Detection of positional overlap between objects

Abstract

Systems, apparatus, processes, and computer-readable media for wireless communication are disclosed. For example, a process may include: determining a potential positional overlap between a first vehicle and a second vehicle; and determining a characteristic of at least one of the first vehicle or the second vehicle based on information from the vehicle-based message. The process may include determining whether the potential positional overlap is an actual positional overlap between the first vehicle and the second vehicle based on the characteristic.

Description

Technical Field

[0001] Generally speaking, the present disclosure relates to wireless communications (e.g., for vehicle-to-everything (V2X) communications). For example, aspects of the present disclosure relate to detection of position overlap (PO) between objects such as vehicles. Background Art

[0002] Wireless communication systems are widely deployed to provide a variety of telecommunication services, such as telephony, video, data, messaging, and broadcast. Typical wireless communication systems may employ multiple access technologies capable of supporting communication with multiple users by sharing available system resources. Examples of such multiple access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single carrier frequency division multiple access (SC-FDMA) systems, and time division synchronous code division multiple access (TD-SCDMA) systems.

[0003] These multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different wireless devices to communicate at the city, country, region, and even global level. An example telecommunication standard is 5G New Radio (NR). 5G NR is part of the continuous mobile broadband evolution released by the Third Generation Partnership (3GPP) to meet new requirements associated with latency, reliability, security, scalability (e.g., together with the Internet of Things (IoT)) and other requirements. 5G NR includes services associated with enhanced mobile broadband (eMBB), massive machine type communication (mMTC), and ultra-reliable low latency communication (URLLC). Some aspects of 5G NR may be based on the 4G Long Term Evolution (LTE) standard. Various aspects of wireless communication may include direct communication between devices, such as in V2X, vehicle to vehicle (V2V), and / or device to device (D2D) communication. There is a need for further improvement of V2X, V2V, and / or D2D technologies. These improvements may also be applicable to other multiple access technologies and telecommunication standards that employ these technologies. Summary of the invention

[0004] A simplified overview of one or more aspects disclosed herein is provided below. Therefore, the following overview should not be considered an exhaustive review of all expected aspects, and the following overview should neither be considered to identify key or important elements related to all expected aspects, nor should it be considered to depict the scope associated with any particular aspect. Accordingly, the sole purpose of the following overview is to provide certain concepts related to one or more aspects of the mechanisms disclosed herein in a simplified form as a prelude to the detailed description given below.

[0005] Disclosed are systems, apparatus, methods, and computer-readable media for robust and enhanced detection of position overlap (PO) of vehicles. According to at least one example, a method for wireless communication at a receiving device is provided. The method includes: determining, by a computing device, a potential position overlap between a first vehicle and a second vehicle; determining, by the computing device, a characteristic of at least one of the first vehicle or the second vehicle based on information from a vehicle-based message; and determining, by the computing device, whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic.

[0006] In another example, an apparatus for wireless communication is provided, the apparatus comprising at least one memory and at least one processor (e.g., implemented in a circuit) coupled to the at least one memory. The at least one processor is configured to: determine a potential position overlap between a first vehicle and a second vehicle; determine a characteristic of at least one of the first vehicle or the second vehicle based on information from a vehicle-based message; and determine whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic.

[0007] In another example, a non-transitory computer-readable medium having instructions stored thereon is provided, which instructions, when executed by one or more processors, cause the one or more processors to: determine a potential position overlap between a first vehicle and a second vehicle; determine a characteristic of at least one of the first vehicle or the second vehicle based on information from a vehicle-based message; and determine whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic.

[0008] In another example, an apparatus for wireless communication is provided. The apparatus includes: means for determining a potential position overlap between a first vehicle and a second vehicle; means for determining a characteristic of at least one of the first vehicle or the second vehicle based on information from a vehicle-based message; and means for determining whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic.

[0009] In some aspects, the device is a vehicle (e.g., a car, truck, etc. or a component or system of a car, truck, etc.), a mobile device (e.g., a mobile phone or so-called "smartphone" or other mobile device), a wearable device, an extended reality device (e.g., a virtual reality (VR) device, an augmented reality (AR) device, or a mixed reality (MR) device), a personal computer, a laptop computer, a server computer, a robotic device, or other device. In some aspects, the device includes a radio detection and ranging (radar) for capturing radio frequency (RF) signals. In some aspects, the device includes one or more light detection and ranging (LIDAR) sensors, radar sensors, or other light-based sensors for capturing light-based (e.g., light frequency) signals. In some aspects, the device includes a camera or multiple cameras for capturing one or more images. In some aspects, the device also includes a display for displaying one or more images, notifications, and / or other displayable data. In some aspects, the above-mentioned device may include one or more sensors that can be used to determine the location of the device, the state of the device (e.g., temperature, humidity level, and / or other state), and / or for other purposes.

[0010] This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used alone to determine the scope of the claimed subject matter. The subject matter should be understood by reference to appropriate portions of the entire specification of this patent, any or all drawings, and each claim.

[0011] Other objects and advantages associated with the various aspects disclosed herein will be apparent to those skilled in the art based on the accompanying drawings and detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Illustrative aspects of the present application are described in detail below with reference to the accompanying drawings:

[0013] Figure 1 is a diagram illustrating an example wireless communication system in accordance with some aspects of the present disclosure.

[0014] Figure 2 is a diagram illustrating an example of a decomposed base station architecture that may be employed by the disclosed systems and methods for robust and enhanced detection of position overlap (PO) of vehicles, in accordance with some aspects of the present disclosure.

[0015] Figure 3 is a diagram showing examples of various user equipment (UE) communicating over a direct communication interface (e.g., a cellular-based PC5 sidelink interface, an 802.11p-defined DSRC interface, or other direct interface) and a wide area network (Uu) interface according to some aspects of the present disclosure.

[0016] Figure 4 is a block diagram illustrating an example of a computing system for a vehicle according to some aspects of the present disclosure.

[0017] Figure 5 is a block diagram illustrating an example of a computing system of a user device according to some aspects of the present disclosure.

[0018] Figure 6 is a diagram illustrating an example of devices involved in wireless communications (eg, sidelink communications) according to some aspects of the present disclosure.

[0019] Figures 7A-7D is a diagram illustrating an example of sensor sharing for cooperative and autonomous driving systems according to some aspects of the present disclosure.

[0020] Figure 8 is a diagram illustrating an example of sensor sharing for cooperative and autonomous driving systems according to some aspects of the present disclosure.

[0021] Fig. 9 is a diagram illustrating an example of a system for sensor sharing in wireless communications (e.g., C-V2X communications) according to some aspects of the present disclosure.

[0022] Fig.10 is a diagram illustrating an example of a vehicle-based message (shown as a sensor sharing message) according to some aspects of the present disclosure.

[0023] Fig.11 is a diagram illustrating an example of a modified bounding box for a vehicle that accounts for uncertainty in the vehicle's position, which may be employed by the disclosed systems and methods for robust and enhanced detection of position overlap (PO) of vehicles, in accordance with aspects of the present disclosure.

[0024] Fig.12 is a diagram illustrating an example of a process for generating a modified bounding box of a vehicle that accounts for uncertainty in the position of the vehicle, according to some aspects of the present disclosure, which modified bounding box can be employed by the disclosed systems and methods for robust and enhanced detection of position overlap (PO) of vehicles.

[0025] Fig.13 is a diagram illustrating examples of various different scenarios showing potential position overlap, confirmed position overlap, or no position overlap of two vehicles according to aspects of the present disclosure.

[0026] Fig.14is a diagram illustrating an example of confirming position overlap of two vehicles by utilizing the disclosed systems and methods for robust and enhanced detection of position overlap (PO) of vehicles in accordance with some aspects of the present disclosure.

[0027] Fig.15 is a flow chart illustrating an example of a process for determining position overlap of vehicles according to some aspects of the present disclosure.

[0028] Fig.16 is a flow chart illustrating an example of a process for wireless communication according to some aspects of the present disclosure.

[0029] Fig.17 An example computing system in accordance with aspects of the present disclosure is shown. DETAILED DESCRIPTION

[0030] Certain aspects of the present disclosure are provided below for the purpose of illustration. Various aspects of substitution may be designed without departing from the scope of the present disclosure. In addition, the known elements of the present disclosure will not be described in detail or will be omitted to avoid obscuring the relevant details of the present disclosure. Some aspects described herein may be applied independently, and some of them may be applied in combination, which will be apparent to those skilled in the art. In the following description, for the purpose of explanation, specific details are set forth to provide a thorough understanding of aspects of the present application. However, it will be apparent that various aspects may be practiced without these specific details. The accompanying drawings and descriptions are not intended to be restrictive.

[0031] The following description provides only example aspects and is not intended to limit the scope, applicability or configuration of the present disclosure. Instead, the following description of the example aspects will provide an enabling description for implementing the example aspects for those skilled in the art. It should be understood that various changes may be made to the function and arrangement of the elements without departing from the spirit and scope of the present application as set forth in the appended claims.

[0032] The terms "exemplary" and / or "example" are used herein to mean "serving as an example, instance, or illustration." Any aspect described herein as "exemplary" and / or "example" is not necessarily to be construed as preferred or advantageous over other aspects. Likewise, the term "aspects of the disclosure" does not require that all aspects of the disclosure include the discussed feature, advantage, or mode of operation.

[0033] Wireless communication systems are deployed to provide a variety of telecommunication services, including telephony, video, data, messaging, broadcasting, and more. Wireless communication systems have evolved through generations. The 5G mobile standard calls for higher data transmission speeds, a greater number of connections, and better coverage, among other improvements. According to the Next Generation Mobile Networks Alliance, the 5G standard (also known as "New Radio" or "NR") is designed to provide data rates of tens of megabits per second to each of tens of thousands of users.

[0034] A vehicle is an example of a device or system that may include wireless communication capabilities. For example, a vehicle (e.g., a car, an autonomous vehicle, an aircraft, a marine vessel, etc.) may communicate with other vehicles and / or other devices that have wireless communication capabilities. Wireless vehicle communication systems include vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), and vehicle-to-pedestrian (V2P) communications, which are collectively referred to as vehicle-to-everything (V2X) communications. V2X communications are a vehicle communication system that supports the wireless transmission of information from a vehicle to other entities located within a traffic system that may affect the vehicle (e.g., other vehicles, pedestrians with smartphones, and / or other traffic infrastructure). The main purpose of V2X technology is to improve road safety, fuel savings, and traffic efficiency.

[0035] In a V2X communication system, information is transmitted from vehicle sensors (and other sources) over a wireless link to allow the information to be communicated to other vehicles, pedestrians, and / or traffic infrastructure. Information may be sent using one or more vehicle-based messages (such as C-V2X messages), which may include sensor data sharing messages (SDSM) used by vehicles or other devices to share sensor information (e.g., defined by the Society of Automotive Engineers (SAE) standard document J3224), basic safety messages (BSM) used by vehicles or other devices to share safety-based messages (e.g., defined by SAE J2735), collaborative awareness messages (CAM) used by vehicles or other devices to share safety-based messages (e.g., defined by European Telecommunications Standards Institute (ETSI) European Standard (EN) 302 637-2), collective awareness messages (CPM) used by vehicles or other devices to share safety-based messages (e.g., defined by ETSI Technical Report (TR) 103 562 V2.1.1), decentralized environment messages (DENM) (e.g., defined by ETSI TR 102698), and / or other types of messages. By sharing this information with other vehicles, V2X technology increases the vehicle's (and the driver's) awareness of potential hazards to help reduce collisions with other vehicles and entities. In addition, V2X technology improves traffic efficiency by providing vehicles with traffic warnings of potential upcoming road hazards and obstacles, allowing vehicles to choose alternative traffic routes.

[0036] As mentioned previously, V2X technology includes V2V communication, which may also be referred to as peer-to-peer communication. V2V communication allows vehicles to communicate directly with each other on the road wirelessly. Through V2V communication, vehicles can gain situational awareness by receiving information about upcoming road hazards (e.g., unforeseen oncoming vehicles, accidents, and road conditions) from other vehicles.

[0037] The IEEE 802.11p standard supports (uses) a dedicated short-range communication (DSRC) interface for V2X wireless communications. Features of the IEEE 802.11p-based DSRC interface include low latency and use of the unlicensed 5.9 gigahertz (GHz) band. Cellular V2X (C-V2X) is adopted as an alternative to using the IEEE 802.11p-based DSRC interface for wireless communications. The 5G Automobile Association (5GAA) supports the use of C-V2X technology. In some cases, C-V2X technology uses Long Term Evolution (LTE) as the underlying technology, and the C-V2X functionality is based on LTE technology. C-V2X includes multiple operating modes. One of the operating modes allows direct wireless communication between vehicles via the LTE sidelink PC5 interface. Similar to the IEEE 802.11p-based DSRC interface, the LTE C-V2X sidelink PC5 interface operates on the 5.9 GHz band. Vehicle-based messages such as BSM and CAM as application layer messages are designed to be broadcast wirelessly over the 802.11p-based DSRC interface and the LTE C-V2X sidelink PC5 interface.

[0038] Vehicle-based messages are beneficial because, for example, they can provide vehicles with awareness and understanding of upcoming potential road hazards (e.g., unforeseen oncoming vehicles, accidents, and road conditions). In some cases, information in vehicle-based messages may indicate that two vehicles overlap each other, which may be referred to as position overlap (PO) of the vehicles. Information revealing a position overlap between vehicles may be an indication of a collision between the two vehicles. However, in some cases, information indicating a position overlap may be invalid information that has been generated by a misbehaving vehicle. A misbehaving vehicle may be defined as a vehicle that is reporting erroneous information or has low-quality sensors (e.g., radar, LIDAR, camera, global navigation satellite system (GNSS) or other sensors) that result in fully or partially inaccurate information (e.g., an indication of a position or positioning that has deviated by a certain amount).

[0039] Currently, there are some techniques for confirming the existence of position overlap of vehicles. However, many of these techniques do not consistently obtain accurate results because they fail to consider many parameters required to confirm the true position overlap of vehicles. For example, existing solutions do not consider positioning uncertainty, do not consider certain position overlap under positioning uncertainty, do not consider position overlap caused by vehicles operating two or more on-board units (OBUs), do not consider the difference in generation time between vehicle-based messages, cannot distinguish between position overlap caused by attacks or due to collisions, and other shortcomings.

[0040] In some aspects of the present disclosure, systems, apparatus, methods (also referred to as processes), and computer-readable media (collectively referred to herein as "systems and techniques") for providing robust and enhanced detection of position overlap of vehicles are described herein. The systems and techniques can effectively improve the accuracy of detection of position overlap between vehicles. In one or more aspects, one or more techniques (e.g., the four techniques disclosed) can be used alone or together in any combination to accurately determine whether an indication of position overlap between two or more vehicles is due to an attack (e.g., a misbehaving vehicle generates invalid information), due to a single vehicle sending vehicle-based messages to two on-board units (OBUs) at the same time, or due to a collision of vehicles. The disclosed techniques for detecting position overlap may include: a first technique that provides a method for utilizing uncertainty measurements provided by position and dimension estimates (e.g., V2X position and dimension estimates); a second technique that provides a method for removing overlap indications caused by an on-duty vehicle (e.g., a police car or an emergency vehicle) simultaneously using two OBUs to send vehicle-based messages; a third technique that provides a method for temporally synchronizing a provided vehicle-based message (e.g., a V2X vehicle-based message) with a generation time (e.g., a V2X generation time); and a fourth technique that uses a vehicle motion estimate (e.g., a V2X motion estimate) to provide physical turbulence analysis.

[0041] Other aspects of the disclosure are described in more detail below.

[0042] As used herein, unless otherwise noted, the terms "user equipment" (UE) and "network entity" are not intended to be specific to or otherwise limited to any particular radio access technology (RAT). In general, a UE may be any wireless communication device (e.g., a mobile phone, a router, a tablet computer, a laptop computer, and / or a tracking device, etc.), a wearable device (e.g., a smart watch, smart glasses, a wearable ring, and / or an extended reality (XR) device, such as a virtual reality (VR) headset, an augmented reality (AR) headset or glasses, or a mixed reality (MR) headset), a vehicle (e.g., a car, a motorcycle, a bicycle, etc.), and / or an Internet of Things (IoT) device, etc.) used by a user to communicate on a wireless communication network. A UE may be mobile or (e.g., at certain times) may be fixed and may communicate with a radio access network (RAN). As used herein, the term "UE" may be interchangeably referred to as an "access terminal" or "AT", "client device", "wireless device", "subscriber device", "subscriber terminal", "subscriber station", "user terminal" or UT, "mobile device", "mobile terminal", "mobile station" or variations thereof. Typically, the UE can communicate with the core network via the RAN, and the core network can connect the UE to an external network such as the Internet and to other UEs. Of course, other mechanisms for connecting to the core network and / or the Internet are also possible for the UE, such as on a wired access network, a wireless local area network (WLAN) network (e.g., based on IEEE 802.11 communication standards, etc.), and the like.

[0043] In some cases, the network entity may be implemented in a converged or monolithic base station or server architecture, or alternatively, in a disaggregated base station or server architecture, and may include one or more of a central unit (CU), a distributed unit (DU), a radio unit (RU), a near real-time (near-RT) RAN intelligent controller (RIC), or a non-real-time (non-RT) RIC. In some cases, the network entity may include a server device, such as a multi-access edge computing (MEC) device. A base station or server (e.g., with a converged / monolithic base station architecture or a disaggregated base station architecture) may operate according to one of several RATs in communication with UEs, roadside units (RUs), and / or other devices, depending on the network in which the base station is deployed, and the base station may be alternatively referred to as an access point (AP), a network node, a NodeB (NB), an evolved NodeB (eNB), a next generation eNB (ng-eNB), a new radio (NR) NodeB (also referred to as a gNB or gNodeB), etc. The base station may be primarily used to support wireless access for UEs, including supporting data, voice, and / or signaling connections for the supported UEs. In some systems, the base station may provide edge node signaling functions, while in other systems, it may provide additional control and / or network management functions. The communication link through which the UE may send a signal to the base station is referred to as an uplink (UL) channel (e.g., a reverse traffic channel, a reverse control channel, an access channel, etc.). The communication link through which the base station may send a signal to the UE is referred to as a downlink (DL) or forward link channel (e.g., a paging channel, a control channel, a broadcast channel, or a forward traffic channel, etc.). As used herein, the term traffic channel (TCH) may refer to an uplink, a reverse or downlink, and / or a forward traffic channel.

[0044] The term "network entity" or "base station" (e.g., having an aggregated / monolithic base station architecture or a decomposed base station architecture) may refer to a single physical TRP, or to multiple physical TRPs that may or may not be co-located. For example, where the term "network entity" or "base station" refers to a single physical TRP, the physical TRP may be an antenna of the base station corresponding to a cell (or several cell sectors) of the base station. Where the term "network entity" or "base station" refers to multiple co-located physical TRPs, the physical TRP may be an antenna array of the base station (e.g., as in a multiple-input multiple-output (MIMO) system or where the base station employs beamforming). Where the term "base station" refers to multiple non-co-located physical TRPs, the physical TRP may be a distributed antenna system (DAS) (a network of spatially separated antennas connected to a common resource via a transmission medium) or a remote radio head (RRH) (a remote base station connected to a serving base station). Alternatively, the non-co-located physical TRPs may be a serving base station that receives measurement reports from the UE and a neighbor base station whose reference radio frequency (RF) signal (or "reference signal" for short) the UE is measuring. Because as used herein, a TRP is the point from which a base station transmits and receives wireless signals, references to transmissions from a base station or receptions at a base station should be understood to refer to the specific TRP of the base station.

[0045] In some implementations of supporting positioning of a UE, a network entity or base station may not support wireless access for the UE (e.g., may not support data, voice, and / or signaling connections for the UE), but may instead send a reference signal to the UE for measurement by the UE, and / or may receive and measure a signal sent by the UE. Such a base station may be referred to as a positioning beacon (e.g., when sending a signal to the UE) and / or a position measurement unit (e.g., when receiving and measuring a signal from the UE).

[0046] A roadside unit (RSU) is a device that can communicate with a wireless network through a communication link or interface (e.g., a cellular-based sidelink or PC5 interface, an 802.11-based or WiFi-based TMA device that sends messages to and receives messages from one or more UEs, other RSUs, and / or base stations using a dedicated short-range communication (DSRC) interface and / or other interfaces. Examples of messages that can be sent and received by an RSU include vehicle-to-everything (V2X) messages, which will be described in more detail below. The RSU can be located on various transportation infrastructure systems, including roads, bridges, parking lots, toll booths, and / or other infrastructure systems. In some examples, the RSU can facilitate communication between UEs (e.g., vehicles, pedestrian user equipment, and / or other UEs) and transportation infrastructure systems. In some implementations, the RSU can communicate with servers, base stations, and / or other systems that can perform centralized management functions.

[0047] The RSU may communicate with the communication system of the UE. For example, the intelligent transportation system (ITS) of the UE (e.g., a vehicle and / or other UE) may be used to generate and sign messages for transmission to the RSU and to verify messages received from the RSU. The RSU may communicate with vehicles traveling along roads, bridges, or other infrastructure systems (e.g., via a PC5 interface, a DSRC interface, etc.) to obtain traffic-related data (e.g., the time, speed, location, etc. of the vehicle). In some cases, in response to obtaining traffic-related data, the RSU may determine or estimate traffic congestion information (e.g., the start of a traffic congestion, the end of a traffic congestion, etc.), travel time, and / or other information for a specific location. In some examples, the RSU may communicate with other RSUs (e.g., via a PC5 interface, a DSRC interface, etc.) to determine traffic-related data. The RSU may send information (e.g., traffic congestion information, travel time information, and / or other information) to other vehicles, pedestrian UEs, and / or other UEs. For example, the RSU may broadcast or otherwise send information to any UE (e.g., a vehicle, pedestrian UE, etc.) within the coverage of the RSU.

[0048] Radio frequency signals or "RF signals" include electromagnetic waves of a given frequency that transmit information through the space between a transmitter and a receiver. As used herein, a transmitter may send a single "RF signal" or multiple "RF signals" to a receiver. However, due to the propagation characteristics of RF signals through multipath channels, a receiver may receive multiple "RF signals" corresponding to each transmitted RF signal. The same RF signal sent on different paths between a transmitter and a receiver may be referred to as a "multipath" RF signal. As used herein, an RF signal may also be referred to as a "wireless signal" or simply a "signal", where it is clear from the context that the term "signal" refers to either a wireless signal or an RF signal.

[0049] According to various aspects, Figure 1An exemplary wireless communication system 100 is shown. The wireless communication system 100 (which may also be referred to as a wireless wide area network (WWAN)) may include various base stations 102 and various UEs 104. In some aspects, the base stations 102 may also be referred to as "network entities" or "network nodes". One or more of the base stations 102 may be implemented in an aggregated or monolithic base station architecture. Additionally or alternatively, one or more of the base stations 102 may be implemented in a decomposed base station architecture and may include one or more of a central unit (CU), a distributed unit (DU), a radio unit (RU), a near real-time (near RT) RAN intelligent controller (RIC), or a non-real-time (non-RT) RIC. The base stations 102 may include macro cell base stations (high power cellular base stations) and / or small cell base stations (low power cellular base stations). In one aspect, the macro cell base station may include an eNB and / or an ng-eNB (where the wireless communication system 100 corresponds to a long term evolution (LTE) network) or a gNB (where the wireless communication system 100 corresponds to an NR network) or a combination of both, and the small cell base station may include a femto cell, a pico cell, a micro cell, etc.

[0050] The base stations 102 may collectively form a RAN and interface with a core network 170 (e.g., an evolved packet core (EPC) or a 5G core (5GC)) via a backhaul link 122, and interface with one or more location servers 172 (which may be part of the core network 170 or may be external to the core network 170) via the core network 170. The base stations 102 may perform, among other functions, functions related to one or more of the following: transmission of user data, radio channel encryption and decryption, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection establishment and release, load balancing, distribution of non-access stratum (NAS) messages, NAS node selection, synchronization, RAN sharing, multimedia broadcast multicast service (MBMS), subscriber and device tracking, RAN information management (RIM), paging, positioning, and transmission of warning messages. The base stations 102 may communicate with each other directly or indirectly (e.g., via the EPC or 5GC) via a backhaul link 134 (which may be wired and / or wireless).

[0051] The base station 102 can communicate with the UE 104 wirelessly. Each of the base stations 102 can provide communication coverage for a respective geographic coverage area 110. In one aspect, the base station 102 can support one or more cells in each coverage area 110. A "cell" is a logical communication entity used to communicate with a base station (e.g., on a certain frequency resource (referred to as a carrier frequency, component carrier, carrier, frequency band, etc.)), and can be associated with an identifier (e.g., a physical cell identifier (PCI), a virtual cell identifier (VCI), a cell global identifier (CGI)) for distinguishing cells operating via the same or different carrier frequencies. In some cases, different cells may be configured according to different protocol types (e.g., machine type communication (MTC), narrowband IoT (NB-IoT), enhanced mobile broadband (eMBB) or other protocol types) that can provide access to different types of UEs. Because a cell is supported by a specific base station, the term "cell" can refer to either or both of the logical communication entity and the base station supporting it, depending on the context. In addition, since the TRP is generally the physical transmission point of the cell, the terms "cell" and "TRP" can be used interchangeably. In some cases, the term "cell" can also refer to a geographic coverage area (e.g., a sector) of a base station, within which a carrier frequency can be detected and used for communications within a portion of the geographic coverage area 110.

[0052] Although the geographic coverage areas 110 of adjacent macrocell base stations 102 may partially overlap (e.g., in a handoff region), some of the geographic coverage areas 110 may substantially overlap with the larger geographic coverage areas 110. For example, a small cell base station 102' may have a coverage area 110' that substantially overlaps with the coverage area 110 of one or more macrocell base stations 102. A network that includes both small cell base stations and macrocell base stations may be referred to as a heterogeneous network. A heterogeneous network may also include a home eNB (HeNB), which may provide services to a restricted group referred to as a closed subscriber group (CSG).

[0053] The communication link 120 between the base station 102 and the UE 104 may include an uplink (also referred to as a reverse link) transmission from the UE 104 to the base station 102 and / or a downlink (also referred to as a forward link) transmission from the base station 102 to the UE 104. The communication link 120 may use MIMO antenna technology, which includes spatial multiplexing, beamforming, and / or transmit diversity. The communication link 120 may be over one or more carrier frequencies. The allocation of carriers may be asymmetric with respect to the downlink and uplink (e.g., more or fewer carriers may be allocated for the downlink than for the uplink).

[0054] The wireless communication system 100 may also include a WLAN AP 150 that communicates with a WLAN station (STA) 152 via a communication link 154 in an unlicensed spectrum (e.g., 5 gigahertz (GHz)). When communicating in an unlicensed spectrum, the WLAN STA 152 and / or the WLAN AP 150 may perform a clear channel assessment (CCA) or a listen-before-talk (LBT) process before communicating to determine whether a channel is available. In some examples, the wireless communication system 100 may include a device (e.g., UE, etc.) that communicates with one or more UEs 104, base stations 102, APs 150, etc. using an ultra-wideband (UWB) spectrum. The UWB spectrum may range from 3.1 to 10.5 GHz.

[0055] The small cell base station 102' can operate in a licensed and / or unlicensed spectrum. When operating in an unlicensed spectrum, the small cell base station 102' can adopt LTE or NR technology and use the same 5 GHz unlicensed spectrum as the 5 GHz unlicensed spectrum used by the WLAN AP 150. The small cell base station 102' adopting LTE and / or 5G in the unlicensed spectrum can improve the coverage of the access network and / or increase the capacity of the access network. NR in the unlicensed spectrum can be referred to as NR-U. LTE in the unlicensed spectrum can be referred to as LTE-U, License Assisted Access (LAA) or MulteFire.

[0056] The wireless communication system 100 may also include a millimeter wave (mmW) base station 180 for communicating with the UE 182, which may operate in mmW frequencies and / or near mmW frequencies. The mmW base station 180 may be implemented in an aggregated or monolithic base station architecture, or alternatively, in a decomposed base station architecture (e.g., including one or more of a CU, DU, RU, near RT RIC, or non-RT RIC). Extremely high frequency (EHF) is a portion of RF in the electromagnetic spectrum. EHF has a range of 30 GHz to 300 GHz and has a wavelength between 1 mm and 10 mm. Radio waves in this band may be referred to as millimeter waves. Near mmW may extend downward to a frequency of 3 GHz with a wavelength of 100 mm. Super high frequency (SHF) bands extend between 3 GHz and 30 GHz and are also referred to as centimeter waves. Communications using mmW and / or near mmW radio frequency bands have high path loss and relatively short distances. The mmW base station 180 and the UE 182 may utilize beamforming (transmit and / or receive) on the mmW communication link 184 to compensate for the extremely high path loss and short distance. In addition, it will be appreciated that in alternative configurations, one or more base stations 102 may also transmit using mmW or near-mmW and beamforming. Accordingly, it will be appreciated that the foregoing description is merely an example and should not be construed as limiting the various aspects disclosed herein.

[0057] Transmit beamforming is a technique for focusing RF signals in a specific direction. Traditionally, when a network node or entity (e.g., a base station) broadcasts an RF signal, it broadcasts the signal in all directions (omnidirectionally). With transmit beamforming, the network node determines where a given target device (e.g., UE) is located (relative to the transmitting network node) and projects a stronger downlink RF signal in that specific direction, thereby providing a faster (in terms of data rate) and stronger RF signal to the receiving device. In order to change the direction of the RF signal when transmitting, the network node can control the phase and relative amplitude of the RF signal at each of the one or more transmitters that broadcast the RF signal. For example, a network node can use an array of antennas (referred to as a "phased array" or "antenna array") that creates a beam of RF waves that can be "guided" to points in different directions without actually moving the antenna. Specifically, the RF current from the transmitter is fed to individual antennas with the correct phase relationship so that the radio waves from the individual antennas are added together to increase radiation in the desired direction and destructively in the undesired direction to suppress radiation.

[0058] The transmit beams can be quasi-colocated, which means that they appear to have the same parameters to the receiver (e.g., UE), regardless of whether the transmit antennas of the network nodes themselves are physically colocated. In NR, there are four types of quasi-colocated (QCL) relationships. Specifically, a given type of QCL relationship means that certain parameters about the second reference RF signal on the second beam can be derived from information about the source reference RF signal on the source beam. If the source reference RF signal is QCL type A, the receiver can use the source reference RF signal to estimate the Doppler shift, Doppler spread, average delay, and delay spread of the second reference RF signal sent on the same channel. Therefore, if the source reference RF signal is QCL type B, the receiver can use the source reference RF signal to estimate the Doppler shift and Doppler spread of the second reference RF signal sent on the same channel. If the source reference RF signal is QCL type C, the receiver can use the source reference RF signal to estimate the Doppler shift and average delay of the second reference RF signal sent on the same channel. If the source reference RF signal is QCL type D, the receiver may use the source reference RF signal to estimate spatial reception parameters of a second reference RF signal transmitted on the same channel.

[0059] In receive beamforming, a receiver uses a receive beam to amplify an RF signal detected on a given channel. For example, the receiver may increase a gain setting and / or adjust a phase setting of an antenna array in a particular direction to amplify (e.g., to increase the gain level of) an RF signal received from that direction. Thus, when a receiver is said to be beamforming in a certain direction, it means that the beam gain in that direction is high relative to the beam gain along other directions, or that the beam gain in that direction is the highest compared to the beam gain of other beams available to the receiver. This results in a stronger received signal strength (e.g., reference signal received power (RSRP), reference signal received quality (RSRQ), signal to interference plus noise ratio (SINR), etc.) of the RF signal received from that direction.

[0060] The receive beams may be spatially correlated. Spatial correlation means that the parameters for the transmit beam for the second reference signal may be derived from information about the receive beam for the first reference signal. For example, a UE may use a specific receive beam to receive one or more reference downlink reference signals (e.g., positioning reference signal (PRS), tracking reference signal (TRS), phase tracking reference signal (PTRS), cell-specific reference signal (CRS), channel state information reference signal (CSI-RS), primary synchronization signal (PSS), secondary synchronization signal (SSS), synchronization signal block (SSB), etc.) from a network node or entity (e.g., a base station). The UE may then form a transmit beam for sending one or more uplink reference signals (e.g., uplink positioning reference signal (UL-PRS), sounding reference signal (SRS), demodulation reference signal (DMRS), PTR, etc.) to the network node or entity (e.g., a base station) based on the parameters of the receive beam.

[0061] It is to be noted that a "downlink" beam can be a transmit beam or a receive beam, depending on the entity that forms it. For example, if a network node or entity (e.g., a base station) is forming a downlink beam for sending a reference signal to a UE, the downlink beam is a transmit beam. However, if the UE is forming a downlink beam, it is a receive beam for receiving a downlink reference signal. Similarly, an "uplink" beam can be a transmit beam or a receive beam, depending on the entity that forms it. For example, if a network node or entity (e.g., a base station) is forming an uplink beam, it is an uplink receive beam, and if the UE is forming an uplink beam, it is an uplink transmit beam.

[0062] In 5G, the spectrum in which a wireless network node or entity (e.g., base station 102 / 180, UE 104 / 182) operates is divided into multiple frequency ranges: FR1 (from 450 to 6000 megahertz (MHz)), FR2 (from 24250 to 52600 MHz), FR3 (above 52600 MHz), and FR4 (between FR1 and FR2). In a multi-carrier system (such as 5G), one of the carrier frequencies is referred to as a "primary carrier" or "anchor carrier" or "primary serving cell" or "PCell", and the remaining carrier frequencies are referred to as "secondary carriers" or "secondary serving cells" or "SCells". In carrier aggregation, the anchor carrier is a carrier operating on the primary frequency (e.g., FR1) utilized by the UE 104 / 182 and the cell in which the UE 104 / 182 performs an initial radio resource control (RRC) connection establishment procedure or initiates an RRC connection re-establishment procedure. The primary carrier carries all common and UE-specific control channels and can be a carrier in a licensed frequency (however, this is not always the case). A secondary carrier is a carrier operating on a second frequency (e.g., FR2), where the second frequency can be configured once an RRC connection is established between the UE 104 and the anchor carrier, and can be used to provide additional radio resources. In some cases, the secondary carrier can be a carrier in an unlicensed frequency. The secondary carrier can contain only necessary signaling information and signals, for example, there may be no UE-specific signaling information and signals in the secondary carrier, because both the primary uplink carrier and the primary downlink carrier are usually UE-specific. This means that different UEs 104 / 182 in a cell can have different downlink primary carriers. This is also true for the uplink primary carrier. The network can change the primary carrier of any UE 104 / 182 at any time. This is done to, for example, balance the load on different carriers. Since a "serving cell" (whether PCell or SCell) corresponds to a carrier frequency and / or component carrier on which a base station is communicating, the terms "cell", "serving cell", "component carrier", "carrier frequency", etc. may be used interchangeably.

[0063] For example, still referring to Figure 1, one of the frequencies utilized by the macrocell base station 102 may be an anchor carrier (or "PCell"), and the other frequencies utilized by the macrocell base station 102 and / or the mmW base station 180 may be secondary carriers ("SCells"). In carrier aggregation, the base station 102 and / or the UE 104 may use a spectrum of up to Y MHz (e.g., 5, 10, 15, 20, 100 MHz) bandwidth per carrier for a total of up to Yx MHz (x component carriers) for transmission in each direction. The carriers may be adjacent to each other or may not be adjacent to each other. The allocation of carriers may be asymmetric with respect to the downlink and uplink (e.g., more or fewer carriers may be allocated for the downlink compared to the uplink). Simultaneous transmission and / or reception of multiple carriers enables the UE 104 / 182 to significantly increase its data transmission and / or reception rate. For example, two 20 MHz aggregated carriers in a multi-carrier system would theoretically result in a two-fold increase in data rate (i.e., 40 MHz) (compared to the data rate achieved by a single 20 MHz carrier).

[0064] In order to operate on multiple carrier frequencies, the base station 102 and / or the UE 104 are equipped with multiple receivers and / or transmitters. For example, the UE 104 may have two receivers, namely, “receiver 1” and “receiver 2”, where “receiver 1” is a multi-band receiver that can be tuned to band (i.e., carrier frequency) “X” or band “Y”, and “receiver 2” is a single-band receiver that can only be tuned to band “Z”. In this example, if the UE 104 is served in band “X”, then band “X” will be referred to as the PCell or active carrier frequency, and “receiver 1” will need to tune from band “X” to band “Y” (SCell) in order to measure band “Y” (and vice versa). Conversely, regardless of whether the UE 104 is served in band “X” or band “Y”, due to the separate “receiver 2”, the UE 104 can measure band “Z” without interrupting the service on band “X” or band “Y”.

[0065] The wireless communication system 100 may also include a UE 164 that may communicate with the macrocell base station 102 over the communication link 120 and / or communicate with the mmW base station 180 over the mmW communication link 184. For example, the macrocell base station 102 may support a PCell and one or more SCells for the UE 164, and the mmW base station 180 may support one or more SCells for the UE 164.

[0066] The wireless communication system 100 may also include one or more UEs (such as UE 190) indirectly connected to one or more communication networks via one or more device-to-device (D2D) peer-to-peer (P2P) links (referred to as “sidelinks”). Figure 1 In the example of FIG. 1 , UE 190 has a D2D P2P link 192 with one of UEs 104 connected to one of base stations 102 (e.g., through D2D P2P link 192, UE 190 can indirectly obtain cellular connectivity) and a D2D P2P link 194 with WLAN STA 152 connected to WLAN AP 150 (through D2D P2P link 194, UE 190 can indirectly obtain WLAN-based Internet connectivity). In an example, any well-known D2D RAT (such as LTE Direct (LTE-D), Wi-Fi Direct (Wi-Fi-D), etc.) to support D2D P2P links 192 and 194.

[0067] Figure 2 is a diagram showing an example of a decomposed base station architecture according to some examples, which can be adopted by the disclosed system and method for robust and enhanced detection of position overlap of vehicles. The deployment of a communication system (such as a 5G NR system) can be arranged in a variety of ways with various components or components. In a 5G NR system or network, a network node, a network entity, a mobile element of a network, a radio access network (RAN) node, a core network node, a network element, or a network device (such as a base station (BS) or one or more units (or one or more components) performing base station functions) can be implemented in an aggregated or decomposed architecture. For example, a BS (such as a Node B (NB), an evolved NB (eNB), an NR BS, a 5G NB, an AP, a transmit receive point (TRP) or a cell, etc.) can be implemented as an aggregated base station (also referred to as an independent BS or a monolithic BS) or a decomposed base station.

[0068] The aggregated base station can be configured to utilize a radio protocol stack physically or logically integrated within a single RAN node. The decomposed base station can be configured to utilize a protocol stack physically or logically distributed between two or more units, such as one or more central or centralized units (CUs), one or more distributed units (DUs), or one or more radio units (RUs). In some aspects, the CU can be implemented within a RAN node, and one or more DUs can be co-located with the CU, or alternatively, can be geographically or virtually distributed in one or more other RAN nodes. The DU can be implemented to communicate with one or more RUs. Each of the CU, DU, and RU can also be implemented as a virtual unit (i.e., a virtual central unit (VCU), a virtual distributed unit (VDU), or a virtual radio unit (VRU)).

[0069] Base station type operations or network designs may take into account the aggregated nature of base station functionality. For example, a disaggregated base station may be utilized in an integrated access backhaul (IAB) network, an open radio access network (O-RAN (such as a network configuration sponsored by the O-RAN Alliance)), or a virtual radio access network (vRAN, also known as a cloud radio access network (C-RAN)). Decomposition may include allocating functionality across two or more units at various physical locations, as well as virtually allocating functionality for at least one unit, which may enable flexibility in network design. Individual units of a disaggregated base station or disaggregated RAN architecture may be configured for wired or wireless communication with at least one other unit.

[0070] As mentioned earlier, Figure 2 A diagram illustrating an example decomposed base station 201 architecture is shown. The decomposed base station 201 architecture may include one or more central units (CUs) 211, which may communicate directly with a core network 223 via a backhaul link, or indirectly with a core network 223 through one or more decomposed base station units, such as a near real-time (near-RT) RAN intelligent controller (RIC) 227 via an E2 link, or a non-real-time (non-RT) RIC 217 associated with a service management and orchestration (SMO) framework 207, or both. The CU 211 may communicate with one or more distributed units (DUs) 231 via corresponding mid-haul links, such as an F1 interface. The DU 231 may communicate with one or more radio units (RUs) 241 via corresponding fronthaul links. The RU 241 may communicate with corresponding UEs 221 via one or more RF access links. In some implementations, a UE 221 may be served by multiple RUs 241 simultaneously.

[0071] Each of the units (i.e., CU 211, DU 231, RU 241, and near-RT RIC 227, non-RT RIC 217, and SMO framework 207) may include or be coupled to one or more interfaces configured to receive or send signals, data, or information (collectively referred to as signals) via a wired or wireless transmission medium. Each unit in the unit or an associated processor or controller that provides instructions to the communication interface of the unit may be configured to communicate with one or more of the other units via a transmission medium. For example, a unit may include a wired interface configured to receive a signal on a wired transmission medium or to send a signal to one or more of the other units. In addition, a unit may include a wireless interface, which may include a receiver, a transmitter, or a transceiver (such as an RF transceiver) configured to receive a signal on a wireless transmission medium or to send a signal to one or more of the other units, or both.

[0072] In some aspects, CU 211 may host one or more higher layer control functions. Such control functions may include radio resource control (RRC), packet data convergence protocol (PDCP), service data adaptation protocol (SDAP), etc. Each control function may be implemented using an interface configured to transmit signals with other control functions hosted by CU 211. CU211 may be configured to process user plane functions (i.e., central unit-user plane (CU-UP)), control plane functions (i.e., central unit-control plane (CU-CP)), or a combination thereof. In some implementations, CU 211 may be logically split into one or more CU-UP units and one or more CU-CP units. The CU-UP unit may communicate bidirectionally with the CU-CP unit via an interface (e.g., via an E1 interface when implemented in an O-RAN configuration). If necessary, CU 211 may be implemented to communicate with DU 131 for network control and signaling.

[0073] DU 231 may correspond to a logical unit that includes one or more base station functions to control the operation of one or more RU 241. In some aspects, DU 231 may host one or more of a radio link control (RLC) layer, a medium access control (MAC) layer, and one or more high physical (PHY) layers (such as modules for forward error correction (FEC) encoding and decoding, scrambling, modulation and demodulation, etc.) at least in part according to a functional split such as a functional split defined by the Third Generation Partnership Project (3GPP). In some aspects, DU 231 may also host one or more low PHY layers. Each layer (or module) may be implemented using an interface configured to transmit signals to other layers (and modules) hosted by DU 231 or control functions hosted by CU 211.

[0074] Lower layer functions may be implemented by one or more RUs 241. In some deployments, based at least in part on a functional split (such as a lower layer functional split), a RU 241 controlled by a DU 231 may correspond to a logical node that hosts RF processing functions or low PHY layer functions (e.g., performing fast Fourier transform (FFT), inverse FFT (iFFT), digital beamforming, physical random access channel (PRACH) extraction and filtering, etc.), or both. In such an architecture, a RU 241 may be implemented to handle over-the-air (OTA) communications with one or more UEs 221. In some implementations, real-time and non-real-time aspects of control and user plane communications with the RU 241 may be controlled by the corresponding DU 231. In some scenarios, this configuration may enable the DU 231 and CU 211 to be implemented in a cloud-based RAN architecture (such as a vRAN architecture).

[0075] The SMO framework 207 may be configured to support RAN deployment and provisioning of non-virtualized and virtualized network elements. For non-virtualized network elements, the SMO framework 207 may be configured to support the deployment of dedicated physical resources for RAN coverage requirements, which may be managed via an operation and maintenance interface (such as an O1 interface). For virtualized network elements, the SMO framework 207 may be configured to interact with a cloud computing platform (such as an open cloud (O-cloud) 291) to perform network element lifecycle management (e.g., to instantiate virtualized network elements) via a cloud computing platform interface (such as an O2 interface). Such virtualized network elements may include, but are not limited to, CU 211, DU 231, RU 241, and near-RT RIC 227. In some implementations, the SMO framework 207 may communicate with hardware aspects of the 4G RAN (such as an open eNB (O-eNB) 213) via the O1 interface. In addition, in some implementations, the SMO framework 207 may communicate directly with one or more RUs 241 via the O1 interface. The SMO framework 207 may also include a non-RT RIC 217 configured to support the functionality of the SMO framework 207 .

[0076] The non-RT RIC 217 may be configured to include logic functions that implement non-real-time control and optimization of RAN elements and resources, artificial intelligence / machine learning (AI / ML) workflows (including model training and updating), or policy-based guidance of applications / features in the near-RT RIC 227. The non-RT RIC 217 may be coupled to or in communication with the near-RT RIC 227 (e.g., via an A1 interface). The near-RT RIC 227 may be configured to include logic functions that implement near-real-time control and optimization of RAN elements and resources via data collection and actions on an interface connecting one or more CUs 211, one or more DUs 231, or both, and the O-eNB 216 to the near-RT RIC 227 (e.g., via an E2 interface).

[0077] In some implementations, in order to generate an AI / ML model to be deployed in the near-RT RIC 227, the non-RT RIC 217 may receive parameters or external enrichment information from an external server. Such information may be utilized by the near-RT RIC 227 and may be received from a non-network data source or network function at the SMO framework 207 or the non-RT RIC 217. In some examples, the non-RT RIC 217 or the near-RT RIC 227 may be configured to tune RAN behavior or performance. For example, the non-RT RIC 217 may monitor long-term trends and patterns of performance and employ AI / ML models to perform corrective actions through the SMO framework 207 (e.g., via reconfiguration of O1) or via the creation of RAN management policies (such as A1 policies).

[0078] Figure 3 Examples of different communication mechanisms used by various UEs are shown. In one example of sidelink communication, Figure 3 Vehicle 304, vehicle 305, and RSU 303 are shown communicating with each other using PC5, DSRC, or other device-to-device direct signaling interfaces. In addition, vehicle 304 and vehicle 305 can communicate with base station 302 (shown as BS 302) using a network (Uu) interface. In some examples, base station 302 can include a gNB. Figure 3 Also shown is a user device 307 communicating with the base station 302 using a network (Uu) interface. As described below, functionality may be transferred from a vehicle (e.g., vehicle 304) to a user device (e.g., user device 307) based on one or more characteristics or factors (e.g., temperature, humidity, etc.). In one illustrative example, the V2X functionality may be transferred from the vehicle 304 to the user device 307, after which the user device 307 may communicate with other vehicles (e.g., vehicle 305) via a PC5 interface (or other device-to-device direct interface, such as a DSRC interface), as described below. Figure 3 shown.

[0079] although Figure 3A specific number of vehicles (e.g., two vehicles 304 and 305) are shown communicating with each other and / or with RSU 303, BS 302, and / or user equipment 307, but the present disclosure is not limited thereto. For example, dozens or hundreds of such vehicles may communicate with each other and / or with RSU 303, BS 302, and / or user equipment 307. At any given point in time, each such vehicle, RSU 303, BS 302, and / or user equipment 307 may send various types of information as messages to other nearby vehicles, resulting in each vehicle (e.g., vehicles 304 and / or 305), RSU 302, BS 302, and / or user equipment 307 receiving hundreds or thousands of messages per second from other nearby vehicles, RSUs, base stations, and / or other UEs.

[0080] Although in Figure 3 The PC5 interface is shown in FIG. 1 , but various UEs (e.g., vehicles, user equipment, etc.) and RSUs may communicate directly using any suitable type of direct interface (such as an 802.11 DSRC interface, a Bluetooth™ interface, and / or other interfaces). For example, a vehicle may communicate with a user equipment via a direct communication interface (e.g., using PC5 and / or DSRC), a vehicle may communicate with another vehicle via a direct communication interface, a user equipment may communicate with another user equipment via a direct communication interface, a UE (e.g., vehicle, user equipment, etc.) may communicate with an RSU via a direct communication interface, an RSU may communicate with another RSU via a direct communication interface, and so on.

[0081] Figure 44 is a block diagram showing an example of a vehicle computing system 450 of a vehicle 404. The vehicle 404 is an example of a UE that can communicate with a network (e.g., an eNB, a gNB, a positioning beacon, a position measurement unit, and / or other network entities) via a Uu interface and communicate with other UEs using V2X communication via a PC5 interface (or other device-to-device direct interface, such as a DSRC interface). As shown, the vehicle computing system 450 may include at least a power management system 451, a control system 452, an infotainment system 454, an intelligent transportation system (ITS) 455, one or more sensor systems 456, and a communication system 458. In some cases, the vehicle computing system 450 may include or may be implemented using any type of processing device or system, such as one or more central processing units (CPUs), digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), application processors (APs), graphics processing units (GPUs), visual processing units (VPUs), neural network signal processors (NSPs), microcontrollers, dedicated hardware, any combination thereof, and / or other processing devices or systems.

[0082] The control system 452 may be configured to control one or more operations of the vehicle 404, the power management system 451, the computing system 450, the infotainment system 454, the ITS 455, and / or one or more other systems of the vehicle 404 (e.g., a braking system, a steering system, a safety system other than the ITS 455, a cab system, and / or other systems). In some examples, the control system 452 may include one or more electronic control units (ECUs). The ECUs may control one or more electrical systems or subsystems in the vehicle. Examples of specific ECUs that may be included as part of the control system 452 include an engine control module (ECM), a powertrain control module (PCM), a transmission control module (TCM), a brake control module (BCM), a central control module (CCM), a central timing module (CTM), and the like. In some cases, the control system 452 may receive sensor signals from one or more sensor systems 456 and may communicate with other systems of the vehicle computing system 450 to operate the vehicle 404.

[0083] Vehicle computing system 450 also includes a power management system 451. In some implementations, power management system 451 may include a power management integrated circuit (PMIC), a backup battery, and / or other components. In some cases, other systems of vehicle computing system 450 may include one or more PMICs, batteries, and / or other components. Power management system 451 may perform power management functions for vehicle 404, such as managing the power supply for computing system 450 and / or other components of the vehicle. For example, to account for power fluctuations, such as based on starting the vehicle's engine, power management system 451 may provide a stable power supply. In another example, power management system 451 may perform thermal monitoring operations, such as by checking ambient temperature and / or transistor junction temperature. In another example, power management system 451 can perform certain functions based on detecting a certain temperature level, such as causing a cooling system (e.g., one or more fans, an air conditioning system, etc.) to cool certain components of vehicle computing system 450 (e.g., control system 452, such as one or more ECUs), shutting down certain functions of vehicle computing system 450 (e.g., limiting infotainment system 454, e.g., by turning off one or more displays, disconnecting from a wireless network, etc.), and other functions.

[0084] The vehicle computing system 450 also includes a communication system 458. The communication system 458 may include software and hardware components for sending and receiving signals to and from a network (e.g., to a gNB or other network entity via a Uu interface) and / or another UE (e.g., to another vehicle or UE via a PC5 interface, a WiFi interface (e.g., DSRC), a Bluetooth™ interface, and / or other wireless and / or wired interfaces). For example, the communication system 458 is configured to wirelessly send and receive information over any suitable wireless network (e.g., a 3G network, a 4G network, a 5G network, a WiFi network, a Bluetooth™ network, and / or other networks). The communication system 458 includes various components or devices for performing wireless communication functions, including an original equipment manufacturer (OEM) subscriber identity module (referred to as a SIM or SIM card) 460, a user SIM 462, and a modem 464. Although vehicle computing system 450 is shown as having two SIMs and one modem, in some implementations computing system 450 may have any number of SIMs (e.g., one SIM or more than two SIMs) and any number of modems (e.g., one modem, two modems, or more than two modems).

[0085] A SIM is a device (e.g., an integrated circuit) that can securely store an International Mobile Subscriber Identity (IMSI) number and associated keys (e.g., encryption-decryption keys) for a particular subscriber or user. The IMSI and keys can be used to identify and authenticate a subscriber on a particular UE. The OEM SIM 460 can be used by the communication system 458 to establish a wireless connection for vehicle-based operations (e.g., for performing emergency call (eCall) functions, communicating with the vehicle manufacturer's communication system (e.g., for software updates, etc.), and other operations). The OEM SIM 460 is important for the OEM SIM to support critical services, such as eCall for making emergency calls in the event of a car accident or other emergency. For example, eCall can include a service that automatically dials an emergency number (e.g., "9-1-1" in the United States, "1-1-2" in Europe, etc.) in the event of a vehicle accident and transmits the location of the vehicle to emergency services, such as a police station, fire station, etc.

[0086] The communication system 458 may use the user SIM 462 to perform wireless network access functions to support user data connections (e.g., for making phone calls, messaging, infotainment-related services, etc.). In some cases, the user's user device may be connected to the vehicle computing system 450 through an interface (e.g., through PC5, Bluetooth™, WiFI™ (e.g., DSRC), a universal serial bus (USB) port, and / or other wireless or wired interfaces). Once connected, the user device may transfer the wireless network access function from the user device to the vehicle's communication system 458, in which case the user device may stop performing the wireless network access function (e.g., during the period when the communication system 458 is performing the wireless access function). The communication system 458 may begin interacting with a base station to perform one or more wireless communication operations, such as facilitating phone calls, sending and / or receiving data (e.g., messaging, video, audio, etc.), and other operations. In such a case, other components of the vehicle computing system 450 may be used to output data received by the communication system 458. For example, infotainment system 454 (described below) may display video received by communication system 458 on one or more displays and / or may output audio received by communication system 458 using one or more speakers.

[0087] A modem is a device that modulates one or more carrier signals to encode digital information for transmission and demodulates the signals to decode the transmitted information. Modem 464 (and / or one or more other modems of communication system 458) can be used to transmit data for OEM SIM 460 and / or user SIM 462. In some examples, modem 464 may include a 4G (or LTE) modem, and another modem (not shown) of communication system 458 may include a 5G (or NR) modem. In some examples, communication system 458 may include one or more Bluetooth TM modems (e.g., for Bluetooth TM Low Energy (BLE) or other types of Bluetooth communications), one or more WiFi TM modems (e.g., for DSRC communications and / or other WiFi communications), broadband modems (e.g., ultra-wideband (UWB) modems), any combination thereof, and / or other types of modems.

[0088] In some cases, modem 464 (and / or one or more other modems of communication system 458) can be used to perform V2X communications (e.g., V2V communications with other vehicles, D2D communications with other devices, V2I communications with infrastructure systems, V2P communications with pedestrian UEs, etc.). In some examples, communication system 458 may include a V2X modem for performing V2X communications (e.g., sidelink communications via a PC5 interface or a DSRC interface), in which case the V2X modem may be separate from one or more modems used for wireless network access functions (e.g., for network communications via a network / Uu interface and / or sidelink communications other than V2X communications).

[0089] In some examples, the communication system 458 may be or may include a telematics control unit (TCU). In some implementations, the TCU may include a network access device (NAD) (also referred to as a network control unit or NCU in some cases). The NAD may include a modem 464, Figure 4 4, OEM SIM 460, user SIM 462, and / or other components for wireless communication not shown. In some examples, communication system 458 may include a global navigation satellite system (GNSS). In some cases, GNSS may be part of one or more sensor systems 456, as described below. GNSS may provide vehicle computing system 450 with the ability to perform one or more location services, navigation services, and / or other services that may utilize GNSS functionality.

[0090] In some cases, the communication system 458 may also include one or more wireless interfaces for sending and receiving wireless communications (e.g., including one or more transceivers and one or more baseband processors for each wireless interface), one or more wired interfaces for performing communications over one or more hard-wired connections (e.g., serial interfaces such as universal serial bus (USB) inputs, lighting connectors, and / or other wired interfaces), and / or other components that may allow the vehicle 404 to communicate with a network and / or other UEs.

[0091] The vehicle computing system 450 may also include an infotainment system 454 that can control the content and one or more output devices of the vehicle 404 that can be used to output the content. The infotainment system 454 may also be referred to as an in-vehicle infotainment (IVI) system or an in-vehicle entertainment (ICE) system. The content may include navigation content, media content (e.g., video content, music or other audio content, and / or other media content), and other content. The one or more output devices may include one or more graphical user interfaces, one or more displays, one or more speakers, one or more extended reality devices (e.g., VR, AR, and / or MR headsets), one or more tactile feedback devices (e.g., one or more devices configured to vibrate seats, steering wheels, and / or other parts of the vehicle 404), and / or other output devices.

[0092] In some examples, computing system 450 may include intelligent transportation system (ITS) 455. In some examples, ITS 455 may be used to implement V2X communication. For example, the ITS stack of ITS 455 may generate V2X messages based on information from the application layer of the ITS. In some cases, the application layer may determine whether certain conditions have been met to generate messages for use by ITS 455 and / or generate messages to be sent to other vehicles (for V2V communication), pedestrian UEs (for V2P communication) and / or infrastructure systems (for V2I communication). In some cases, communication system 458 and / or ITS 455 may obtain car access network (CAN) information (e.g., obtained from other components of the vehicle via the CAN bus). In some examples, communication system 458 (e.g., TCU NAD) may obtain CAN information via the CAN bus and may send the CAN information to the PHY / MAC layer of ITS 455. ITS 455 may provide CAN information to the ITS stack of ITS 455. The CAN information may include vehicle related information, such as the vehicle's heading, the vehicle's speed, interrupt information, and other information. The CAN information may be provided to the ITS 455 continuously or periodically (eg, every 1 millisecond (ms), every 10 ms, etc.).

[0093] The conditions for determining whether to generate a message can be determined using CAN information based on safety-related applications and / or other applications (including applications related to road safety, traffic efficiency, infotainment, business and / or other applications). In an illustrative example, ITS 455 can perform lane change assistance or negotiation. For example, using CAN information, ITS 455 can determine that the driver of vehicle 404 is trying to change lanes from the current lane to an adjacent lane (e.g., based on the flasher being activated, based on the user turning or going to an adjacent lane, etc.). Based on determining that vehicle 404 is trying to change lanes, ITS 455 can determine that the lane change conditions associated with the messages to be sent to other vehicles near the vehicle in the adjacent lane have been met. ITS455 can trigger the ITS stack to generate one or more messages for transmission to other vehicles, which can be used to negotiate lane changes with other vehicles. Other examples of applications include forward collision warning, automatic emergency interruption, lane departure warning, pedestrian avoidance or protection (e.g., when pedestrians are detected near vehicle 404, e.g., based on V2P communication with the user's UE), traffic sign recognition, etc.

[0094] The ITS 455 may generate messages (e.g., V2X messages) using any suitable protocol. Examples of protocols that may be used by the ITS 455 include one or more Society of Automotive Engineering (SAE) standards, such as SAE J2735, SAE J2945, SAE J3161, and / or other standards, the entire contents of which are hereby incorporated by reference and for all purposes.

[0095] The security layer of ITS 455 can be used to securely sign messages from the ITS stack that are sent to and verified by other UEs (such as other vehicles, pedestrian UEs, and / or infrastructure systems) configured for V2X communication. The security layer can also verify messages received from such other UEs. In some implementations, the signing and verification process can be based on the security context of the vehicle. In some examples, the security context may include one or more encryption-decryption algorithms, public and / or private keys for generating signatures using encryption-decryption algorithms, and / or other information. For example, each ITS message generated by ITS455 can be signed by the security layer of ITS 455. The signature can be derived using a public key and an encryption-decryption algorithm. The vehicle, pedestrian UE, and / or infrastructure system that receives the signed message can verify the signature to ensure that the message comes from an authorized vehicle. In some examples, one or more encryption-decryption algorithms may include one or more symmetric encryption algorithms (e.g., Advanced Encryption Standard (AES), Data Encryption Standard (DES), and / or other symmetric encryption algorithms), one or more asymmetric encryption algorithms using public and private keys (e.g., Rivest–Shamir–Adleman (RSA) and / or other asymmetric encryption algorithms), and / or other encryption-decryption algorithms.

[0096] In some examples, the ITS 455 may determine certain operations to be performed (e.g., V2X-based operations) based on messages received from other UEs. The operations may include safety-related operations and / or other operations, such as operations for road safety, traffic efficiency, infotainment, business, and / or other applications. In some examples, the operations may include causing the vehicle (e.g., the control system 452) to perform automatic functions, such as automatic braking, automatic steering (e.g., to maintain a course in a particular lane), automatic lane change negotiation with other vehicles, and other automatic functions. In an illustrative example, the communication system 458 may receive a message from another vehicle (e.g., via a PC5 interface, a DSRC interface, or other device-to-device direct interface) indicating that the other vehicle is about to stop suddenly. In response to receiving the message, the ITS stack may generate a message or instruction, and may send the message or instruction to the control system 452, which may cause the control system 452 to automatically brake the vehicle 404 so that it stops before colliding with the other vehicle. In other illustrative examples, operations may include triggering the display of a message warning the driver that another vehicle is in the lane alongside the vehicle, a message warning the driver to stop the vehicle, a message warning the driver that a pedestrian is at an upcoming intersection, a message warning the driver that a toll booth is within a certain distance of the vehicle (e.g., within 1 mile), and the like.

[0097] In some examples, ITS 455 may receive a large number of messages from other UEs (e.g., vehicles, RSUs, etc.), in which case ITS 455 will authenticate (e.g., decode and decrypt) each of the messages and / or determine which operations to perform. Such a large number of messages may result in a large computational load on the vehicle computing system 450. In some cases, a large computational load may result in an increase in the temperature of the computing system 450. The increase in the temperature of the components of the computing system 450 may have an adverse effect on the ability of the computing system 450 to handle a large number of incoming messages. Based on the temperature of the vehicle computing system 450 (or its components) exceeding or approaching one or more thermal levels, one or more functions may be converted from the vehicle 404 to another device (e.g., user equipment, RSU, etc.). Converting one or more functions may reduce the computational load on the vehicle 404, thereby helping to reduce the temperature of the components. A thermal load balancer may be provided that enables the vehicle computing system 450 to perform thermal-based load balancing to control the processing load according to the temperature of the computing system 450 and the processing capacity of the vehicle computing system 450.

[0098] The computing system 450 also includes one or more sensor systems 456 (e.g., a first sensor system to an Nth sensor system, where N is a value equal to or greater than 0). When multiple sensor systems are included, the sensor systems 456 may include different types of sensor systems, which may be arranged on or in different components of the vehicle 404. The sensor systems 456 may include one or more camera sensor systems, LIDAR sensor systems, radio detection and ranging (RADAR) sensor systems, electromagnetic detection and ranging (EmDAR) sensor systems, sound navigation and ranging (SONAR) sensor systems, sound detection and ranging (SODAR) sensor systems, global navigation satellite systems (GNSS) receiver systems (e.g., one or more global positioning system (GPS) receiver systems), accelerometers, gyroscopes, inertial measurement units (IMUs), infrared sensor systems, laser rangefinder systems, ultrasonic sensor systems, infrasonic sensor systems, microphones, any combination thereof, and / or other sensor systems. It should be understood that any number of sensors or sensor systems may be included as part of the computing system 450 of the vehicle 404.

[0099] Although vehicle computing system 450 is shown as including certain components and / or systems, one of ordinary skill will appreciate that vehicle computing system 450 may include more than Figure 4. For example, the vehicle computing system 450 may also include one or more input devices and one or more output devices (not shown). In some implementations, the vehicle computing system 450 may also include (e.g., as part of or separate from the control system 452, the infotainment system 454, the communication system 458, and / or the sensor system 456) at least one processor and at least one memory having computer executable instructions executed by at least one processor. At least one processor communicates and / or is electrically connected (referred to as "coupled" or "communicatively coupled") to at least one memory. At least one processor may include, for example, one or more microcontrollers, one or more central processing units (CPUs), one or more field programmable gate arrays (FPGAs), one or more graphics processing units (GPUs), one or more application processors (e.g., for running or executing one or more software applications), and / or other processors. At least one memory may include, for example, a read-only memory (ROM), a random access memory (RAM) (e.g., a static RAM (SRAM)), an electrically erasable programmable read-only memory (EEPROM), flash memory, one or more buffers, one or more databases, and / or other memories. Computer-executable instructions stored in or on at least one memory may be executed to perform one or more of the functions or operations described herein.

[0100] Figure 5 An example of a computing system 570 of a user device 507 is shown. The user device 507 is an example of a UE that can be used by an end user. For example, the wireless device 507 may include a mobile phone, a router, a tablet computer, a laptop computer, a tracking device, a wearable device (e.g., a smart watch, glasses, XR devices, etc.), an Internet of Things (IoT) device, and / or other devices used by a user to communicate on a wireless communication network. The computing system 570 includes software and hardware components that can be electrically coupled or communicatively coupled (or can communicate in other ways, as the case may be) via a bus 589. For example, the computing system 570 includes one or more processors 584. One or more processors 584 may include one or more CPUs, ASICs, FPGAs, APs, GPUs, VPUs, NSPs, microcontrollers, dedicated hardware, any combination thereof, and / or other processing devices or systems. The bus 589 may be used by one or more processors 584 to communicate between cores and / or with one or more memory devices 586.

[0101] The computing system 570 may also include one or more memory devices 586, one or more digital signal processors (DSPs) 582, one or more SIMs 574, one or more modems 576, one or more wireless transceivers 578, an antenna 587, one or more input devices 572 (e.g., a camera, a mouse, a keyboard, a touch-sensitive screen, a touchpad, a keypad, a microphone, etc.), and one or more output devices 580 (e.g., a display, a speaker, a printer, etc.).

[0102] The one or more wireless transceivers 578 can transmit data to one or more other devices (such as other user devices, vehicles (e.g., the above-mentioned Figure 4 The vehicle 404), network devices (e.g., base stations (such as eNBs and / or gNBs, WiFI routers, etc.), cloud networks, etc.) receive wireless signals (e.g., signal 588). In some examples, computing system 570 may include multiple antennas. Wireless signal 588 may be sent via a wireless network. The wireless network may be any wireless network, such as a cellular or telecommunication network (e.g., 3G, 4G, 5G, etc.), a wireless local area network (e.g., a WiFi network), a Bluetooth TM network and / or other networks. In some examples, one or more wireless transceivers 578 may include an RF front end that includes one or more components such as an amplifier, a mixer for down-converting a signal (also referred to as a signal multiplier), a frequency synthesizer (also referred to as an oscillator) that provides a signal to the mixer, a baseband filter, an analog-to-digital converter (ADC), one or more power amplifiers, and other components. The RF front end may typically handle the selection and conversion of the wireless signal 588 to a baseband or intermediate frequency, and may convert the RF signal to the digital domain.

[0103] In some cases, computing system 570 may include a coding-decoding device (or CODEC) configured to encode and / or decode data transmitted and / or received using one or more wireless transceivers 578. In some cases, computing system 570 may include an encryption-decryption device or component configured to encrypt and / or decrypt data transmitted and / or received by one or more wireless transceivers 578 (e.g., according to the AES and / or DES standards).

[0104] One or more SIMs 574 can each securely store the IMSI number and associated keys of the user assigned to the user device 507. When accessing a network provided by a network service provider or operator associated with one or more SIMs 574, the IMSI and keys can be used to identify and authenticate the user. One or more modems 576 can modulate one or more signals to encode information for transmission using one or more wireless transceivers 578. One or more modems 576 can also demodulate signals received by one or more wireless transceivers 578 to decode the transmitted information. In some examples, one or more modems 576 can include a 4G (or LTE) modem, a 5G (or NR) modem, a modem configured for V2X communication, and / or other types of modems. One or more modems 576 and one or more wireless transceivers 578 can be used to transmit data for one or more SIMs 574.

[0105] The computing system 570 may also include (and / or be in communication with) one or more non-transitory machine-readable storage media or storage devices (e.g., one or more memory devices 586), which may include, but are not limited to, local and / or network accessible storage, disk drives, drive arrays, optical storage devices, solid-state storage devices such as RAM and / or ROM, which may be programmable, flash-updatable, etc. Such storage devices may be configured to implement any suitable data storage, including, but not limited to, various file systems, database structures, etc.

[0106] In various aspects, the functionality may be stored as one or more computer program products (e.g., instructions or code) in the storage device 586 and executed by the one or more processors 584 and / or the one or more DSPs 582. The computing system 570 may also include software elements (e.g., located within the one or more memory devices 586) including, for example, an operating system, device drivers, executable libraries, and / or other code, such as one or more applications, which may include a computer program that implements the functionality provided by various aspects, and / or may be designed to implement methods and / or configure systems, as described herein.

[0107] Figure 6An example 600 of wireless communication between devices based on sidelink communication such as V2X or other D2D communication is shown. The communication can be based on a time slot structure. For example, a transmitting UE 602 can send a transmission 614 that can be received by a receiving UE 604, 606, 608, which transmission 614 includes, for example, a control channel and / or a corresponding data channel. At least one UE may include an autonomous vehicle or an unmanned aerial vehicle. The control channel may include information for decoding the data channel and may also be used by the receiving device to avoid interference by avoiding transmission on occupied resources during data transmission. The TTI and the number of RBs to be occupied by the data transmission may be indicated in a control message from the transmitting device. In addition to being able to operate as a receiving device, UEs 602, 604, 606, 608 are each capable of operating as a transmitting device. Therefore, UEs 606, 608 are shown as sending transmissions 616, 620. Transmissions 614, 616, 620 (and 618 of RSU 607) may be broadcast or multicast to nearby devices. For example, UE 614 may transmit communications intended to be received by other UEs within range 601 of UE 614. Additionally / alternatively, RSU 607 may receive communications from and / or transmit communications 618 to UE 602, 604, 606, 608. UE 602, 604, 606, 608 or RSU 607 may include a detection component. UE 602, 604, 606, 608 or RSU 607 may also include a BSM or mitigation component.

[0108] In wireless communications (such as V2X communications), a V2X entity may perform sensor sharing with other V2X entities for collaboration and autonomous driving. Fig. 7A 700, a host vehicle (HV) 702 may detect a number of items within its environment. For example, at block 732, the HV 702 may detect the presence of a non-V2X entity (NV) 706. The HV 702 may notify other entities such as a first remote vehicle (RV1) 704 or a roadside unit (RSU) 708 of the presence of the NV 706 if the RV1 704 and / or RSU 708 itself cannot detect the NV 706. The HV 702 notifies the RV1 704 and / or RSU 708 of the sharing of the sensor information. Figure 7B 710, HV 702 may detect a physical obstacle 712, such as a pothole, debris, or an object that may be an obstacle in the path of HV 702 and / or RV1 704 that has not yet been detected by RV1 704 and / or RSU 708. HV 702 may notify RV1 and / or RSU 708 of the obstacle 712 so that the obstacle 712 may be avoided. Figure 7C 720, the HV 702 can detect the presence of a vulnerable road user (VRU) 722 and can share the detection of the VRU 722 with the RV1 704 and the RSU 708 in situations where the RSU 708 and / or the RV1 704 may not be able to detect the VRU 722. Fig.7D 730, the HV, upon detecting a nearby entity (e.g., NV, VRU, obstacle), may send a sensor data sharing message (SDSM) 734 to the RV and / or RSU to share the detection of the entity. The SDSM 734 may be a broadcast message so that any receiving device in the vicinity of the HV may receive the message. In some cases, the shared information may be relayed to other entities, such as the RV. For example, referring to Figure 8 800, the HV 802 may detect the presence of the NV 806 and / or the VRU 822. The HV 802 may broadcast the SDSM 810 to the RSU 808 to report the detection of the NV 806 and / or the VRU 822. The RSU 808 may relay the SDSM 810 received from the HV 802 to the remote vehicle so that the remote vehicle is aware of the presence of the NV 806 and / or the VRU 822. For example, the RSU 808 may send the SDSM 812 to the RV1 804, wherein the SDSM 812 includes information related to the detection of the NV 806 and / or the VRU 822.

[0109] Fig. 9 is a diagram illustrating an example of a system 900 for sensor sharing in wireless communications (e.g., C-V2X communications) according to some aspects of the present disclosure. Fig. 9 In FIG. 1 , a system 900 is shown as including a plurality of equipped (e.g., V2X-capable) network devices. The plurality of equipped network devices include vehicles (e.g., cars) 910a, 910b, 910c, 910d, and RSU 905. Also shown are a plurality of unequipped network devices, including unequipped vehicles 920, VRUs (e.g., cyclists) 930, and pedestrians 940. Fig. 9 System 900 may include more or fewer equipped network devices and / or more or fewer unequipped network devices than shown. Fig. 9 Compared to the example shown, system 900 may include more or fewer different types of equipped network devices (e.g., which may include equipped UEs) and / or more or fewer different types of unequipped network devices (e.g., which may include unequipped UEs). In addition, in one or more examples, the equipped network devices may be equipped with heterogeneous capabilities, which may include, but are not limited to, C-V2X / DSRC capabilities, 4G / 5G cellular connections, GPS capabilities, camera capabilities, radar capabilities, and / or LIDAR capabilities.

[0110] Multiple equipped network devices are capable of performing V2X communications. In addition, at least some of the equipped network devices are configured to send and receive sensing signals for radar (e.g., RF sensing signals) and / or LIDAR (e.g., optical sensing signals) to detect nearby vehicles and / or objects. Additionally or alternatively, in some cases, at least some of the equipped network devices are configured to use one or more cameras to detect nearby vehicles and / or objects (e.g., detecting vehicles / objects by processing images captured by one or more cameras). In one or more examples, vehicles 910a, 910b, 910c, 910d and RSU 905 can be configured to send and receive certain sensing signals (e.g., radar and / or LIDAR sensing signals).

[0111] In some examples, some of the equipped network devices may have higher capability sensors (e.g., GPS receivers, cameras, RF antennas, and / or optical lasers and / or light sensors) compared to other equipped network devices of system 900. For example, vehicle 910b may be a luxury vehicle and therefore have more expensive, higher capability sensors compared to other vehicles that are economy vehicles. In an illustrative example, vehicle 910b may have one or more LIDAR sensors (e.g., high capability optical lasers and optical sensors) with higher capabilities compared to other equipped network devices in system 900. In an illustrative example, the LIDAR of vehicle 910b can detect VRUs (e.g., cyclists) 930 and / or pedestrians 940 with a large confidence (e.g., seventy percent confidence). In another example, vehicle 910b may have a radar (e.g., a high capability RF antenna) with higher capabilities compared to other equipped network devices in system 900. For example, the radar of vehicle 910b may be able to detect a VRU (e.g., a cyclist) 930 and / or a pedestrian 940 with a certain confidence level (e.g., eighty-five percent confidence level). In another example, vehicle 910b may have a higher-capability camera (e.g., having higher resolution capabilities, higher frame rate capabilities, better lenses, etc.) than other equipped network devices in system 900.

[0112] During operation of the system 900, the equipped network devices (e.g., RSU 905 and / or at least one of vehicles 910a, 910b, 910c, 910d) may send and / or receive sensing signals (e.g., RF and / or optical signals) to sense and detect vehicles (e.g., vehicles 910a, 910b, 910c, 910d, and 920) and / or objects (e.g., VRU 930 and pedestrian 940) located in and around the road. The equipped network devices (e.g., RSU 905 and / or at least one of vehicles 910a, 910b, 910c, 910d) may then use the sensing signals to determine the characteristics (e.g., motion, dimension, type, heading, and speed) of the detected vehicles and / or objects. An equipped network device (e.g., RSU 905 and / or at least one of vehicles 910a, 910b, 910c, 910d) may generate at least one vehicle-based message 915 (e.g., a C-V2X message, such as a sensor data sharing message (SDSM), a basic safety message (BSM), a collaborative awareness message (CAM), a collective awareness message (CPM), a decentralized environment message (DENM), and / or other types of messages), the vehicle-based message 915 including information related to determined characteristics of detected vehicles and / or objects.

[0113] The vehicle-based message 915 may include information related to the detected vehicle or object (e.g., the location of the vehicle or object, the accuracy of the location, the speed of the vehicle or object, the direction in which the vehicle or object is traveling, and / or other information related to the vehicle or object), traffic conditions (e.g., low-speed and / or dense traffic, high-speed traffic, information related to accidents, etc.), weather conditions (e.g., rain, snow, etc.), message types (e.g., emergency messages, non-emergency or "regular" messages), etc.), road topology (line of sight (LOS) or non-line of sight (NLOS), etc.), any combination thereof, and / or other information. In some examples, the vehicle-based message 915 may also include information about the preferences of the equipped network device to receive vehicle-based messages from certain other equipped network devices. In some cases, the vehicle-based message 915 may include the current capabilities of the equipped network device (e.g., vehicles 910a, 910b, 910c, 910d), such as the sensing capabilities of the equipped network device (which may affect the accuracy of the equipped network device sensing vehicles and / or objects), processing capabilities, the thermal state of the equipped network device (which may affect the ability of the vehicle to process data), and the health status of the equipped network device.

[0114] In some aspects, the vehicle-based message 915 may include a dynamic neighbor list (also referred to as a local dynamic map (LDM) or dynamic surrounding map) for each equipped network device (e.g., vehicles 910a, 910b, 910c, 910d and RSU 905). For example, each dynamic neighbor list may include a list of all vehicles and / or objects located within a specific predetermined distance (or distance radius) from the corresponding equipped network device. In some cases, each dynamic neighbor list includes a map of all vehicles and / or objects located within a specific predetermined distance (or distance radius) from the corresponding equipped network device, which may include road and terrain topology.

[0115] In some implementations, the vehicle-based message 915 may include a specific use case or safety warning related to the current status of the equipped network device (e.g., vehicles 910a, 910b, 910c, 910d), such as a do not pass warning (DNPW) or a forward collision warning (FCW). In some examples, the vehicle-based message 915 may have the form of a standard basic safety message (BSM), a collaborative awareness message (CAM), a collective awareness message (CPM), a sensor data sharing message (SDSM) (e.g., SAE J3224 SDSM), a decentralized environment message (DENM), and / or other formats.

[0116] Fig.10 is a diagram illustrating vehicle-based messages (e.g., Fig. 9 FIG1000 is a diagram of an example of a vehicle-based message 915 of FIG. 1000. The vehicle-based message 915 is shown as a sensor sharing message (e.g., SDSM), but may include a BSM, CAM, CPM, DENM, or other vehicle-based information described herein. Fig.10 , a vehicle-based message 915 is shown as including host data 1020 and detected object data 1010a, 1010b. The host data 1020 of the vehicle-based message 915 may include information related to a sending device of the vehicle-based message 915 (e.g., a network entity equipped to send, such as an RSU 905 or an on-board unit (OBU), such as on a vehicle 910a, 910b, 910c, 910d). The detected object data 1010a, 1010b of the vehicle-based message 915 may include information related to a detected vehicle or object (e.g., static or dynamic characteristics related to the detected vehicle or object, and / or other information related to the detected vehicle or object).

[0117] These vehicle-based messages 915 are beneficial because they can send messages to equipped network devices (e.g., Fig. 9The vehicles 910a, 910b, 910c, 910d) provide perception and understanding of upcoming potential road hazards (e.g., unforeseen oncoming vehicles, accidents, and road conditions).

[0118] As mentioned previously, vehicle-based messages (e.g. Fig. 9 Vehicle-based messages 915) are beneficial because they can provide the vehicle with awareness and understanding of upcoming potential road hazards (e.g., unforeseen oncoming vehicles, accidents, and road conditions). In some cases, the information in the vehicle-based messages can indicate that two vehicles overlap each other, which can be referred to as a position overlap (PO) of the vehicles. Information revealing the position overlap of the vehicles can be an indication of a collision between the two vehicles. However, in some cases, the information indicating a position overlap may be invalid information generated by a misbehaving vehicle. A misbehaving vehicle can be defined as a vehicle that reports erroneous information or has low-quality sensors (e.g., radar, LIDAR, camera, GNSS, or other sensors) that result in fully or partially inaccurate information (e.g., an indication of a position or positioning that is deviated by a certain amount).

[0119] Currently, many standards development organizations (SDOs) and other forums are conducting activities to define misbehavior detection and reporting systems for V2X applications, in which devices receiving V2X vehicle-based messages can perform tests (e.g., referred to as "running detectors") to determine whether the information contained within the vehicle-based messages is in fact accurately indicating the facts on the scene. If the information does not accurately indicate the facts on the scene, the message can be considered to be "misbehavior" from the sender of the misbehavior (e.g., misbehaving vehicle, misbehaving UE, etc.), and the message may be potentially reported to the central misbehavior authority (MA) of the misbehavior detection system. The misbehavior detection system can initiate enforcement actions against the sender of the misbehavior (e.g., misbehavior vehicle). Not all "misbehaviors" marked by the misbehavior detection subsystem must be reported to the MA. One factor that may affect whether to report misbehavior is the confidence of the misbehavior detection subsystem in its decision that the V2X vehicle-based message is "misbehavior" and therefore incorrectly represents the facts on the scene.

[0120] V2X vehicle-based messages contain an identifier of its transmitter (e.g., a digital certificate or certificate digest / hash), which allows the MA to identify the accused vehicle. In the V2X context, a special vehicle (e.g., a police car) may have several certificate types / profiles (e.g., one profile for on-duty activities and another profile for off-duty activities). The certificate profile contains a set of permissions that allow the use of V2X services and the message types and message fields designed for that profile. Current implementations of this concept may vary. For example, a special vehicle may have a transmitting device that supports managing profile changes, such as an on-board unit (OBU). In some cases, a special vehicle may operate two OBUs, which may include an on-board OBU containing one certificate profile and an aftermarket OBU containing another certificate profile. These two OBU settings may not be able to manage profile changes. Therefore, the two OBUs may send V2X messages concurrently, each with their respective certificate profiles.

[0121] Some V2X standards, such as the European Telecommunications Standards Institute (ETSI) standards, have defined a number of different detectors for detecting misbehavior. Current standards do not include detectors for position overlap. Currently, there are some position overlap detector technologies for confirming the existence of position overlap of vehicles. However, many of these technologies do not consistently obtain accurate results (e.g., these technologies result in many false positive position overlap events) because they fail to take into account multiple parameters that may be required to confirm the true position overlap of vehicles. Therefore, these technologies cannot effectively distinguish between position overlaps caused by attacks (e.g., attacks by misbehaving vehicles) or due to vehicle collisions.

[0122] Some current technologies do not take into account the positioning uncertainty of the vehicle. These technologies use a position overlap detector that does not take into account the positioning uncertainty when determining a position overlap event. Therefore, the position overlap detector can output a result (e.g., position overlap or non-overlap) without providing a confidence level for the result. Therefore, the misbehavior detection subsystem of the misbehavior detection system may mistakenly report the vehicle as misbehavior. If all reporters of the misbehavior detection system (e.g., vehicles and / or misbehavior detection subsystems) follow the same scheme, the vehicle that is mistakenly accused of misbehavior may be revoked from the system and / or ignored by other vehicles in the system.

[0123] Current location overlap detector technologies do not consider situations indicating location overlap of vehicles, even in the presence of positioning uncertainty. As a result, these technologies can assume that the location overlap of vehicles is real, even in the presence of positioning uncertainty. The lack of certainty leads to the risk of the detector falsely detecting location overlap. Therefore, location overlap that is not detected or is incorrectly detected may have an impact on the V2X ecosystem.

[0124] In addition, current location overlap detector technology does not consider the location overlap caused by a vehicle (e.g., a duty vehicle, such as a police car or an emergency vehicle) operating two on-board units (OBUs), which may include a built-in OBU in a vehicle for duty (e.g., police duty) activities and an aftermarket OBU for off-duty activities. The built-in OBU and the aftermarket OBU may have different profiles from each other, and both may simultaneously and independently send vehicle-based messages. For example, at time t, the vehicle may be located at position X. Then, at time t+Δ, the vehicle may be located at position X+Δ. A receiver (e.g., a vehicle) of vehicle-based messages sent from two OBUs on the vehicle may not be aware that the vehicle-based messages are sent from the same vehicle, and may instead assume that the vehicle-based messages are sent from two different vehicles because the vehicle-based messages have two different profiles. Therefore, the receiver may incorrectly determine that there is a location overlap of two vehicles. Therefore, the receiver may report a location overlap event, which may indicate a collision between the two vehicles.

[0125] In addition, current location overlap detector techniques do not take into account time synchronization between two vehicle-based messages sent at different times by different transmitters (e.g., different vehicles). Therefore, these techniques do not take into account differences in generation times between vehicle-based messages sent from different vehicles. For example, a first vehicle-based message (e.g., BSM A) sent by a first vehicle (e.g., vehicle A) may have a generation time timestamped at 0.1 seconds, and a second vehicle-based message (e.g., BSM B) sent by a second vehicle (e.g., vehicle B) may have a generation time timestamped at 0.15 seconds. If the two sending vehicles are traveling at different speeds (e.g., the first vehicle may be traveling at 35 meters per second (m / s) and the second vehicle may be traveling at 5 m / s), then the 0.05 second time difference will result in a distance change (e.g., a distance change of 1.5 m in this example) between the position estimates of the vehicles contained in the first vehicle-based message at time 0.1 seconds and the second vehicle-based message at time 0.15 seconds. Therefore, the outputs of a time-synchronized location overlap detector and an unsynchronized location overlap detector may diverge. Thus, a synchronous detector may detect overlap, whereas an asynchronous detector may not detect overlap. Synchronization of vehicle-based messages (e.g., a first vehicle-based message and a second vehicle-based message) may be required to obtain the positions of the vehicles (e.g., the first vehicle and the second vehicle) simultaneously (e.g., at time t), which allows for more accurate determination of position overlap.

[0126] Current position overlap detector technology cannot distinguish between position overlap indications and collision events. For example, two colliding vehicles with high position uncertainty may have their uncertainty regions overlapping each other. Nearby surrounding vehicles may incorrectly report that both vehicles are misbehaving, rather than activating safety applications (e.g., collision warning messages) for a collision event.

[0127] In one or more examples, the disclosed systems and techniques provide robust and enhanced detection of position overlap of vehicles, which can accurately detect position overlap between vehicles. In one or more examples, multiple disclosed techniques (e.g., four techniques) are used in combination to accurately determine whether an indication of position overlap of vehicles is due to an attack (e.g., a misbehaving vehicle generating invalid information) or due to a collision of vehicles. The disclosed techniques for detecting position overlap may include: a first technique that provides a method for utilizing uncertainty measurements provided by V2X position and dimensionality estimates; a second technique that provides a method for removing overlapping indications caused by an on-duty vehicle (e.g., a police car or emergency vehicle) using two OBUs simultaneously to send vehicle-based messages; a third technique that provides a method for synchronizing the provided V2X vehicle-based messages in time with the V2X generation time; and a fourth technique that uses V2X motion estimates of vehicles to provide physical turbulence analysis. Fig.11 , 12 Details of these disclosed techniques for providing detection of position overlap are described in the descriptions of , 13, 14, 15 and 16.

[0128] In particular, Fig.11 , 12 , 13 and 14 together may illustrate a first technique that provides a method for utilizing uncertainty measurements provided by V2X position and dimension estimates. Fig.11 FIG1100 is a diagram illustrating an example of a modified bounding box 1110a, 1110b of a vehicle 1120a, 1120b that takes into account uncertainty in the position of the vehicle 1120a, 1120b, which may be employed by the disclosed system and method for robust and enhanced detection of position overlap (PO) of vehicles, according to some aspects of the present disclosure. Fig.11 In the example, each of the two vehicles 1120a, 1120b can be depicted as a bounding box (BB) defining the shape of the respective vehicle 1120a, 1120b. Vehicle-based messages (e.g., BSMs) can provide information about the length and width of the vehicles 1120a, 1120b so that a bounding box can be generated to accurately define the area of ​​the vehicles 1120a, 1120b relative to each other. Area “A” D” may be the area of ​​each of these bounding boxes of vehicles 1120a, 1120b. Additionally, the vehicle-based message may provide the heading of vehicles 1120a, 1120b so that the orientation of the bounding boxes of vehicles 1120a, 1120b relative to each other (e.g., the orientation of the rectangles in space) may be oriented using an accurate representation.

[0129] Each vehicle 1120a, 1120b may have a positioning error, which may be provided by a vehicle-based message (e.g., a BSM). The positioning error of each vehicle 1120a, 1120b may be represented as an ellipse 1140a, 1140b, where the center 1130a, 1130b of the ellipse 1140a, 1140b may be represented as "C". The center 1130a, 1130b (as represented by "C") may be the location of the vehicle 1120a, 1120b, as indicated in the vehicle-based message (e.g., a BSM). Area "A" may be a location of a vehicle 1120a, 1120b. E ” may be an area defined by the shape of each of the positioning error ellipses 1140a, 1140b.

[0130] A modified bounding box 1110a, 1110b may be constructed for each of the vehicles 1120a, 1120b, which accounts for positioning errors of the vehicles 1120a, 1120b. Fig.12 The description of FIG. 1 details an example of a process 1200 for constructing a modified bounding box 1110a, 1110b, which may be a combination of an ellipse 1140a, 1140b and a bounding box of a vehicle 1120a, 1120b. D+E " is the area of ​​the modified bounding box 1110a, 1110b of the vehicle 1120a, 1120b. Each of the centers 1130a, 1130b "C" may be the center of the corresponding modified bounding box 1110a, 1110b.

[0131] Fig.12 is a diagram illustrating an example of a process 1200 for generating a modified bounding box 1240 of a vehicle 1220 that takes into account uncertainty in the position of the vehicle 1220, which may be employed by the disclosed systems and methods for robust and enhanced detection of position overlap (PO) of vehicles, in accordance with some aspects of the present disclosure. Fig.12 During operation of process 1200, at step 1 (1210a), the length, width, and / or heading of vehicle 1220 may be extracted from at least one vehicle-based message (e.g., BSM) about vehicle 1220. Based on the extracted length, width, and / or heading of vehicle 1220, a bounding box representing the shape and orientation of the vehicle may be generated.

[0132] Also during process 1200, a positioning error (e.g., a 95 percent (%) positioning accuracy error) of vehicle 1220 may be extracted from at least one vehicle-based message. Based on the extracted positioning error of vehicle 1220, an ellipse 1230 representing the positioning error may be generated such that the center of ellipse 1230 is also the center of the bounding box of vehicle 1220, and ellipse 1230 is oriented similarly to the bounding box of vehicle 1220. Thus, the ground truth position of the center of vehicle 1220 may be located somewhere within the constructed ellipse 1230 with a positioning error accuracy (e.g., a 95% positioning accuracy error).

[0133] During the operation of process 1200, at step 2 (1210b), the center of the bounding box of vehicle 1220 may be modified or moved around the entire perimeter (e.g., border) of ellipse 1230. After the center of the bounding box of vehicle 1220 is modified or moved around the entire perimeter (e.g., border) of ellipse 1230, at step 3 (1210c) of process 1200, a modified bounding box 1240 may be formed by following the outer edge of the bounding box of vehicle 1220 while being modified or moved around the perimeter of ellipse 1230. When two modified bounding boxes (e.g., modified bounding boxes 1240) intersect each other, this may indicate that there is a potential situation where the positions of the vehicles overlap.

[0134] Fig.13 1300 is a diagram illustrating examples of multiple different scenarios (i.e., scenario A (1330a), scenario B (1330b), scenario A.1 (1330c), and scenario A.2 (1330d)) showing potential position overlap, confirmed position overlap, or no position overlap of two vehicles according to some aspects of the present disclosure. In particular, scenario A (1330a) and scenario B (1330b) are scenarios utilizing the disclosed techniques, which provide a method for utilizing uncertainty measurements provided by V2X position and dimensionality estimates. Situation A.1 (1330c) and scenario A.2 (1330d) are scenarios utilizing techniques that do not account for vehicle dimensionality, orientation, and position uncertainty.

[0135] exist Fig.13, case A (1330a) shows a potential position overlap of vehicles 1310a, 1310b. In case A (1330a), modified bounding boxes 1350a, 1350b contain bounding boxes indicating the shapes of vehicles 1310a, 1310b. Modified bounding boxes 1350a, 1350b are constructed based on the positioning error ellipses 1320a, 1320b, the dimensions and orientations of vehicles 1310a, 1310b. For the disclosed technology, when two modified bounding boxes 1350a, 1350b intersect each other (which produces an overlap area 1340), this can indicate a potential position overlap of vehicles 1310a, 1310b (e.g., the position overlap is not empty).

[0136] In case B (1330b), it is shown that the vehicles 1310c, 1310d do not overlap. In case B (1330b), the modified bounding boxes 1350c, 1350d contain bounding boxes indicating the shapes of the vehicles 1310c, 1310d. The modified bounding boxes 1350c, 1350d are generated based on the positioning error ellipses 1320c, 1320c and the sizes and orientations of the vehicles 1310c, 1310c. For the disclosed technology, when the two modified bounding boxes 1350c, 1350c do not intersect each other, this can indicate that the vehicles 1310c, 1310d do not have a positional overlap (e.g., the positional overlap is empty).

[0137] Currently available techniques such as those employed in Case A.1 (1330c) and Case A.2 (1330d) do not generate a modified bounding box that takes into account the dimensions and orientation of the vehicles and the positioning errors of the vehicles. Some techniques may determine that there is a position overlap of vehicles when the positioning error ellipses of the vehicles overlap and / or when the bounding boxes of the vehicles overlap. Such determinations using only positioning error ellipses or bounding boxes may produce false positive indications of position overlap of the vehicles and fail to detect potential position overlap.

[0138] For example, case A.1 (1330c) shows a case in which the technology uses the positioning error ellipses of the vehicles to determine whether there is a position overlap of the vehicles. In case A.1 (1330c), a bounding box indicating the shape of the vehicles 1310e, 1310f is shown. The positioning error ellipses 1320e, 1320f of the vehicles 1310e, 1310f are also shown. No modified bounding box is created for the vehicles 1310e, 1310f. Since the positioning error ellipses 1320e, 1320f of the vehicles 1310e, 1310f do not overlap, these techniques can determine that there is no position overlap of the vehicles 1310f, 1310e (e.g., the position overlap is empty). However, making this determination using only the positioning error ellipses 1320e, 1320f of the vehicles 1310e, 1310f may produce a false positive indication that the vehicles do not have a position overlap (or that there is a position overlap).

[0139] For example, case A.2 (1330d) illustrates a situation in which the techniques use bounding boxes of vehicles to determine whether there is a position overlap of vehicles. In case A.2 (1330d), bounding boxes indicating the shapes of vehicles 1310g, 1310h are shown. Positioning error ellipses 1320g, 1320h of vehicles 1310g, 1310h are also shown. No modified bounding boxes are created for vehicles 1310g, 1310h. Because the bounding boxes of vehicles 1310e, 1310f overlap, these techniques can determine that there is a position overlap of vehicles 1310g, 1310h. Because these techniques do not take into account the position uncertainty of the vehicles, determinations using these techniques may produce false positive indications of position overlap (or lack of position overlap) of vehicles.

[0140] Fig.14 1 is a diagram illustrating an example of confirming a position overlap 1400 of two vehicles 1420a, 1420b by utilizing the disclosed system and method for robust and enhanced detection of position overlap (PO) of vehicles in accordance with some aspects of the present disclosure. In particular, Fig.14 It is shown how the disclosed techniques take into account situations where position overlap can be determined with a high level of certainty even in the presence of positioning uncertainty.

[0141] exist Fig.14In the example, each of the two vehicles 1420a, 1420b can be depicted as a bounding box defining the shape of the respective vehicles 1420a, 1420b. The vehicle-based message can provide information about the length and width of the vehicles 1420a, 1420b so that a bounding box can be generated to accurately depict the area of ​​the vehicles 1420a, 1420b relative to each other. The vehicle-based message can also provide heading information for the vehicles 1420a, 1420b so that the orientation of the bounding boxes of the vehicles 1420a and 1420b relative to each other (e.g., the orientation of the rectangle representing the vehicles 1420a, 1420b) can be oriented to have an accurate representation.

[0142] The vehicle-based message may also provide the positioning error of the vehicles 1420a, 1420b. For example, the vehicles 1420a, 1420b may each have a positioning accuracy error of 95%. The positioning error of each of the vehicles 1420a, 1420b may be represented as an ellipse 1430a, 1430b. The center 1440a, 1440b of each of the ellipses 1430a, 1430b may also be the center 1440a, 1440b of the vehicles 1420a, 1420b. The center 1440a, 1440b may also be the location of the vehicles 1420a, 1420b, as indicated in the vehicle-based message.

[0143] A modified bounding box 1410a, 1410b may be generated for each of the vehicles 1420a, 1420b that accounts for positioning errors of the vehicles 1420a, 1420b. Fig.12 The description of describes an example of a process 1200 for creating a modified bounding box 1410a, 1410b, which may use the ellipses 1140a, 1140b in conjunction with a bounding box for a vehicle 1420a, 1420b.

[0144] Based on determining that a threshold amount of the first modified bounding box (e.g., modified bounding box 1410a) is within the second modified bounding box (e.g., modified bounding box 1410b) and a threshold amount of the second modified bounding box is within the first modified bounding box, a potential position overlap can be determined as an actual position overlap. The threshold amount can be based on whether the center of the ellipse associated with the first modified bounding box (e.g., ellipse 1430a of modified bounding box 1410a) plus a confidence position value (e.g., a 95% confidence position value) is surrounded (e.g., completely surrounded) by the second modified bounding box (e.g., modified bounding box 1410b). In reference to Fig.14In one illustrative example, because the positioning error ellipse 1430a of vehicle 1420a (e.g., center plus 95% confidence position value or other suitable value) is completely surrounded by the modified bounding box 1410b of vehicle 1420b, and because the positioning error ellipse 1430b of vehicle 1420b (e.g., center plus 95% confidence position value or other suitable value) is completely surrounded by the modified bounding box 1410a of vehicle 1420a, the disclosed technology can determine that there is a true position overlap between vehicles 1420a, 1420b. For this situation (or similar situations), some technologies cannot have this level of certainty about the true position overlap of the vehicles.

[0145] One example of an algorithm (e.g., pseudocode) for a disclosed technique (e.g., a first technique) that provides a method for utilizing uncertainty measurements provided by V2X position and dimensionality estimates is as follows.

[0146]

[0147] Among them, for this algorithm, W E It is area A E Width, L E It is area A E The length, W D It is area A D Width, L D It is area A D The length, W E+D It is area A E+D The width of L E+D It is area A E+D Length.

[0148] As previously mentioned, a second technology is disclosed, which provides a method for removing overlapping indications caused by a vehicle on duty (e.g., a police car or emergency vehicle) using two OBUs to send vehicle-based messages at the same time. Special vehicles (such as on-duty vehicles) have multiple roles, such as on-duty roles and off-duty roles (e.g., ETSI TS102 894). As previously discussed, current location overlap detector technology does not take into account the location overlap caused by a vehicle (e.g., a police car or emergency vehicle) operating two OBUs (e.g., a built-in OBU in a vehicle for on-duty activities and an aftermarket OBU for off-duty activities). The built-in OBU and the aftermarket OBU may have different profiles from each other, and both may simultaneously and independently send vehicle-based messages. For example, at time t, the vehicle may be located at position X. Then, at time t+Δ, the vehicle may be located at position X+Δ. The difference Δ in time may be very small, such as 100 milliseconds (ms).

[0149] When a single vehicle sends two vehicle-based messages (indicating a position overlap with more than one profile), some overlap detector techniques may incorrectly determine that the position overlap has occurred. In the case where a single vehicle operates two OBUs, these overlap detector techniques may incorrectly determine that a position overlap has occurred, wherein each OBU independently sends a vehicle-based message with different profiles. These position overlap detector techniques cannot distinguish between a vehicle-based message with two different profiles being sent from two different vehicles and a vehicle-based message with two different profiles being sent from a single vehicle operating two OBUs. Therefore, these position overlap detector techniques may incorrectly determine that there is a position overlap of two vehicles, and may report a position overlap event (which may indicate a collision) between the two vehicles.

[0150] The disclosed technique (e.g., the second technique) employs two conditions to determine whether there is a location overlap or only a single vehicle is sending a vehicle-based message. The first condition is that the two vehicles assumed to be sending the vehicle-based message have physical similarities (e.g., dimensions, type, and / or motion of the vehicle). The physical mass of the vehicle sending the vehicle-based message may be included in the vehicle-based message. The presence of similar physical masses may be an indication that the vehicle-based messages are being sent from the same single vehicle.

[0151] The second condition involves determining whether there is a profile change between the vehicle-based messages (e.g., a first vehicle-based message has one profile (such as an off-duty profile) and a second vehicle-based message has a different profile (such as an on-duty profile)). To check for differences between the profiles, the disclosed technology detector can reference the contents of the certificates linked to the vehicle-based messages (e.g., the first vehicle-based message and the second vehicle-based message). A determination that the certificates of the vehicle-based messages have different roles (e.g., an on-duty role and an off-duty role) and / or rights (e.g., a specific service permission (SSP), which is a field within a message such as a CAM that indicates a specific set of permissions, such as defined in ETSI EN 302637-2) can be an indication that the vehicle-based messages are being sent from the same single vehicle. In one or more examples, when it is determined that similar physical qualities exist (e.g., the first condition) and the certificates of the vehicle-based messages have different roles and / or rights (e.g., the second condition), the disclosed technology can determine that the vehicle-based messages have been sent by a single vehicle and therefore there is no location overlap.

[0152] The example of an algorithm (e.g., pseudocode) provided below can be used to add two conditions (e.g., condition 1 and condition 2) of a disclosed technique (e.g., a second technique) that provides a method for removing overlapping indications caused by an on-duty vehicle using two OBUs simultaneously when sending a vehicle-based message to other vehicles or devices according to a disclosed technique (e.g., a first technique) that provides a method for utilizing uncertainty measurements provided by V2X position and dimensionality estimates.

[0153]

[0154] Among them, W E It is area A E Width, L E It is area A E The length, W D It is area A D Width, L D It is area A D The length, W E+D It is area A E+D The width of L E+D It is area A E+D Length.

[0155] An example of a complete algorithm (e.g., pseudo code) of the disclosed technique (e.g., second technique), a method for removing overlapping indications caused by an on-duty vehicle (e.g., a police car or emergency vehicle) simultaneously using two OBUs to send vehicle-based messages.

[0156]

[0157] Among them, for the complete algorithm, W E It is area A E Width, L E It is area A E The length, W D It is area A D Width, L D It is area A D The length, W E+D It is area A E+D The width of L E+D It is area A E+D Length.

[0158] As previously mentioned, a third technique is disclosed for temporally synchronizing provided V2X vehicle-based messages with V2X generation times. Some location overlap detector techniques do not account for time synchronization between two V2X vehicle-based messages sent by different transmitters (e.g., on different vehicles), and therefore, these techniques do not account for differences in generation times of vehicle-based messages sent from different vehicles. As previously explained, this issue may result in incorrect detections. For example, a first vehicle-based message (e.g., BSM A) sent by a first vehicle (e.g., vehicle A) may have a generation time timestamped at 0.1 seconds, and a second vehicle-based message (e.g., BSM B) sent by a second vehicle (e.g., vehicle B) may have a generation time timestamped at 0.15s. If two sending vehicles (e.g., a first vehicle and a second vehicle) are traveling at different speeds (e.g., the first vehicle may be traveling at 35 meters per second (m / s) and the second vehicle may be traveling at 5 m / s), a time difference of 0.05 s will result in a distance change between the position estimates of the vehicles contained in the first vehicle-based message at time 0.1 s and the second vehicle-based message at time 0.15 s (e.g., a distance change of 1.5 m in this example). Therefore, the outputs of a time-synchronized position overlap detector and an unsynchronized position overlap detector may diverge (e.g., a synchronized detector may detect an overlap, while an unsynchronized detector may not detect an overlap). Therefore, synchronization of vehicle-based messages (e.g., a first vehicle-based message and a second vehicle-based message) may be required to obtain the positions of the vehicles (e.g., the first vehicle and the second vehicle) simultaneously (e.g., at time t), which allows for more accurate determination of position overlap.

[0159] The third technology may use a motion prediction algorithm and / or a mobility prediction algorithm to predict the motion or mobility of a vehicle. For example, when a device (e.g., a vehicle, an RSU, a base station, etc.) receives two messages (e.g., BSM, SDSM, CAM, etc.) from two different vehicles, a motion prediction algorithm may be used for the first message of the two messages with the earliest generation time to predict the motion or mobility of the vehicle at the generation time indicated in the second message of the two messages for comparison. The device may then compare the mobility data of the two vehicles at the same time, thereby providing synchronization between the two messages sent by different transmitters of the two vehicles. Illustrative examples of motion prediction algorithms and / or mobility prediction algorithms include Kalman filters (e.g., Kalman filters, bin-Kalman filters, genie-Kalman filters, extended Kalman filters, unscented Kalman filters, and / or other types of Kalman filters) and / or long short-term memory (LSTM) or other machine learning-based models. In one illustrative example, upon receiving two V2X vehicle-based messages from two different vehicles (e.g., a first vehicle-based message sent by a first vehicle at time t0 and a second vehicle-based message sent by a second vehicle at time t1), the disclosed location overlap detector may use a Kalman filter (e.g., or LSTM) on the vehicle-based message (e.g., the first vehicle-based message) having the earliest generation time (e.g., at time t0) to predict the mobility of the vehicle (e.g., the first vehicle) at the generation time of the second vehicle-based message to be compared (e.g., at time t1). Thus, the disclosed location overlap detector may compare the mobility data of the two vehicles (e.g., the first vehicle and the second vehicle) at the same time (e.g., at time t1).

[0160] As previously mentioned, a fourth technique is disclosed that uses V2X motion estimates of vehicles to provide physical turbulence analysis. If vehicle-based messages can be identified as misbehavior with high or low confidence levels, misbehavior detection can provide greater accuracy. If the confidence level is moderate, the processing may become more complex.

[0161] The fourth technique employs turbulence analysis to determine whether a potential position overlap is a true position overlap of vehicles (e.g., a collision) or a misbehavior attack (e.g., a misbehaving vehicle reports a message with false or incorrect information, e.g., indicating an overlap between vehicles when no overlap exists). Turbulence refers to the property of being in a turbulent state (e.g., violent chaos or commotion). In this context, turbulence may be related to the vehicle's response to an impact (e.g., a collision). For example, during a collision, the motion of two vehicles may be turbulent because there is likely to be a sudden deceleration of the vehicles, a sudden drop in speed, and / or a sudden increase in yaw rate (e.g., a vehicle skidding or a slow driver reaction). In addition, during a collision, there will likely be a broadcast of a collision event (e.g., a DENM) and / or an absence of a V2X vehicle-based message sent from at least one vehicle. Since the disclosed position overlap detector can utilize turbulence to determine position overlap (e.g., a collision), in order for an attacker (e.g., a misbehaving vehicle) to successfully implement a position overlap attack, the attacker may need to create a "phantom vehicle" (e.g., a fictitious vehicle) that exhibits motion (such as turbulent motion) (and / or communication) that mimics a collision, which is unlikely. An attacker will likely create "phantom vehicles" that have undisturbed motion (which may indicate that no collision occurred between the vehicles) (e.g., the phantom vehicles do not exhibit a decrease in speed).

[0162] The absence of turbulence in the motion of the vehicles (and / or in the communications of the vehicles) may indicate the presence of an attack. In general, the fourth technique is directed to observing sudden changes in the motion (and / or communications) of the vehicles during, before, and / or after the potential position overlap of the vehicles. The results of this observation are twofold. The presence of sudden changes in motion (and / or communications) may indicate a collision (e.g., the vehicle speed may be reduced due to the collision). The absence of sudden changes in motion (and / or communications) may indicate misconduct (e.g., the overlapping vehicles did not slow down before, during, and after the collision).

[0163] Fig.15 is a diagram illustrating a method for determining a vehicle (e.g., Fig.14 1420a, 1420b). The process 1500 can employ the disclosed four techniques to detect the overlap of vehicle positions. At block 1510, after receiving vehicle-based messages from two vehicles (e.g., a first vehicle and a second vehicle) and observing a position overlap event from the vehicle-based messages, at least one processor (e.g., a network device (e.g., a vehicle, a base station, or a network server) can be located on a network device (e.g., a vehicle, a base station, or a network server) to detect the overlap of vehicle positions. Fig.17The processor 1710 of the embodiment of the present invention can synchronize the vehicle-based messages from the vehicle in time by, for example, utilizing the disclosed third technique for time synchronization. After the vehicle-based messages are synchronized in time, at block 1520, the processor can determine whether there is a potential location overlap by, for example, utilizing the disclosed first technique and / or the disclosed second technique. The potential location overlap can be marked as a "suspicious" attack.

[0164] At box 1530, the processor may wait after a potential position overlap occurs to possibly obtain vehicle-based messages sent from at least one vehicle in the potential position overlap (and / or from nearby vehicles within the communication range). After the processor has collected vehicle-based messages that have been sent by at least one vehicle in the potential position overlap (and / or from nearby vehicles within the communication range) before, during, and after the potential position overlap, at box 1540, the processor may perform turbulence analysis, for example, by utilizing the disclosed fourth technique. During the turbulence analysis, the processor may calculate changes in velocity, acceleration, heading, and position of the vehicles in the potential position overlap by utilizing vehicle-based messages sent by at least one of the vehicles (and / or from nearby vehicles within the communication range) before, during, and after the potential position overlap.

[0165] After the processor has performed the turbulence analysis, at box 1550, the processor can issue a decision about whether there is a real position overlap (e.g., collision) of the vehicle or an improper behavior attack based on the results of the turbulence analysis. In some cases, for decision-making, the observed and calculated motion changes can be used as inputs to the function of the output decision. Similarly, there can be two input sets, which can be inputs from before the potential collision and inputs from after the potential collision. The function can be a machine learning (ML) classifier trained to determine whether the potential position overlap is an actual position overlap, or a condition set defined based on observations of previous real car collisions. The function can return a binary output, which can indicate the presence of a conflict or improper behavior attack. In the case of an attack, an event marked as "suspicious" can now be marked as an "attack". In some examples, supervised learning or training, semi-supervised learning or training, unsupervised learning or training, or other types of training can be used to train the ML classifier to determine whether the potential position overlap is an actual position overlap. For example, the ML classifier can be a neural network that is trained using inputs of known pre- and post-collision velocities, accelerations, headings, positions, etc., and non-collision pre- and post-collision velocities, accelerations, headings, positions, etc. Using back-propagation and a loss function (e.g., mean squared error (MSE) or other loss function), the parameters of the ML classifier (e.g., weights, biases, etc.) can be adjusted to minimize the loss.

[0166] After the processor issues a decision, at block 1560, the processor may report the event (eg, a location overlap event or a misconduct event) to a central misconduct authority (MA) of the misconduct detection system.

[0167] Fig.16 1600 is a flow chart illustrating an example of a process 1600 for wireless communication. The process 1600 may be performed by a computing device (e.g., a vehicle, a server device or system such as a network server, a base station such as a gNodeB (gNB) or an eNodeB (eNB), a UE, a mobile device such as a mobile phone, a network-connected watch, an extended reality device (e.g., a virtual reality (VR) device, an augmented reality (AR) device, a mixed reality (MR) device, etc.) or by a component or system (e.g., a chipset) of a computing device. The operations of the process 1600 may be implemented as a processor (e.g., a processor) on one or more processors (e.g., Fig.17 The software components are executed and run on the processor 1710 or other processors of the wireless communication device. In addition, the sending and receiving of signals by the wireless communication device in the process 1600 can be implemented by one or more antennas and / or one or more transceivers (e.g., wireless transceivers).

[0168] At block 1610, the computing device (or a component thereof) may determine a potential position overlap between the first vehicle and the second vehicle. In some aspects, the computing device (or a component thereof) may use the dimensions and positioning errors of the first vehicle to generate a first modified bounding box for the first vehicle. The computing device (or a component thereof) may use the dimensions and positioning errors of the second vehicle to generate a second modified bounding box for the second vehicle. In one illustrative example, for example, using the above description of Fig.12 To generate a first modified bounding box for a first vehicle using the techniques described herein, a computing device (or a component thereof) may modify points of the first bounding box of the first vehicle relative to an ellipse associated with a positioning error of the first vehicle such that an outer edge of the first bounding box indicates an outline of the first modified bounding box of the first vehicle. To generate a second modified bounding box for a second vehicle, a computing device (or a component thereof) may modify points of a second bounding box of the second vehicle relative to an ellipse associated with a positioning error of the second vehicle such that an outer edge of the second bounding box indicates an outline of the second modified bounding box of the second vehicle. The computing device (or a component thereof) may determine a potential position overlap based on the intersection of the first modified bounding box with the second modified bounding box, such as described above with respect to Fig.13 Described.

[0169] At box 1620, the computing device (or its components) may determine characteristics (e.g., one or more characteristics) of at least one of the first vehicle or the second vehicle based on information from the vehicle-based message. In some cases, the characteristics include a reduction in speed of the first vehicle and / or the second vehicle, a deceleration of the first vehicle and / or the second vehicle, an increase in the yaw rate of the first vehicle and / or the second vehicle, a message indicating a collision event, the absence of a message sent from the first vehicle and / or the second vehicle, one or more physical characteristics of the first vehicle, one or more physical characteristics of the second vehicle, any combination thereof, and / or other characteristics. In some aspects, the computing device (or its components) may receive a vehicle-based message from at least one of the first vehicle, the second vehicle, or another vehicle within the communication range of at least one of the first vehicle or the second vehicle. In some examples, the vehicle-based message includes one or more sensor data sharing messages (SDSM), basic safety messages (BSM), collaborative awareness messages (CAM), collective awareness messages (CPM), decentralized environment messages (DENM), any combination thereof, and / or other vehicle-based messages.

[0170] At box 1630, the computing device (or its component) can determine whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic. In some aspects, the computing device (or its component) can use a machine learning (ML) classifier to determine whether the potential position overlap is an actual position overlap. In an illustrative example, as described above, the computing device (or its component) can determine that the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic indicating a collision. In such an example, the computing device (or its component) can send a report associated with a collision between the first vehicle and the second vehicle based on determining that the potential position overlap is an actual position overlap. In another illustrative example, as described above, the computing device (or its component) can determine that there is no conflict based on the characteristic indicating an improper behavior attack. In such an example, the computing device (or its component) can send a report associated with an improper behavior attack.

[0171] In some cases, the vehicle-based message includes a plurality of vehicle-based messages (e.g., SDSM, BSM, CAM, CPM, DENM, any combination thereof, and / or other vehicle-based messages). The computing device (or a component thereof) may synchronize the plurality of vehicle-based messages. In such a case, at least one of a motion prediction algorithm or a mobility prediction algorithm is used to synchronize the plurality of vehicle-based messages.

[0172] In some cases, for example, using the above Fig.14In the described techniques, a computing device (or a component thereof) may determine that a threshold amount of a first modified bounding box is within a second modified bounding box, and determine that a threshold amount of the second modified bounding box is within the first modified bounding box. The computing device (or a component thereof) may determine that a potential position overlap is an actual position overlap based on determining that a threshold amount of the first modified bounding box is within the second modified bounding box and a threshold amount of the second modified bounding box is within the first modified bounding box. In one illustrative example, referring to Fig.14 , the computing device (or its components) may determine that the center of the positioning error ellipse 1430a plus the confidence position value (e.g., 95% confidence position value or other suitable value) of the vehicle 1420a is contained by the modified bounding box 1410b of the vehicle 1420b. In addition, the computing device (or its components) may determine that the center of the positioning error ellipse 1430b plus the confidence position value (e.g., 95% confidence position value or other suitable value) of the vehicle 1420b is contained by the modified bounding box 1410a of the vehicle 1420a. Based on such a determination, the computing device (or its components) may determine that there is a true position overlap between the vehicles 1420a and 1420b.

[0173] In some examples, determining the characteristics of at least one of the first vehicle or the second vehicle includes: determining the physical characteristics of the first vehicle and the physical characteristics of the second vehicle based on information from the vehicle-based message. In such an example, the computing device (or a component thereof) can determine at least one of the role or rights of the first vehicle and at least one of the role and rights of the second vehicle based on the vehicle-based message, and determine the potential location overlap based on the physical characteristics of the first vehicle and the physical characteristics of the second vehicle being similar and based on the fact that at least one of the roles or rights of the first vehicle and the second vehicle is different. In some cases, the physical characteristics of the first vehicle include at least one of the dimensions of the first vehicle, the type of the first vehicle, or the movement of the first vehicle. In some cases, the physical characteristics of the second vehicle include at least one of the dimensions of the second vehicle, the type of the second vehicle, or the movement of the second vehicle. In some examples, the role of the first vehicle includes at least one of the off-duty role of the first vehicle or the on-duty role of the first vehicle, and the role of the second vehicle includes at least one of the off-duty role of the second vehicle or the on-duty role of the second vehicle. In some cases, the rights of the first vehicle include a specific service permission (SSP) of the first vehicle, and the rights of the second vehicle include the SSP of the second vehicle.

[0174] Fig.17 1 is a block diagram illustrating an example of a computing system 1700 that may be employed by the disclosed system and method for robust and enhanced detection of position overlap (PO) of vehicles according to some aspects of the present disclosure. Specifically, Fig.17An example of a computing system 1700 is shown, which may be any computing device, for example, making up an internal computing system, a remote computing system, a camera, or any components thereof, wherein the components of the system communicate with each other using connection 1705. Connection 1705 may be a physical connection using a bus, or a direct connection into processor 1710 (such as in a chipset architecture). Connection 1705 may also be a virtual connection, a network connection, or a logical connection.

[0175] In some aspects, computing system 1700 is a distributed system, wherein the functionality described in the present disclosure may be distributed across a data center, multiple data centers, a peer-to-peer network, etc. In some aspects, one or more of the described system components represent a number of such components, each component performing some or all of the functionality described for that component. In some aspects, a component may be a physical or virtual device.

[0176] The example system 1700 includes at least one processing unit (CPU or processor) 1710 and connections 1705 that communicatively couple various system components including system memory 1715, such as read-only memory (ROM) 1720 and random access memory (RAM) 1725, to the processor 1710. The computing system 1700 may include a cache 1717 of high-speed memory that is directly connected to, proximate to, or integrated as part of the processor 1710.

[0177] Processor 1710 may include any general purpose processor and hardware or software services configured to control processor 1710 (such as services 1732, 1734, and 1736 stored in storage device 1730), as well as special purpose processors where software instructions are incorporated into the actual processor design. Processor 1710 may essentially be a completely self-contained computing system, including multiple cores or processors, buses, memory controllers, caches, etc. Multi-core processors may be symmetric or asymmetric.

[0178] To enable user interaction, the computing system 1700 includes an input device 1745 that can represent any number of input mechanisms, such as a microphone for voice, a touch-sensitive screen for gesture or graphical input, a keyboard, a mouse, motion input, voice, etc. The computing system 1700 may also include an output device 1735, which may be one or more of a plurality of output mechanisms. In some cases, a multimodal system may enable a user to provide multiple types of input / output to communicate with the computing system 1700.

[0179] The computing system 1700 may include a communication interface 1740, which may generally govern and manage user input and system output. The communication interface may use a wired and / or wireless transceiver to perform or facilitate receiving and / or sending wired or wireless communications, including those utilizing: an audio jack / plug, a microphone jack / plug, a Universal Serial Bus (USB) port / plug, an Apple TM Lightning TM Ports / plugs, Ethernet ports / plugs, fiber optic ports / plugs, proprietary wired ports / plugs, 3G, 4G, 5G and / or other cellular data network wireless signal transmission, Bluetooth TM Wireless signal transmission, Bluetooth TM Low Energy (BLE) wireless signal transmission, IBEACON TM Wireless signal transmission, radio frequency identification (RFID) wireless signal transmission, near field communication (NFC) wireless signal transmission, dedicated short range communication (DSRC) wireless signal transmission, 802.11 Wi-Fi wireless signal transmission, wireless local area network (WLAN) signal transmission, visible light communication (VLC), world interoperability for microwave access (WiMAX), infrared (IR) communication wireless signal transmission, public switched telephone network (PSTN) signal transmission, integrated services digital network (ISDN) signal transmission, ad hoc network signal transmission, radio wave signal transmission, microwave signal transmission, infrared signal transmission, visible light signal transmission, ultraviolet light signal transmission, wireless signal transmission along the electromagnetic spectrum, or some combination thereof.

[0180] The communication interface 1740 may also include one or more range sensors (e.g., LIDAR sensors, laser range finders, RF radars, ultrasonic sensors, and infrared (IR) sensors) configured to collect data and provide measurements to the processor 1710, so that the processor 1710 may be configured to perform the determinations and calculations required to obtain various measurements for one or more range sensors. In some examples, the measurements may include flight time, wavelength, azimuth, elevation, range, linear velocity and / or angular velocity, or any combination thereof. The communication interface 1740 may also include one or more global navigation satellite system (GNSS) receivers or transceivers for determining the location of the computing system 1700 based on receiving one or more signals from one or more satellites associated with one or more GNSS systems. GNSS systems include, but are not limited to, the US-based GPS, the Russian-based Global Navigation Satellite System (GLONASS), the China-based Beidou Navigation Satellite System (BDS), and the European-based Galileo GNSS system. There is no limitation on the operation of any particular hardware arrangement, and thus the basic functionality herein may be easily replaced with an improved hardware or firmware arrangement as it is developed.

[0181] The storage device 1730 may be a non-volatile and / or non-temporary and / or computer-readable memory device, and may be a hard disk or other type of computer-readable medium that can store data accessible by a computer, such as a cassette, a flash memory card, a solid-state memory device, a digital versatile disk, a cassette, a floppy disk, a floppy disk, a hard disk, a magnetic tape, a magnetic strip, any other magnetic storage medium, a flash memory, a memristor memory, any other solid-state memory, a compact disk-read only memory (CD-ROM) optical disk, a rewritable compact disk (CD) optical disk, a digital video disk (DVD) optical disk, a Blu-ray disc (BDD) optical disk, a holographic optical disk, another optical medium, a secure digital (SD) card, a micro secure digital (microSD) card, card, a smart card chip, an EMV chip, a subscriber identity module (SIM) card, a mini / micro / nano / pico SIM card, another integrated circuit (IC) chip / card, a random access memory (RAM), a static RAM (SRAM), a dynamic RAM (DRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash EPROM (FLASHPROM), a cache memory (e.g., a level 1 (L1) cache, a level 2 (L2) cache, a level 3 (L3) cache, a level 4 (L4) cache, a level 5 (L5) cache, or other (L#) cache), a resistive random access memory (RRAM / ReRAM), a phase change memory (PCM), a spin transfer torque RAM (STT-RAM), another memory chip or box, and / or a combination thereof.

[0182] Storage device 1730 may include software services, servers, services, etc., which enable the system to perform functions when processor 1710 executes code defining such software. In some aspects, hardware services that perform specific functions may include software components stored in computer-readable media, which are connected to necessary hardware components (such as processor 1710, connection 1705, output device 1735, etc.) for performing the function. The term "computer-readable medium" includes, but is not limited to, portable or non-portable storage devices, optical storage devices, and various other media capable of storing, containing or carrying instructions and / or data. Computer-readable media may include non-transitory media in which data may be stored and does not include the following: carrier waves and / or transient electronic signals propagated wirelessly or on a wired connection. Examples of non-transitory media may include, but are not limited to: disks or tapes, optical storage media such as compact discs (CDs) or digital versatile discs (DVDs), flash memory, memory, or memory devices. Computer readable medium can have code and / or machine executable instructions stored thereon, and code and / or machine executable instructions can represent any combination of process, function, subprogram, program, routine, subroutine, module, software package, class or instruction, data structure or program statement. Code segment can be coupled to another code segment or hardware circuit by transmitting and / or receiving information, data, independent variable, parameter or memory content. Can transmit, forward or send information, independent variable, parameter, data etc. via any suitable means including memory sharing, message passing, token passing, network transmission etc.

[0183] Specific details are provided in the above description to provide a thorough understanding of the aspects and examples provided herein, but those skilled in the art will recognize that the application is not limited thereto. Therefore, although the illustrative aspects of the application have been described in detail herein, it should be understood that the inventive concept can be embodied and adopted differently in other ways, and the appended claims are intended to be interpreted as including such variations, except for variations limited by the prior art. The various features and aspects of the above-mentioned applications can be used individually or in combination. In addition, without departing from the wider scope of this specification, the various aspects can be used in any number of environments and applications other than the environments and applications described herein. Therefore, the description and the accompanying drawings are considered to be illustrative rather than restrictive. For the purpose of illustration, the method is described in a specific order. It should be appreciated that in alternative aspects, the method can be performed in an order different from the described order.

[0184] For explanation, in some cases, the technology of this article can be presented as including separate functional blocks, which include equipment, device components, steps or routines in the method embodied in software, or a combination of hardware and software. In addition to the components shown in each figure and / or described herein, additional components can also be used. For example, circuits, systems, networks, processes and other components can be shown as components in block diagram form, so as not to obscure these aspects in unnecessary details. In other cases, known circuits, processes, algorithms, structures and techniques can be shown as not having unnecessary details, so as to avoid obscuring these aspects.

[0185] In addition, it will be appreciated by those skilled in the art that the various illustrative logic blocks, modules, circuits and algorithmic steps described in conjunction with the various aspects disclosed herein can be implemented as electronic hardware, computer software or a combination of the two. In order to clearly illustrate this interchangeability of hardware and software, various illustrative components, frames, modules, circuits and steps have been generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. The technician can implement the described functions in different ways for each specific application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0186] The above text can describe each aspect as a process or method, and the process or method is depicted as a flow chart, a schematic flow chart, a data flow chart, a structure diagram or a block diagram. Although the flow chart can describe the operation as a sequential process, many operations in these operations can be performed in parallel or concurrently. In addition, the order of the operation can be rearranged. The process is terminated after its operation is completed, but there may be additional steps that are not included in the figure. A process (process) can correspond to a method, a function, a procedure (procedure), a subroutine, a subprogram, etc. When a process corresponds to a function, its termination can correspond to the function returning to a calling function or a main function.

[0187] The processes and methods according to the above examples can be implemented using computer executable instructions, which are stored in computer readable media or otherwise available from computer readable media. Such instructions may include, for example, instructions or data that cause a general-purpose computer, a special-purpose computer, or a processing device to execute or otherwise be configured to execute a specific function or a specific set of functions. Parts of the computer resources used can be accessed over a network. Computer executable instructions can be, for example, binary files, intermediate format instructions such as assembly language, firmware, source code, etc. Examples of computer readable media that can be used to store instructions, information used, and / or information created during the method according to the described examples include disks or optical disks, flash memory, USB devices provided with non-volatile memory, network storage devices, etc.

[0188] In some aspects, computer readable storage devices, media, and memories may include cables or wireless signals containing bit streams, etc. However, when referred to, non-transitory computer readable storage media explicitly excludes media such as energy, carrier signals, electromagnetic waves, and signals themselves.

[0189] Those skilled in the art will recognize that any of a variety of different technologies and methods may be used to represent information and signals. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be mentioned throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof, which in some cases depends in part on the specific application, in part on the desired design, in part on the corresponding technology, and so on.

[0190] The various illustrative logic boxes, modules, and circuits described in conjunction with the various aspects disclosed herein may be implemented or executed using hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof, and may be implemented in any of a variety of form factors. When implemented in software, firmware, middleware, or microcode, program code or code segments (e.g., computer program products) for performing necessary tasks may be stored in a computer-readable or machine-readable medium. The processor may perform the necessary tasks. Examples of form factors include personal computers, personal digital assistants, rack-mounted devices, stand-alone devices, etc., of laptop computers, smart phones, mobile phones, tablet devices, or other small form factors. The functions described herein may also be embodied in peripheral devices or plug-in cards. By way of additional example, such functions may also be implemented on circuit boards between different chips or different processes executed in a single device.

[0191] Instructions, media for transmitting such instructions, computing resources for executing them, and other structures for supporting such computing resources are example means for providing the functionality described in this disclosure.

[0192] The technology described herein may also be implemented in electronic hardware, computer software, firmware, or any combination thereof. Such technology may be implemented in any of a variety of devices, such as a general-purpose computer, a wireless communication device handheld device, or an integrated circuit device with multiple uses (including applications in wireless communication devices handheld devices and other devices). Any features described as modules or components may be implemented together in an integrated logic device, or implemented as separate but interoperable logic devices, respectively. If implemented in software, the technology may be implemented at least in part by a computer-readable data storage medium, which includes a program code, which includes instructions for executing one or more of the above methods, algorithms, and / or operations when executed. The computer-readable data storage medium may form part of a computer program product, which may include packaging materials. The computer-readable medium may include a memory or data storage medium, such as a random access memory (RAM) (such as a synchronous dynamic random access memory (SDRAM)), a read-only memory (ROM), a non-volatile random access memory (NVRAM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic or optical data storage medium, and the like. Additionally or alternatively, the techniques may be implemented at least in part by a computer-readable communication medium (such as a propagated signal or wave) that carries or communicates program code in the form of instructions or data structures and that can be accessed, read, and / or executed by a computer.

[0193] The program code can be executed by a processor, which may include one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Such a processor can be configured to perform any technology described in this disclosure. A general-purpose processor can be a microprocessor, but in an alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, a combination of one or more microprocessors and a DSP core, or any other such configuration. Therefore, the term "processor" as used herein may refer to any of the aforementioned structures, any combination of the aforementioned structures, or any other structure or device suitable for implementing the technology described herein.

[0194] A person of ordinary skill in the art will understand that the less than ("<") and greater than (">") symbols or terms used herein may be replaced by less than or equal to ("≤") and greater than or equal to ("≥") symbols, respectively, without departing from the scope of the present specification.

[0195] Where a component is described as being “configured to” perform certain operations, such configuration may be achieved, for example, by designing an electronic circuit or other hardware to perform the operation, by programming a programmable electronic circuit (e.g., a microprocessor or other appropriate electronic circuit) to perform the operation, or any combination thereof.

[0196] The phrases "coupled to" or "communicatively coupled to" refer to any component that is physically connected to another component, directly or indirectly, and / or any component that communicates directly or indirectly with another component (e.g., connected to another component via a wired or wireless connection and / or other appropriate communication interface).

[0197] Claim language or other language that recites "at least one of" in a set and / or "one or more of" in a set indicates that one member of the set or multiple members of the set (in any combination) satisfies the claim. For example, claim language that recites "at least one of A and B" or "at least one of A or B" means A, B, or A and B. In another example, claim language that recites "at least one of A, B, and C" or "at least one of A, B, or C" means A, B, C, or A and B, or A and C, or B and C, or A and B and C. The language "at least one of" in a set and / or "one or more of" in a set does not limit the set to the items listed in the set. For example, claim language that recites "at least one of A and B" or "at least one of A or B" may mean A, B, or A and B, and may additionally include items not listed in the set of A and B.

[0198] Illustrative aspects of the disclosure include:

[0199] Aspect 1. A method for wireless communication at a computing device, the method comprising: determining, by the computing device, a potential position overlap between a first vehicle and a second vehicle; determining, by the computing device, a characteristic of at least one of the first vehicle or the second vehicle based on information from a vehicle-based message; and determining, by the computing device, whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic.

[0200] Aspect 2. A method according to Aspect 1, wherein the characteristic is at least one of the following: a reduction in speed of at least one of the first vehicle or the second vehicle, a deceleration of at least one of the first vehicle or the second vehicle, an increase in the yaw rate of at least one of the first vehicle or the second vehicle, a message indicating a collision event, or the absence of a message sent by at least one of the first vehicle or the second vehicle.

[0201] Aspect 3. A method according to any one of Aspects 1 to 2, wherein determining whether the potential position overlap is an actual position overlap comprises: determining that the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic indicating a collision.

[0202] Aspect 4. The method according to aspect 3 further includes: sending a report associated with a collision between the first vehicle and the second vehicle based on determining that the potential position overlap is an actual position overlap.

[0203] Aspect 5. The method according to any one of aspects 1 to 4, wherein determining whether the potential position overlap is an actual position overlap comprises: determining a misbehavior attack based on the characteristic indicating that there is no collision.

[0204] Aspect 6. The method according to Aspect 5 further includes: sending a report associated with the misconduct attack.

[0205] Aspect 7. The method according to any one of aspects 1 to 6, wherein the computing device is one of a user equipment (UE), a vehicle, a base station, or a network server.

[0206] Aspect 8. A method according to any one of Aspects 1 to 7, wherein the vehicle-based message includes at least one of the following: a sensor data sharing message (SDSM), a basic safety message (BSM), a collaborative sensing message (CAM), a collective sensing message (CPM), or a decentralized environment message (DENM).

[0207] Aspect 9. The method according to any one of Aspects 1 to 8 further includes: receiving the vehicle-based message from at least one of the first vehicle, the second vehicle, or another vehicle within the communication range of at least one of the first vehicle or the second vehicle.

[0208] Aspect 10. The method according to any one of aspects 1 to 9 further comprises: using a machine learning (ML) classifier to determine whether the potential location overlap is an actual location overlap.

[0209] Aspect 11. A method according to any one of aspects 1 to 10, wherein the vehicle-based message includes a plurality of vehicle-based messages, and the method further comprises: synchronizing the plurality of vehicle-based messages.

[0210] Aspect 12. The method according to aspect 11, wherein the plurality of vehicle-based messages are synchronized using at least one of a motion prediction algorithm or a mobility prediction algorithm.

[0211] Aspect 13. The method according to any one of Aspects 1 to 12 further includes: the computing device using the dimensions and positioning errors of the first vehicle to generate a first modified bounding box of the first vehicle; and the computing device using the dimensions and positioning errors of the second vehicle to generate a second modified bounding box of the second vehicle.

[0212] Aspect 14. A method according to Aspect 13, wherein: generating the first modified bounding box of the first vehicle includes: modifying the points of the first bounding box of the first vehicle relative to the ellipse associated with the positioning error of the first vehicle, so that the outer edge of the first bounding box indicates the outline of the first modified bounding box of the first vehicle; and generating the second modified bounding box of the second vehicle includes: modifying the points of the second bounding box of the second vehicle relative to the ellipse associated with the positioning error of the second vehicle, so that the outer edge of the second bounding box indicates the outline of the second modified bounding box of the second vehicle.

[0213] Aspect 15: The method according to any one of aspects 13 or 14, further comprising: determining the potential position overlap based on an intersection of the first modified bounding box and the second modified bounding box.

[0214] Aspect 16. The method according to any one of Aspects 13 to 15 further includes: determining, by the computing device, that a threshold amount of the first modified bounding box is within the second modified bounding box; determining, by the computing device, that the threshold amount of the second modified bounding box is within the first modified bounding box; and determining that the potential position overlap is an actual position overlap based on determining that the threshold amount of the first modified bounding box is within the second modified bounding box and the threshold amount of the second modified bounding box is within the first modified bounding box.

[0215] Aspect 17. A method according to any one of Aspects 1 to 16, wherein determining the characteristics of at least one of the first vehicle or the second vehicle includes: determining physical characteristics of the first vehicle and physical characteristics of the second vehicle based on information from the vehicle-based message, the method further comprising: determining, by the computing device, at least one of the roles or rights of the first vehicle and at least one of the roles and rights of the second vehicle based on the vehicle-based message; and determining, by the computing device, the potential position overlap based on that the physical characteristics of the first vehicle and the physical characteristics of the second vehicle are similar and based on that at least one of the roles or rights of the first vehicle and the second vehicle are different.

[0216] Aspect 18. A method according to Aspect 17, wherein: the physical characteristics of the first vehicle include at least one of the dimensions of the first vehicle, the type of the first vehicle, or the movement of the first vehicle; and the physical characteristics of the second vehicle include at least one of the dimensions of the second vehicle, the type of the second vehicle, or the movement of the second vehicle.

[0217] Aspect 19. A method according to any one of Aspects 17 or 18, wherein: the role of the first vehicle includes at least one of an off-duty role of the first vehicle or an on-duty role of the first vehicle; and the role of the second vehicle includes at least one of an off-duty role of the second vehicle or an on-duty role of the second vehicle.

[0218] Aspect 20. A method according to any one of Aspects 17 to 19, wherein: the entitlement of the first vehicle includes a specific service permission (SSP) of the first vehicle; and the entitlement of the second vehicle includes the SSP of the second vehicle.

[0219] Aspect 21. An apparatus for wireless communication, comprising: at least one memory; and at least one processor coupled to the at least one memory and configured to: determine a potential position overlap between a first vehicle and a second vehicle; determine a characteristic of at least one of the first vehicle or the second vehicle based on information from a vehicle-based message; and determine whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic.

[0220] Aspect 22. An apparatus according to Aspect 21, wherein the characteristic is at least one of: a reduction in speed of at least one of the first vehicle or the second vehicle, a deceleration of at least one of the first vehicle or the second vehicle, an increase in the yaw rate of at least one of the first vehicle or the second vehicle, a message indicating a collision event, or the absence of a message sent by at least one of the first vehicle or the second vehicle.

[0221] Aspect 23. An apparatus according to any one of Aspects 21 to 22, wherein the at least one processor is configured to determine that the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic indicating a collision.

[0222] Aspect 24. The apparatus according to aspect 23, wherein the at least one processor is further configured to: output a report associated with a collision between the first vehicle and the second vehicle based on determining that the potential position overlap is an actual position overlap.

[0223] Aspect 25. An apparatus according to any one of Aspects 21 to 24, wherein, in order to determine whether the potential location overlap is an actual location overlap, the at least one processor is configured to: determine a misbehavior attack based on the characteristic indicating that there is no collision.

[0224] Aspect 26. The apparatus according to Aspect 25, wherein the at least one processor is further configured to: output a report associated with the misconduct attack.

[0225] Aspect 27. An apparatus according to any one of aspects 21 to 26, wherein the computing device is one of a user equipment (UE), a vehicle, a base station, or a network server.

[0226] Aspect 28. An apparatus according to any one of Aspects 21 to 27, wherein the vehicle-based message includes at least one of the following: a sensor data sharing message (SDSM), a basic safety message (BSM), a collaborative sensing message (CAM), a collective sensing message (CPM), or a decentralized environment message (DENM).

[0227] Aspect 29. An apparatus according to any one of Aspects 21 to 28, wherein the at least one processor is further configured to receive the vehicle-based message from the first vehicle, the second vehicle, or at least one of another vehicles within the communication range of at least one of the first vehicle or the second vehicle.

[0228] Aspect 30. An apparatus according to any one of Aspects 21 to 29, wherein the at least one processor is configured to: use a machine learning (ML) classifier to determine whether the potential location overlap is an actual location overlap.

[0229] Aspect 31. An apparatus according to any one of Aspects 21 to 30, wherein: the vehicle-based message includes multiple vehicle-based messages; and the at least one processor is configured to: synchronize the multiple vehicle-based messages.

[0230] Aspect 32. An apparatus according to aspect 31, wherein the plurality of vehicle-based messages are synchronized using at least one of a motion prediction algorithm or a mobility prediction algorithm.

[0231] Aspect 33. An apparatus according to any one of Aspects 21 to 32, wherein the at least one processor is configured to: generate a first modified bounding box of the first vehicle using the dimensions and positioning errors of the first vehicle; and generate a second modified bounding box of the second vehicle using the dimensions and positioning errors of the second vehicle.

[0232] Aspect 34. An apparatus according to Aspect 33, wherein the at least one processor is configured to: generate the first modified bounding box of the first vehicle comprises: modify the points of the first bounding box of the first vehicle relative to the ellipse associated with the positioning error of the first vehicle so that the outer edge of the first bounding box indicates the outline of the first modified bounding box of the first vehicle; and generate the second modified bounding box of the second vehicle comprises: modify the points of the second bounding box of the second vehicle relative to the ellipse associated with the positioning error of the second vehicle so that the outer edge of the second bounding box indicates the outline of the second modified bounding box of the second vehicle.

[0233] Aspect 35. An apparatus according to any one of aspects 33 or 34, wherein the at least one processor is configured to determine that the potential positions overlap based on an intersection of the first modified bounding box and the second modified bounding box.

[0234] Aspect 36. An apparatus according to any one of Aspects 33 to 35, wherein the at least one processor is configured to: determine that a threshold amount of the first modified bounding box is within the second modified bounding box; determine that the threshold amount of the second modified bounding box is within the first modified bounding box; and determine that the potential position overlap is an actual position overlap based on determining that the threshold amount of the first modified bounding box is within the second modified bounding box and the threshold amount of the second modified bounding box is within the first modified bounding box.

[0235] Aspect 37. An apparatus according to any one of Aspects 21 to 36, wherein, in order to determine the characteristics of at least one of the first vehicle or the second vehicle, the at least one processor is configured to: determine the physical characteristics of the first vehicle and the physical characteristics of the second vehicle based on information from the vehicle-based message, and wherein the at least one processor is also configured to: determine at least one of the roles or rights of the first vehicle and at least one of the roles and rights of the second vehicle based on the vehicle-based message; and determine the potential position overlap based on that the physical characteristics of the first vehicle and the physical characteristics of the second vehicle are similar and based on that at least one of the roles or the rights of the first vehicle and the second vehicle are different.

[0236] Aspect 38. An apparatus according to Aspect 37, wherein: the physical characteristics of the first vehicle include at least one of the dimensions of the first vehicle, the type of the first vehicle, or the movement of the first vehicle; and the physical characteristics of the second vehicle include at least one of the dimensions of the second vehicle, the type of the second vehicle, or the movement of the second vehicle.

[0237] Aspect 39. An apparatus according to any one of Aspects 37 or 38, wherein: the role of the first vehicle includes at least one of an off-duty role of the first vehicle or an on-duty role of the first vehicle; and the role of the second vehicle includes at least one of an off-duty role of the second vehicle or an on-duty role of the second vehicle.

[0238] Aspect 40. An apparatus according to any one of Aspects 37 to 39, wherein: the entitlement of the first vehicle includes a specific service permission (SSP) of the first vehicle; and the entitlement of the second vehicle includes the SSP of the second vehicle.

[0239] Aspect 41. A non-transitory computer-readable medium having instructions stored thereon, the instructions, when executed by one or more processors, causing the one or more processors to perform the operations according to any one of aspects 1 to 40.

[0240] Aspect 42. An apparatus comprising one or more means for performing the operations according to any one of aspects 1 to 40.

[0241] The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein, but should be given the full scope consistent with the language claims, wherein, unless otherwise specified, a reference to an element in the singular does not mean "one and only one", but means "one or more".

Claims

1. A method for wireless communication at a computing device, the method comprising: determining, by the computing device, a potential position overlap between a first vehicle and a second vehicle; determining, by the computing device, a characteristic of at least one of the first vehicle or the second vehicle based on information from a vehicle-based message; as well as A determination is made by the computing device whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic.

2. The method according to claim 1, wherein: The characteristic is at least one of: a reduction in speed of at least one of the first vehicle or the second vehicle, a deceleration of at least one of the first vehicle or the second vehicle, an increase in the yaw rate of at least one of the first vehicle or the second vehicle, a message indicating a collision event, or the absence of a message sent by at least one of the first vehicle or the second vehicle.

3. The method according to claim 1, wherein: Determining whether the potential position overlap is an actual position overlap includes: The potential position overlap is determined to be an actual position overlap between the first vehicle and the second vehicle based on the characteristic being indicative of a collision.

4. The method according to claim 1, wherein: Determining whether the potential position overlap is an actual position overlap includes: A misbehavior attack is determined based on the characteristic indicating an absence of a collision.

5. The method according to claim 1, wherein: The computing device is one of a user equipment (UE), a vehicle, a base station, or a network server.

6. The method according to claim 1, wherein: The vehicle-based message includes at least one of a sensor data sharing message (SDSM), a basic safety message (BSM), a collaborative awareness message (CAM), a collective awareness message (CPM), or a decentralized environment message (DENM).

7. The method according to claim 1, further comprising: The vehicle-based message is received from at least one of the first vehicle, the second vehicle, or another vehicle within a communication range of at least one of the first vehicle or the second vehicle.

8. The method according to claim 1, further comprising: A machine learning (ML) classifier is used to determine whether the potential location overlap is an actual location overlap.

9. The method according to claim 1, wherein: The vehicle-based message includes a plurality of vehicle-based messages, and the method further includes synchronizing the plurality of vehicle-based messages.

10. The method according to claim 9, wherein: The plurality of vehicle-based messages are synchronized using at least one of a motion prediction algorithm or a mobility prediction algorithm.

11. The method according to claim 1, further comprising: generating, by the computing device, a first modified bounding box of the first vehicle using the dimensions and the positioning error of the first vehicle; as well as A second modified bounding box for the second vehicle is generated by the computing device using the dimensions and the positioning error of the second vehicle.

12. The method according to claim 11, wherein: Generating the first modified bounding box of the first vehicle includes: modifying points of the first bounding box of the first vehicle relative to an ellipse associated with the positioning error of the first vehicle such that an outer edge of the first bounding box indicates an outline of the first modified bounding box of the first vehicle; and Generating the second modified bounding box of the second vehicle includes modifying points of the second bounding box of the second vehicle relative to the ellipse associated with the positioning error of the second vehicle such that an outer edge of the second bounding box indicates an outline of the second modified bounding box of the second vehicle.

13. The method according to claim 11, further comprising: The potential position overlap is determined based on the first modified bounding box intersecting the second modified bounding box.

14. The method according to claim 11, further comprising: determining, by the computing device, that a threshold amount of the first modified bounding box is within the second modified bounding box; determining, by the computing device, that the threshold amount of the second modified bounding box is within the first modified bounding box; as well as The potential position overlap is determined to be an actual position overlap based on determining that the threshold amount of the first modified bounding box is within the second modified bounding box and the threshold amount of the second modified bounding box is within the first modified bounding box.

15. The method according to claim 1, wherein: Determining a characteristic of at least one of the first vehicle or the second vehicle includes determining a physical characteristic of the first vehicle and a physical characteristic of the second vehicle based on information from the vehicle-based message, the method further comprising: determining, by the computing device, at least one of a role or rights of the first vehicle and at least one of a role and rights of the second vehicle based on the vehicle-based message; and The potential position overlap is determined, by the computing device, based on a physical characteristic of the first vehicle and a physical characteristic of the second vehicle being similar and based on at least one of the roles or the rights of the first vehicle and the second vehicle being different.

16. The method of claim 15, wherein: The physical characteristic of the first vehicle includes at least one of a dimension of the first vehicle, a type of the first vehicle, or a motion of the first vehicle; and The physical characteristic of the second vehicle includes at least one of a dimension of the second vehicle, a type of the second vehicle, or a motion of the second vehicle.

17. The method of claim 15, wherein: The role of the first vehicle comprises at least one of an off-duty role of the first vehicle or an on-duty role of the first vehicle; and The role of the second vehicle includes at least one of an off-duty role of the second vehicle or an on-duty role of the second vehicle.

18. The method of claim 15, wherein: The entitlement for the first vehicle includes a specific service permission (SSP) for the first vehicle; and The entitlement of the second vehicle includes the SSP of the second vehicle.

19. An apparatus for wireless communication, comprising: at least one memory; as well as at least one processor coupled to at least one memory and configured to: determining a potential position overlap between the first vehicle and the second vehicle; determining a characteristic of at least one of the first vehicle or the second vehicle based on information from a vehicle-based message; as well as A determination is made based on the characteristic whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle.

20. The device according to claim 19, wherein The characteristic is at least one of: a reduction in speed of at least one of the first vehicle or the second vehicle, a deceleration of at least one of the first vehicle or the second vehicle, an increase in the yaw rate of at least one of the first vehicle or the second vehicle, a message indicating a collision event, or the absence of a message sent by at least one of the first vehicle or the second vehicle.

21. The device according to claim 19, wherein The at least one processor is configured to: determining that the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic indicating a collision; or A misbehavior attack is determined based on the characteristic indicating an absence of a collision.

22. The device according to claim 19, wherein The apparatus is one of a user equipment (UE), a vehicle, a base station, or a network server.

23. The device according to claim 19, wherein: The vehicle-based message includes at least one of a sensor data sharing message (SDSM), a basic safety message (BSM), a collaborative awareness message (CAM), a collective awareness message (CPM), or a decentralized environment message (DENM).

24. The device according to claim 19, wherein The at least one processor is further configured to: The vehicle-based message is received from at least one of the first vehicle, the second vehicle, or another vehicle within a communication range of at least one of the first vehicle or the second vehicle.

25. The apparatus of claim 19, wherein: The vehicle-based message includes a plurality of vehicle-based messages; and The at least one processor is configured to synchronize the plurality of vehicle-based messages.

26. The device according to claim 25, wherein The plurality of vehicle-based messages are synchronized using at least one of a motion prediction algorithm or a mobility prediction algorithm.

27. The device according to claim 19, wherein The at least one processor is configured to: generating a first modified bounding box for the first vehicle using the dimensions and the localization error of the first vehicle; generating a second modified bounding box for the second vehicle using the dimensions and the localization error of the second vehicle; as well as The potential position overlap is determined based on the first modified bounding box intersecting the second modified bounding box.

28. The device according to claim 27, wherein The at least one processor is configured to: Generating the first modified bounding box of the first vehicle includes: modifying points of the first bounding box of the first vehicle relative to an ellipse associated with the positioning error of the first vehicle such that an outer edge of the first bounding box indicates an outline of the first modified bounding box of the first vehicle; and Generating the second modified bounding box of the second vehicle includes modifying points of the second bounding box of the second vehicle relative to an ellipse associated with the positioning error of the second vehicle such that an outer edge of the second bounding box indicates an outline of the second modified bounding box of the second vehicle.

29. The device according to claim 27, wherein: The at least one processor is configured to: determining that a threshold amount of the first modified bounding box is within the second modified bounding box; determining that the threshold amount of the second modified bounding box is within the first modified bounding box; as well as The potential position overlap is determined to be an actual position overlap based on determining that the threshold amount of the first modified bounding box is within the second modified bounding box and the threshold amount of the second modified bounding box is within the first modified bounding box.

30. The device according to claim 19, wherein To determine a characteristic of at least one of the first vehicle or the second vehicle, the at least one processor is configured to: determine a physical characteristic of the first vehicle and a physical characteristic of the second vehicle based on information from the vehicle-based message, and wherein the at least one processor is further configured to: determining at least one of a role or rights of the first vehicle and at least one of a role and rights of the second vehicle based on the vehicle-based message; and The potential position overlap is determined based on a physical characteristic of the first vehicle and a physical characteristic of the second vehicle being similar and based on at least one of the roles or the rights of the first vehicle and the second vehicle being different.

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