Vehicle-to-pedestrian positioning with user equipment and network assistance

Abstract

Aspects of the present disclosure generally relate to wireless communications and to vehicle-to-pedestrian positioning with user equipment and network assistance. In some aspects, a network node may receive a first set of ranging measurements based at least in part on a first one or more positioning reference signals communicated on a sidelink between a pedestrian user equipment (P-UE) and a vehicle UE (V-UE). The network node may receive a second set of ranging measurements based, at least in part, on a second one or more positioning reference signals communicated over an access link between the P-UE and one or more base stations. The network node may transmit the estimated location of the P-UE to the P-UE. For example, in some aspects, the estimated position of the P-UE may be based at least in part on the first set of ranging measurements and the second set of ranging measurements. Numerous other aspects are provided.

Description

[0001] This invention patent application is a divisional application of the invention patent application with international application number PCT / US2021 / 070558, international application date May 14, 2021, application number 202180047215.7 entering the Chinese national phase, and name “Vehicle-to-pedestrian positioning using user equipment and network assistance”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This patent application claims priority to U.S. Provisional Patent Application No. 63 / 049,001, filed on July 7, 2020, entitled “VEHICLE-TO-PEDESTRIAN POSITIONING WITH USER EQUIPMENT AND NETWORK ASSISTANCE,” and U.S. Non-Provisional Patent Application No. 17 / 302,844, filed on May 13, 2021, entitled “VEHICLE-TO-PEDESTRIAN POSITIONING WITH USER EQUIPMENT AND NETWORK ASSISTANCE,” which are hereby expressly incorporated herein by reference. Technical Field

[0004] Aspects of the present disclosure relate generally to wireless communications and to vehicle-to-pedestrian positioning utilizing user equipment and network assistance. Background Art

[0005] Wireless communication systems are widely deployed to provide various telecommunication services such as telephony, video, data, messaging, and broadcasting. Typical wireless communication systems may employ multiple access technologies that can support communication with multiple users by sharing available system resources (e.g., bandwidth, transmit power, etc.). Examples of such multiple access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single carrier frequency division multiple access (SC-FDMA) systems, time division synchronous code division multiple access (TD-SCDMA) systems, and long term evolution (LTE). LTE / LTE-Advanced is a set of enhancements to the Universal Mobile Telecommunications System (UMTS) mobile standard promulgated by the Third Generation Partnership Project (3GPP).

[0006] A wireless network may include several base stations (BSs) that can support communications for several user equipments (UEs). A UE may communicate with a BS via a downlink and an uplink. A "downlink" (or "forward link") refers to a communication link from a BS to a UE, while an "uplink" (or "reverse link") refers to a communication link from a UE to a BS. As will be described in more detail herein, a BS may be referred to as a Node B, a gNB, an Access Point (AP), a Radio Head, a Transmit Receiving Point (TRP), a New Radio (NR) BS, a 5G Node B, and the like.

[0007] The above multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different user equipment to communicate at the city, country, region, and even global level. NR (which may also be referred to as 5G) is an enhancement set to the LTE mobile standard promulgated by 3GPP. NR is designed to better support mobile broadband Internet access by using orthogonal frequency division multiplexing (OFDM) (CP-OFDM) with cyclic prefix (CP) on the downlink (DL), using CP-OFDM and / or SC-FDM (e.g., also known as discrete Fourier transform spread OFDM (DFT-s-OFDM)) on the uplink (UL), and supporting beamforming, multiple input multiple output (MIMO) antenna technology and carrier aggregation to improve spectrum efficiency, reduce costs, improve services, utilize new spectrum, and better integrate with other open standards. As the demand for mobile broadband access continues to grow, further improvements to LTE, NR and other radio access technologies are still useful. Summary of the invention

[0008] In some aspects, a wireless communication method performed by a network node may include: receiving a first ranging measurement set, the first ranging measurement set being based at least in part on a first one or more positioning reference signals communicated on a side link between a pedestrian user equipment (P-UE) and a vehicle user equipment (V-UE); receiving a second ranging measurement set, the second ranging measurement set being based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and one or more base stations; and transmitting an estimated position of the P-UE to the P-UE, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0009] In some aspects, a wireless communication method performed by a P-UE may include: transmitting a first ranging measurement set to a network node, the first ranging measurement set being based at least in part on a first one or more positioning reference signals communicated on a side link between the P-UE and a V-UE; transmitting a second ranging measurement set to one or more base stations, the second ranging measurement set being based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and the one or more base stations; and receiving an estimated position of the P-UE from the network node, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0010] In some aspects, a network node for wireless communication may include a transceiver, a memory, and one or more processors coupled to the transceiver and the memory, the one or more processors being configured to: receive a first ranging measurement set via the transceiver, the first ranging measurement set being based at least in part on a first one or more positioning reference signals communicated on a side link between a P-UE and a V-UE; receive a second ranging measurement set via the transceiver, the second ranging measurement set being based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and one or more base stations; and transmit an estimated position of the P-UE to the P-UE via the transceiver, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0011] In some aspects, a P-UE for wireless communication may include a transceiver, a memory, and one or more processors coupled to the transceiver and the memory, the one or more processors being configured to: transmit a first ranging measurement set to a network node via the transceiver, the first ranging measurement set being based at least in part on a first one or more positioning reference signals communicated on a side link between the P-UE and a V-UE; transmit a second ranging measurement set to one or more base stations via the transceiver, the second ranging measurement set being based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and the one or more base stations; and receive an estimated position of the P-UE from the network node via the transceiver, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0012] In some aspects, a non-transitory computer-readable medium may store an instruction set for wireless communication. The instruction set may include one or more instructions that, when executed by one or more processors of a network node, cause the network node to: receive a first ranging measurement set based at least in part on a first one or more positioning reference signals communicated on a side link between a P-UE and a V-UE; receive a second ranging measurement set based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and one or more base stations; and transmit an estimated position of the P-UE to the P-UE, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0013] In some aspects, a non-transitory computer-readable medium may store an instruction set for wireless communication. The instruction set may include one or more instructions that, when executed by one or more processors of a P-UE, cause the P-UE to: transmit a first ranging measurement set to a network node, the first ranging measurement set based at least in part on a first one or more positioning reference signals communicated on a side link between the P-UE and a V-UE; transmit a second ranging measurement set to one or more base stations, the second ranging measurement set based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and the one or more base stations; and receive an estimated position of the P-UE from the network node, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0014] In some aspects, an apparatus for wireless communication may include: a device for receiving a first ranging measurement set, the first ranging measurement set being based at least in part on a first one or more positioning reference signals communicated on a side link between a P-UE and a V-UE; a device for receiving a second ranging measurement set, the second ranging measurement set being based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and one or more base stations; and a device for transmitting an estimated position of the P-UE to the P-UE, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0015] In some aspects, a device for wireless communication may include: a device for transmitting a first ranging measurement set to a network node, the first ranging measurement set being based at least in part on a first one or more positioning reference signals communicated on a side link between the device and a V-UE; a device for transmitting a second ranging measurement set to one or more base stations, the second ranging measurement set being based at least in part on a second one or more positioning reference signals communicated on an access link between the device and the one or more base stations; and a device for receiving an estimated position of the device from the network node, wherein the estimated position of the device is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0016] Aspects generally include methods, apparatus, systems, computer program products, non-transitory computer-readable media, user equipment, base stations, wireless communication devices, and / or processing systems as substantially described herein with reference to and as illustrated in the accompanying figures and specification.

[0017] The foregoing has broadly outlined the features and technical advantages of examples according to the present disclosure in an effort to make the following detailed description better understood. Additional features and advantages will be described hereinafter. The disclosed concepts and specific examples can be easily used as a basis for modifying or designing other structures for implementing the same purpose as the present disclosure. Such equivalent constructions do not depart from the scope of the appended claims. The characteristics of the concepts disclosed herein, both in terms of their organization and method of operation, and the associated advantages will be better understood by considering the following description in conjunction with the accompanying drawings. Each of the accompanying drawings is provided for the purpose of illustration and description and is not intended to define limitations on the claims.

[0018] Although various aspects are described in the present disclosure by explaining some examples, it will be understood by those skilled in the art that such aspects can be implemented in many different arrangements and scenarios. The technology described herein can be implemented using different platform types, devices, systems, shapes, sizes and / or packaging arrangements. For example, some aspects can be implemented via integrated chip embodiments or other devices based on non-module components (e.g., end-user devices, vehicles, communication equipment, computing equipment, industrial equipment, retail / shopping equipment, medical equipment, or devices that enable artificial intelligence). Various aspects can be implemented in chip-level components, module components, non-module components, non-chip-level components, device-level components, or system-level components. The equipment incorporating the various aspects and features described may include additional components and features for implementing and practicing the various aspects claimed and described. For example, the transmission and reception of wireless signals may include several components (e.g., hardware components, including antennas, RF chains, power amplifiers, modulators, buffers, processors, interleavers, adders, or summers) for analog and digital purposes. The various aspects described herein are intended to be practiced in various devices, components, systems, distributed arrangements, or end-user devices of various sizes, shapes, and configurations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to understand the above-stated features of the present disclosure in detail, the above briefly summarized content may be described in more detail with reference to various aspects, some of which are illustrated in the accompanying drawings. However, it should be noted that the accompanying drawings only illustrate certain typical aspects of the present disclosure and should not be considered to limit its scope, as the description may allow for other equally effective aspects. The same reference numerals in different drawings may identify the same or similar elements.

[0020] Figure 1 is a diagram illustrating an example of a wireless network according to the present disclosure.

[0021] Figure 2 is a diagram illustrating an example in which a base station and a UE are in communication in a wireless network according to the present disclosure.

[0022] Figure 3 is a diagram illustrating an example of side link communication according to the present disclosure.

[0023] Figure 4 is a diagram illustrating an example of side link communication and access link communication according to the present disclosure.

[0024] Figure 5 is a diagram illustrating an example of vehicle-to-everything (V2X) communication according to the present disclosure.

[0025] Figure 6 is a diagram illustrating an example associated with vehicle-to-pedestrian (V2P) positioning utilizing UE and network assistance according to the present disclosure.

[0026] Figures 7A-7D is a diagram illustrating an example associated with V2P positioning with UE and network assistance according to the present disclosure.

[0027] Figure 8-9 is a diagram illustrating example procedures associated with V2P positioning with UE and network assistance according to the present disclosure.

[0028] Figure 10-11 is a diagram illustrating an example apparatus for wireless communications according to the present disclosure. DETAILED DESCRIPTION

[0029] The various aspects of the present disclosure are described more fully below with reference to the accompanying drawings. However, the present disclosure can be implemented in many different forms and should not be interpreted as being limited to any specific structure or function given throughout the present disclosure. On the contrary, these aspects are provided to make the present disclosure thorough and complete, and it will fully convey the scope of the present disclosure to those skilled in the art. Based on the teachings of this article, those skilled in the art will appreciate that the scope of the present disclosure is intended to cover any aspect of the present disclosure disclosed herein, whether it is independently implemented or implemented in combination with any other aspect of the present disclosure. For example, any number of aspects set forth herein can be used to implement a device or practice method. In addition, the scope of the present disclosure is intended to cover such devices or methods practiced using supplements or other other structures, functionality, or structures and functionality as the various aspects of the present disclosure set forth herein. It should be understood that any aspect of the present disclosure disclosed herein can be implemented by one or more elements of the claims.

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

[0031] It should be noted that while various aspects may be described herein using terminology generally associated with 5G or NR radio access technologies (RATs), various aspects of the present disclosure may be applied to other RATs, such as 3G RATs, 4G RATs, and / or RATs beyond 5G (e.g., 6G).

[0032] Figure 11 is a diagram illustrating an example of a wireless network 100 according to the present disclosure. The wireless network 100 may be a 5G (NR) network and / or an LTE network, etc. or may include elements thereof. The wireless network 100 may include several base stations 110 (shown as BS110a, BS110b, BS110c, and BS110d) and other network entities. A base station (BS) is an entity that communicates with a user equipment (UE) and may also be referred to as an NR BS, a B node, a gNB, a 5G B node (NB), an access point, a transmit receive point (TRP), etc. Each BS may provide communication coverage for a specific geographic area. In 3GPP, the term "cell" may refer to a coverage area of ​​a BS and / or a BS subsystem serving the coverage area, depending on the context in which the term is used.

[0033] A BS may provide communication coverage for a macro cell, a pico cell, a femto cell, and / or another type of cell. A macro cell may cover a relatively large geographic area (e.g., several kilometers in radius) and may allow unrestricted access by UEs with service subscriptions. A pico cell may cover a relatively small geographic area and may allow unrestricted access by UEs with service subscriptions. A femto cell may cover a relatively small geographic area (e.g., a residence) and may allow restricted access by UEs associated with the femto cell (e.g., UEs in a closed subscriber group (CSG)). A BS for a macro cell may be referred to as a macro BS. A BS for a pico cell may be referred to as a pico BS. A BS for a femto cell may be referred to as a femto BS or a home BS. In Figure 1 In the example shown in , BS 110a may be a macro BS for macro cell 102a, BS 110b may be a pico BS for pico cell 102b, and BS 110c may be a femto BS for femto cell 102c. The BS may support one or more (e.g., three) cells. The terms "eNB", "base station", "NR BS", "gNB", "TRP", "AP", "B node", "5G NB", and "cell" may be used interchangeably herein.

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

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

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

[0037] The network controller 130 may be coupled to a set of BSs and may provide coordination and control of these BSs. The network controller 130 may communicate with each BS via a backhaul. These BSs may also communicate with each other directly or indirectly via a wireless or wired backhaul. In some aspects, the wireless network 100 may include one or more network controllers 130. For example, the wireless network 100 may include a network controller 130 that implements a location management function (LMF) device, etc. In some aspects, the LMF device may be included in the core network (e.g., 5G / NR core network) of the wireless network 100.

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

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

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

[0041] In some aspects, two or more UEs 120 (e.g., shown as UE 120a and UE 120e) may communicate directly (e.g., without using base station 110 as an intermediary to communicate with each other) using one or more sidelink channels. For example, UE 120 may communicate using peer-to-peer (P2P) communication, device-to-device (D2D) communication, vehicle-to-everything (V2X) protocols (e.g., which may include vehicle-to-vehicle (V2V) protocols, vehicle-to-pedestrian (V2P) protocols, vehicle-to-infrastructure (V2I) protocols, vehicle-to-network (V2N) protocols, etc.), and / or mesh networks, etc. In this case, UE 120 may perform scheduling operations, resource selection operations, and / or other operations described elsewhere herein as being performed by base station 110.

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

[0043] As indicated above, Figure 1 are provided as examples. Other examples may differ from those described herein. Figure 1 Examples described.

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

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

[0046] At UE 120, antennas 252a to 252r may receive downlink signals from base station 110 and / or other base stations and may provide received signals to demodulators (DEMODs) 254a to 254r, respectively. Each demodulator 254 may condition (e.g., filter, amplify, downconvert, and digitize) the received signal to obtain input samples. Each demodulator 254 may further process the input samples (e.g., for OFDM) to obtain received symbols. A MIMO detector 256 may obtain received symbols from all R demodulators 254a to 254r, perform MIMO detection on the received symbols where applicable, and provide detected symbols. A receive processor 258 may process (e.g., demodulate and decode) the detected symbols, provide decoded data for UE 120 to a data sink 260, and provide decoded control information and system information to a controller / processor 280. The term "controller / processor" may refer to one or more controllers, one or more processors, or a combination thereof. The channel processor may determine a reference signal received power (RSRP) parameter, a received signal strength indicator (RSSI) parameter, a reference signal received quality (RSRQ) parameter, and / or a channel quality indicator (CQI) parameter, etc. In some aspects, one or more components of the UE 120 may be included in the housing 284.

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

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

[0049] On the uplink, at the UE 120, a transmit processor 264 may receive and process data from a data source 262 and control information (e.g., for reports including RSRP, RSSI, RSRQ, and / or CQI) from a controller / processor 280. The transmit processor 264 may also generate reference symbols for one or more reference signals. The symbols from the transmit processor 264 may be precoded by a Tx MIMO processor 266, where applicable, further processed by modulators 254a through 254r (e.g., for DFT-s-OFDM or CP-OFDM), and transmitted to the base station 110. In some aspects, the modulator and demodulator (e.g., MOD / DEMOD 254) of the UE 120 may be included in a modem of the UE 120. In some aspects, the UE 120 includes a transceiver. The transceiver may include any combination of antenna(s) 252, modulator and / or demodulator 254, MIMO detector 256, receive processor 258, transmit processor 264, and / or Tx MIMO processor 266. The transceiver may be used by a processor (e.g., controller / processor 280) and memory 282 to perform aspects of any of the methods described herein (e.g., as described with reference to Figure 6 , Figures 7A-7D , Figure 8 and / or Fig. 9 described).

[0050] At the base station 110, uplink signals from the UE 120 and other UEs may be received by the antenna 234, processed by the demodulator 232, detected by the MIMO detector 236 where applicable, and further processed by the receive processor 238 to obtain decoded data and control information transmitted by the UE 120. The receive processor 238 may provide the decoded data to the data sink 239 and the decoded control information to the controller / processor 240. The base station 110 may include a communication unit 244 and communicate with the network controller 130 via the communication unit 244. The base station 110 may include a scheduler 246 to schedule the UE 120 for downlink and / or uplink communications. In some aspects, the modulator and demodulator (e.g., MOD / DEMOD 232) of the base station 110 may be included in a modem of the base station 110. In some aspects, the base station 110 includes a transceiver. The transceiver may include any combination of antenna(s) 234, modulator and / or demodulator 232, MIMO detector 236, receive processor 238, transmit processor 220, and / or Tx MIMO processor 230. The transceiver may be used by a processor (e.g., controller / processor 240) and memory 242 to perform aspects of any of the methods described herein, for example, as described with reference to Figure 6 , Figures 7A-7D , Figure 8 and / or Fig. 9 As described.

[0051] Controller / processor 240 of base station 110, controller / processor 280 of UE 120, controller / processor 290 of network controller 130, and / or Figure 2 Any other component(s) of the base station 110 may perform one or more techniques associated with vehicle-to-pedestrian (V2P) positioning with UE and network assistance, as described in more detail elsewhere herein. For example, the controller / processor 240 of the base station 110, the controller / processor 280 of the UE 120, and / or Figure 2 Any other component of the Figure 8 The process of 800 Fig. 9 , and / or operations of other processes as described herein. Memories 242 and 282 may store data and program codes for base station 110 and UE 120, respectively. In some aspects, memory 242 and / or memory 282 may include: a non-transitory computer-readable medium storing one or more instructions (e.g., code and / or program code) for wireless communication. For example, the one or more instructions, when executed (e.g., directly, or after compilation, conversion, and / or interpretation) by one or more processors of base station 110 and / or UE 120, may cause the one or more processors, UE 120, and / or base station 110 to perform or direct, for example Figure 8 The process of 800 Fig. 9 In some aspects, executing instructions may include running instructions, converting instructions, compiling instructions, and / or interpreting instructions, etc.

[0052] In some aspects, UE 120 may include: means for transmitting a first ranging measurement set to a network node (e.g., base station 110, network controller 130, etc.), the first ranging measurement set based at least in part on a first one or more positioning reference signals communicated on a side link between UE 120 and vehicle UE (V-UE) 120; means for transmitting a second ranging measurement set to one or more base stations 110, the second ranging measurement set based at least in part on a second one or more positioning reference signals communicated on an access link between UE 120 and the one or more base stations 110; and means for receiving an estimated position of UE 120 from the network node, wherein the estimated position of UE 120 is based at least in part on the first ranging measurement set and the second ranging measurement set, etc. In some aspects, such means may include a combination of Figure 2One or more components of the UE 120 are depicted, such as a controller / processor 280, a transmit processor 264, a Tx MIMO processor 266, a MOD 254, an antenna 252, a DEMOD 254, a MIMO detector 256, a receive processor 258, and the like.

[0053] In some aspects, the base station 110 and / or the network controller 130 may include means for receiving a first ranging measurement set based at least in part on a first one or more positioning reference signals communicated on a side link between a pedestrian UE (P-UE) 120 and a V-UE 120; means for receiving a second ranging measurement set based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE 120 and one or more base stations 110; means for transmitting an estimated position of the P-UE 120 to the P-UE 120, wherein the estimated position of the P-UE 120 is based at least in part on the first ranging measurement set and the second ranging measurement set, and so on. In some aspects, such means may include a combination of Figure 2 One or more components of the base station 110 are described, such as antenna 234, DEMOD 232, MIMO detector 236, receive processor 238, controller / processor 240, transmit processor 220, TxMIMO processor 230, MOD 232, antenna 234, etc. Additionally or alternatively, such devices may include a combination of Figure 2 One or more components of the network controller 130 are depicted, such as a controller / processor 290, a memory 292, a communication unit 294, and the like.

[0054] although Figure 2 The blocks in the 200 and 210 are illustrated as different components, but the functions described above with respect to these blocks may be implemented with a single hardware, software, or combined component or a combination of various components. For example, the functions described with respect to the transmit processor 264, the receive processor 258, and / or the Tx MIMO processor 266 may be performed by or under the control of the controller / processor 280.

[0055] As indicated above, Figure 2 are provided as examples. Other examples may differ from those described herein. Figure 2 Examples described.

[0056] Figure 3 is a diagram illustrating an example 300 of sidelink communications according to the present disclosure.

[0057] like Figure 3As shown in , the first UE 305-1 can communicate with the second UE 305-2 (and one or more other UEs 305) via one or more side link channels 310. UE 305-1 and UE 305-2 can use one or more side link channels 310 to communicate for P2P communication, D2D communication, V2X communication (e.g., which may include V2V communication, V2P communication, V2I communication, V2N communication, etc.), mesh networking, etc. In some aspects, UE 305 (e.g., UE 305-1 and / or UE 305-2) may correspond to one or more other UEs described elsewhere herein, such as UE 120. In some aspects, one or more side link channels 310 may use a PC5 interface and / or may operate in a high frequency band (e.g., a 5.9 GHz band). Additionally or alternatively, UE 305 may use global navigation satellite system (GNSS) timing to synchronize the timing of a transmission time interval (TTI) (e.g., a frame, a subframe, a time slot, a codeword, etc.).

[0058] As in Figure 3 As further shown in FIG. 1 , the one or more sidelink channels 310 may include a physical sidelink control channel (PSCCH) 315, a physical sidelink shared channel (PSSCH) 320, and / or a physical sidelink feedback channel (PSFCH) 325. The PSCCH 315 may be used to convey control information, similar to a physical downlink control channel (PDCCH) and / or a physical uplink control channel (PUCCH) used for cellular communication with the base station 110 via an access link or access channel. The PSSCH 320 may be used to convey data, similar to a physical downlink shared channel (PDSCH) and / or a physical uplink shared channel (PUSCH) used for cellular communication with the base station 110 via an access link or access channel. For example, the PSCCH 315 may carry sidelink control information (SCI) 330, which may indicate various control information for sidelink communication, such as one or more resources (e.g., time resources, frequency resources, space resources, etc.), wherein a transport block (TB) 335 may be carried on the PSSCH 320. The TB 335 may include data. The PSFCH 325 may be used to communicate sidelink feedback 340, such as hybrid automatic repeat request (HARQ) feedback (eg, acknowledgement or negative acknowledgement (ACK / NACK) information), transmit power control (TPC), scheduling request (SR), and the like.

[0059] In some aspects, one or more sidelink channels 310 may use a resource pool. For example, a scheduling assignment (e.g., included in SCI 330) may be transmitted in a subchannel using specific resource blocks (RBs) across time. In some aspects, a data transmission associated with a scheduling assignment (e.g., on PSSCH 320) may occupy adjacent RBs in the same subframe as the scheduling assignment (e.g., using frequency division multiplexing). In some aspects, a scheduling assignment and an associated data transmission are not transmitted on adjacent RBs.

[0060] In some aspects, the UE 305 may operate using a transmission mode in which resource selection and / or scheduling is performed by the UE 305 (e.g., rather than the base station 110). In some aspects, the UE 305 may perform resource selection and / or scheduling by sensing channel availability for transmission. For example, the UE 305 may measure received signal strength indicator (RSSI) parameters associated with various side link channels (e.g., side link-RSSI (S-RSSI) parameters); may measure reference signal received power (RSRP) parameters associated with various side link channels (e.g., PSSCH-RSRP parameters); may measure reference signal received quality (RSRQ) parameters associated with various side link channels (e.g., PSSCH-RSRQ parameters), etc.; and may select a channel for transmitting side link communications based at least in part on the measurement(s).

[0061] Additionally or alternatively, the UE 305 may perform resource selection and / or scheduling using the SCI 330 (which may indicate occupied resources, channel parameters, etc.) received in the PSCCH 315. Additionally or alternatively, the UE 305 may perform resource selection and / or scheduling by determining a channel busy rate (CBR) associated with various sidelink channels, which may be used for rate control (e.g., by indicating a maximum number of resource blocks that the UE 305 may use for a particular set of subframes).

[0062] In a transmission mode in which resource selection and / or scheduling is performed by the UE 305, the UE 305 may generate sidelink grants and may transmit these grants in the SCI 330. The sidelink grant may indicate, for example, one or more parameters (e.g., transmission parameters) to be used for an upcoming sidelink transmission, such as one or more resource blocks to be used for an upcoming sidelink transmission on the PSSCH 320 (e.g., for TB 335), one or more subframes to be used for an upcoming sidelink transmission, a modulation and coding scheme (MCS) to be used for an upcoming sidelink transmission, etc. In some aspects, the UE 305 may generate a sidelink grant that indicates one or more parameters for semi-persistent scheduling (SPS), such as the periodicity of the sidelink transmission. Additionally or alternatively, the UE 305 may generate a sidelink grant for event-driven scheduling (such as for an on-demand sidelink message).

[0063] As indicated above, Figure 3 are provided as examples. Other examples may differ from those described herein. Figure 3 Examples described.

[0064] Figure 4 is a diagram illustrating an example 400 of side link communications and access link communications according to the present disclosure.

[0065] like Figure 4 As shown, the transmitting (Tx) / receiving (Rx) UE 405 and the Rx / Tx UE 410 may communicate with each other via a side link, as described above in conjunction with Figure 3 As further shown, in some sidelink modes, the base station 110 may communicate with the Tx / Rx UE 405 via a first access link. Additionally or alternatively, in some sidelink modes, the base station 110 may communicate with the Rx / Tx UE 410 via a second access link. The Tx / Rx UE 405 and / or the Rx / Tx UE 410 may correspond to one or more UEs described elsewhere herein, such as Figure 1 120. Thus, a direct link between UEs 120 (e.g., via a PC5 interface) may be referred to as a side link, and a direct link between base station 110 and UE 120 (e.g., via a Uu interface) may be referred to as an access link. Side link communications may be transmitted via a side link, and access link communications may be transmitted via an access link. Access link communications may be downlink communications (from base station 110 to UE 120) or uplink communications (from UE 120 to base station 110).

[0066] As indicated above, Figure 4 are provided as examples. Other examples may differ from those described herein. Figure 4 Examples described.

[0067] Figure 5 5 is a diagram illustrating an example 500 of V2X communication according to the present disclosure. Specifically, V2X generally encompasses technologies that can be used to communicate information between a vehicle equipped with suitable communication capabilities (referred to herein as a vehicle UE (V-UE), etc.) and one or more other devices. For example, V2X communications may include vehicle-to-vehicle (V2V) communication technologies that allow V-UEs to communicate with each other (e.g., to support safety systems with non-line-of-sight and latency-sensitive collision avoidance capabilities), vehicle-to-pedestrian (V2P) communication technologies that allow V-UEs to communicate with pedestrian UEs (P-UEs) (e.g., smartphones, connected wearable devices, etc.), vehicle-to-infrastructure (V2I) communication technologies that allow V-UEs to communicate with external systems (such as street lights, buildings, roadside units, etc.), vehicle-to-network (V2N) communication technologies that allow V-UEs to communicate with cellular networks, and the like. For example, in 3GPP Release 14, Cellular V2X (C-V2X) was initially defined as an underlying radio access technology (RAT) along with LTE, and in 3GPP Release 15, C-V2X functionality was extended to provide support for communications using NR as the enabling RAT.

[0068] Thus, in some cases, the V2X wireless communication system may support one or more protocols (e.g., V2V, V2P, V2I, V2N, etc.) that enable UEs to communicate directly with each other using device-to-device communication (also referred to as sidelink communication) over a PC5 interface without using a base station as an intermediary (e.g., in a 5.9 GHz spectrum dedicated to an intelligent transport system (ITS)). Additionally or alternatively, in some cases, the V2X wireless communication system may support one or more protocols (e.g., V2N) that enable UEs to communicate with a wireless wide area network (WWAN) and / or other devices in communication with the WWAN over a cellular (e.g., Uu) interface (e.g., over a licensed spectrum and / or an unlicensed spectrum).

[0069] In a V2X communication system, one challenge that may arise is that the conditions of the sidelink, uplink, downlink, and / or other suitable communication channels used to carry V2X communications may vary widely and change rapidly. For example, channel conditions may vary due to the following reasons: high mobility of V-UEs, P-UEs, etc., large variations in vehicle traffic at different times of the day and / or different locations, wide variations in terrain that vehicles may traverse (e.g., dense urban environments, hilly environments, flat environments, etc.), etc. In addition, V2X communication systems need to be highly reliable due to critical mission safety issues associated with, for example, autonomous vehicles and protecting vulnerable road users (VRUs) (which may generally refer to pedestrians, cyclists, motorcyclists, and / or other road users with little or no protection who will absorb energy in a collision). Accordingly, because road safety is an important issue, V2X environments generally need to have a highly accurate positioning mechanism to enable each device to inform other devices of safety risks, such as P-UEs on a potential collision path.

[0070] For example, Figure 5 An example scenario is illustrated in which two V-UEs (shown as V-UE1 and V-UE2) are traveling in the same direction on different lanes of a road. Figure 5 As shown, a V-UE may participate in V2V communications, which may include periodically transmitting basic safety messages (BSMs) containing safety data about the status of a vehicle. For example, a BSM transmitted by a V-UE may include safety data such as a global navigation satellite system (GNSS) position (e.g., latitude, longitude, altitude), position accuracy, speed, acceleration, heading, yaw rate, steering wheel angle, brake system status, vehicle dimensions (e.g., width and length), and / or the like. Thus, the V-UE may periodically exchange BSMs to provide the driver and / or autonomous driving module with position, speed, direction, and / or other information associated with nearby vehicles to avoid potential collisions. Additionally, in a V2P communication system, a V-UE may need to know the location of an associated vehicle and data related to the location and / or movement of a P-UE to avoid potential collisions with a VRU carrying the P-UE. For example, as Figure 5 As shown, the P-UE may be configured to periodically broadcast a Personal Safety Message (PSM) containing dynamic status information of the associated VRU, such as GNSS position, position accuracy, speed, heading, etc. In this way, when the V-UE detects that the V-UE is traveling on a potential collision path with the P-UE, the V-UE may transmit a paging message (e.g., V2P paging) to the P-UE to alert the VRU in an attempt to prevent a collision.

[0071] Generally speaking, collision avoidance in a V2P environment depends on the V-UE and P-UE having accurate self-positioning information and accurate positioning information about nearby devices (e.g., as indicated in BSM, PSM, etc.). However, the positioning data available to the V-UE is generally of much higher accuracy than the positioning data available to the P-UE. For example, the V-UE is generally equipped with a variety of high-quality, expensive sensors that are factored into the actual cost of the vehicle, while the P-UE is generally a consumer electronic device equipped with relatively low-quality sensors. Therefore, the positioning data indicated by the P-UE in the PSM may be far less reliable than the positioning data indicated by the V-UE in the BSM. For example, in order to meet the minimum relative positioning requirements of collision warning applications, the position data included in the BSM is required to meet lane-level accuracy (e.g., 0.5 meters or better). In contrast, the positioning data available to the P-UE tends to have significant measurement noise, which reduces the accuracy (and reliability) of the P-UE position estimate. For example, when the P-UE is located in an urban area, behind a building, or in another area lacking open space, the error of the P-UE position estimate may be close to tens of meters, which is problematic in collision warning applications.

[0072] Some aspects described herein relate to techniques and apparatus for performing V2P positioning with UE and network assistance. For example, a P-UE may communicate with one or more V-UEs on a sidelink to perform ranging and positioning related measurements (e.g., based on a positioning reference signal (PRS) communicated on the sidelink between the P-UE and the V-UE), and the P-UE may further receive a BSM containing positioning data, dynamic data, etc. from each V-UE. Thus, the P-UE may report one or more ranging measurements associated with the PRS communicated on the sidelink to a network node (such as a location management function (LMF) device) on an access link. The network node may schedule one or more PRS measurement sessions for the P-UE with, for example, a base station serving a cell for the P-UE, one or more base stations providing neighboring cells for the P-UE, and the like. Thus, the one or more base stations may report additional ranging measurements for the P-UE to the network node, which may determine an estimated location of the P-UE using the sidelink ranging measurements, the access link ranging measurements, the location(s) of the V-UE(s), and the like. In this way, the network node can determine an accurate position estimate for the P-UE based at least in part on global data related to ranging and / or positioning measurement sessions performed by various P-UEs on the side link with the V-UE and / or on the access link with different base stations.

[0073] As indicated above, Figure 5 are provided as examples. Other examples may differ from those described herein. Figure 5 Examples described.

[0074] Figure 6 6 is a diagram illustrating an example 600 associated with V2P positioning utilizing UE and network assistance according to the present disclosure. Figure 6 As shown, example 600 includes one or more P-UEs (shown as P-UE1 to P-UE4) communicating with one or more V-UEs (shown as V-UE1 to V-UE3) on a side link and communicating with one or more base stations on an access link. Figure 6 As further shown in FIG. 6 , example 600 includes a network node, such as a LMF device, that supports position determination for a P-UE.

[0075] As in Figure 6 6 and shown by reference numeral 610, one or more P-UEs may exchange ranging and / or positioning measurements with one or more V-UEs on a sidelink. For example, a V-UE may initiate a positioning request to a P-UE on a sidelink, or a P-UE may initiate a positioning request to a V-UE. The V-UE and the P-UE may exchange respective positioning capabilities and may perform ranging and / or positioning measurement sessions based on the respective positioning capabilities. For example, in some aspects, the V-UE may transmit one or more PRSs to the P-UE to enable the P-UE to measure one or more ranging parameters.

[0076] For example, as described herein, a PRS transmitted by a V-UE, a base station, etc., may carry information for enabling timing or ranging measurements of a P-UE based on signals transmitted by the V-UE, the base station, etc., to improve observed time difference of arrival (OTDOA) positioning performance. For example, the PRS may be a pseudo-random quadrature phase shift keying (QPSK) sequence mapped in a diagonal pattern with frequency and time offsets to avoid conflicts with reference signals and control channels (e.g., PSCCH, PDCCH, etc.) that vary from cell to cell. In general, the PRS transmitted by a V-UE, a base station, etc. may be designed to improve detectability of the PRS by a P-UE, which may need to detect signals from multiple neighboring devices (e.g., neighboring V-UEs, neighboring base stations, etc.) in order to perform OTDOA-based positioning. Thus, as described herein, a P-UE may receive PRS from one or more V-UEs and may determine one or more ranging measurements, such as reference signal time difference (RSTD), time difference of arrival (TDOA) measurements, angle of arrival (AoA), clock bias error, round trip time (RTT), etc., of the PRS transmitted by the one or more V-UEs. Furthermore, in some aspects, the P-UE may receive a BSM from each V-UE participating in a ranging and / or positioning measurement session with the P-UE. In this manner, the P-UE may obtain various ranging measurements from the PRS communicated on the sidelink and may further determine an estimated position of each V-UE participating in a ranging and / or positioning measurement session with the P-UE. Additionally or alternatively, the P-UE may infer the position of one or more V-UEs participating in the ranging and / or positioning measurement session from the BSM message transmitted by the V-UE(s), or the V-UE(s) may explicitly indicate the position(s) of the V-UE(s) during the sidelink PRS measurement session with the P-UE.

[0077] like Figure 6620, one or more P-UEs may transmit information to a network node (e.g., via a serving base station) to report ranging and / or positioning measurements obtained in one or more ranging and / or positioning measurement sessions with one or more V-UEs. For example, in some aspects, the ranging and / or positioning measurements may include self (self) measurements (e.g., RSTD measurements, TDOA measurements, AoA measurements, clock bias error measurements, RTT measurements, etc.) based at least in part on PRSs transmitted by the one or more V-UEs, and the ranging and / or positioning measurements may further include estimated positions and / or other dynamic data indicated in BSMs received from the V-UEs. In addition, in some aspects, the P-UE may perform one or more access link positioning measurements based at least in part on PRSs transmitted by one or more base stations (e.g., a serving base station and one or more neighboring base stations). Thus, the base station(s) in communication with the P-UE may provide sidelink and access link ranging and positioning measurements to a network node (e.g., a LMF device) that supports positioning functions for the P-UE.

[0078] like Figure 6 , and as further shown by reference numeral 630, a network node (e.g., a LMF device) may locate one or more P-UEs based at least in part on sidelink and access link ranging and / or positioning measurements. For example, the network node may determine the estimated position of the P-UE based at least in part on the estimated position of the V-UE and ranging measurements based on PRS communicated on the sidelink between the P-UE and the V-UE, and the network node may further determine or refine the estimated position of the P-UE based at least in part on the known position of the base station and ranging measurements based on PRS communicated on the access link between the P-UE and the base station. In addition, because ranging and / or positioning measurements from various P-UEs participating in ranging and / or positioning measurement sessions with different V-UEs and / or base stations may be aggregated at the network node, the network node may have global knowledge of estimated positions and ranging measurements associated with different arrangements of P-UEs, V-UEs, and base stations. In this manner, the network node may determine an accurate position estimate for each P-UE and may provide the position estimate to the corresponding P-UE (eg, based on an on-demand request, at periodic intervals, based on the occurrence of a triggering event, etc.).

[0079] As indicated above, Figure 6 are provided as examples. Other examples may differ from those described herein. Figure 6 Examples described.

[0080] Figures 7A-7D is a diagram illustrating one or more examples 700 associated with V2P positioning with UE and network assistance according to the present disclosure. Figures 7A-7DAs shown, (all) examples 700 include a P-UE that can communicate with one or more V-UEs on a side link, one or more base stations that can communicate with the P-UE on an access link, and a network node (shown as a LMF device) that supports position determination of the P-UE. For example, the network node may be included in a core network of a wireless network (e.g., a 5G / NR core network of the wireless network 100), and may communicate with (all) base stations through a backhaul interface, and communicate with the P-UE via (all) base stations.

[0081] like Fig. 7A , and as shown by reference numeral 710, a P-UE may exchange ranging request and response messages with one or more V-UEs on a sidelink. For example, in some aspects, a P-UE may transmit a ranging request message to a V-UE, or a V-UE may transmit a ranging request message to a P-UE, to initiate a ranging and / or positioning measurement session. In some aspects, the ranging request message may indicate positioning capabilities associated with the initiator device. In addition, the ranging request response message may indicate whether a responder device (e.g., a P-UE or a V-UE) is able to participate in the ranging and / or positioning measurement session, and may further indicate positioning capabilities associated with the responder device in the event that the responder device is able to participate in the ranging and / or positioning measurement session. For example, in some aspects, the positioning capabilities may be used to configure one or more PRSs transmitted on the sidelink to enable the V-UE to range the P-UE, and to enable the P-UE to obtain ranging measurements that may be provided to a network node to determine an estimated position of the P-UE.

[0082] like Fig. 7A , and as further shown by reference numeral 712, a P-UE may participate in a PRS measurement session with one or more V-UEs. For example, in the PRS measurement session, the V-UE may transmit a PRS to the P-UE on a sidelink, and the P-UE may obtain a set of ranging measurements based at least in part on the PRS transmitted by the V-UE. For example, as described above, the set of ranging measurements may include AoA measurements, clock bias error measurements, RTT measurements, time of arrival (ToA) measurements, etc. In addition, in the event that the P-UE participates in a PRS measurement session with multiple V-UEs, the set of ranging measurements may include TDOA measurements, OTDOA measurements, RSTD measurements, etc. Therefore, as described herein, a V-UE may generally serve as an anchor point for a PRS measurement session with a P-UE to enable the P-UE to obtain ranging measurements that may indicate a distance from the P-UE to the one or more V-UEs.

[0083] like Fig. 7A, and as further shown by reference numeral 714, a P-UE may receive a BSM from each of the one or more V-UEs participating in a ranging and / or positioning measurement session with the P-UE. For example, in some aspects, the BSM may generally include at least an estimated position of the V-UE that transmitted the BSM. Furthermore, in some aspects, the BSM may include additional safety data regarding the status of the V-UE. For example, in some aspects, a BSM transmitted by a V-UE may include position accuracy, velocity, acceleration, heading, yaw rate, steering wheel angle, brake system status, vehicle size, and / or other information associated with the V-UE.

[0084] like Fig. 7A , and as further shown by reference numeral 716, a P-UE may transmit information to a network node (e.g., via a serving base station) to report self-measurements (or self-measurements) obtained during one or more PRS measurement sessions with one or more V-UEs and estimated positions of the V-UE(s) (e.g., as indicated in a BSM transmitted by each V-UE). For example, in some aspects, the self-measurements may generally include a set of ranging measurements (e.g., measurements related to ToA, AoA, clock bias error, RTT, TDOA, etc.) obtained by the P-UE based at least in part on PRS communicated between the V-UE and the P-UE on a sidelink. In this way, the estimated position(s) of the V-UE and the ranging measurements indicating the corresponding distances between the P-UE and the V-UE(s) may enable the network node to determine the estimated position of the P-UE. Furthermore, in some aspects, the P-UE may perform ranging and / or positioning measurements with nearby V-UEs and periodically or continuously report the ranging measurements and the V-UE positions to the network node. For example, in some cases, where the P-UE is able to obtain a reliable position estimate from ranging measurements and an estimated V-UE position, the P-UE may not need to request positioning assistance from a network node. However, in cases where there is significant variation in the P-UE position estimate based on ranging measurements obtained from PRSs transmitted from different V-UEs, the P-UE may request assistance from the network node to obtain a more reliable position estimate. Thus, as described herein, the P-UE may transmit ranging measurements and the V-UE position estimate to a network node to enable the network node to provide positioning assistance on demand, periodically, upon the occurrence of a triggering event, and the like, as described in further detail below.

[0085] like Fig. 7A , and as further shown by reference numeral 720, the network node may communicate with one or more base stations to schedule PRS transmissions for the P-UE. For example, in some aspects, the network node may identify a base station that provides a serving cell for the P-UE, may identify one or more base stations that provide neighboring cells for the P-UE, and may schedule PRS transmissions from the identified base stations to the P-UE.

[0086] like Fig. 7A , and as further shown by reference numeral 722, the P-UE may participate in a PRS measurement session with the one or more base stations. For example, in a manner similar to the sidelink PRS measurement session, each base station scheduled for PRS transmission may transmit a PRS to the P-UE on an access link, and the P-UE may obtain a set of ranging measurements based at least in part on the PRS transmitted by each base station. For example, as described above, the set of ranging measurements may include AoA measurements, clock bias error measurements, RTT measurements, ToA measurements, TDOA measurements, OTDOA measurements, RSTD measurements, etc. Thus, as described herein, a base station may serve as an anchor point for an access link PRS measurement session with a P-UE to enable the P-UE to obtain ranging measurements that may indicate a distance from the P-UE to each base station.

[0087] like Fig. 7A , and further illustrated by reference numeral 724, each base station performing PRS measurements with the P-UE on the access link may report ranging measurements associated with the PRS measurements to the network node. For example, the P-UE may report AoA, clock bias error, RTT, ToA, TDOA, OTDOA, RSTD, and / or other ranging measurement values ​​to the base station, and the base station may relay the ranging measurements to the network node.

[0088] like Fig. 7A As further shown in the figure numeral 730, the network node may perform positioning functions to determine a position estimate of the P-UE based at least in part on ranging measurements associated with a sidelink PRS measurement session, an estimated position of a V-UE participating in the sidelink PRS measurement session, ranging measurements associated with an access link PRS measurement session, and the positions of base stations participating in the sidelink PRS measurement session. In addition, the network node may receive ranging measurements from multiple P-UEs participating in sidelink PRS measurement sessions with different V-UEs, and from multiple base stations participating in access link PRS measurement sessions with different P-UEs. Thus, in some aspects, the network node may rely on positioning data from a variety of different sources to determine the position estimate of the P-UE. For example, based at least in part on ranging measurements obtained on a sidelink between the P-UE and one or more V-UEs, and ranging measurements obtained on an access link between the P-UE and one or more base stations, the network node may be able to determine an accurate and reliable position estimate of the P-UE. In addition, the accuracy and reliability of the P-UE's position estimate can be improved when the network node receives ranging measurements based on side link PRS measurements and / or access link PRS measurements from other P-UEs that may be communicating with the same (or other) V-UEs and / or base stations.

[0089] like Fig. 7A , and as further shown by reference numeral 740, the P-UE may transmit a location request to the network node. For example, in some aspects, the location request transmitted by the P-UE may indicate one or more modes by which the network node is to provide a location estimate to the P-UE. For example, as described below with reference to Figure 7B As further described in detail, the location request transmitted by the P-UE may be an on-demand location request, wherein the P-UE requests information related to the estimated location of the P-UE and / or one or more V-UEs. Additionally or alternatively, as described below with reference to Figure 7C As described in more detail, the location request transmitted by the P-UE may be configured with one or more event triggers that define conditions under which the network node is to report the estimated location of the P-UE and / or one or more V-UEs to the P-UE. Additionally or alternatively, as described below with reference to Fig.7D Described in more detail, the location request transmitted by the P-UE may be configured with a periodic interval for reporting location information, such that the network node reports the estimated location of the P-UE and / or one or more V-UEs to the P-UE upon expiration of the periodic interval.

[0090] like Fig. 7A , and as further shown by reference numeral 742, the network node may transmit one or more position estimates to the P-UE. For example, in some aspects, the one or more position estimates transmitted to the P-UE may include at least a position estimate for the P-UE. Also, in some aspects, the one or more position estimates transmitted to the P-UE may include position estimates for one or more V-UEs. For example, as described below with reference to Figure 7B As described in further detail, the position estimate(s) may be transmitted to the P-UE in response to an on-demand position request from the P-UE. Additionally or alternatively, as described below with reference to Figure 7C As further described in detail, the position estimate(s) may be transmitted to the P-UE based at least in part on the network node detecting the occurrence of one or more triggering events. Additionally or alternatively, as described below with reference to Fig.7D As described in further detail, the position estimate(s) may be transmitted to the P-UE upon determining that a periodic interval configured by the P-UE has expired.

[0091] For example, Figure 7B, and as indicated by reference numeral 750, a P-UE may transmit an on-demand request for an estimated position of the P-UE and / or an estimated position of one or more V-UEs to a network node. For example, in some aspects, the P-UE may transmit an on-demand request to a network node for positioning assistance based at least in part on a determination that an estimated position of the P-UE (as determined by the P-UE) is unreliable (e.g., based at least in part on a variance of GNSS sensor information satisfying a threshold, a variance of ranging measurements of one or more V-UEs satisfying a threshold, etc.). Additionally or alternatively, the P-UE may transmit the on-demand request based at least in part on detecting the presence of one or more V-UEs (e.g., via a BSM transmission received at the P-UE). In some aspects, when the P-UE requests positioning information associated with one or more V-UEs, the on-demand request may include an identifier associated with the one or more V-UEs to enable the network node to determine the V-UEs for which the P-UE requests positioning information.

[0092] Thus, as described herein, in the event that a P-UE is unable to determine a reliable position estimate for the P-UE, the P-UE may transmit an on-demand positioning request to a network node requesting an estimated position of the P-UE. Similarly, in the event that the P-UE is unable to determine a reliable position estimate for one or more V-UEs (e.g., because the variance of ranging measurements obtained by these V-UEs from PRS transmissions satisfies a threshold), the P-UE may request an estimated position for the one or more V-UEs. Fig. 7A As further illustrated by reference numeral 752, the network node may transmit a joint position estimate for a P-UE to the P-UE based, at least in part, on sidelink and access link ranging measurements reported by the P-UE. Furthermore, in some cases, the joint position estimate may take into account sidelink and access link ranging measurements reported by other P-UEs to improve the accuracy of the P-UE position estimate. Furthermore, in the event that the P-UE requests position estimates for one or more V-UEs that the P-UE cannot accurately locate, the position estimate(s) returned by the network node for the V-UE(s) may be based on sidelink ranging measurements reported by the other P-UEs (e.g., because the on-demand request indicates that the sidelink ranging measurements reported by the P-UE for the one or more V-UEs are considered unreliable).

[0093] Additionally or alternatively, such as Figure 7CIn and as indicated by reference numeral 760, a P-UE may transmit a positioning request to a network node, the positioning request configuring one or more triggering events, the one or more triggering events defining conditions for reporting positioning information to the P-UE. Thus, as indicated by reference numeral 762, the network node may transmit an estimated location of the P-UE and / or one or more V-UEs to the P-UE based at least in part on detecting the occurrence of the one or more triggering events. For example, in some aspects, one or more triggering events may be pre-configured, and the P-UE may transmit a positioning request in an uplink signaling message (e.g., a radio resource control (RRC) configuration message, a media access control (MAC) control element (MAC-CE), an uplink control information (UCI), etc.) to request that the network node enable one or more of the triggering events. Additionally or alternatively, the positioning request may specify one or more conditions or criteria for defining the triggering events.

[0094] In one use case, the triggering event may include a variance of measurements reported by the P-UE regarding the P-UE or V-UE satisfying a threshold. For example, in the event that the variance between one or more parameters included in the sidelink ranging measurements reported by the P-UE and one or more corresponding parameters included in the access link ranging measurements reported by the base station satisfies the threshold, the network node may locate the P-UE based on the positioning data reported by each P-UE and / or the base station and report the estimated position of the P-UE. In another example, the triggering event may include the P-UE initially reporting measurements regarding the P-UE and / or one or more V-UEs, in which case the network node may report the estimated position of the P-UE and / or the one or more V-UEs for a configured duration (e.g., to assist in initializing position measurements for the P-UE). In yet another example, the triggering event may include the distance between the P-UE and one or more V-UEs satisfying (e.g., being less than or equal to) a threshold, in which case the network node may transmit a warning message to alert the P-UE (e.g., to assist in avoiding a collision between the P-UE and a V-UE within a threshold distance from the P-UE).

[0095] Additionally or alternatively, such as Fig.7DIn and as indicated by reference numeral 770, a P-UE may transmit a positioning request to a network node, the positioning request configuring periodic reporting of estimated position information for the P-UE and / or one or more V-UEs. For example, in some aspects, the P-UE may configure a periodic reporting interval for requesting positioning assistance based at least in part on determining that an estimated position of the P-UE (as determined by the P-UE) is unreliable (e.g., based at least in part on a variance of GNSS sensor information satisfying a threshold, a variance of ranging measurements of one or more V-UEs satisfying a threshold, etc.). Additionally or alternatively, the P-UE may configure the periodic reporting interval based at least in part on detecting the presence of one or more V-UEs (e.g., via a BSM transmission received at the P-UE). In some aspects, when the P-UE configures the periodic reporting interval, the on-demand request may include an identifier associated with the one or more V-UEs to enable the network node to determine the V-UEs for which the P-UE requested positioning information, and the P-UE may further indicate the duration of the periodic reporting interval. For example, the P-UE may configure the network node to report the estimated location of the P-UE and / or the one or more V-UEs every T seconds.

[0096] Thus, as described herein, a P-UE may transmit a positioning request configuring a periodic reporting interval in the event that the P-UE is unable to determine a reliable position estimate for the P-UE, in the event that the P-UE is unable to determine a reliable position estimate for a V-UE (e.g., because the variance of ranging measurements obtained from PRS transmissions of such V-UEs satisfies a threshold), in the event that the P-UE detects one or more V-UEs, and the like. Fig.7D And as further illustrated by reference numeral 772, the network node may transmit a joint position estimate for the P-UE to the P-UE based at least in part on sidelink and access link ranging measurements reported by the P-UE after a periodic reporting interval has expired (e.g., every T seconds). Moreover, in some cases, the joint position estimate may take into account sidelink and access link ranging measurements reported by other P-UEs to improve the accuracy of the P-UE position estimate. Furthermore, in the event that the P-UE requests position estimates for one or more V-UEs that the P-UE cannot accurately locate, the position estimate(s) returned by the network node for the V-UE(s) may be based on sidelink ranging measurements reported by the other P-UEs (e.g., because the positioning request indicates that the position estimate provided in a BSM received from the one or more V-UEs is considered unreliable).

[0097] like Fig.7D , and as further indicated by reference numeral 774, the P-UE may transmit a request to the network node to reconfigure the periodic reporting interval and / or to reconfigure the identity of the V-UE(s) to be included in the positioning information periodically reported to the P-UE. Fig.7D, and as further illustrated by reference numeral 776, the network may transmit a joint position estimate of the P-UE and / or one or more V-UEs to the P-UE based on the updated configuration information (e.g., after expiration of a periodic interval indicated in the reconfiguration request, to include position estimates of one or more V-UEs identified in the reconfiguration request, etc.).

[0098] As indicated above, Figures 7A-7D Provided as an example. Other examples may differ from Figures 7A-7D Examples described.

[0099] Figure 8 8 is a diagram illustrating an example process 800 performed, for example, by a network node according to the present disclosure. Example process 800 is an example in which a network node (eg, base station 110, network controller 130, LMF device, etc.) performs operations associated with V2P positioning with UE and network assistance.

[0100] like Figure 8 As shown in , in some aspects, process 800 may include receiving a first ranging measurement set based at least in part on one or more PRSs communicated on a sidelink between a P-UE and a V-UE (block 810). For example, the network node may (e.g., using communication unit 294, antenna 234, DEMOD 232, MIMO detector 236, receive processor 238, controller / processor 240, memory 242, etc.) receive the first ranging measurement set based at least in part on one or more positioning reference signals communicated on a sidelink between a P-UE and a V-UE, as described above.

[0101] like Figure 8 As further shown in FIG. 8 , in some aspects, process 800 may include receiving a second ranging measurement set based at least in part on one or more PRSs communicated on an access link between the P-UE and one or more base stations (block 820). For example, the network node may receive (e.g., using communication unit 294, antenna 234, DEMOD 232, MIMO detector 236, receive processor 238, controller / processor 240, memory 242, etc.) the second ranging measurement set based at least in part on one or more PRSs communicated on an access link between the P-UE and one or more base stations, as described above.

[0102] like Figure 8As further shown in FIG. 8 , in some aspects, process 800 may include transmitting an estimated position of the P-UE to the P-UE, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set (block 830). For example, the network node may (e.g., using the communication unit 294, the controller / processor 240, the transmit processor 220, the Tx MIMO processor 230, the MOD 232, the antenna 234, the memory 242, etc.) may transmit the estimated position of the P-UE to the P-UE, as described above. In some aspects, the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0103] Process 800 may include additional aspects, such as any single aspect or any combination of aspects described below and / or in conjunction with one or more other processes described elsewhere herein.

[0104] In a first aspect, process 800 includes determining a first position estimate of the P-UE based at least in part on the first ranging measurement set and an estimated position of the V-UE; and determining a second position estimate of the P-UE based at least in part on the second ranging measurement set and the positions of the one or more base stations, wherein the estimated position of the P-UE is based at least in part on the first position estimate and the second position estimate.

[0105] In a second aspect, alone or in combination with the first aspect, the first ranging measurement set and the estimated position of the V-UE are received from the P-UE.

[0106] In a third aspect, alone or in combination with one or more of the first and second aspects, the second ranging measurement set is received from the one or more base stations.

[0107] In a fourth aspect, either alone or in combination with one or more of the first to third aspects, process 800 includes receiving a request for positioning information from the P-UE, wherein the estimated position of the P-UE is transmitted to the P-UE based at least in part on the request for positioning information.

[0108] In a fifth aspect, either alone or in combination with one or more of the first to fourth aspects, the request for positioning information indicates a periodic reporting interval, and the estimated position of the P-UE is transmitted to the P-UE based at least in part on the expiration of the periodic reporting interval.

[0109] In a sixth aspect, either alone or in combination with one or more of the first to fifth aspects, process 800 includes determining an estimated position of the V-UE based at least in part on ranging measurements associated with a PRS communicated on a side link between the V-UE and one or more other P-UEs; and transmitting the estimated position of the V-UE to the P-UE based at least in part on the request for positioning information including a request for positioning information associated with the V-UE.

[0110] In a seventh aspect, either alone or in combination with one or more of the first to sixth aspects, the request for positioning information indicates a periodic reporting interval, and the estimated position of the P-UE and the estimated position of the V-UE are transmitted to the P-UE based at least in part on the expiration of the periodic reporting interval.

[0111] In an eighth aspect, either alone or in combination with one or more of the first to seventh aspects, process 800 includes receiving from the P-UE a message of one or more triggering events configured for reporting positioning information to the P-UE, wherein the estimated position of the P-UE and / or the estimated position of the V-UE is transmitted to the P-UE based at least in part on the occurrence of the one or more triggering events.

[0112] In a ninth aspect, either alone or in combination with one or more of the first to eighth aspects, the one or more triggering events include a variance between one or more parameters included in the first ranging measurement set and one or more parameters included in the second ranging measurement set satisfying a threshold.

[0113] In a tenth aspect, alone or in combination with one or more of the first to ninth aspects, the one or more triggering events include receiving an initial report of the first ranging measurement set from the P-UE.

[0114] In an eleventh aspect, either alone or in combination with one or more of the first to tenth aspects, the one or more triggering events include a distance between the estimated position of the P-UE and the estimated position of the V-UE or one or more other V-UEs satisfying a threshold.

[0115] although Figure 8 An example block diagram of process 800 is shown, but in some aspects, process 800 may include Figure 8 Additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in the process 800. Additionally or alternatively, two or more blocks of process 800 may be executed in parallel.

[0116] Fig. 9is a diagram illustrating an example process 900 performed, for example, by a P-UE in accordance with the present disclosure. Example process 900 is an example in which a P-UE (eg, UE 120, etc.) performs operations associated with V2P positioning with UE and network assistance.

[0117] like Fig. 9 As shown in , in some aspects, process 900 may include transmitting a first ranging measurement set to a network node, the first ranging measurement set based at least in part on one or more PRSs communicated on a sidelink between the P-UE and the V-UE (block 910). For example, the P-UE (e.g., using the controller / processor 280, the transmit processor 264, the Tx MIMO processor 266, the MOD 254, the antenna 252, the memory 282, etc.) may transmit a first ranging measurement set to a network node, the first ranging measurement set based at least in part on one or more PRSs communicated on a sidelink between the P-UE and the V-UE, as described above.

[0118] like Fig. 9 As further shown in FIG. 9 , in some aspects, process 900 may include transmitting a second ranging measurement set to one or more base stations, the second ranging measurement set based at least in part on one or more PRSs communicated on an access link between the P-UE and the one or more base stations (block 920). For example, the P-UE (e.g., using controller / processor 280, transmit processor 264, Tx MIMO processor 266, MOD 254, antenna 252, memory 282, etc.) may transmit a second ranging measurement set to one or more base stations, the second ranging measurement set based at least in part on one or more PRSs communicated on an access link between the P-UE and the one or more base stations, as described above.

[0119] like Fig. 9 As further shown in FIG. 9 , in some aspects, process 900 may include receiving an estimated location of the P-UE from the network node, wherein the estimated location of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set (block 930). For example, the P-UE (e.g., using antenna 252, DEMOD 254, MIMO detector 256, receive processor 258, controller / processor 280, memory 282, etc.) may receive the estimated location of the P-UE from the network node, as described above. In some aspects, the estimated location of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0120] Process 900 may include additional aspects, such as any single aspect or any combination of aspects described below and / or in conjunction with one or more other processes described elsewhere herein.

[0121] In a first aspect, process 900 includes transmitting an estimated location of the V-UE to the network node, wherein the estimated location of the P-UE is further based at least in part on the estimated location of the V-UE and locations of the one or more base stations.

[0122] In a second aspect, alone or in combination with the first aspect, process 900 includes receiving a BSM from the V-UE on the sidelink indicating an estimated location of the V-UE.

[0123] In a third aspect, either alone or in combination with one or more of the first and second aspects, process 900 comprises transmitting a request for positioning information to the network node, wherein the estimated position of the P-UE is received from the network node based at least in part on the request for positioning information.

[0124] In a fourth aspect, either alone or in combination with one or more of the first to third aspects, the request for positioning information indicates a periodic reporting interval, and the estimated position of the P-UE is received from the network node based at least in part on expiration of the periodic reporting interval.

[0125] In a fifth aspect, either alone or in combination with one or more of the first to fourth aspects, process 900 includes receiving an estimated location of the V-UE from the network node based at least in part on the request for positioning information including a request for positioning information associated with the V-UE.

[0126] In a sixth aspect, either alone or in combination with one or more of the first to fifth aspects, the request for positioning information indicates a periodic reporting interval, and the estimated position of the P-UE and the estimated position of the V-UE are received from the network node at least in part based on the expiration of the periodic reporting interval.

[0127] In a seventh aspect, either alone or in combination with one or more of the first to sixth aspects, the request for positioning information is transmitted to the network node based at least in part on a variance associated with one or more local sensors satisfying a first threshold, or based at least in part on a variance associated with the first ranging measurement set satisfying a second threshold.

[0128] In an eighth aspect, alone or in combination with one or more of the first to seventh aspects, the request for positioning information is transmitted to the network node based at least in part on receiving one or more BSMs indicating the presence of one or more V-UEs.

[0129] In a ninth aspect, either alone or in combination with one or more of the first to eighth aspects, process 900 includes transmitting to the network node a message of one or more triggering events configured for reporting positioning information to the P-UE, wherein one or more of the estimated position of the P-UE or the estimated position of the V-UE is received from the network node based at least in part on the occurrence of the one or more triggering events.

[0130] In a tenth aspect, alone or in combination with one or more of the first to ninth aspects, the one or more triggering events include a variance between one or more parameters included in the first ranging measurement set and one or more parameters included in the second ranging measurement set satisfying a threshold.

[0131] In an eleventh aspect, alone or in combination with one or more of the first to tenth aspects, the one or more triggering events include receiving an initial report of the first ranging measurement set from the P-UE.

[0132] In a twelfth aspect, either alone or in combination with one or more of the first to eleventh aspects, the one or more triggering events include a distance between the estimated position of the P-UE and the estimated position of the V-UE or one or more other V-UEs satisfying a threshold.

[0133] although Fig. 9 An example block diagram of process 900 is shown, but in some aspects, process 900 may include Fig. 9 Additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in the process 900. Additionally or alternatively, two or more blocks of process 900 may be executed in parallel.

[0134] Fig.10 1 is a block diagram of an example apparatus 1000 for wireless communication. Apparatus 1000 may be a network node, or a network node may include apparatus 1000. In some aspects, apparatus 1000 includes a receiving component 1002 and a transmitting component 1004, which may be in communication with each other (e.g., via one or more buses and / or one or more other components). As shown, apparatus 1000 may use receiving component 1002 and transmitting component 1004 to communicate with another apparatus 1006 (such as a UE, a base station, or another wireless communication device). As further shown, apparatus 1000 may include a determining component 1008, among other examples.

[0135] In some aspects, the apparatus 1000 may be configured to perform the Figure 6 and / or Figures 7A-7D Additionally or alternatively, the apparatus 1000 may be configured to perform one or more processes described herein, such as Figure 8In some aspects, the apparatus 1000 and / or Fig.10 One or more components shown in the figure may include the above combination Figure 2 One or more components of the base station or network controller described. Additionally or alternatively, Fig.10 One or more of the components shown in the above may be combined Figure 2 In one or more components described herein, the components may be implemented in a computer program product. Additionally or alternatively, one or more components in the component set may be implemented at least in part as software stored in a memory. For example, a component (or a portion of a component) may be implemented as instructions or codes stored in a non-transitory computer-readable medium and may be executed by a controller or processor to perform the function or operation of the component.

[0136] The receiving component 1002 may receive communications (such as reference signals, control information, data communications, or combinations thereof) from the apparatus 1006. The receiving component 1002 may provide the received communications to one or more other components of the apparatus 1000. In some aspects, the receiving component 1002 may perform signal processing (such as filtering, amplification, demodulation, analog-to-digital conversion, demultiplexing, deinterleaving, demapping, equalization, interference cancellation, or decoding, among other examples) on the received communications and may provide the processed signals to one or more other components of the apparatus 1006. In some aspects, the receiving component 1002 may include a combination of the above. Figure 2 One or more antennas, demodulators, MIMO detectors, receive processors, controllers / processors, memories, or combinations thereof, of the described network nodes.

[0137] Transmission component 1004 may transmit communications (such as reference signals, control information, data communications, or a combination thereof) to device 1006. In some aspects, one or more other components of device 1006 may generate communications and may provide the generated communications to transmission component 1004 for transmission to device 1006. In some aspects, transmission component 1004 may perform signal processing (such as filtering, amplification, modulation, digital-to-analog conversion, multiplexing, interleaving, mapping, or encoding, etc.) on the generated communications and may transmit the processed signals to device 1006. In some aspects, transmission component 1004 may include a combination of the above. Figure 2 One or more antennas, modulators, transmit MIMO processors, transmit processors, controllers / processors, memory, or combinations thereof of the described network nodes. In some aspects, the transmitting component 1004 can be co-located with the receiving component 1002 in a transceiver.

[0138] The receiving component 1002 may receive a first ranging measurement set based at least in part on a first one or more positioning reference signals communicated on a side link between a P-UE and a V-UE. The receiving component 1002 may receive a second ranging measurement set based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and one or more base stations. The transmitting component 1004 may transmit an estimated position of the P-UE to the P-UE, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0139] Determining component 1008 can determine a first position estimate for the P-UE based at least in part on the first set of ranging measurements and the estimated position of the V-UE.

[0140] Determining component 1008 may determine a second position estimate for the P-UE based at least in part on the second ranging measurement set and the positions of the one or more base stations, wherein the estimated position of the P-UE is based at least in part on the first position estimate and the second position estimate.

[0141] Receiving component 1002 can receive a request for positioning information from the P-UE, wherein the estimated location of the P-UE is transmitted to the P-UE based at least in part on the request for positioning information.

[0142] Determining component 1008 can determine an estimated location of the V-UE based at least in part on ranging measurements associated with positioning reference signals communicated on a sidelink between the V-UE and one or more other P-UEs.

[0143] Transmitting component 1004 can transmit the estimated location of the V-UE to the P-UE based at least in part on the request for positioning information comprising a request for positioning information associated with the V-UE.

[0144] The receiving component 1002 may receive a message from the P-UE configured for one or more triggering events to report positioning information to the P-UE, wherein one or more of the estimated position of the P-UE or the estimated position of the V-UE is transmitted to the P-UE at least in part based on the occurrence of the one or more triggering events.

[0145] Fig.10 The number and arrangement of components shown in the figure are provided as examples. In practice, there may be Fig.10 Additional components, fewer components, different components, or differently arranged components than those shown in FIG. Fig.10 Two or more components shown in may be implemented in a single component, or Fig.10The single component shown in may be implemented as multiple distributed components. Additionally or alternatively, Fig.10 The component collection (e.g., one or more components) shown in FIG. 1 may be described as being executed by Fig.10 Another set of components shown in FIG. 1 performs one or more functions.

[0146] Fig.11 1 is a block diagram of an example apparatus 1100 for wireless communication. Apparatus 1100 may be a UE, or a UE may include apparatus 1100. In some aspects, apparatus 1100 includes a receiving component 1102 and a transmitting component 1104, which may be in communication with each other (e.g., via one or more buses and / or one or more other components). As shown, apparatus 1100 may use receiving component 1102 and transmitting component 1104 to communicate with another apparatus 1106 (such as a UE, a base station, or another wireless communication device).

[0147] In some aspects, the apparatus 1100 may be configured to perform Figure 6 and / or Figures 7A-7D Additionally or alternatively, the apparatus 1100 may be configured to perform one or more processes described herein, such as Fig. 9 In some aspects, the apparatus 1100 and / or Fig.11 One or more components shown in the figure may include the above combination Figure 2 Additionally or alternatively, Fig.11 One or more of the components shown in the above may be combined Figure 2 In one or more components described herein, the components may be implemented in a computer program product. Additionally or alternatively, one or more components in the component set may be implemented at least in part as software stored in a memory. For example, a component (or a portion of a component) may be implemented as instructions or codes stored in a non-transitory computer-readable medium and may be executed by a controller or processor to perform the function or operation of the component.

[0148] The receiving component 1102 may receive communications (such as reference signals, control information, data communications, or combinations thereof) from the device 1106. The receiving component 1102 may provide the received communications to one or more other components of the device 1100. In some aspects, the receiving component 1102 may perform signal processing (such as filtering, amplification, demodulation, analog-to-digital conversion, demultiplexing, deinterleaving, demapping, equalization, interference cancellation, or decoding, among other examples) on the received communications and may provide the processed signals to one or more other components of the device 1106. In some aspects, the receiving component 1102 may include a combination of the above. Figure 2One or more antennas, demodulators, MIMO detectors, receive processors, controllers / processors, memories, or combinations thereof of the described UE.

[0149] The transmission component 1104 may transmit communications (such as reference signals, control information, data communications, or a combination thereof) to the device 1106. In some aspects, one or more other components of the device 1106 may generate communications and may provide the generated communications to the transmission component 1104 for transmission to the device 1106. In some aspects, the transmission component 1104 may perform signal processing (such as filtering, amplification, modulation, digital-to-analog conversion, multiplexing, interleaving, mapping, encoding, etc.) on the generated communications and may transmit the processed signals to the device 1106. In some aspects, the transmission component 1104 may include a combination of the above. Figure 2 One or more antennas, modulators, transmit MIMO processors, transmit processors, controllers / processors, memory, or combinations thereof of the described UE. In some aspects, the transmitting component 1104 can be co-located with the receiving component 1102 in a transceiver.

[0150] The transmitting component 1104 may transmit a first ranging measurement set to a network node, the first ranging measurement set based at least in part on a first one or more positioning reference signals communicated on a side link between the P-UE and a vehicle UE (V-UE). The transmitting component 1104 may transmit a second ranging measurement set to one or more base stations, the second ranging measurement set based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and the one or more base stations. The receiving component 1102 may receive an estimated position of the P-UE from the network node, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0151] Transmitting component 1104 can transmit the estimated location of the V-UE to the network node, wherein the estimated location of the P-UE is further based at least in part on the estimated location of the V-UE and the locations of the one or more base stations.

[0152] Transmitting component 1104 can transmit a request for positioning information to the network node, wherein the estimated location of the P-UE is received from the network node based at least in part on the request for positioning information.

[0153] Receiving component 1102 can receive, from the network node, an estimated location of the V-UE based at least in part on the request for positioning information comprising a request for positioning information associated with the V-UE.

[0154] The transmission component 1104 may transmit a message of one or more triggering events configured to report positioning information to the P-UE to the network node, wherein one or more of the estimated position of the P-UE or the estimated position of the V-UE is received from the network node at least in part based on the occurrence of the one or more triggering events.

[0155] Fig.11 The number and arrangement of components shown in the figure are provided as examples. In practice, there may be Fig.11 Additional components, fewer components, different components, or differently arranged components than those shown in FIG. Fig.11 Two or more components shown in may be implemented in a single component, or Fig.11 The single component shown in may be implemented as multiple distributed components. Additionally or alternatively, Fig.11 The component collection (e.g., one or more components) shown in FIG. 1 may be described as being executed by Fig.11 Another set of components shown in FIG. 1 performs one or more functions.

[0156] The following provides an overview of some aspects of the disclosure:

[0157] Aspect 1: A wireless communication method performed by a network node, comprising: receiving a first ranging measurement set, the first ranging measurement set being based at least in part on a first one or more positioning reference signals communicated on a side link between a P-UE and a V-UE; receiving a second ranging measurement set, the second ranging measurement set being based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and one or more base stations; and transmitting an estimated position of the P-UE to the P-UE, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0158] Aspect 2: The method of Aspect 1 further includes: determining a first position estimate of the P-UE based at least in part on the first ranging measurement set and the estimated position of the V-UE; and determining a second position estimate of the P-UE based at least in part on the second ranging measurement set and the positions of the one or more base stations, wherein the estimated position of the P-UE is at least in part based on the first position estimate and the second position estimate.

[0159] Aspect 3: The method of aspect 1, wherein the first ranging measurement set and the estimated position of the V-UE are received from the P-UE.

[0160] Aspect 4: The method according to any one of aspects 2-3, wherein the second ranging measurement set is received from the one or more base stations.

[0161] Aspect 5: The method of any one of aspects 1-4, further comprising: receiving a request for positioning information from the P-UE, wherein the estimated position of the P-UE is transmitted to the P-UE based at least in part on the request for positioning information.

[0162] Aspect 6: The method of aspect 5, wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the P-UE is transmitted to the P-UE based at least in part on the expiration of the periodic reporting interval.

[0163] Aspect 7: A method as in any of Aspects 5-6, further comprising: determining an estimated position of the V-UE based at least in part on ranging measurements associated with a PRS communicated on a side link between the V-UE and one or more other P-UEs; and transmitting the estimated position of the V-UE to the P-UE based at least in part on the request for positioning information including a request for positioning information associated with the V-UE.

[0164] Aspect 8: A method as in Aspect 7, wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the P-UE and the estimated position of the V-UE are transmitted to the P-UE at least in part based on the expiration of the periodic reporting interval.

[0165] Aspect 9: The method as in any one of Aspects 1-8 further includes: receiving a message from the P-UE configured for one or more trigger events for reporting positioning information to the P-UE, wherein one or more of the estimated position of the P-UE or the estimated position of the V-UE is transmitted to the P-UE at least in part based on the occurrence of the one or more trigger events.

[0166] Aspect 10: The method of aspect 9, wherein the one or more triggering events include a variance between one or more parameters included in the first ranging measurement set and one or more parameters included in the second ranging measurement set satisfying a threshold.

[0167] Aspect 11: The method according to any one of aspects 9-10, wherein the one or more triggering events include receiving an initial report of the first ranging measurement set from the P-UE.

[0168] Aspect 12: The method according to any one of aspects 9 to 11, wherein the one or more triggering events include a distance between the estimated location of the P-UE and the estimated location of the V-UE or one or more other V-UEs satisfying a threshold.

[0169] Aspect 13: A wireless communication method performed by a P-UE, comprising: transmitting a first ranging measurement set to a network node, the first ranging measurement set being based at least in part on a first one or more positioning reference signals communicated on a side link between the P-UE and a V-UE; transmitting a second ranging measurement set to one or more base stations, the second ranging measurement set being based at least in part on a second one or more positioning reference signals communicated on an access link between the P-UE and the one or more base stations; and receiving an estimated position of the P-UE from the network node, wherein the estimated position of the P-UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

[0170] Aspect 14: The method of Aspect 13 further comprises: transmitting the estimated location of the V-UE to the network node, wherein the estimated location of the P-UE is further based at least in part on the estimated location of the V-UE and the locations of the one or more base stations.

[0171] Aspect 15: The method of Aspect 14 further comprises: receiving a BSM indicating an estimated location of the V-UE from the V-UE on the side link.

[0172] Aspect 16: The method of any one of aspects 13-15, further comprising: transmitting a request for positioning information to the network node, wherein the estimated position of the P-UE is received from the network node based at least in part on the request for positioning information.

[0173] Aspect 17: The method of aspect 16, wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the P-UE is received from the network node based at least in part on the expiration of the periodic reporting interval.

[0174] Aspect 18: The method of any of Aspects 16-17, further comprising: receiving an estimated location of the V-UE from the network node based at least in part on the request for positioning information comprising a request for positioning information associated with the V-UE.

[0175] Aspect 19: A method as in Aspect 18, wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the P-UE and the estimated position of the V-UE are received from the network node at least in part based on the expiration of the periodic reporting interval.

[0176] Aspect 20: A method as described in any of Aspects 16-19, wherein the request for positioning information is transmitted to the network node at least in part based on a variance associated with one or more local sensors satisfying a first threshold, or at least in part based on a variance associated with the first ranging measurement set satisfying a second threshold.

[0177] Aspect 21: The method according to any one of aspects 16-20, wherein the request for positioning information is transmitted to the network node based at least in part on receiving one or more BSMs indicating the presence of one or more V-UEs.

[0178] Aspect 22: The method as in any one of Aspects 13-21, further comprising: transmitting to the network node a message of one or more trigger events configured for reporting positioning information to the P-UE, wherein one or more of the estimated position of the P-UE or the estimated position of the V-UE is received from the network node at least in part based on the occurrence of the one or more trigger events.

[0179] Aspect 23: The method of Aspect 22, wherein the one or more triggering events include a variance between one or more parameters included in the first ranging measurement set and one or more parameters included in the second ranging measurement set satisfying a threshold.

[0180] Aspect 24: The method according to any one of aspects 22-23, wherein the one or more triggering events include receiving an initial report of the first ranging measurement set from the P-UE.

[0181] Aspect 25: The method according to any one of aspects 22-24, wherein the one or more triggering events include a distance between the estimated location of the P-UE and the estimated location of the V-UE or one or more other V-UEs satisfying a threshold.

[0182] Aspect 26: An apparatus for wireless communication at a device, comprising: a processor; a memory coupled to the processor; and instructions stored in the memory and executable by the processor to cause the apparatus to perform a method as in any one of aspects 1-12.

[0183] Aspect 27: An apparatus for wireless communication, comprising: a memory and one or more processors coupled to the memory, the memory and the one or more processors being configured to perform the method of any one of aspects 1-12.

[0184] Aspect 28: An apparatus for wireless communication, comprising at least one means for performing the method of any one of aspects 1-12.

[0185] Aspect 29: A non-transitory computer-readable medium storing code for wireless communication, the code comprising instructions executable by a processor to perform the method of any one of aspects 1-12.

[0186] Aspect 30: A non-transitory computer-readable medium storing an instruction set for wireless communication, the instruction set comprising one or more instructions that, when executed by one or more processors of a device, cause the device to perform the method of any of aspects 1-12.

[0187] Aspect 31: An apparatus for wireless communication at a device, comprising: a processor; a memory coupled to the processor; and instructions stored in the memory and executable by the processor to cause the apparatus to perform a method as in any one of aspects 13-25.

[0188] Aspect 32: An apparatus for wireless communication, comprising: a memory and one or more processors coupled to the memory, the memory and the one or more processors being configured to perform the method of any one of aspects 13-25.

[0189] Aspect 33: An apparatus for wireless communication, comprising at least one means for performing the method of any one of aspects 13-25.

[0190] Aspect 34: A non-transitory computer-readable medium storing code for wireless communication, the code comprising instructions executable by a processor to perform the method of any one of aspects 13-25.

[0191] Aspect 35: A non-transitory computer-readable medium storing an instruction set for wireless communication, the instruction set comprising one or more instructions that, when executed by one or more processors of a device, cause the device to perform the method of any of aspects 13-25.

[0192] The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the aspects to the precise forms disclosed. Modifications and variations may be made in light of the above disclosure or may be acquired by practice of the various aspects.

[0193] As used herein, the term "component" is intended to be broadly interpreted as a combination of hardware and / or hardware and software. "Software" should be broadly interpreted as meaning instructions, instruction sets, codes, code segments, program codes, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, and / or functions, etc., whether it is described in software, firmware, middleware, microcode, hardware description language or other terms. As used herein, processors are implemented with hardware, and / or a combination of hardware and software. It will be obvious that the systems and / or methods described herein can be implemented in different forms of hardware, and / or a combination of hardware and software. The actual dedicated control hardware or software code for implementing these systems and / or methods does not limit various aspects. Thus, the operation and behavior of these systems and / or methods are described herein without reference to specific software codes--it is understood that software and hardware can be designed to implement these systems and / or methods based at least in part on the description herein.

[0194] As used herein, satisfying a threshold may refer to a value being greater than a threshold, greater than or equal to a threshold, less than a threshold, less than or equal to a threshold, equal to a threshold, not equal to a threshold, etc., depending on the context.

[0195] Although specific feature combinations are described in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of various aspects. In fact, many of these features can be combined in a manner not specifically described in the claims and / or undisclosed in the specification. Although each dependent claim listed below can be directly subordinate to only one claim, the disclosure of various aspects includes that each dependent claim is combined with each other claim in this group of claims. As used herein, the phrase quoting "at least one of" a column of items refers to any combination of these items, including single members. As an example, "at least one of a, b or c" is intended to cover: a, b, c, ab, ac, bc and abc, and any combination with multiple identical elements (for example, aa, aaa, aab, aac, abb, acc, bb, bbb, bbc, cc and ccc, or any other sorting of a, b and c).

[0196] Elements, actions or instructions used herein should not be interpreted as key or necessary unless explicitly described as such. Moreover, as used herein, the articles "one" and "a" are intended to include one or more projects, and can be used interchangeably with "one or more". In addition, as used herein, the article "the" is intended to include one or more projects quoted in conjunction with the article "the", and can be used interchangeably with "one or more". In addition, as used herein, the terms "set (set)" and "group" are intended to include one or more projects (for example, related items, non-related items, or a combination of related items and non-related items), and can be used interchangeably with "one or more". In the occasion of intending to have only one project, the phrase "only one" or similar language is used. Moreover, as used herein, the terms "have", "contain", "include" are intended to be open terms. In addition, the phrase "based on" is intended to mean "based at least in part on", unless otherwise explicitly stated. Furthermore, as used herein, the term "or" when used in a sequence is intended to be inclusive and may be used interchangeably with "and / or" unless explicitly stated otherwise (e.g., when used in conjunction with "either of" or "only one of").

Claims

1. A wireless communication method performed by a network node, comprising: receiving a first ranging measurement set based at least in part on first one or more positioning reference signals communicated via a sidelink between a first user equipment UE and a second UE; receiving a second ranging measurement set based at least in part on second one or more positioning reference signals communicated between the first UE and one or more base stations via an access link; as well as An estimated position of the first UE is transmitted to the first UE, wherein the estimated position of the first UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

2. The method of claim 1, further comprising: determining a first position estimate of the first UE based at least in part on the first ranging measurement set and the estimated position of the second UE; as well as A second position estimate for the first UE is determined based at least in part on the second ranging measurement set and the positions of the one or more base stations, wherein the estimated position of the first UE is based at least in part on the first position estimate and the second position estimate.

3. The method of claim 1, further comprising: A request for positioning information is received from the first UE, wherein the estimated position of the first UE is transmitted to the first UE based at least in part on the request for positioning information.

4. The method of claim 3, wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the first UE is transmitted to the first UE based at least in part on expiration of the periodic reporting interval.

5. The method of claim 3, further comprising: determining an estimated position of the second UE based at least in part on ranging measurements associated with a positioning reference signal communicated via a sidelink between the second UE and one or more other UEs; and The estimated location of the second UE is transmitted to the first UE based at least in part on the request for positioning information comprising a request for positioning information associated with the second UE.

6. The method of claim 5, wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the first UE and the estimated position of the second UE are transmitted to the first UE based at least in part on the expiration of the periodic reporting interval.

7. The method of claim 1, further comprising: A message is received from the first UE configured for reporting one or more triggering events of positioning information to the first UE, wherein one or more of the estimated position of the first UE or the estimated position of the second UE is transmitted to the first UE at least in part based on the occurrence of the one or more triggering events.

8. The method of claim 7, wherein the one or more triggering events include one or more of the following: a variance between one or more parameters included in the first ranging measurement set and one or more parameters included in the second ranging measurement set satisfies a first threshold, receiving an initial report of the first ranging measurement set from the first UE, or A distance between the estimated position of the first UE and the estimated position of the second UE or one or more other UEs satisfies a second threshold.

9. A wireless communication method performed by a first user equipment UE, comprising: transmitting, to a network node, a first ranging measurement set, the first ranging measurement set based at least in part on first one or more positioning reference signals communicated between the first UE and a second UE via a sidelink; transmitting, to one or more base stations, a second ranging measurement set based at least in part on second one or more positioning reference signals communicated between the first UE and the one or more base stations via an access link; as well as An estimated position of the first UE is received from the network node, wherein the estimated position of the first UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

10. The method of claim 9, further comprising: The estimated position of the second UE is transmitted to the network node, wherein the estimated position of the first UE is further based at least in part on the estimated position of the second UE and the positions of the one or more base stations.

11. The method of claim 9, further comprising: A request for positioning information is transmitted to the network node, wherein the estimated position of the first UE is received from the network node based at least in part on the request for positioning information.

12. The method of claim 11, wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the first UE is received from the network node based at least in part on expiration of the periodic reporting interval.

13. The method of claim 11, further comprising: An estimated location of the second UE is received from the network node based at least in part on the request for positioning information comprising a request for positioning information associated with the second UE.

14. The method of claim 13, wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the first UE and the estimated position of the second UE are received from the network node based at least in part on expiration of the periodic reporting interval.

15. The method of claim 11, wherein the request for positioning information is transmitted to the network node based at least in part on a variance associated with one or more local sensors satisfying a first threshold, or based at least in part on a variance associated with the first set of ranging measurements satisfying a second threshold.

16. The method of claim 11, wherein the request for positioning information is transmitted to the network node based at least in part on receiving one or more basic safety messages indicating the presence of one or more UEs.

17. The method of claim 9, further comprising: A message is transmitted to the network node configured for one or more triggering events for reporting positioning information to the first UE, wherein one or more of the estimated position of the first UE or the estimated position of the second UE is received from the network node at least in part based on the occurrence of the one or more triggering events.

18. The method of claim 17, wherein the one or more triggering events include one or more of the following: a variance between one or more parameters included in the first ranging measurement set and one or more parameters included in the second ranging measurement set satisfies a first threshold, receiving an initial report of the first ranging measurement set from the first UE, or A distance between the estimated position of the first UE and the estimated position of the second UE or one or more other UEs satisfies a second threshold.

19. A network node for wireless communication, comprising: Transceiver; Memory; as well as one or more processors coupled to the transceiver and the memory, the one or more processors configured to: receiving, via the transceiver, a first ranging measurement set based at least in part on first one or more positioning reference signals communicated via a sidelink between a first user equipment UE and a second UE; receiving, via the transceiver, a second ranging measurement set based at least in part on second one or more positioning reference signals communicated between the first UE and one or more base stations via an access link; as well as An estimated position of the first UE is transmitted to the first UE via the transceiver, wherein the estimated position of the first UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

20. The network node of claim 19, wherein the one or more processors are further configured to: determining a first position estimate of the first UE based at least in part on the first ranging measurement set and the estimated position of the second UE; and A second position estimate for the first UE is determined based at least in part on the second ranging measurement set and the positions of the one or more base stations, wherein the estimated position of the first UE is based at least in part on the first position estimate and the second position estimate.

21. The network node of claim 19, wherein the one or more processors are further configured to: A request for positioning information is received from the first UE, wherein the estimated position of the first UE is transmitted to the first UE based at least in part on the request for positioning information.

22. The network node of claim 21, wherein the one or more processors are further configured to: determining an estimated position of the second UE based at least in part on ranging measurements associated with a positioning reference signal communicated via a sidelink between the second UE and one or more other UEs; and The estimated location of the second UE is transmitted to the first UE based at least in part on the request for positioning information comprising a request for positioning information associated with the second UE.

23. The network node of claim 19, wherein the one or more processors are further configured to: A message is received from the first UE configured for reporting one or more triggering events of positioning information to the first UE, wherein one or more of the estimated position of the first UE or the estimated position of the second UE is transmitted to the first UE at least in part based on the occurrence of the one or more triggering events.

24. A first user equipment UE for wireless communication, comprising: Transceiver; Memory; as well as one or more processors coupled to the transceiver and the memory, the one or more processors configured to: transmitting, via the transceiver, to a network node, a first ranging measurement set based at least in part on first one or more positioning reference signals communicated between the first UE and a second UE via a sidelink; transmitting, via the transceiver, to one or more base stations, a second ranging measurement set based at least in part on second one or more positioning reference signals communicated between the first UE and the one or more base stations via an access link; as well as An estimated position of the first UE is received from the network node via the transceiver, wherein the estimated position of the first UE is based at least in part on the first ranging measurement set and the second ranging measurement set.

25. The first UE of claim 24, wherein the one or more processors are further configured to: The estimated position of the second UE is transmitted to the network node, wherein the estimated position of the first UE is further based at least in part on the estimated position of the second UE and the positions of the one or more base stations.

26. The first UE of claim 24, wherein the one or more processors are further configured to: A request for positioning information is transmitted to the network node, wherein the estimated position of the first UE is received from the network node based at least in part on the request for positioning information.

27. The first UE of claim 26, wherein the one or more processors are further configured to: An estimated location of the second UE is received from the network node based at least in part on the request for positioning information comprising a request for positioning information associated with the second UE.

28. The first UE of claim 26, wherein the request for positioning information is transmitted to the network node based at least in part on a variance associated with one or more local sensors satisfying a first threshold, or based at least in part on a variance associated with the first ranging measurement set satisfying a second threshold.

29. The first UE of claim 26, wherein the request for positioning information is transmitted to the network node based at least in part on receiving one or more basic safety messages indicating the presence of one or more UEs.

30. The first UE of claim 24, wherein the one or more processors are further configured to: A message is transmitted to the network node configured for one or more triggering events for reporting positioning information to the first UE, wherein one or more of the estimated position of the first UE or the estimated position of the second UE is received from the network node at least in part based on the occurrence of the one or more triggering events.

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