover a relatively large geographic area (e.g., a radius of several kilometers) and allow unrestricted access by UEs with a service subscription. Picocells can cover a relatively small geographic area and allow unrestricted access by UEs with a service subscription. Femtocells can cover a relatively small geographic area (e.g., a residential area) and allow restricted access by UEs associated with that femtocell (e.g., UEs in a Closed Subscriber Group (CSG)). A BS used for macrocells may be referred to as a macro BS. A BS used for picocells may be referred to as a pico BS. A BS used for femtocells may be referred to as a femto BS or a home BS. Figure 1 In the example shown, BS 110a can be a macro BS for macro cell 102a, BS 110b can be a pico BS for pico cell 102b, and BS 110c can be a femto BS for femto cell 102c. A BS may support one or more (e.g., three) cells. The terms “eNB,” “base station,” “NR BS,” “gNB,” “TRP,” “AP,” “B node,” “5G NB,” and “cell” are used interchangeably herein.

[0034] In some respects, the cell may not be stationary, and the geographical area of ​​the cell may move depending on the location of the mobile BS. In some respects, BSs may interconnect with each other and / or interconnect to one or more other BSs or network nodes (not shown) in the wireless network 100 via various types of backhaul interfaces (such as direct physical connections or virtual networks, using any suitable transport network).

[0035] The wireless network 100 may also include a relay station. A relay station is an entity capable of receiving data transmissions from an upstream station (e.g., a BS or a UE) and transmitting those data transmissions to a downstream station (e.g., a UE or a BS). A relay station may also be a UE capable of relaying transmissions for other UEs. Figure 1 In the example shown, relay BS 110d can communicate with macro BS 110a and UE 120d to facilitate communication between BS 110a and UE 120d. A relay BS can also be referred to as a relay station, relay base station, relay, etc.

[0036] Wireless network 100 can be a heterogeneous network comprising different types of Base Stations (BSs) such as macro BSs, pico BSs, femto BSs, relay BSs, etc. These different types of BSs may have different transmit power levels, different coverage areas, and different effects on interference in wireless network 100. For example, macro BSs may have high transmit power levels (e.g., 5 to 40 watts), while pico BSs, femto BSs, and relay BSs may have lower transmit power levels (e.g., 0.1 to 2 watts).

[0037] Network controller 130 can be coupled to a set of Base Stations (BSs) and can provide coordination and control over these BSs. Network controller 130 can communicate with each BS via backhaul. These BSs can also communicate with each other directly or indirectly via wireless or wired backhaul.

[0038] UE 120 (e.g., 120a, 120b, 120c) may be distributed throughout the wireless network 100, and each UE may be stationary or mobile. UE may also be referred to as an access terminal, terminal, mobile station, subscriber unit, station, etc. UE may be a cellular phone (e.g., a smartphone), personal digital assistant (PDA), wireless modem, wireless communication device, handheld device, laptop computer, cordless phone, wireless local loop (WLL) station, tablet, camera, gaming device, netbook, smartbook, ultrabook, medical device or equipment, biometric sensor / device, wearable device (smartwatch, smart clothing, smart glasses, smart wristband, smart jewelry (e.g., smart ring, smart bracelet)), entertainment device (e.g., music or video device, or satellite radio), vehicle component or sensor, smart meter / sensor, industrial manufacturing equipment, GPS device, or any other suitable device configured to communicate via wireless or wired media.

[0039] Some UEs may be considered machine-type communication (MTC) devices or evolved or enhanced machine-type communication (eMTC) UEs. MTC and eMTC UEs include, for example, robots, drones, remote devices, sensors, instruments, monitors, and / or location tags that can communicate with a base station, another device (e.g., a remote device), or some other entity. Wireless nodes may provide connectivity to or to a network (e.g., a wide area network, such as the Internet or a cellular network) via wired or wireless communication links, for example. Some UEs may be considered Internet of Things (IoT) devices and / or may be implemented as NB-IoT (Narrowband Internet of Things) devices. Some UEs may be considered customer premises equipment (CPE). UE 120 may be included within a housing that houses components of UE 120, such as processor components and / or memory components. In some aspects, the processor components and memory components may be coupled together. For example, the processor components (e.g., one or more processors) and memory components (e.g., memory) may be operatively coupled, communicatively coupled, electronically coupled, and / or electrically coupled.

[0040] Generally, any number of wireless networks can be deployed in a given geographical area. Each wireless network can support a specific RAT and can operate on one or more frequencies. A RAT can also be referred to as a radio technology, air interface, etc. A frequency can also be referred to as a carrier, frequency channel, etc. Each frequency can support a single RAT in a given geographical area to avoid interference between wireless networks using different RATs. In some cases, NR or 5G RAT networks can be deployed.

[0041] In some respects, two or more UEs 120 (e.g., shown as UE 120a and UE 120e) may communicate directly using one or more sidelink channels (e.g., without using base station 110 as an intermediary). For example, UEs 120 may communicate using peer-to-peer (P2P) communication, device-to-device (D2D) communication, vehicle-to-everything (V2X) protocols (e.g., which may include vehicle-to-vehicle (V2V) protocols, vehicle-to-infrastructure (V2I) protocols, or vehicle-to-pedestrian (V2P) protocols), and / or mesh networks. In this scenario, UEs 120 may perform scheduling operations, resource selection operations, and / or other operations described elsewhere herein as performed by base station 110.

[0042] Devices in the wireless network 100 can communicate using the electromagnetic spectrum, which can be subdivided into various categories, bands, channels, etc., based on frequency or wavelength. For example, devices in the wireless network 100 can communicate using an operating band with a first frequency range (FR1) and / or an operating band with a second frequency range (FR2), where the first frequency range (FR1) spans from 410 MHz to 7.125 GHz and the second frequency range (FR2) spans from 24.25 GHz to 52.6 GHz. The frequencies between FR1 and FR2 are sometimes referred to as intermediate frequency bands. Although a portion of FR1 is greater than 6 GHz, FR1 is often referred to as the "sub-6 GHz" band. Similarly, although different from the extremely high frequency (EHF) band (30 GHz–300 GHz) designated as the "millimeter wave" band by the International Telecommunication Union (ITU), FR2 is often referred to as the "millimeter wave" band. Therefore, unless otherwise stated, it should be understood that, if used herein, the terms "sub-6 GHz" and the like can broadly refer to frequencies less than 6 GHz, frequencies within FR1, and / or intermediate frequency band frequencies (e.g., greater than 7.125 GHz). Similarly, unless otherwise stated, it should be understood that, if used herein, the terms "millimeter wave" and the like can broadly refer to frequencies within the EHF band, frequencies within FR2, and / or intermediate frequency band frequencies (e.g., less than 24.25 GHz). It is conceivable that the frequencies included in FR1 and FR2 can be modified, and the techniques described herein are applicable to those modified frequency ranges.

[0043] As indicated above, Figure 1 This is provided as an example. Other examples may differ from the one provided. Figure 1 The example described.

[0044] Figure 2 This is a diagram illustrating an example 200 of communication between a base station 110 and a UE 120 in a wireless network 100 according to various aspects of this disclosure. The base station 110 may be equipped with T antennas 234a to 234t, and the UE 120 may be equipped with R antennas 252a to 252r, wherein generally T≥1 and R≥1.

[0045] At base station 110, transmit processor 220 can receive data destined for one or more UEs from data source 212, select one or more modulation and coding schemes (MCS) for each UE based at least in part on channel quality indicators (CQI) received from each UE, process (e.g., encode and modulate) the data for each UE based at least in part on the MCS selected for each UE, and provide data symbols for all UEs. Transmit processor 220 can also process system information (e.g., semi-static resource allocation information (SRPI)) and control information (e.g., CQI requests, grants, and / or upper-layer signaling), and provide overhead symbols and control symbols. Transmit processor 220 can also generate reference symbols for reference signals (e.g., cell-specific reference signals (CRS) or demodulation reference signals (DMRS)) and synchronization signals (e.g., primary synchronization signal (PSS) or secondary synchronization signal (SSS)). The transmit (TX) multiple-input multiple-output (MIMO) processor 230 can perform spatial processing (e.g., precoding) on ​​data symbols, control symbols, overhead symbols, and / or reference symbols, where applicable, and can provide T output symbol streams to T modulators (MODs) 232a to 232t. Each modulator 232 can process its respective output symbol stream (e.g., for OFDM) to obtain an output sample stream. Each modulator 232 can further process (e.g., convert to analog, amplify, filter, and up-convert) the output sample stream to obtain a downlink signal. The T downlink signals from modulators 232a to 232t can be transmitted via T antennas 234a to 234t, respectively.

[0046] At UE 120, antennas 252a to 252r can receive downlink signals from base station 110 and / or other base stations and can provide the received signals to demodulators (DEMODs) 254a to 254r respectively. Each demodulator 254 can condition (e.g., filter, amplify, downconvert, and digitize) the received signal to obtain an input sample. Each demodulator 254 can further process the input sample (e.g., for OFDM) to obtain received symbols. MIMO detector 256 can obtain the received symbols from all R demodulators 254a to 254r, perform MIMO detection on these received symbols where applicable, and provide detected symbols. Receiver processor 258 can process (e.g., demodulate and decode) these detected symbols, provide decoded data for UE 120 to data sink 260, and provide decoded control information and system information to controller / processor 280. The term "controller / processor" can refer to one or more controllers, one or more processors, or a combination thereof. The channel processor can determine parameters such as Reference Signal Received Power (RSRP), Received Signal Strength Indicator (RSSI), Reference Signal Received Quality (RSRQ), and / or Channel Quality Indicator (CQI). In some respects, one or more components of the UE 120 may be included in the housing 284.

[0047] Network controller 130 may include communication unit 294, controller / processor 290, and memory 292. Network controller 130 may include one or more devices, such as those in a core network. Network controller 130 may communicate with base station 110 via communication unit 294.

[0048] Antennas (e.g., antennas 234a to 234t and / or antennas 252a to 252r) may include, or be included therein, one or more antenna panels, antenna groups, antenna element sets, and / or antenna arrays. Antenna panels, antenna groups, antenna element sets, and / or antenna arrays may include one or more antenna elements. Antenna panels, antenna groups, antenna element sets, and / or antenna arrays may include coplanar antenna element sets and / or non-coplanar antenna element sets. Antenna panels, antenna groups, antenna element sets, and / or antenna arrays may include antenna elements within a single housing and / or multiple antenna elements within housings. Antenna panels, antenna groups, antenna element sets, and / or antenna arrays may include elements coupled to one or more transmission and / or reception components (such as...). Figure 2 One or more antenna elements (one or more components).

[0049] On the uplink, at UE 120, transmit processor 264 can receive and process data from data source 262 and control information from controller / processor 280 (e.g., reports including RSRP, RSSI, RSRQ, and / or CQI). Transmit processor 264 can also generate reference symbols for one or more reference signals. Symbols from transmit processor 264 may be pre-encoded by TX MIMO processor 266 where applicable, further processed by modulators 254a to 254r (e.g., for DFT-s-OFDM or CP-OFDM), and transmitted to base station 110. In some aspects, modulators and demodulators (e.g., MOD / DEMOD 254) of UE 120 may be included in the modem of UE 120. In some aspects, UE 120 includes a transceiver. The transceiver may include any combination of antennas 252, modulators and / or demodulators 254, MIMO detectors 256, receiver processors 258, transmitter processors 264, and / or TX MIMO processors 266. The transceiver may be used by a processor (e.g., controller / processor 280) and memory 282 to perform aspects of any of the methods described herein, for example, as referenced. Figures 4-6 As described.

[0050] At base station 110, uplink signals from UE 120 and other UEs can be received by antenna 234, processed by demodulator 232, detected by MIMO detector 236 where applicable, and further processed by receiver processor 238 to obtain decoded data and control information transmitted by UE 120. Receiver processor 238 can provide the decoded data to data sink 239 and the decoded control information to controller / processor 240. Base station 110 may include communication unit 244 and communicate with network controller 130 via communication unit 244. Base station 110 may include scheduler 246 to schedule UE 120 for downlink and / or uplink communications. In some aspects, the modulator and demodulator (e.g., MOD / DEMOD 232) of base station 110 may be included in the modem of base station 110. In some aspects, base station 110 includes a transceiver. The transceiver may include any combination of antenna 234, modulator and / or demodulator 232, MIMO detector 236, receiver processor 238, transmitter processor 220, and / or TX MIMO processor 230. The transceiver may be used by a processor (e.g., controller / processor 240) and memory 242 to perform aspects of any of the methods described herein, for example, as referenced. Figures 4-6 As described.

[0051] The controller / processor 240 of base station 110, the controller / processor 280 of UE 120, and / or Figure 2 Any other component may perform one or more techniques associated with using information from the vehicle user equipment (VUE) to determine the presence of an object, as described in more detail elsewhere herein. In some respects, the node described herein is base station 110, is included in base station 110, or includes... Figure 2 One or more components of the base station 110 shown. For example, the controller / processor 240 of the base station 110, the controller / processor 280 of the UE 120, and / or Figure 2 Any other component may execute or direct, for example Figure 7 The process 700 Figure 8 The operation of process 800 and / or other processes as described herein. Memory 242 and 282 may store data and program code for base station 110 and UE 120, respectively. In some aspects, memory 242 and / or memory 282 may include: a non-transitory computer-readable medium storing one or more instructions (e.g., code and / or program code) for wireless communication. For example, when executed by one or more processors of base station 110 and / or UE 120 (e.g., directly executed, or executed after compilation, transformation, and / or interpretation), the one or more processors, UE 120, and / or base station 110 may cause the one or more processors, UE 120, and / or base station 110 to perform or direct, for example... Figure 7 The process 700 Figure 8 The operation of process 800, and / or other processes described herein. In some respects, the execution instructions may include run instructions, translate instructions, compile instructions, and / or interpret instructions, etc.

[0052] In some aspects, the first VUE includes: means for transmitting to a node first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest performed by the first VUE; means for receiving from the node second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by a second device; means for determining, at least partially based on the first information and the second information, whether the object exists in the region of interest; and / or means for performing an action based at least partially on whether the object exists in the region of interest. Means for the VUE to perform the operations described herein may include, for example, one or more of antenna 252, demodulator 254, MIMO detector 256, receiver processor 258, transmitter processor 264, TX MIMO processor 266, modulator 254, controller / processor 280, or memory 282.

[0053] In some aspects, the first VUE includes means for determining whether an object exists in the region of interest, based at least in part on first information and second information.

[0054] In some aspects, the first VUE includes means for determining the first information based at least in part on monitoring the region of interest, wherein the monitoring includes sensing the region of interest.

[0055] In some aspects, the node includes: means for receiving from a first VUE first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest by the first VUE; means for receiving from a second VUE second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest by the second VUE; and / or means for transmitting third information at least partially based on the first information and the second information, wherein the third information indicates a probability associated with the presence of the object in the region of interest, at least partially based on one or more of sensing of the region of interest by the first VUE and sensing of the region of interest by the second VUE. In some aspects, means for the node to perform the operations described herein may include, for example, one or more of a transmit processor 220, a TX MIMO processor 230, a modulator 232, an antenna 234, a demodulator 232, a MIMO detector 236, a receive processor 238, a controller / processor 240, a memory 242, or a scheduler 246.

[0056] In some aspects, the node includes: means for transmitting third information to one or more VUEs, including a first VUE, a second VUE, or a third VUE that does not monitor the region of interest, via a broadcast message; and / or means for transmitting the third information to the first VUE or the second VUE via a unicast message.

[0057] although Figure 2 The boxes in the diagram are interpreted as different components, but the functions described above with respect to these boxes can be implemented using a single hardware component, software component, or combination of components. For example, the functions described with respect to transmit processor 264, receive processor 258, and / or TX MIMO processor 266 can be performed by controller / processor 280 or under the control of controller / processor 280.

[0058] As indicated above, Figure 2 This is provided as an example. Other examples may differ from the one provided. Figure 2 The example described.

[0059] In a V2P system, a VUE can determine the location of surrounding objects, such as vulnerable road users (VRUs) or pedestrians, to avoid potential collisions. In some situations, a VUE may be unable to determine certain objects. For example, occluding objects (such as buildings) may block a VRU at a traffic intersection, preventing the VUE from determining the VRU's presence at the intersection. Certain geographic locations (such as traffic intersections) may be associated with a relatively high collision potential for VRUs due to occluding objects limiting the sensing capabilities of each VUE.

[0060] Given this issue, VUEs can share sensor information about sensed objects with other VUEs, thus providing the VUEs with a global view of the objects in the area. However, object sensing performed by VRUs is prone to errors, such as positional errors of sensed objects due to inherent sensor errors and / or data association errors. Data association errors may occur when the bounding boxes of VRUs overlap. Regarding the importance of VRUs and security, object sensing can be performed independently by a VUE and collaboratively with other VUEs to ensure the presence or absence of a VRU.

[0061] Figure 3 This is an illustration of example 300 of an object blocking an object at a traffic intersection, illustrating various aspects of this disclosure.

[0062] like Figure 3 As shown, the VRU may be crossing a traffic intersection. A first VUE (VUE1) may have a line of sight to the VRU, and therefore can sense it. Various sensors, such as cameras, radar, and / or lidar (LIDAR), can be used to sense the VRU. A third VUE (VUE3) may also have a line of sight to the VRU, and therefore can sense it. However, a second VUE (VUE2) may be about to turn and cross the traffic intersection, but obstructions (e.g., buildings) may prevent the second VUE from sensing the VRU. The second VUE may be able to receive pedestrian safety messages from the VRU. Due to high GPS errors caused by surrounding obstructions, pedestrian safety information may not convey the accurate location of the VRU. Therefore, the second VUE may not be able to reliably estimate the presence of the VRU at the traffic intersection.

[0063] As indicated above, Figure 3 This is provided as an example. Other examples may differ from the one provided. Figure 3 The example described.

[0064] In various aspects of the techniques and apparatus described herein, a first VUE may transmit first internal information to a node (such as a roadside unit (RSU)). This first internal information may be associated, at least in part, with the presence of an object (e.g., a VRU) in the region of interest based on sensing performed by the first VUE with respect to that region of interest. A second VUE may transmit second internal information to the node, wherein this second internal information may be associated, at least in part, with the presence of an object in the region of interest based on sensing performed by the second VUE with respect to that region of interest. In other words, the first internal information may correspond to the first VUE's perception of the region of interest and is therefore considered internal to the first VUE. The second internal information may correspond to the second VUE's perception of the region of interest and is therefore considered internal to the second VUE.

[0065] In various aspects of the techniques and apparatus described herein, a node can receive first internal information from a first VUE and second internal information from a second VUE. A node can transmit first external information to the first VUE and second external information to the second VUE. The first external information transmitted to the first VUE may include, or at least partially, based on second internal information regarding the existence of an object in a region of interest, which is not initially possessed by the first VUE. The first external information may be combined internal information from other VUEs reporting the existence of an object. The combined internal information may not be the same as a combination of all individual internal information, as the combined internal information may be aggregated internal information. Similarly, the second external information transmitted to the second VUE may include, or at least partially, based on first internal information regarding the existence of an object in a region of interest, which is not initially possessed by the second VUE. The first VUE can determine whether an object exists in the region of interest, at least partially based on the first and second internal information. The second VUE can determine whether an object exists in the region of interest, at least partially based on the second internal information and the second external information. Thus, the first VUE can infer the existence of an object in the region of interest by collaboratively combining the information sensed by the first VUE and the information sensed by the second VUE, and vice versa.

[0066] In various aspects of the techniques and apparatus described herein, a first VUE may use sensor information obtained by a second VUE that is not available to the first VUE. For example, the first VUE may not be able to sense an object, but the second VUE may be able to sense the object. In this example, the first VUE may be able to detect the presence of an object at least in part based on sensor information obtained by the second VUE. As a result, the VUEs can reliably infer the presence of an object (e.g., a VRU) by collaboratively fusing sensed measurements from other VUEs.

[0067] Figure 4 This is a diagram illustrating example 400 related to determining the existence of an object using information from VUE, based on various aspects of this disclosure. (See diagram 400 for example.) Figure 4 As shown, Example 400 includes communication between each VUE (e.g., each UE 120) and a node (e.g., base station 110). In some aspects, the VUEs and nodes may be included in a wireless network (such as wireless network 100). The VUEs and nodes may communicate on a wireless sidelink.

[0068] As indicated by reference numeral 402 in the accompanying drawings, a first VUE (VUE1 or Node-1) can transmit first internal information to a node (Node-0 or RSU), a second VUE (VUE2 or Node-2) can transmit second internal information to that node, and a third VUE (VUE3 or Node-3) can transmit third internal information to that node. The first internal information can be associated with the presence of an object in the region of interest, at least in part, based on sensing of the region of interest performed by the first VUE. The second internal information can be associated with the presence of an object in the region of interest, at least in part, based on sensing of the region of interest performed by the second VUE. The third internal information can be associated with the presence of an object in the region of interest, at least in part, based on sensing of the region of interest performed by the third VUE.

[0069] As used herein, “internal information” can be transmitted by a VUE and can refer at least in part to information relating to the presence of an object in the region of interest, based on sensing of the region of interest performed by that VUE rather than sensing of the region of interest performed by other VUEs.

[0070] In some respects, the first internal information transmitted by the first VUE can correspond to the first VUE's perception of the sensed object. The second internal information transmitted by the second VUE can correspond to the second VUE's perception of the sensed object. The third internal information transmitted by the third VUE can correspond to the third VUE's perception of the sensed object. In other words, the internal information transmitted by the VUE can correspond to the VUE's own perception of the sensed object in the region of interest.

[0071] In some aspects, internal information (e.g., first internal information, second internal information, and / or third internal information) may indicate that an object exists in the region of interest (ROI) or that an object does not exist in the ROI. Internal information may include a first value (e.g., "1") indicating that an object is sensed in the ROI, or a second value (e.g., "0") indicating that no object is sensed in the ROI. In some aspects, internal information may indicate a confidence level corresponding to the presence of an object in the ROI. For example, a high confidence level may indicate that an object exists in the ROI, while a low confidence level may indicate that an object does not exist in the ROI. In some aspects, internal information may be determined at least in part based on monitoring the ROI, wherein monitoring may include sensing the ROI.

[0072] In some respects, regions of interest can be pre-configured for the first VUE, the second VUE, and the third VUE. Alternatively, regions of interest can be configured by the nodes at the first VUE, the second VUE, and the third VUE.

[0073] As indicated by reference numeral 404 in the accompanying drawings, a node can determine external information for each of the first, second, and third VUEs. For example, a node can determine first external information for the first VUE, second external information for the second VUE, and third external information for the third VUE. The first external information determined for the first VUE can be associated with the presence of an object in the region of interest, at least in part, based on sensing of the region of interest performed by the second and third VUEs. The second external information determined for the second VUE can be associated with the presence of an object in the region of interest, at least in part, based on sensing of the region of interest performed by the first and third VUEs. The third external information determined for the third VUE can be associated with the presence of an object in the region of interest, at least in part, based on sensing of the region of interest performed by the first and second VUEs.

[0074] As used herein, “external information” can be received by a VUE and can refer at least in part to information related to the presence of an object in the region of interest, based on a sensing of the region of interest performed by a VUE other than the VUE that received the external information.

[0075] In some aspects, the first external information transmitted to the first VUE may correspond to information that the first VUE did not initially possess. The first external information may be at least partially based on second internal information from the second VUE and third internal information from the third VUE. In some aspects, the second external information transmitted to the second VUE may correspond to information that the second VUE did not initially possess. The second external information may be at least partially based on first internal information from the first VUE and third internal information from the third VUE. In some aspects, the third external information transmitted to the third VUE may correspond to information that the third VUE did not initially possess. The third external information may be at least partially based on first internal information from the first VUE and second internal information from the second VUE. In other words, the external information transmitted to the VUE may correspond to internal information from other VUEs (e.g., information obtained by sensing a region of interest by other VUEs).

[0076] In some aspects, the first external information may indicate a probability, at least in part, of the presence of an object in the region of interest, sensed by the second and third VUEs. This probability may be based, at least in part, on the number of VUEs other than the first VUE that report information (e.g., internal information) indicating the object's presence in the region of interest, and the total number of VUEs other than the first VUE that report information (e.g., internal information) associated with the object's presence in the region of interest. Similarly, the second external information may indicate a probability, at least in part, of the presence of an object in the region of interest, sensed by the first and third VUEs, and the third external information may indicate a probability, at least in part, of the presence of an object in the region of interest, sensed by the first and second VUEs.

[0077] As shown by reference numeral 406 in the attached figure, a node can transmit first external information, second external information, and third external information to a first VUE, a second VUE, and a third VUE, respectively. For example, a node can transmit first unicast information containing first external information to a first VUE, second unicast information containing second external information to a second VUE, and third unicast information containing third external information to a third VUE.

[0078] As indicated by reference numeral 408 in the accompanying drawings, the first VUE can determine whether an object exists in the region of interest (ROI) based at least in part on first internal information and first external information. In other words, the first VUE can determine whether an object exists in the ROI using first internal information (which may correspond to sensing performed by the first VUE with respect to the ROI) and first external information (which may correspond to sensing performed by the second and third VUEs with respect to the ROI). Furthermore, the first VUE can perform actions based at least in part on whether an object exists in the ROI. For example, the first VUE can perform various operations (such as braking, acceleration, left turn, right turn, lane change, etc.) depending on whether an object exists in the ROI.

[0079] As indicated by reference numeral 410 in the accompanying drawings, the second VUE can determine whether an object exists in the region of interest, at least in part, based on second internal information and second external information. In other words, the second VUE can determine whether an object exists in the region of interest using both second internal information (which may correspond to sensing performed by the second VUE with respect to the region of interest) and second external information (which may correspond to sensing performed by the first VUE and the third VUE with respect to the region of interest). Furthermore, the second VUE can perform actions based at least in part on whether an object exists in the region of interest.

[0080] As indicated by reference numeral 412 in the accompanying drawings, the third VUE can determine whether an object exists in the region of interest based at least in part on third internal information and third external information. In other words, the third VUE can determine whether an object exists in the region of interest using third internal information (which may correspond to sensing performed by the third VUE with respect to the region of interest) and third external information (which may correspond to sensing performed by the first VUE and the second VUE with respect to the region of interest). Furthermore, the third VUE can perform actions based at least in part on whether an object exists in the region of interest.

[0081] In some respects, from the perspective of the first VUE, first internal information may indicate that an object does not exist in the region of interest, while second and third external information may indicate that the object exists in the region of interest. In this case, the first VUE can determine that the object exists in the region of interest, at least in part, based on the first internal information, the second external information, and the third external information. In other words, when both the second and third external information indicate that the object exists in the region of interest, the first VUE can overwrite the initial determination that the object does not exist in the region of interest.

[0082] In some respects, from the perspective of the first VUE, first internal information may indicate that an object exists in the region of interest, second external information may indicate that the object does not exist in the region of interest, and third external information may indicate that the object exists in the region of interest. In this case, the first VUE can determine that the object exists in the region of interest based at least in part on the first internal information, the second external information, and the third external information. In other words, even if the second external information indicates that the object is not in the region of interest, both the first internal information and the third external information can indicate that the object exists in the region of interest, so the first UE can avoid overwriting the initial determination that the object exists in the region of interest.

[0083] In some aspects, a node can determine aggregated internal information based at least in part on first internal information, second internal information, and third internal information. The aggregated internal information can be based at least in part on sensing performed by a first VUE, sensing performed by a second VUE, and sensing performed by a third VUE. Instead of transmitting individual unicast messages containing external information specific to a particular VUE, the node can transmit broadcast messages containing aggregated internal information for reception at the first, second, and third VUEs. The first, second, and third VUEs can each receive the aggregated internal information from the node. The first VUE can subtract the first internal information associated with it from the aggregated internal information to obtain first external information associated with the second and third VUEs. The second VUE can subtract the second internal information associated with it from the aggregated internal information to obtain second external information associated with the first and third VUEs. The third VUE can subtract the third internal information associated with it from the aggregated internal information to obtain third external information associated with both the first and second VUEs. In other words, a VUE can have internal information associated with itself, so the VUE can subtract the internal information from the aggregated internal information to determine the external information associated with other VUEs.

[0084] In some respects, a node can transmit a broadcast message containing aggregated internal information, which can be received at each VUE other than the first, second, and third VUEs. Other VUEs may not monitor the region of interest, but can use the aggregated internal information to determine whether an object exists within the region of interest. As a result, a VUE in the first region of interest can receive information about objects in the second region of interest, where the VUE in the first region of interest may be out of sight of the second region of interest.

[0085] In some respects, broadcast messages can indicate the total number of VUEs monitoring a region of interest, as well as the total number of VUEs present in that region of interest that are being reported. A VUE can receive a broadcast message and, at least in part, can subtract internal information associated with that VUE to determine external information specific to that VUE based on that broadcast message.

[0086] As indicated above, Figure 4 This is provided as an example. Other examples may differ from the one provided. Figure 4 The example described.

[0087] Figure 5 This is a diagram illustrating example 500 related to determining the existence of an object using information from VUE, based on various aspects of this disclosure.

[0088] exist Figure 5 In the example shown, the first VUE (VUE1 or Node-1) can monitor a first region of interest (REG-1), a second region of interest (REG-2), and a third region of interest (REG-3). The first VUE can determine first internal information about a first object (OBJ-1) in the first region of interest, a second object (OBJ-2) in the second region of interest, and a third object (OBJ-3) in the third region of interest, and the first VUE can transmit this first internal information to a node (Node-0 or RSU). In other words, the first VUE can transmit first internal information about the sensed objects(s) at a specific geographical location to the node. The first internal information can represent the first VUE's own perception of the sensed objects(s). The second VUE (VUE2 or Node-2) can monitor the first region of interest, the second region of interest, the third region of interest, and a fifth region of interest (REG-5). The second VUE can determine second internal information about the first object, the second object, the third object, and the fifth object (OBJ-5) in the fifth region of interest, and the second VUE can transmit this second internal information to the node. The second internal information can represent the second VUE's own perception of the sensed objects(s). The third VUE (VUE3 or node-3) can monitor the second region of interest, the third region of interest, the fourth region of interest (REG-4), and the fifth region of interest. The third VUE can determine third internal information about the second object, the third object, the fourth object (OBJ-4) in the fourth region of interest, and the fifth object, and the third VUE can transmit this third internal information to the node. The third internal information can represent the third VUE's own perception of the sensed objects(s).

[0089] exist Figure 5In the example shown, a node can transmit first external information relating to the existence of a second object to a first VUE, wherein this first external information may be at least partially based on second and third internal information relating to the existence of the second object. A node can transmit second external information relating to the existence of a second object to a second VUE, wherein this second external information may be at least partially based on the first and third internal information relating to the existence of the second object. A node can transmit third external information relating to the existence of a second object to a third VUE, wherein this third external information may be at least partially based on the first and second internal information relating to the existence of the second object.

[0090] In some aspects, the first VUE, second VUE, and third VUE can respectively transmit first internal information, second internal information, and third internal information to the node. The node can transmit external information to each of the first, second, and third VUEs, wherein the external information may include information that each of the first, second, and third VUEs does not initially possess. For example, the first external information transmitted by the node to the first VUE may combine second and third internal information obtained from the second and third VUEs, respectively, which are not initially possessed by the first VUE. The second external information transmitted by the node to the second VUE may combine first and third internal information obtained from the first and third VUEs, respectively, which are not initially possessed by the second VUE. The third external information transmitted by the node to the third VUE may combine first and second internal information obtained from the first and second VUEs, respectively, which are not initially possessed by the third VUE.

[0091] In some aspects, a VUE can determine the existence of a sensed object based at least in part on internal and external information. For example, a first VUE can determine the existence of a sensed object based at least in part on first internal information, second external information, and third external information. A second VUE can determine the existence of a sensed object based at least in part on second internal information, first external information, and third external information. A third VUE can determine the existence of a sensed object based at least in part on third internal information, first external information, and second external information.

[0092] In some respects, VUE can perform object (e.g., VRU) detection with respect to a specific region of interest. A region of interest may correspond to a geographical location with a relatively high rate of VRU deaths or VRU incidents, or it may be an unmanned VRU crossroads. Regions of interest can be pre-configured, and / or can be explicitly configured by nodes (e.g., RSUs).

[0093] In some aspects, a VUE can be (pre-)configured to monitor a specific VRU detection area. A given VUE can monitor a VRU detection area based on the location associated with that specific VRU detection area. As an example, a first VUE in a first location (e.g., a geographic region) can be configured to monitor a first set of VRU detection areas, while a second VUE in a second location can be configured to monitor a second set of VRU detection areas. The first set of VRU detection areas may overlap with the second set of VRU detection areas, or they may not overlap. The first and second sets of VRU detection areas may include one or more objects (such as VRUs). Thus, a VUE can monitor one or more VRU detection areas of interest, and a VRU detection area of ​​interest can be monitored by one or more VUEs. In some aspects, the VRU detection area of ​​interest for a VRU may depend on the detection range of the VRU's sensors (such as cameras, LiDAR, and / or radar).

[0094] In some respects, a node can broadcast a list of regions of interest, and the VUE can determine from the list of regions of interest the area it can monitor. In this scenario, for a region of interest monitored by the VUE, the VUE can report a first value (e.g., "0") to the node when no object is detected, a second value (e.g., "1") to the node when an object is detected, or a third value (e.g., "NA") to the node for other regions of interest not monitored by the VUE.

[0095] In some respects, a node may not broadcast a list of regions of interest (ROIs). Instead, a VUE can report to the node the ROIs it is monitoring, along with the locations of objects (e.g., VRUs) detected or sensed within those ROIs. A node can receive these reports from the individual VUEs and can dynamically configure its ROIs based at least in part on these reports.

[0096] In some aspects, the first, second, and third VUEs transmitting internal information may be associated with nodes residing in each VUE, and the node determining and transmitting external information may also reside in a VUE. In this example, the node may not be an RSU, but may be associated with a VUE. Each VUE may provide external information based at least in part on internal information obtained from a pre-configured set of VUEs with distances satisfying a threshold (e.g., distances less than the threshold). In some aspects, the internal information from each VUE may describe whether an object exists or does not exist in the region of interest. The external information transmitted to a VUE may be a distribution obtained by combining internal information from other VUEs, where Kalman filters or correlation techniques may be used to combine the internal information.

[0097] As indicated above, Figure 5 This is provided as an example. Other examples may differ from the one provided. Figure 5 The example described.

[0098] Figure 6 This is a diagram illustrating an example 600 related to determining the existence of an object using information from VUE, based on various aspects of this disclosure.

[0099] exist Figure 6 In the example shown, the first VUE can transmit a first internal message to the node including the value "0", indicating that the first VUE has not detected an object in the region of interest (REG-2). The second VUE can transmit a second internal message to the node including the value "1", indicating that the second VUE has detected an object in REG-2. The third VUE can transmit a third internal message to the node including the value "1", indicating that the third VUE has detected an object in REG-2.

[0100] In some respects, the first, second, and / or third internal information can be real numbers ranging from 0 to 1 (or some other applicable scale), where the real number can indicate the confidence level. The confidence level can be related to whether the object exists in the region of interest or not.

[0101] exist Figure 6 In the example shown, a node can transmit first external information to a first VUE, which includes a probability (p)1 associated with the existence of an object in REG-2. In this example, the first external information indicates that both the second and third VUEs indicate via internal information that the object exists in REG-2. The node can transmit second external information to the second VUE, which includes a probability (p)0.5 associated with the existence of an object in REG-2. In this example, the second external information indicates that one of the first and third VUEs indicates via internal information that the object exists in REG-2, and the other VUE indicates that the object does not exist in REG-2. The node can transmit third external information to the third VUE, which includes a probability (p)0.5 associated with the existence of an object in REG-2. In this example, the third external information indicates that one of the first and second VUEs indicates via internal information that the object exists in REG-2, while the other VUE indicates that the object does not exist in REG-2.

[0102] In some aspects, this includes the probability (p) sent to node-i (or VUE i) with respect to region-j (denoted as p(node ​​i)). i REG jThe external information of )) can be calculated as follows:

[0103]

[0104] In some respects, VUE i (node-i) can have the same characteristics as REG. j Both internal and external information are relevant, where internal information can be independent of external information. VUE i (node-i) can be at least partially based on p (node-i). i REG j To determine whether an object (e.g., a VRU) exists in REG, it must satisfy (e.g., be greater than) a threshold. j In the middle, VUE i (node-i) can update information about the object in REG based at least in part on the probability (p) indicated in the external information satisfying a threshold. j The initial determination of the existence of external information, which may correspond to sensing performed by other VUEs.

[0105] exist Figure 6 In the example shown, the first VUE may initially determine that the object does not exist in REG-2, as indicated by internal information from the first VUE. However, external information may include p(node1, REG2) being 1, indicating that the second and third VUEs have detected that the object exists in REG-2. p(node1, REG2) being 1 can satisfy a threshold. In this case, the first VUE can update the original information about the object not existing in REG-2 to the fact that the object exists in REG-2.

[0106] exist Figure 6 In the example shown, the third external information about REG-2 transmitted from node 3 to the third VUE may include p(node ​​3, REG2) of 0.5, indicating that the first VUE did not detect the object's presence in REG-2 while the second VUE did. p(node ​​3, REG2) of 0.5 may not satisfy a threshold. In this case, the third VUE may not update the original information about the object's presence in REG-2 because the third external information does not include a probability (p) greater than the threshold guaranteeing an update to the original information.

[0107] As indicated above, Figure 6 This is provided as an example. Other examples may differ from the one provided. Figure 6 The example described.

[0108] Figure 7This is a diagram illustrating, for example, an example process 700 performed by a first VUE according to various aspects of this disclosure. Example process 700 is an example in which a first VUE (e.g., UE 120) performs operations associated with determining the existence of an object using information from each VUE.

[0109] like Figure 7 As shown, in some aspects, process 700 may include transmitting to a node first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest performed by a first VUE (box 710). For example, the first VUE (e.g., using...) Figure 9 The transmission component 904 described herein can transmit to a node first information associated with the presence of an object in a region of interest, the first information being at least in part based on sensing of the region of interest performed by the first VUE, as described above.

[0110] like Figure 7 As further illustrated, in some aspects, process 700 may include receiving from a node second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by a second VUE (box 720). For example, the first VUE (e.g., using...) Figure 9 The receiving component 902 described herein can receive second information from the node that is associated with the presence of an object in the region of interest, the second information being at least in part based on sensing of the region of interest performed by the second VUE, as described above.

[0111] like Figure 7 As further illustrated, in some aspects, process 700 may include determining the presence of an object in the region of interest based at least in part on first information and second information (box 730). For example, the first VUE (e.g., using...) Figure 9 The determining component 908 described above can determine whether an object exists in the region of interest, at least in part, based on the first information and the second information.

[0112] like Figure 7 As further illustrated, in some aspects, process 700 may include performing an action at least in part based on whether an object exists in the region of interest (box 740). For example, a first VUE (e.g., using...) Figure 9 The execution component 910 described above can perform actions based at least in part on whether an object exists in the region of interest.

[0113] Process 700 may include additional aspects, such as any single aspect or any combination of aspects described below and / or in conjunction with one or more other processes described elsewhere herein.

[0114] In a first aspect, the first information associated with the existence of the object in the region of interest indicates whether the object exists in the region of interest or not.

[0115] In a second aspect, either alone or in combination with the first aspect, the first information indicates that the object does not exist in the region of interest, and the second information indicates that the object exists in the region of interest, and process 700 includes determining that the object exists in the region of interest based at least in part on the first information and the second information.

[0116] In a third aspect, either alone or in combination with one or more of the first and second aspects, the first information indicates that the object exists in the region of interest, while the second information indicates that the object does not exist in the region of interest, and process 700 includes determining that the object exists in the region of interest based at least in part on the first information and the second information.

[0117] In the fourth aspect, the first information associated with the presence of the object, alone or in combination with one or more of the first to third aspects, includes: a first value indicating that the object is sensed in the region of interest or a second value indicating that the object is not sensed in the region of interest.

[0118] In the fifth aspect, the first information associated with the existence of the object, alone or in combination with one or more of the first to fourth aspects, indicates a confidence level corresponding to the existence of the object.

[0119] In the sixth aspect, alone or in combination with one or more of the first to fifth aspects, the second information indicates at least in part a probability sensed by the second VUE that is associated with the presence of the object in the region of interest.

[0120] In the seventh aspect, either alone or in combination with one or more of the first to sixth aspects, the probability is based at least in part on the number of VUEs, other than the first VUE, that report information indicating the existence of the object in the region of interest, and the total number of VUEs, other than the first VUE, that report information related to the existence of the object in the region of interest.

[0121] In the eighth aspect, the region of interest is pre-configured at the first VUE, either alone or in combination with one or more of the first to seventh aspects; or the region of interest is configured at the first VUE by the node or base station.

[0122] In the ninth aspect, either alone or in combination with one or more of the first to eighth aspects, process 700 includes determining the first information based at least in part on monitoring the region of interest, wherein the monitoring includes sensing the region of interest.

[0123] In the tenth aspect, receiving the second information, either alone or in combination with one or more of the first to ninth aspects, includes receiving the second information from the node via a broadcast message, and the second information is based at least in part on sensing of the region of interest performed by the first VUE and sensing of the region of interest performed by the second VUE.

[0124] although Figure 7 An example box of process 700 is shown, but in some respects, process 700 may include... Figure 7 The boxes depicted in the process are compared to additional boxes, fewer boxes, different boxes, or boxes arranged differently. Additionally or alternatively, two or more boxes in process 700 can be executed in parallel.

[0125] Figure 8 This is a diagram illustrating, for example, an example process 800 performed by a node according to various aspects of this disclosure. Example process 800 is an example in which a node (e.g., base station 110) performs operations associated with determining the existence of an object using information from each VUE.

[0126] like Figure 8 As shown, in some aspects, process 800 may include receiving from a first VUE first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest performed by the first VUE (box 810). For example, the node (e.g., using...) Figure 10 The receiving component 1002 described herein can receive first information associated with the presence of an object in a region of interest from the first VUE, the first information being at least in part based on sensing of the region of interest by the first VUE, as described above.

[0127] like Figure 8 As further illustrated, in some aspects, process 800 may include receiving from a second VUE second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by the second VUE (box 820). For example, the node (e.g., using...) Figure 10The receiving component 1002 described herein can receive second information associated with the presence of the object in the region of interest from the second VUE, the second information being at least in part based on sensing of the region of interest by the second VUE, as described above.

[0128] like Figure 8 As further shown, in some aspects, process 800 may include transmitting third information based at least in part on the first information and the second information, wherein the third information indicates a probability associated with the presence of the object in the region of interest, based at least in part on one or more of the sensing of the region of interest performed by the first VUE and the sensing of the region of interest performed by the second VUE (box 830). For example, the node (e.g., using...) Figure 10 The transmission component 1004 described herein can transmit third information at least in part based on the first information and the second information, wherein the third information indicates a probability associated with the presence of the object in the region of interest, at least in part based on one or more of the sensing of the region of interest by the first VUE and the sensing of the region of interest by the second VUE, as described above.

[0129] Process 800 may include additional aspects, such as any single aspect or any combination of aspects described below and / or in conjunction with one or more other processes described elsewhere herein.

[0130] In a first aspect, the first information associated with the existence of an object includes: a first value indicating that the object is sensed in the region of interest or a second value indicating that the object is not sensed in the region of interest, and the second information associated with the existence of the object includes: a third value indicating that the object is sensed in the region of interest or a fourth value indicating that the object is not sensed in the region of interest.

[0131] In a second aspect, either alone or in combination with the first aspect, process 800 includes: the first information associated with the existence of the object indicating a first confidence level corresponding to the existence of the object, and the second information associated with the existence of the object indicating a second confidence level corresponding to the existence of the object.

[0132] In a third aspect, transmitting the third information, either alone or in combination with one or more of the first and second aspects, includes: transmitting the third information via a broadcast message to one or more of the following: the first VUE, the second VUE, or a third VUE that does not monitor the region of interest; or transmitting the third information via a unicast message to the first VUE or the second VUE.

[0133] although Figure 8 An example box of process 800 is shown, but in some respects, process 800 may include... Figure 8 The boxes depicted in the diagram are compared to additional boxes, fewer boxes, different boxes, or boxes arranged differently. Additionally or alternatively, two or more boxes in process 800 can be executed in parallel.

[0134] Figure 9 This is a block diagram of an example device 900 for wireless communication. Device 900 may be a first VUE, or a first VUE may include device 900. In some aspects, device 900 includes a receiving component 902 and a transmitting component 904, which may be in communication with each other (e.g., via one or more buses and / or one or more other components). As shown, device 900 may use the receiving component 902 and the transmitting component 904 to communicate with another device 906 (such as a UE, a base station, or another wireless communication device). As further shown, device 900 may include one or more of a determining component 908 or an execution component 910, etc.

[0135] In some respects, device 900 can be configured to perform the functions described in this article. Figures 4-6 The described one or more operations. Additionally or alternatively, device 900 may be configured to perform one or more processes described herein, such as Figure 7 The process is 700. In some respects, Figure 9 The device 900 and / or one or more components shown may include the above combination. Figure 2 The first Vue component described. Additionally or alternatively, Figure 9 One or more components shown can be combined as described above. Figure 2 Implementation within one or more of the described components. Additionally or alternatively, one or more components in the set of components may be implemented at least partially as software stored in memory. For example, a component (or a portion of a component) may be implemented as instructions or code stored in a non-transitory computer-readable medium and may be executed by a controller or processor to perform the function or operation of that component.

[0136] Receiver 902 may receive communications (such as reference signals, control information, data communications, or combinations thereof) from device 906. Receiver 902 may provide the received communications to one or more other components of device 906. In some aspects, receiver 902 may perform signal processing on the received communications (such as filtering, amplification, demodulation, analog-to-digital conversion, demultiplexing, deinterleaving, demapping, equalization, interference cancellation, or decoding, etc.), and may provide the processed signal to one or more other components of device 906. In some aspects, receiver 902 may include combinations of the above. Figure 2The first VUE described includes one or more antennas, demodulators, MIMO detectors, receiver processors, controllers / processors, memories, or combinations thereof.

[0137] Transmission component 904 can transmit communications (such as reference signals, control information, data communications, or combinations thereof) to device 906. In some aspects, one or more other components of device 906 can generate communications and provide the generated communications to transmission component 904 for transmission to device 906. In some aspects, transmission component 904 can perform signal processing (such as filtering, amplification, modulation, digital-to-analog conversion, multiplexing, interleaving, mapping, encoding, etc.) on the generated communications and can transmit the processed signals to device 906. In some aspects, transmission component 904 can include combinations of the above. Figure 2 The first VUE described includes one or more antennas, modulators, transmit MIMO processors, transmit processors, controllers / processors, memories, or combinations thereof. In some aspects, the transmit component 904 may be co-located with the receive component 902 in a transceiver.

[0138] The transmission component 904 can transmit to the node first information associated with the presence of an object in the region of interest, the first information being at least partially based on sensing of the region of interest performed by the first VUE. The receiving component 902 can receive from the node second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by the second VUE. The determining component 908 can determine whether the object exists in the region of interest, at least partially based on the first information and the second information. The executing component 910 can perform an action, at least partially based on whether the object exists in the region of interest.

[0139] The determining component 908 can determine, at least in part, that the object exists in the region of interest based on the first information and the second information.

[0140] The determining component 908 can determine the first information at least in part based on monitoring the region of interest, wherein the monitoring includes sensing the region of interest.

[0141] Figure 9 The number and arrangement of components shown are provided as an example. In practice, different arrangements may exist. Figure 9 The components shown are compared to additional components, fewer components, different components, or components arranged differently. Furthermore, Figure 9 The two or more components shown can be implemented within a single component, or Figure 9 The single component shown can be implemented as multiple distributed components. Additionally or alternatively, Figure 9The collection of components shown (e.g., one or more components) can be executed as described by Figure 9 The other set of components shown in the diagram performs one or more functions.

[0142] Figure 10 This is a block diagram of an example device 1000 for wireless communication. Device 1000 may be a node, or a node may include device 1000. In some aspects, device 1000 includes a receiving component 1002 and a transmitting component 1004, which may communicate with each other (e.g., via one or more buses and / or one or more other components). As shown, device 1000 may use the receiving component 1002 and the transmitting component 1004 to communicate with another device 1006 (such as a UE, a base station, or another wireless communication device).

[0143] In some respects, device 1000 can be configured to perform the functions described in this article. Figures 4-6 The described one or more operations. Additionally or alternatively, device 1000 may be configured to perform one or more processes described herein, such as Figure 8 The process is 800. In some respects, Figure 10 The device 1000 and / or one or more components shown may include the above combination. Figure 2 One or more components of the described node. Additionally or alternatively, Figure 10 One or more components shown can be combined as described above. Figure 2 Implementation within one or more of the described components. Additionally or alternatively, one or more components in the set of components may be implemented at least partially as software stored in memory. For example, a component (or a portion of a component) may be implemented as instructions or code stored in a non-transitory computer-readable medium and may be executed by a controller or processor to perform the function or operation of that component.

[0144] Receiver 1002 may receive communications (such as reference signals, control information, data communications, or combinations thereof) from device 1006. Receiver 1002 may provide the received communications to one or more other components of device 1000. In some aspects, receiver 1002 may perform signal processing on the received communications (such as filtering, amplification, demodulation, analog-to-digital conversion, demultiplexing, deinterleaving, demapping, equalization, interference cancellation, or decoding, etc.), and may provide the processed signal to one or more other components of device 1006. In some aspects, receiver 1002 may include combinations of the above. Figure 2 The described node includes one or more antennas, demodulators, MIMO detectors, receiver processors, controllers / processors, memory, or combinations thereof.

[0145] Transmission component 1004 can transmit communications (such as reference signals, control information, data communications, or combinations thereof) to device 1006. In some aspects, one or more other components of device 1006 can generate communications and provide the generated communications to transmission component 1004 for transmission to device 1006. In some aspects, transmission component 1004 can perform signal processing (such as filtering, amplification, modulation, digital-to-analog conversion, multiplexing, interleaving, mapping, encoding, etc.) on the generated communications and can transmit the processed signals to device 1006. In some aspects, transmission component 1004 can include combinations of the above. Figure 2 The described node includes one or more antennas, modulators, transmit MIMO processors, transmit processors, controllers / processors, memory, or combinations thereof. In some aspects, the transmit component 1004 may be co-located with the receive component 1002 in a transceiver.

[0146] The receiving component 1002 can receive first information from a first VUE relating to the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest by the first VUE. The receiving component 1002 can also receive second information from a second VUE relating to the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest by the second VUE. The transmitting component 1004 can transmit third information at least partially based on the first and second information, wherein the third information indicates a probability relating to the presence of the object in the region of interest, based at least partially on one or more of the sensing of the region of interest by the first VUE and the sensing of the region of interest by the second VUE.

[0147] The transmission component 1004 may transmit the third information via a broadcast message to one or more of the following: the first VUE, the second VUE, or a third VUE that does not monitor the region of interest.

[0148] The transmission component 1004 can transmit the third information to the first VUE or the second VUE via a unicast message.

[0149] Figure 10 The number and arrangement of components shown are provided as an example. In practice, different arrangements may exist. Figure 10 The components shown are compared to additional components, fewer components, different components, or components arranged differently. Furthermore, Figure 10 The two or more components shown can be implemented within a single component, or Figure 10 The single component shown can be implemented as multiple distributed components. Additionally or alternatively, Figure 10 The collection of components shown (e.g., one or more components) can be executed as described by Figure 10 The other set of components shown in the diagram performs one or more functions.

[0150] The following provides an overview of the various aspects of this disclosure:

[0151] Aspect 1: A method of performing wireless communication by a first vehicle user equipment (VUE), comprising: transmitting to a node first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest performed by the first VUE; receiving from the node second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by a second VUE; determining, at least partially based on the first information and the second information, whether the object exists in the region of interest; and performing an action at least partially based on whether the object exists in the region of interest.

[0152] Aspect 2: The method of aspect 1, wherein the first information associated with the existence of the object in the region of interest indicates whether the object exists in the region of interest or does not exist in the region of interest.

[0153] Aspect 3: The method of any one of Aspects 1 to 2, wherein the first information indicates that the object does not exist in the region of interest, and the second information indicates that the object exists in the region of interest, and the method further includes: determining that the object exists in the region of interest based at least in part on the first information and the second information.

[0154] Aspect 4: The method of any one of Aspects 1 to 3, wherein the first information indicates that the object exists in the region of interest, and the second information indicates that the object does not exist in the region of interest, and the method further includes: determining that the object exists in the region of interest based at least in part on the first information and the second information.

[0155] Aspect 5: The method of any one of Aspects 1 to 4, wherein the first information associated with the existence of the object includes: a first value indicating that the object is sensed in the region of interest or a second value indicating that the object is not sensed in the region of interest.

[0156] Aspect 6: The method of any one of Aspects 1 to 5, wherein the first information associated with the existence of the object indicates a confidence level corresponding to the existence of the object.

[0157] Aspect 7: The method of any one of Aspects 1 to 6, wherein the second information indicates: at least in part based on the probability sensed by the second VUE that is associated with the presence of the object in the region of interest.

[0158] Aspect 8: The method of aspect 7, wherein the probability is based at least in part on: the number of VUEs other than the first VUE that report information indicating the existence of the object in the region of interest, and the total number of VUEs other than the first VUE that report information related to the existence of the object in the region of interest.

[0159] Aspect 9: The method of any one of Aspects 1 to 8, wherein: the region of interest is pre-configured at the first VUE; or the region of interest is configured at the first VUE by the node or base station.

[0160] Aspect 10: The method of any one of Aspects 1 to 9 further includes: determining the first information based at least in part on monitoring the region of interest, wherein the monitoring includes sensing the region of interest.

[0161] Aspect 11: The method of any one of Aspects 1 to 10, wherein receiving the second information includes receiving the second information from the node via a broadcast message, and wherein the second information is based at least in part on sensing of the region of interest performed by the first VUE and sensing of the region of interest performed by the second VUE.

[0162] Aspect 12: A method for performing wireless communication by a node, comprising: receiving from a first vehicle user equipment (VUE) first information associated with the presence of an object in a region of interest, the first information being at least partially based on sensing of the region of interest by the first VUE; receiving from a second VUE second information associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest by the second VUE; and transmitting third information at least partially based on the first information and the second information, wherein the third information indicates a probability associated with the presence of the object in the region of interest, based at least partially on one or more of sensing of the region of interest by the first VUE and sensing of the region of interest by the second VUE.

[0163] Aspect 13: The method of aspect 12, wherein: the first information associated with the existence of the object includes: a first value indicating that the object is sensed in the region of interest or a second value indicating that the object is not sensed in the region of interest; and the second information associated with the existence of the object includes: a third value indicating that the object is sensed in the region of interest or a fourth value indicating that the object is not sensed in the region of interest.

[0164] Aspect 14: The method of any one of Aspects 12 to 13, wherein: the first information associated with the existence of the object indicates a first confidence level corresponding to the existence of the object; and the second information associated with the existence of the object indicates a second confidence level corresponding to the existence of the object.

[0165] Aspect 15: The method of any one of Aspects 12 to 14, wherein transmitting the third information comprises: transmitting the third information via a broadcast message to one or more of the following: the first VUE, the second VUE, or a third VUE that does not monitor the region of interest; or transmitting the third information via a unicast message to the first VUE or the second VUE.

[0166] Aspect 16: An apparatus for wireless communication at a device, comprising: a processor; a memory coupled to the processor; and instructions stored in the memory and executable by the processor to cause the apparatus to perform methods as described in one or more aspects of aspects 1-15.

[0167] Aspect 17: An apparatus for wireless communication, comprising: a memory and one or more processors coupled to the memory, the memory and the one or more processors being configured to perform methods as described in one or more aspects of aspects 1-15.

[0168] Aspect 18: An apparatus for wireless communication, comprising: at least one means for performing a method as described in one or more aspects of aspects 1-15.

[0169] Aspect 19: A non-transient computer-readable medium storing code for wireless communication, the code including instructions executable by a processor to perform methods as described in one or more aspects of Aspects 1-15.

[0170] Aspect 20: A non-transient computer-readable medium storing a set of instructions for wireless communication, the set of instructions including one or more instructions which, when executed by one or more processors of a device, cause the device to perform methods as described in one or more aspects of aspects 1-15.

[0171] The foregoing disclosure provides explanations and descriptions, but is not intended to be exhaustive or to limit the aspects to the precise forms disclosed. Modifications and variations may be made in light of the foregoing disclosure or may be obtained through practice.

[0172] As used herein, the term "component" is intended to be broadly interpreted as hardware and / or a combination of hardware and software. "Software" should be broadly interpreted as instructions, instruction sets, code, code segments, program code, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, and / or functions, whether referred to as software, firmware, middleware, microcode, hardware description languages, or other terms. As used herein, processors are implemented using hardware and / or a combination of hardware and software. It will be apparent that the systems and / or methods described herein can be implemented in various forms of hardware and / or combinations of hardware and software. The actual dedicated control hardware or software code used to implement these systems and / or methods is not limited in any way. Thus, the operation and behavior of these systems and / or methods are described herein without reference to any specific software code—it is understood that software and hardware can be designed to implement these systems and / or methods, at least in part, based on the descriptions herein.

[0173] As used in this article, depending on the context, a threshold can refer to a value greater than the threshold, greater than or equal to the threshold, less than the threshold, less than or equal to the threshold, equal to the threshold, not equal to the threshold, etc.

[0174] Although specific combinations of features are described in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of aspects. In fact, many of these features can be combined in ways not specifically described in the claims and / or not disclosed in the specification. Although each dependent claim listed below may be directly subordinated to only one claim, the disclosure of aspects includes each dependent claim being combined with each other claim in this set of claims. As used herein, the phrase “at least one of” refers to any combination of these items, including single members. As an example, “at least one of a, b, or c” is intended to cover: a, b, c, ab, ac, bc, and abc, as well as any combination having multiple identical elements (e.g., aa, aaa, aab, aac, abb, acc, bb, bbb, bbc, cc, and ccc, or any other ordering of a, b, and c).

[0175] The elements, actions, or instructions used herein should not be construed as critical or necessary unless explicitly stated otherwise. Furthermore, as used herein, the articles “a” and “a certain” are intended to include one or more items and may be used interchangeably with “one or more.” Additionally, as used herein, the article “the” is intended to include one or more items referenced in conjunction with the article “the” and may be used interchangeably with “one or more.” Furthermore, as used herein, the terms “set” and “group” are intended to include one or more items (e.g., related items, unrelated items, or a combination of related and unrelated items) and may be used interchangeably with “one or more.” Where only one item is intended, the phrase “only one” or similar language is used. Moreover, as used herein, the terms “have,” “contain,” “include,” etc., are intended to be open-ended terms. Additionally, the phrase “based on” is intended to mean “at least partially based on” unless otherwise explicitly stated. Moreover, as used herein, the term “or” is intended to be inclusive when used in a sequence and may be used interchangeably with “and / or” unless otherwise explicitly stated (e.g., in combination with “either of” or “only one of”).

Claims

1. A method for performing wireless communication by a first vehicle user equipment (VUE), comprising: First information associated with the presence of an object in a region of interest is transmitted to the node, the first information being at least in part based on the sensing of the region of interest performed by the first VUE; The node receives second information indicating the probability associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by the second VUE; The existence of the object in the region of interest is determined at least in part based on the first information and the second information; as well as The action is performed based at least in part on whether the object exists in the region of interest.

2. The method of claim 1, wherein the first information associated with the presence of the object in the region of interest indicates whether the object exists in the region of interest or not.

3. The method of claim 1, wherein the first information indicates that the object does not exist in the region of interest, and the second information indicates that the object exists in the region of interest, and the method further comprises: The existence of the object in the region of interest is determined at least in part based on the first information and the second information.

4. The method of claim 1, wherein the first information indicates that the object exists in the region of interest, and the second information indicates that the object does not exist in the region of interest, and the method further comprises: The existence of the object in the region of interest is determined at least in part based on the first information and the second information.

5. The method of claim 1, wherein the first information associated with the existence of the object includes: A first value used to indicate that the object was sensed in the region of interest, or a second value used to indicate that the object was not sensed in the region of interest.

6. The method of claim 1, wherein the first information associated with the existence of the object indicates a confidence level corresponding to the existence of the object.

7. The method of claim 1, wherein the second information indicates, at least in part, the probability sensed by the second VUE and associated with the presence of the object in the region of interest.

8. The method of claim 1, wherein the probability is based at least in part on: the number of VUEs other than the first VUE that report information indicating the existence of the object in the region of interest, and the total number of VUEs other than the first VUE that report information associated with the existence of the object in the region of interest.

9. The method of claim 1, wherein: The region of interest is pre-configured at the first VUE; or The region of interest is configured at the first VUE by the node or base station.

10. The method of claim 1, further comprising: The first information is determined at least in part based on monitoring the region of interest, wherein the monitoring includes sensing the region of interest.

11. The method of claim 1, wherein receiving the second information includes receiving the second information from the node via a broadcast message, and wherein the second information is based at least in part on sensing of the region of interest performed by the first VUE and sensing of the region of interest performed by the second VUE.

12. A method for performing wireless communication by a node, comprising: Receive first information from a first vehicle user equipment (VUE) that is associated with the presence of an object in a pre-configured region of interest, the first information being at least in part based on sensing of the pre-configured region of interest by the first VUE; The second VUE receives second information associated with the presence of the object in the pre-configured region of interest, the second information being at least in part based on sensing of the pre-configured region of interest performed by the second VUE; as well as The third information is transmitted based at least in part on the first information and the second information, wherein the third information indicates a probability associated with the presence of the object in the pre-configured region of interest, based at least in part on one or more of the sensing of the pre-configured region of interest performed by the first VUE and the sensing of the pre-configured region of interest performed by the second VUE.

13. The method of claim 12, wherein: The first information associated with the existence of the object includes: a first value indicating that the object is sensed in the pre-configured region of interest, or a second value indicating that the object is not sensed in the pre-configured region of interest; and The second information associated with the existence of the object includes a third value indicating that the object is sensed in the pre-configured region of interest, or a fourth value indicating that the object is not sensed in the pre-configured region of interest.

14. The method of claim 12, wherein: The first information associated with the existence of the object indicates a first confidence level corresponding to the existence of the object; and The second information associated with the existence of the object indicates a second confidence level corresponding to the existence of the object.

15. The method of claim 12, wherein transmitting the third information comprises: The third information is transmitted via broadcast message to one or more of the following: the first VUE, the second VUE, or a third VUE that does not monitor the pre-configured region of interest; or The third information is transmitted to the first VUE or the second VUE via a unicast message.

16. A first vehicle user equipment (VUE) for wireless communication, comprising: Memory; as well as One or more processors coupled to the memory, the one or more processors being configured to: First information associated with the presence of an object in a region of interest is transmitted to the node, the first information being at least in part based on the sensing of the region of interest performed by the first VUE; The node receives second information indicating the probability associated with the presence of the object in the region of interest, the second information being at least partially based on sensing of the region of interest performed by the second VUE; The existence of the object in the region of interest is determined at least in part based on the first information and the second information; as well as The action is performed based at least in part on whether the object exists in the region of interest.

17. The first VUE of claim 16, wherein the first information associated with the existence of the object in the region of interest indicates whether the object exists in the region of interest or does not exist in the region of interest.

18. The first VUE of claim 16, wherein the first information indicates that the object does not exist in the region of interest, and the second information indicates that the object exists in the region of interest, and wherein the one or more processors are configured to: The existence of the object in the region of interest is determined at least in part based on the first information and the second information.

19. The first VUE of claim 16, wherein the first information indicates that the object exists in the region of interest, and the second information indicates that the object does not exist in the region of interest, and wherein the one or more processors are configured to: The existence of the object in the region of interest is determined at least in part based on the first information and the second information.

20. The first VUE of claim 16, wherein the first information associated with the existence of the object includes: A first value used to indicate that the object was sensed in the region of interest, or a second value used to indicate that the object was not sensed in the region of interest.

21. The first VUE of claim 16, wherein the first information associated with the existence of the object indicates a confidence level corresponding to the existence of the object.

22. The first VUE of claim 16, wherein the second information indicates, at least in part, the probability sensed by the second VUE and associated with the presence of the object in the region of interest.

23. The first VUE of claim 16, wherein the probability is based at least in part on: the number of VUEs other than the first VUE that report information indicating the existence of the object in the region of interest, and the total number of VUEs other than the first VUE that report information associated with the existence of the object in the region of interest.

24. The first VUE as claimed in claim 16, wherein: The region of interest is pre-configured at the first VUE; or The region of interest is configured at the first VUE by the node or base station.

25. The first VUE of claim 16, wherein the one or more processors are further configured to: The first information is determined at least in part based on monitoring the region of interest, wherein the monitoring includes sensing the region of interest.

26. The first VUE of claim 16, wherein the one or more processors are configured to receive the second information from the node via a broadcast message when receiving the second information, and wherein the second information is based at least in part on sensing of the region of interest performed by the first VUE and sensing of the region of interest performed by the second VUE.

27. A node for wireless communication, comprising: Memory; as well as One or more processors coupled to the memory, the one or more processors being configured to: Receive first information from a first vehicle user equipment (VUE) that is associated with the presence of an object in a pre-configured region of interest, the first information being at least in part based on sensing of the pre-configured region of interest by the first VUE; The second VUE receives second information associated with the presence of the object in the pre-configured region of interest, the second information being at least in part based on sensing of the pre-configured region of interest performed by the second VUE; as well as The third information is transmitted based at least in part on the first information and the second information, wherein the third information indicates a probability associated with the presence of the object in the pre-configured region of interest, based at least in part on one or more of the sensing of the pre-configured region of interest performed by the first VUE and the sensing of the pre-configured region of interest performed by the second VUE.

28. The node as claimed in claim 27, wherein: The first information associated with the existence of the object includes: a first value indicating that the object is sensed in the pre-configured region of interest, or a second value indicating that the object is not sensed in the pre-configured region of interest; or The second information associated with the existence of the object includes a third value indicating that the object is sensed in the pre-configured region of interest, or a fourth value indicating that the object is not sensed in the pre-configured region of interest.

29. The node as claimed in claim 27, wherein: The first information associated with the existence of the object indicates a first confidence level corresponding to the existence of the object; or The second information associated with the existence of the object indicates a second confidence level corresponding to the existence of the object.

30. The node of claim 27, wherein the one or more processors are configured to: The third information is transmitted to one or more of the first VUE or the second VUE via a broadcast message; or The third information is transmitted to the first VUE or the second VUE via a unicast message.

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