Method and apparatus for resource selection in sidelink communications

Abstract

Methods, apparatus, and systems for resource selection in sidelink communications are disclosed. One of the methods includes determining, by a user equipment (UE), a spatial filter configuration, the spatial filter configuration associated with a first time period; collecting sensing information obtained using the spatial filter configuration, the sensing information comprising at least one of: sidelink resource reservation information, or at least one sidelink reference signal received power (SL-RSRP) measurement of the sidelink communication; determining one or more candidate resources based on the sensing information; selecting one or more resources from the one or more candidate resources for transmission; re-evaluating the selected one or more resources using the spatial filter configuration; and determining whether reselection of the one or more resources is triggered based on a result of the reevaluation of the selected one or more resources.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 377,426, filed on September 28, 2022, entitled “SIDELINK RESOURCE SELECTION FORMMW OPERATION,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] Apparatus and methods consistent with the present disclosure relate generally to communications, and more particularly, to methods, systems, and devices for resource selection in sidelink communications. Background Art

[0003] Sidelink communication technology enables direct communication between two or more devices, for example, two or more vehicles in vehicle-to-everything (V2X) communication. User Equipment (UE) in sidelink communication can autonomously monitor a resource pool to determine which resources are available to be selected for one or more future transmissions. However, resource selection in sidelink communication using high frequency bands (e.g., millimeter wave bands) is challenging, especially when the transmitter (Transmitter, Tx) UE and / or receiver (Receiver, Rx) UE in the sidelink communication are moving. For sidelink communication using high frequency bands, Tx UE and Rx UE typically apply spatial filters to focus Tx beams and Rx beams, and adjust the directions of Tx beams and Rx beams to specific directions. When Tx UE and / or Rx UE are moving, their spatial filters may also need to be adjusted to keep the Tx beam and Rx beam aligned. It is desirable to be able to adjust the spatial filters of UEs for resource selection. System and method. Summary of the invention

[0004] According to some embodiments of the present disclosure, a UE for sidelink communication is provided. The UE includes: a memory storing instructions; and a processor configured to execute the instructions stored in the memory to: determine a spatial filter configuration, the spatial filter configuration being associated with a first time period; collect sensing information obtained using the spatial filter configuration, the sensing information including at least one of the following: sidelink resource reservation information, or at least one sidelink reference signal received power (SL-RSRP) measurement of the sidelink communication; determine one or more candidate resources based on the sensing information; select one or more resources from the one or more candidate resources for transmission; re-evaluate the selected one or more resources using the spatial filter configuration; and determine whether reselection of the one or more resources is triggered based on the result of the re-evaluation of the selected one or more resources.

[0005] According to some embodiments of the present disclosure, a method for resource selection in sidelink communication is provided. The method includes: determining a spatial filter configuration by a UE, the spatial filter configuration being associated with a first time period; collecting sensing information obtained using the spatial filter configuration by the UE, the sensing information including at least one of the following: sidelink resource reservation information, or at least one SL-RSRP measurement of the sidelink communication; determining one or more candidate resources by the UE based on the sensing information; selecting one or more resources from the one or more candidate resources for transmission by the UE. Re-evaluating the selected one or more resources by the UE using the spatial filter configuration; and determining whether reselection of the one or more resources is triggered based on the result of the re-evaluation of the selected one or more resources.

[0006] According to some embodiments of the present disclosure, a non-transitory computer-readable medium is provided, which stores instructions that can be executed by one or more processors of a UE to perform a method. The method includes: determining a spatial filter configuration, the spatial filter configuration being associated with a first time period; collecting sensing information obtained using the spatial filter configuration, the sensing information including at least one of the following: sidelink resource reservation information, or at least one SL-RSRP measurement of sidelink communication; determining one or more candidate resources based on the sensing information; selecting one or more resources from the one or more candidate resources for transmission; re-evaluating the selected one or more resources using the spatial filter configuration; and determining whether reselection of the one or more resources is triggered based on the result of the re-evaluation of the selected one or more resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] [ Figure 1A ] Figure 1Ais a schematic diagram showing a first mode of resource allocation for sidelink communication. [ Figure 1B ] Figure 1B is a schematic diagram illustrating a second mode for resource allocation in sidelink communications consistent with some embodiments of the present disclosure. [ Figure 2 ] Figure 2 is a schematic diagram illustrating a method for resource selection consistent with some embodiments of the present disclosure. [ Figure 3 ] Figure 3 is a schematic diagram illustrating a method for determining a candidate set of resources consistent with some embodiments of the present disclosure. [Figure 4] Figure 4A is a schematic diagram showing a first Inter-UE Coordination (IUC) scheme; and Figure 4B is a schematic diagram illustrating a second IUC scheme, consistent with some embodiments of the present disclosure. [ Figure 5 ] Figure 5 is a schematic diagram illustrating movement of a Tx UE relative to an Rx UE in sidelink communication consistent with some embodiments of the present disclosure. [ Figure 6 ] Figure 6 is a schematic diagram illustrating a channel sensing method in sidelink communication consistent with some embodiments of the present disclosure. [ Figure 7 ] Figure 7 is a schematic diagram illustrating a method for resource selection in sidelink communications consistent with some embodiments of the present disclosure. [ Fig. 8A ] Fig. 8A is a schematic diagram illustrating a method for resource selection in sidelink communications consistent with some embodiments of the present disclosure. [ Figure 8B ] Figure 8B is a schematic diagram illustrating a method for resource selection in sidelink communications consistent with some embodiments of the present disclosure. [Figure 9] Fig. 9A is a schematic diagram showing a spatial filter configuration applied to channel sensing at a first moment; and Fig. 9B is a schematic diagram showing a spatial filter configuration applied to channel sensing at a second time instant, consistent with some embodiments of the present disclosure. [Figure 10] Fig. 10A is a schematic diagram illustrating a method for channel sensing in sidelink communication; and Fig. 10B is a schematic diagram illustrating spatial filter adjustment over time, consistent with some embodiments of the present disclosure. [Figure 11] Fig.11A is a schematic diagram illustrating a method for channel sensing in sidelink communication; and Fig. 11B is a schematic diagram illustrating spatial filter adjustment over time, consistent with some embodiments of the present disclosure. [Figure 12] Fig. 12A is a schematic diagram illustrating a method for channel sensing in sidelink communication; and Fig. 12B is a schematic diagram illustrating spatial filter adjustment over time, consistent with some embodiments of the present disclosure. [ Fig.13 ] Fig.13 is a schematic diagram illustrating a method for channel sensing in sidelink communications consistent with some embodiments of the present disclosure. [ Fig.14 ] Fig.14 is a block diagram of a UE consistent with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0008] Reference will now be made in detail to exemplary embodiments, examples of which are shown in the accompanying drawings. The following description refers to the accompanying drawings, wherein, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The embodiments set forth in the following description of the exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of systems, devices, and methods consistent with aspects related to the present disclosure as recorded in the appended claims.

[0009] Figure 1A is a schematic diagram illustrating a first mode of resource allocation for sidelink communications; and Figure 1B is a schematic diagram illustrating a second mode of resource allocation for sidelink communications, consistent with some embodiments of the present disclosure.

[0010] refer to Figure 1A , the communication system includes UE 102, UE 104, and base station 106. UE 102 may be a Tx UE (SL Tx) in sidelink communication, and UE 104 may be an Rx UE (SL Rx) in sidelink communication. Base station 106 may be any currently existing base station (e.g., gNodeB (gNB)), such as a base station for Long Term Evolution (LTE) or New Radio (NR), or a base station for Next Generation (6 th Generation (6G), 7 thUE 102 and UE 104 may communicate with each other using sidelink signals. For example, UE 102 may transmit a physical sidelink control channel (PSCCH) and / or a physical sidelink shared channel (PSSCH) to UE 104, and in response, UE 104 may transmit a feedback signal, such as a physical sidelink feedback channel (PSFCH) to UE 102. UE 102 and UE 104 may also communicate with one or more other UEs in sidelink communications. UE 102 and UE 104 may be any form of UE, for example, two vehicles in V2X communication.

[0011] In a first mode for resource allocation, UE 102 may transmit a signal, such as a Sidelink-Scheduling Request (SL-SR) signal, to base station 106. Upon receiving the signal from UE 102, base station 106 may determine resources to be allocated to UE 102 and transmit a signal indicating the resource allocation to UE 102. Similarly, base station 106 may also be responsible for resource allocation for UE 104 and transmit a signal indicating the resource allocation for UE 104 upon receiving a signal (e.g., SL-SR) from UE 104.

[0012] In a second mode for resource allocation, UE 102 (and similarly UE 104) may autonomously perform resource selection by means of a sensing process. UE 102 may perform channel sensing on (one or more) configured sidelink transmission resource pools to obtain information about resources reserved by other UEs. Figure 1B, UE 102 can perform channel sensing (e.g., background sensing or any other type of full or partial sensing) in a sensing window, and collect resource reservation information of another UE based on, for example, decoding the sidelink control information (SCI) included in the received sidelink signal. UE 102 can decode SCI based on two stages: the first stage SCI (SCI format 1-A) and the second stage SCI (SCI format 2-A or 2-B) as defined in the 3rd Generation Partnership Project (3GPP) specification. Based on channel sensing, UE 102 can determine candidate resources by excluding occupied, reserved and / or unmonitored resources. Candidate resources can be, for example, one or more time slots, subframes, or frames that can be used for selection for the next time period. As Figure 1B As shown, radio resources may be divided into subframes or time slots in the time domain and subchannels in the frequency domain. Figure 1B For example, three available subframes or time slots in the time domain among multiple subframes or time slots are shown. Each subframe or time slot may include one or more symbols for automatic gain control (AGC), one or more symbols for PSCCH, and one or more symbols for PSSCH. Once resource selection (or reselection) is triggered, UE 102 may select (one or more) resources from the available sidelink resources based on the channel sensing information.

[0013] In some embodiments, UE 102 may be configured with one of two modes for resource allocation. In some embodiments, UE 102 may be configured with both modes for resource allocation. In some embodiments, UE 102 may switch back and forth between the two modes for resource allocation.

[0014] Figure 2 is a schematic diagram showing a method 200 for resource selection based on the second mode described above consistent with some embodiments of the present disclosure. Figure 2, the method 200 includes a step 202 of performing channel sensing (e.g., background sensing or any other type of full sensing or partial sensing). For example, a Tx UE (such as UE 102 of FIG. 1 ) in sidelink communication may have data to transmit. Therefore, the Tx UE may initiate a channel sensing process for resource selection. For example, the Tx UE may perform channel sensing in a sensing window (e.g., 100 ms or 1100 ms). In some embodiments, the Tx UE may monitor the resource pool and obtain information to be used during the resource selection process (e.g., resource reservation information and SL-RSRP measurements) without knowing (before) that it has a transmission to perform.

[0015] The method 200 includes a step 204 of collecting sensing information including reserved resources and SL-RSRP measurements. For example, the Tx UE may perform channel sensing in a sensing window and collect resource reservation information of another UE based on SCI decoding to identify candidate resources. The Tx UE may decode the SCI using two stages: the first stage SCI (SCI format 1-A) and the second stage SCI (SCI format 2-A or 2-B) as defined in the 3GPP specification.

[0016] The method 200 includes a step 206 of determining a candidate resource set. For example, after the Tx UE acquires sensing information from channel sensing, the Tx UE may determine a candidate resource set, for example, by excluding occupied, reserved and / or unmonitored resources. The method 200 includes a step 208 of selecting a resource among the candidate resources. For example, the Tx UE may semi-persistently select a resource, or select a maximum number of resources reserved. The selection may be a random selection.

[0017] The method 200 includes a step of re-evaluating resource selection 210. For example, the Tx UE may re-evaluate the selected resources before transmission by maintaining decoding of PSCCHs of other UEs and / or measuring SL-RSRP on the PSCCH or corresponding PSSCH.

[0018] The method 200 includes a step 212 of determining whether resource reselection is triggered based on the re-evaluation. For example, if the Tx UE determines that resource reselection is triggered, the method may iterate from step 204. On the other hand, if the Tx UE determines that resource reselection is not triggered, the method may proceed to step 214 of initiating transmission of a packet.

[0019] Method 200 includes step 216 of determining whether resource reselection is triggered by reaching a reserved maximum number. For example, if the Tx UE determines that resource reselection is triggered by reaching the reserved maximum number, the method iterates from step 204. On the other hand, if the Tx UE determines that resource reselection is not triggered, the method may iterate from step 214 for another transmission.

[0020] Figure 3 FIG. is a schematic diagram showing method 300 for determining a resource candidate set consistent with some embodiments of the present disclosure. Refer to Figure 3 , method 300 includes step 302 of determining a selection window and setting a Reference Signal Received Power (RSRP) threshold (RSRP threshold). For example, a Tx UE in sidelink communication (such as UE 102 in FIG. 1) may determine a selection window for resource selection and set the RSRP threshold. For example, the Tx UE may first perform channel sensing and determine the selection window T based on the channel sensing (for example, T = [T1, T2], where T1 = <4 ms and 20 = <T2 = <100 ms). The selection of the T1 and T2 values depends on the UE implementation. The RSRP threshold may be configured by a network node (such as base station 106 in FIG. 1) or pre-configured at the Tx UE.

[0021] Method 300 includes step 304 of initializing a candidate single-slot resource set S A . For example, the Tx UE may collect a set S A of potential candidate resource time slots within the defined selection window. Method 300 includes step 306 of excluding unmonitored resources. For example, unmonitored resources are resources that the Tx UE cannot sense due to its own transmission (i.e., half-duplex constraint) or other activities including Discontinuous Reception (DRX). For example, the Tx UE may exclude one or more time slots from the single-slot resource set of S A .

[0022] Method 300 includes step 308 of excluding resources with an RSRP greater than the RSRP threshold. For example, if the corresponding SL-RSRP exceeds the SL-RSRP threshold, the UE may also exclude resources occupied or reserved by other UEs from the selection window.

[0023] Method 300 includes determining whether the number of remaining time slots is greater than the initial X*|S A|Step 310. For example, the Tx UE determines whether the number of candidate resources is greater than X% of the total number of resources in the selection window. For example, if the Tx UE determines that the number of candidate resources is not greater than X% of the total number of resources in the selection window, then at step 311, the Tx UE increases the SL-RSRP threshold by an increment (and the method 300 iterates at step 302) until at least X% of the resources are obtained. The increment can be 3dB or any other (one or more) values. For example, the value X can be configured or preconfigured from {0.2, 0.35, 0.5}. On the other hand, if the Tx UE determines that the number of candidate resources is greater than X% of the total number of resources in the selection window, the method can proceed to step 312 of selecting the final resource.

[0024] Method 200 includes a step 312 of selecting a final resource. For example, if the number of remaining single-slot candidates is greater than X*|S A |(where X=0.2, 0.35, 0.5), the Tx UE forwards the potential candidate time slots to a higher layer (eg, Medium Access Control (MAC) layer) for final resource selection.

[0025] Figure 4A is a schematic diagram illustrating a first inter-UE coordination scheme; and Figure 4B is a schematic diagram illustrating a second inter-UE coordination scheme, consistent with some embodiments of the present disclosure. The above method 200 may support IUC, in which UE-A sends coordination information about resources to UE-B, and UE-B uses the information for its resource selection or reselection.

[0026] refer to Figure 4A , the sidelink communication system includes UE-A and UE-B communicating with each other. UE-B may be a Tx UE (such as UE 102 of FIG. 1 ), and UE-A may be a Rx UE (such as UE 104 of FIG. 1 ), so that UE-B may transmit data to UE-A. In the first IUC scheme, as Figure 4AAs shown, a coordination information exchange is triggered between UE-A and UE-B. The coordination information provided from UE-A to UE-B may include an indication of resources that are preferably included in the resources selected or reselected by UE-B or that are preferably excluded. In one embodiment, when the indication of the resources indicates resources that are preferably included, if UE-B does not support sensing and / or resource exclusion, UE-B may rely only on those resources. In one embodiment, UE-B may also combine the indication of the resources with the resources identified by its own sensing process before making a final selection. In one embodiment, UE-B does not consider the indication received from UE-A in resource selection (or reselection). The indication from UE-A to UE-B may be sent in a MAC control element (CE) and / or a second stage SCI.

[0027] refer to Figure 4B , the sidelink communication system includes UE-A, UE-B, and UE-C. UE-B may be a Tx UE in the sidelink communication (such as UE 102 of FIG. 1 ), and UE-C may be a Rx UE in the sidelink communication (such as UE 104 of FIG. 1 ), so that UE-B may transmit data to UE-C. In the second IUC scheme, as Figure 4B As shown, a coordination information exchange is triggered between UE-B and UE-A, and UE-A provides an indication to UE-B that the resources reserved for UE-B's transmission will or may conflict with transmissions from other UEs. UE-B's transmission may or may not be to UE-A. In this case, UE-B may reselect new resources. The indication from UE-A to UE-B may be sent in the PSFCH.

[0028] Figure 5 is a schematic diagram showing the movement of a Tx UE relative to an Rx UE in sidelink communication consistent with some embodiments of the present disclosure. Figure 5 , the sidelink communication system includes UE-A and UE-B communicating with each other. UE-A can be a Tx UE (such as UE 102 of FIG. 1 ), and UE-B can be a Rx UE (such as UE 104 of FIG. 1 ), so that UE-A can transmit data to UE-B. The speed (Va) of UE-A is higher than the speed of UE-B, so that UE-A is moving relative to UE-B. For example, the movement of UE-A relative to UE-B from t1 (initial time) to t2 (end time) is (Vb-Va), as shown Figure 5As shown. UE-B and UE-A can communicate in a high-frequency signal band (e.g., FR2). In the present disclosure, FR2 is defined as two frequency sub-ranges: FR2-1 from 24250 MHz to 52600 MHz and FR2-2 from 52600 MHz to 71000 MHz (including millimeter wave spectrum). In this case, UE-A and UE-B apply spatial filters so that they can focus the energy transmitted or received from their antenna elements in the spatial domain to create a transmission or reception spatial filter in a specific direction. As Figure 5 As shown, when UE-A (Tx UE) moves with reference to UE-B (Rx UE), their respective Tx spatial filters and Rx spatial filters are adjusted to maintain beam alignment between UE-A and UE-B (e.g., BF A,1 and BF B,1 ; BF A,2 and BF B,2 In some embodiments, since the sidelink communication in the high frequency band is directional, the channel sensing process also considers spatial directionality. For example, an Rx spatial filter is applied at the UE performing the sensing process.

[0029] Figure 6 is a schematic diagram illustrating a channel sensing method in sidelink communication consistent with some embodiments of the present disclosure. Figure 6 , the sidelink communication system includes UE-A and UE-B that communicate with each other. UE-A can be a Tx UE (such as UE 102 of Figure 1), and UE-B can be an Rx UE (such as UE 104 of Figure 1), so that UE-A can transmit data to UE-B. The speed of UE-A is higher than the speed of UE-B, so that UE-A is moving relative to UE-B. UE-B and UE-A can communicate in a high frequency band (e.g., FR2). In some embodiments, UE-A can perform periodic transmission to UE-B, for example, at t1, t2, t3, and t4 (t1 is a time later than an initial time t0, t2 is a time later than t1, t3 is a time later than t2, and t4 is a time later than t3). At time t0, when performing channel sensing, UE-A orients its Rx spatial filter in the direction in which it will transmit at t1. At time t1, when performing channel sensing, UE-A orients the Rx spatial filter in the direction in which it will transmit at t2. At time t2, when performing channel sensing, UE-A orients the Rx spatial filter in the direction in which it will transmit at t3. At time t3, when performing channel sensing, UE-A orients the Rx spatial filter in the direction in which it will transmit at t4. A similar process will be repeated for channel sensing of UE-B.

[0030] In this way, when performing the channel sensing process, UE-A selects the direction of its Rx spatial filter so that it matches the spatial direction in which it expects to perform transmission, thereby ensuring beam alignment between UE-A and UE-B when UE-A performs transmission.

[0031] Figure 7 is a schematic diagram illustrating a method 700 for resource selection in sidelink communications consistent with some embodiments of the present disclosure. Figure 7 , the method 700 includes a step 702 of performing channel sensing (e.g., background sensing or any other type of full sensing or partial sensing). For example, a Tx UE (such as UE 102 or UE 102 of FIG. 1 ) in a sidelink communication Figure 6 Before initiating channel sensing, the UE may or may not know that it has a transmission to perform. For example, the Tx UE may perform channel sensing in a sensing window (e.g., 100 ms or 1100 ms).

[0032] The method 700 may include a step 704 of determining a spatial filter configuration. For example, in one embodiment, the Tx UE may determine the spatial filter configuration based on the location information of the target Rx UE. In this embodiment, the Tx UE may determine whether the location of the target Rx UE is known to the Tx UE. For example, based on the reception of a Cooperative Awareness Message (CAM) or a Basic Safety Message (BSM) transmitted from the target Rx UE, the location of the target Rx UE may be known to the Tx UE. The CAM or BSM may be broadcast periodically from the target Rx UE.

[0033] In one embodiment, if the Tx UE determines that the location of the target Rx UE is known to the Tx UE, method 700 proceeds to step 706 of selecting a directional spatial filter configuration. On the other hand, if the Tx UE determines that the location of the target Rx UE is unknown to the Tx UE, method 700 proceeds to step 708 of selecting a widening spatial filter configuration.

[0034] The method 700 includes a step 710 of collecting sensing information obtained using a spatial filter configuration. The sensing information may include at least one of the following: sidelink resource reservation information, or at least one SL-RSRP measurement of the sidelink communication. For example, the Tx UE may perform channel sensing in a sensing window and collect resource reservation information of another UE based on SCI decoding to identify candidate resources. The UE may decode the SCI using two stages: the first stage SCI (SCI format 1-A) and the second stage SCI (SCI format 2-A or 2-B) as defined in the 3GPP specification.

[0035] The method 700 includes a step 712 of determining one or more candidate resources. For example, the Tx UE may determine one or more candidate resources based on the sensing information. The Tx UE may, for example, use Figure 3 The described method for determining a candidate resource set determines a candidate resource set.

[0036] The method 700 includes a step 714 of selecting one or more resources for transmission from one or more candidate resources. In one embodiment, the Tx UE may semi-persistently select one or more resources. In another embodiment, the Tx UE may select one or more resources up to a maximum number of resource reservations. The selection may be a random selection.

[0037] The method 700 includes a step 716 of re-evaluating the selected one or more resources. For example, the Tx UE may re-evaluate the selected one or more resources using the selected spatial filter configuration. In one embodiment, the Tx UE may re-evaluate the selected one or more resources by decoding one or more signals on a PSCCH received from one or more other UEs, wherein the PSCCH is received using the selected spatial filter configuration. In another embodiment, the Tx UE may re-evaluate the selected one or more resources by measuring one or more SL-RSRPs on at least one of a PSCCH or a PSSCH received from one or more other UEs, wherein at least one of the PSCCH or the PSSCH is received using the selected spatial filter configuration. In another embodiment, the Tx UE may re-evaluate the selected one or more resources by combining the decoding of one or more signals on the PSCCH and measuring one or more SL-RSRPs on at least one of the PSCCH or the PSSCH.

[0038] The method 700 includes a step 718 of determining whether reselection of the one or more resources is triggered based on the result of the re-evaluation of the selected one or more resources. For example, if the Tx UE determines that resource reselection is triggered, the method may iterate from step 710. On the other hand, if the Tx UE determines that resource reselection is not triggered, the method may proceed to a step 720 of transmitting using the selected one or more resources and spatial filter configuration. For example, in response to determining that reselection of the one or more resources is not triggered, the Tx UE may transmit a signal or data based on the selected spatial filter configuration and the one or more selected resources.

[0039] The method 700 may include a step 722 of determining whether a spatial filter needs to be updated. For example, after transmitting a signal or data using the selected spatial filter configuration and one or more selected resources, the Tx UE may determine whether to update the spatial filter configuration. If the Tx UE determines that the spatial filter configuration needs to be updated, the method iterates from step 704 so that the Tx UE may select a new spatial filter configuration to replace the spatial filter configuration.

[0040] On the other hand, if the Tx UE determines that the spatial filter configuration does not need to be updated, the method 700 proceeds to step 724 of determining whether reselection is triggered by reaching the maximum number of reservations. For example, if the Tx UE determines that reselection of one or more resources is triggered, the method 700 iterates from step 704 of determining the spatial filter configuration so that the Tx UE can select a new spatial filter configuration to replace the spatial filter configuration. On the other hand, if the Tx UE determines that a second reselection of resources is not triggered, the method 700 starts from 720 to initiate another transmission using the spatial filter configuration.

[0041] Fig. 8A 1 is a schematic diagram illustrating a method 800A for resource selection in sidelink communication consistent with some embodiments of the present disclosure. The method 800A may be performed by a Tx UE (such as UE 102 or UE 102 of FIG. 1 ) in sidelink communication. Figure 6 UE-A) is executed. Fig. 8A , method 800A includes steps 802, 804, 806, 808, 710, 712, 714, and 816, respectively corresponding to steps 702, 704, 706, 708, 710, 712, 714, and 716. For the sake of brevity, descriptions of steps 802 to 816 are omitted here.

[0042] The method 800A may include determining whether reselection of the one or more resources is triggered based on the result of the re-evaluation of the selected one or more resources at step 818. For example, if the Tx UE determines that resource reselection is triggered, the method 800A may iterate from step 804 of determining the spatial filter configuration. On the other hand, if the Tx UE determines that resource reselection is not triggered, the method 800A may proceed to step 820 of determining whether the spatial filter needs to be updated. If the Tx UE determines that the spatial filter configuration needs to be updated, the method iterates from step 804 so that the Tx UE can select a new spatial filter configuration to replace the spatial filter configuration. On the other hand, if the Tx UE determines that the spatial filter configuration does not need to be updated, the method 800A proceeds to step 822 of transmitting using the selected one or more resources and spatial filter configuration.

[0043] The method 800A may include a step 824 of determining whether reselection is triggered by reaching the maximum number of reservations. In response to determining that reselection of one or more resources is not triggered, the method 800A may iterate from step 822 so that the Tx UE can transmit a signal or data based on the selected spatial filter configuration and the one or more selected resources. On the other hand, if the Tx UE determines that reselection of one or more resources is triggered, the method 800A iterates from step 804 of determining the spatial filter configuration so that the Tx UE can select a new spatial filter configuration to replace the spatial filter configuration.

[0044] Figure 8B 1 is a schematic diagram illustrating a method 800B for resource selection in sidelink communication consistent with some embodiments of the present disclosure. The method 800B may be performed by a Tx UE (such as UE 102 or UE 102 of FIG. 1 ) in sidelink communication. Figure 6 UE-A) is executed. Figure 8B , method 800B includes steps 826, 828, 830, 832, 834, 836, 838, 840, 844, 846, and 848 corresponding to steps 802, 804, 806, 808, 810, 812, 814, 816, 820, 822, and 824, respectively. For the sake of brevity, the description of steps 826, 828, 830, 832, 834, 836, 838, 840, 844, 846, and 848 is omitted here. Method 800B is similar to Fig. 8A Method 800A, except that step 842 is different from the corresponding step (818) of method 800A.

[0045] The method 800B may include determining whether reselection of the one or more resources is triggered based on the result of the re-evaluation of the selected one or more resources at step 842. If the Tx UE determines that resource reselection is triggered, the method 800B may iterate from step 834 of collecting sensing information (instead of determining the spatial filter configuration in the method 800A). On the other hand, if the Tx UE determines that resource reselection is not triggered, the method 800B may proceed to step 844 of determining whether the spatial filter needs to be updated (which corresponds to step 820 of the method 800A).

[0046] Fig. 9A is a schematic diagram showing a spatial filter configuration applied to channel sensing at a first moment; and Fig. 9B is a schematic diagram showing a spatial filter configuration applied to channel sensing at a second time instant, consistent with some embodiments of the present disclosure. Fig. 9A , at time t0, with direction (angle) θ t0 and aperture α t0 The spatial filter is applied to channel sensing. Fig. 9B , at time t1 (t1 is a time later than t0), has a direction (angle) θ t1 and aperture α t1 In some embodiments, the selection of the Rx spatial filter (direction and aperture) to be applied for channel sensing at t0 is based not only on the transmission direction at t1, but also on the location of the UE at t1. Fig. 9A and Fig. 9B As shown, the direction of the sensing spatial filter at t0 (θ t0 ) and aperture (α t0 ) covers the direction of the transmission spatial filter at t1 (θ t1 ) and aperture (α t1 In some embodiments, the RSRP threshold (e.g., Figure 2 , Figure 7 and FIG. 8A to FIG. 8B The relationship between the spatial filter parameters and the initial RSRP threshold at t0 and t1 can be given as follows: [Mathematical formula 1] θ t0 =f θ (θ t1 ,t0,t1,v tx ,v rx ) α t0 =f α(α t1 ,t0,t1,v tx ,v rx ) RSRPthr t0 =f RSRPthr (RSRPthr t1 ,t0,t1,v tx ,v rx ) where υ tx is the speed of Tx UE, and υ rx is the speed of the Rx UE. The above function takes into account the movement of the Tx UE and the Rx UE; and therefore allows the Tx UE to select appropriate values ​​for the aperture, direction and initial RSRP threshold to be applied.

[0048] Fig. 10A is a schematic diagram illustrating a method for channel sensing in sidelink communication; and Fig. 10B is a schematic diagram showing spatial filter adjustment over time, consistent with some embodiments of the present disclosure. Fig. 10A and Fig. 10B , sidelink communication includes UE-A (Tx UE) and UE-B (Rx UE).

[0049] like Fig. 10A and Fig. 10B As shown, at time t0, UE-A performs a first sidelink sensing in a first direction toward an estimated position of UE-B at t1 (t1 is a time later than t0). At time t1, UE-A performs a second sidelink sensing in a second direction toward an estimated position of UE-B at t2 (t2 is a time later than t1). Thereafter, during a time period starting at t1 and ending at t2, UE-A transmits a signal or data in a first direction toward an estimated position of a second UE at t1 using at least one resource selected based on the first sidelink sensing performed at t0. During the time period (first time period) starting at t0 and ending at t2, UE-A applies a first spatial filter configuration.

[0050] Thereafter, at time t2, UE-A performs a third sidelink sensing in a third direction toward the estimated position of the second UE at t3 (t3 is a time later than t2). Thereafter, during a time period (second time period) starting at t2 and ending at t3, UE-A transmits a signal or data in a second direction toward the estimated position of the second UE at t2 using at least one resource selected based on the first sidelink sensing performed at t1. During the second time period, UE-A applies a second spatial filter configuration that may be different from the first spatial filter configuration. The above process may be repeated.

[0051] In some embodiments, when the difference between t1 and t0 is greater than the minimum difference and less than the maximum difference, UE-A performs the first sidelink sensing and the second sidelink sensing. The minimum difference and / or the maximum difference may be preconfigured at UE-A or configured by a network node (e.g., base station 106 of FIG. 1 ). In some embodiments, the minimum difference and / or the maximum difference is a function of the absolute speed of UE-A and the relative speed of UE-A relative to UE-B.

[0052] In some embodiments, UE-A performs the first sidelink sensing and the second sidelink sensing only when the first spatial filter configuration is expected to be changed to the second spatial filter configuration within a time period starting at t2 and ending at t3. In some embodiments, UE-A may adapt (adjust) one or more RSRP thresholds used during the first sidelink sensing and the second sidelink sensing at t0 and t1. In some embodiments, UE-A may adapt (adjust) one or more RSRP thresholds used during the first sidelink sensing and the second sidelink sensing based on the spatial filter gain difference.

[0053] In some embodiments, sidelink sensing in a second direction toward the estimated position of UE-B at t2 may be performed prior to transmitting a signal or data in a first direction toward the estimated position of UE-B at t1. The SCI at the transmission indicates one or more resources to be used at t2. UE-A may also monitor the resource pool while adapting the first spatial filter configuration and determine whether reselection of one or more resources is triggered.

[0054] Fig.11A is a schematic diagram illustrating a method for channel sensing in sidelink communication; and Fig. 11B is a schematic diagram showing spatial filter adjustment over time, consistent with some embodiments of the present disclosure. Fig.11A and Fig. 11B , sidelink communication includes UE-A (Tx UE) and UE-B (Rx UE). In this method, UE-A performs sensing in the direction of multiple future transmission moments within a time interval.

[0055] like Fig.11A and Fig. 11BAs shown, at time t0, UE-A performs a first sidelink sensing in each direction of the direction of the estimated position of UE-B at multiple moments after t0 (including t1, t2, t3 and t4 (t1 is a time later than t0, t2 is a time later than t1, t3 is a time later than t2, and t4 is a time later than t3)). At time t1, UE-A performs a second sidelink sensing in each direction of the direction of the estimated position of the second UE at multiple moments after t1 (including t2, t3 and t4). During a time period starting at t1 and ending at t2, UE-A transmits a signal or data in a first direction toward the estimated position of UE-B at t1 using at least one resource selected based on the first sidelink sensing performed at t0. During a time period (first time period) starting at t0 and ending at t2, UE-A applies a first spatial filter configuration.

[0056] Thereafter, at time t2, UE-A performs a third sidelink sensing in each of the directions of the estimated position of UE-B at a plurality of time moments after t2 (including t3 and t4). During a time period (second time period) starting at t2 and ending at t3, UE-A transmits a signal or data in a direction toward the estimated position of UE-B at t2 based on at least one resource determined by the second sidelink sensing performed at t1. During the second time period, UE-A applies a second spatial filter configuration that may be different from the first spatial filter configuration. The above process may be repeated.

[0057] In some embodiments, one or more RSRP thresholds used during the first sidelink sensing and the second sidelink sensing are adapted at t0 and t1. In some embodiments, during the first sidelink sensing performed in each of the directions towards the estimated position of UE-B at t1, t2, t3, and t4, UE-A may use a different RSRP threshold for each of the directions towards the estimated position of the second UE at t1, t2, t3, and t4.

[0058] Fig. 12A is a schematic diagram illustrating a method for channel sensing in sidelink communication; and Fig. 12B is a schematic diagram showing spatial filter adjustment over time, consistent with some embodiments of the present disclosure. Fig. 12A and Fig. 12B , sidelink communication includes UE-A (Tx UE) and UE-B (Rx UE). FIG. 12A to FIG. 12B The method shown is similar to FIG. 11A to FIG. 11B The method shown is essentially the same, except that FIG. 12A to FIG. 12BIn the method, UE-B also performs channel sensing and provides IUC signals to UE-A through transmission to UE-A. UE-A can consider the IUC information received from UE-B when performing resource selection. For the sake of brevity, the information related to FIG. 11A to FIG. 11B Similar to the method FIG. 12A to FIG. 12B Details of the method.

[0059] like Fig. 12A and Fig. 12B As shown, UE-A receives an IUC signal from UE-B. The IUC signal may include information of sidelink sensing performed by UE-B at t1 in each of the directions toward the estimated position of UE-A at multiple times (including t2, t3, and t4) after t1. In one embodiment, during the second time period, UE-A may transmit a signal or data in the direction toward the estimated position of UE-B based on at least one resource determined based on the IUC signal received from UE-B. In another embodiment, during the second time period, UE-A may transmit a signal or data in the direction toward the estimated position of UE-B based on at least one resource determined based on the sidelink sensing performed by UE-B at t1 and the IUC signal received from UE-B.

[0060] Fig.13 is a schematic diagram illustrating a method for channel sensing in sidelink communications consistent with some embodiments of the present disclosure. Fig.13 , sidelink communication includes UE-A (Tx UE) and UE-B (Rx UE). Fig.13 The method is basically the same as FIG. 10A to FIG. 10B The method is the same as Fig.13 In the method of , UE-A directs its spatial filter to the direction in which it transmits at t1 and the opposite direction when performing sensing, such as Fig.13 When UE-A is performing sensing at t1, it directs the spatial filter to the direction in which it will transmit at t2 and the opposite direction. FIG. 10A to FIG. 10B Similar to the method Fig.13 Details of the method. refer to Fig.13, at time t0, UE-A performs a first sidelink sensing in a first direction toward an estimated position of UE-B at t1 (t1 is a time later than t0), and performs sidelink sensing in a direction opposite to the first direction. At time t1, UE-A performs a second sidelink sensing in a second direction toward an estimated position of UE-B at t2 (t2 is a time later than t1), and performs sidelink sensing in a direction opposite to the second direction. Thereafter, at time t2, UE-A performs a third sidelink sensing in a third direction toward an estimated position of a second UE at t3 (t3 is a time later than t2), and performs sidelink sensing in a direction opposite to the third direction.

[0061] In this way, UE-A can detect signals from other UEs in the opposite direction of the Tx beam of UE-A at t1 (or t2 or t3), which may interfere with the signal of UE-A at the reception of UE-B. Then, UE-A can avoid using resources with the same time and / or frequency as these interfering signals, thereby minimizing interference at the reception of UE-B.

[0062] The methods described in the present disclosure can be applied to any sidelink communication, such as Long Term Evolution (LTE) or New Radio (NR) or Next Generation (6 th Generation (6G), 7 th The method described in the present disclosure may also be applied to downlink / uplink communication between a base station and a UE. The method described in the present disclosure may also be applied to other systems, for example, systems that comply with other standards (e.g., Institute of Electrical and Electronics Engineers (IEEE) standards).

[0063] Fig.14 is a block diagram of a UE 1400 consistent with some embodiments of the present disclosure. For example, FIG. Figure 4A , Figure 4B , Figure 5 , Fig. 10A , Fig. 10B , Fig.11A , Fig. 11B , Fig. 12A , Fig. 12B and Fig.13Each of the Tx UE and the Rx UE in the embodiment may be in the form of a UE 1400. The UE 1400 may be installed in a mobile vehicle or in a fixed location. The UE 1400 may take any form, including but not limited to a vehicle, a component installed in a vehicle, a roadside unit, a laptop computer, a wireless terminal including a mobile phone, a wireless handheld device or a wireless personal device, or any other form. Fig.14 , UE 1400 may include an antenna 1402, which may be used to transmit electromagnetic signals to a base station or other UEs or to receive electromagnetic signals from a base station or other UEs. Antenna 1402 may include one or more antenna elements and may implement different input-output antenna configurations, such as a multiple input multiple output (MIMO) configuration, a multiple input single output (MISO) configuration, and a single input multiple output (SIMO) configuration. In some embodiments, antenna 1402 may include multiple (e.g., tens or hundreds) of antenna elements and may implement multi-antenna functions such as beamforming. In some embodiments, antenna 1402 is a single antenna. Antenna 1402 may be a FR1 antenna or a FR2 antenna. UE 1400 may include a transceiver 1404 coupled to antenna 1402. Transceiver 1404 may be a wireless transceiver at UE 1400 and may communicate bidirectionally with a base station or other UEs. For example, the transceiver 1404 may receive / transmit wireless signals from / to a base station via downlink / uplink communications. The transceiver 1404 may also receive / transmit wireless signals from / to another UE or roadside unit via sidelink communications. The transceiver 1404 may include a modem to modulate packets and provide the modulated packets to the antenna 1402 for transmission, and demodulate packets received from the antenna 1402.

[0064] UE 1400 may include memory 1406. Memory 1406 may be any type of computer-readable storage medium, including volatile or non-volatile memory devices or combinations thereof. Computer-readable storage media include, but are not limited to, non-transitory computer storage media. Non-transitory storage media may be accessed by general-purpose or special-purpose computers. Examples of non-transitory storage media include, but are not limited to, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable ROM (EEPROM), digital versatile disks (DVD), flash memory, compact disk (CD) ROM or other optical disk storage, disk storage or other magnetic storage devices, etc. Non-transitory media may be used to carry or store desired program code units (e.g., instructions and / or data structures) and may be accessed by general-purpose or special-purpose computers or general-purpose or special-purpose processors. In some examples, software / program code may be transmitted from a remote source (e.g., a website, server, etc.) using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave. In such examples, coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are within the scope of the medium definition. Combinations of the above examples are also within the scope of computer-readable media.

[0065] The memory 1406 may store information related to the identification of the UE 1400 and the signals and / or data received by the antenna 1402. The memory 1406 may also store post-processed signals and / or data. The memory 1406 may also store computer-readable program instructions, mathematical models, and algorithms used in the signal processing in the receiver 1404 and the calculations in the processor 1408. The memory 1406 may also store computer-readable program instructions for execution by the processor 1408 to operate the UE 1400 to perform various functions described in the present disclosure. In some examples, the memory 1406 may include a basic input / output system (BIOS), which may control basic hardware or software operations, such as interaction with peripheral components or devices. In some embodiments, the memory 1406 includes both LTE SL and NR SL modules. In some embodiments, the memory 1406 includes only the NR SL module. In some embodiments, the memory 1406 includes only the NR SL module.

[0066] The computer-readable program instructions of the present disclosure may be assembly instructions, instruction set architecture (Instruction-Set-Architecture, ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data or source code or object code written in any combination of one or more programming languages, and the programming languages ​​include object-oriented programming languages ​​and conventional procedural programming languages. The computer-readable program instructions may be executed completely on a computing device as an independent software package, or may be executed partially on a first computing device and partially on a second computing device away from the first computing device. In the latter case, the second remote computing device may be connected to the first computing device via any type of network, including a local area network (Local Area Network, LAN) or a wide area network (Wide Area Network, WAN).

[0067] UE 1400 may include a processor 1408, which may include a hardware device with processing capabilities. Processor 1408 may include at least one of the following: a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), a central processing unit (Central Processing UnitCPU), a microcontroller, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA), a programmable logic device, a discrete gate or transistor logic component, a discrete hardware component or other programmable logic device. Examples of general-purpose processors include, but are not limited to, microprocessors, any conventional processors, controllers, microcontrollers or state machines. In some embodiments, processor 1408 may be implemented using a combination of devices (e.g., a combination of DSP and microprocessors, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration). Processor 1408 may receive downlink signals or sidelink signals from transceiver 1404 and further process these signals. Processor 1408 may also receive data packets from transceiver 1404 and further process these packets. In some embodiments, the processor 1408 may be configured to operate the memory using a memory controller. In some embodiments, the memory controller may be integrated into the processor 1408. The processor 1408 may be configured to execute computer-readable instructions stored in a memory (e.g., memory 1406) to enable the UE 1400 to perform various functions.

[0068] UE 1400 may include a global positioning system (GPS) 1410. GPS 1410 may be used to implement location-based services or other services based on the geographic location of UE 1400 and / or synchronization between UEs. GPS 1410 may receive a global navigation satellite system (GNSS) signal from a single satellite or multiple satellite signals via antenna 1402 and provide the geographic location of UE 1400 (e.g., coordinates of UE 1400). In some embodiments, GPS 1410 is omitted. In some embodiments, a timer is included.

[0069] UE 1400 may include an input / output (I / O) device 1412, which may be used to transmit the results of signal processing and calculation to a user or another device. I / O device 1412 may include a user interface, which includes a display and an input device for transmitting user commands to processor 1408. The display may be configured to display the state of signal reception at UE 1400, the data stored at memory 1406, the state of signal processing and the results of calculation, etc. The display may include, but is not limited to, a cathode ray tube (Cathode Ray Tube, CRT), a liquid crystal display (Liquid Crystal Display, LCD), a light-emitting diode (Light-Emitting Diode, LED), a gas plasma display, a touch screen or other image projection devices for displaying information to a user. The input device may be any type of computer hardware device for receiving data and control signals from a user. The input device may include, but is not limited to, a keyboard, a mouse, a scanner, a digital camera, a joystick, a trackball, a cursor direction key, a touch screen monitor or an audio / video commander, etc.

[0070] UE 1400 may also include a machine interface 1414 , such as an electrical bus that connects the transceiver 1404 , memory 1406 , processor 1408 , GPS 1410 , and I / O devices 1412 .

[0071] In some embodiments, UE 1400 may be a Tx UE in sidelink communication. Processor 1408 may be configured or programmed to execute instructions stored in memory 1406 to determine a spatial filter configuration, the spatial filter configuration being associated with a first time period; collect sensing information obtained using the spatial filter configuration, the sensing information including at least one of the following: sidelink resource reservation information, or at least one SL-RSRP measurement of sidelink communication; determine one or more candidate resources based on the sensing information; select one or more resources from the one or more candidate resources for transmission; re-evaluate the selected one or more resources using the spatial filter configuration; and determine whether reselection of the one or more resources is triggered based on the result of the re-evaluation of the selected one or more resources.

[0072] As used in the present disclosure, the use of the term "or" in a list of items indicates an inclusive list. A list of items may be prefixed with phrases such as "at least one" or "one or more". For example, a list of at least one of A, B, or C includes A or B or C or AB (i.e., A and B) or AC or BC or ABC (i.e., A and B and C). In addition, as used in the present disclosure, prefixing a list of conditions with the phrase "based on" should not be interpreted as a set of conditions "based only on", but rather should be interpreted as a set of conditions "based at least in part on". For example, a result described as "based on condition A" may be based on both condition A and condition B without departing from the scope of the present disclosure.

[0073] In this specification, the terms "include", "contain" or "comprises" are used interchangeably and have the same meaning and are interpreted as inclusive and open-ended. The terms "include", "contain" or "comprises" may be used before a list of elements and indicate that at least all of the listed elements in the list are present, but other elements that are not in the list may also be present. For example, if A includes B and C, then {B, C} and {B, C, D} are both within the scope of A.

[0074] In conjunction with the accompanying drawings, the present disclosure describes example configurations that do not represent all examples that can be implemented or all configurations within the scope of the present disclosure. The term "exemplary" should not be interpreted as "preferred" or "advantageous compared to other examples", but should be interpreted as "illustration, instance, or example". By reading this disclosure, including the description of the embodiments and the accompanying drawings, a person of ordinary skill in the art will understand that alternative embodiments can be used to implement the technology disclosed herein. Those skilled in the art will understand that the embodiments described herein or certain features of the embodiments can be combined to obtain other embodiments for practicing the technology described in the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but should conform to the widest scope consistent with the principles and novel features disclosed herein.

[0075] The flowchart and block diagram in the figure show examples of the architecture, functions and operations of possible implementations of the systems, methods and devices according to various embodiments. It should be noted that in some alternative implementations, the functions marked in the box may occur outside the order marked in the figure. For example, depending on the functions involved, the two boxes shown in succession can actually be executed substantially simultaneously, or the boxes can sometimes be executed in reverse order. Similarly, in the method consistent with various embodiments, additional steps may be included in such a method, and some steps may be omitted or combined.

[0076] It should be understood that the described embodiments are not mutually exclusive, and the elements, components, materials or steps described in conjunction with an exemplary embodiment may be combined with other embodiments or eliminated from other embodiments in a suitable manner to achieve the desired design purpose. References herein to "some embodiments" or "some exemplary embodiments" mean that specific features, structures or characteristics described in conjunction with the embodiments may be included in at least one embodiment. The appearance of the phrases "one embodiment", "some embodiments" or "another embodiment" throughout this disclosure does not necessarily refer to the same embodiment, nor is it necessarily a separate or alternative embodiment that must be mutually exclusive with other embodiments.

[0077] In addition, the articles "a" and "an" as used in this disclosure and the appended claims should generally be construed to mean "one or more" unless specified otherwise or clearly directed to a singular form by context.

[0078] Unless expressly stated otherwise, each numerical value and range should be interpreted as being approximate, as would the word "about" or "approximately" preceding the value of the numerical value or range.

[0079] Although elements in the following method claims, if any, are recited in a specific order, these elements are not necessarily intended to be limited to being implemented in that specific order unless the claim recitation otherwise implies a specific order for implementing some or all of these elements.

[0080] It should be understood that certain features of the present disclosure described in the context of separate embodiments for the sake of clarity may also be provided in combination in a single embodiment. Conversely, various features of the present specification described in the context of a single embodiment for the sake of brevity may also be provided separately, or in any suitable sub-combination, or as appropriate in any other described embodiment of the present specification. Certain features described in the context of various embodiments are not essential features of these embodiments unless otherwise stated.

[0081] It should also be understood that those skilled in the art may make various modifications, substitutions and changes to the details, materials and arrangements of the components described and illustrated for the purpose of explaining the nature of the described embodiments without departing from the scope. Accordingly, the appended claims cover all such substitutions, modifications and changes falling within the aspects of the claims.

[0082] Clause 1. A method for resource selection in sidelink communication, the method comprising: determining, by a user equipment (UE), a spatial filter configuration, the spatial filter configuration being associated with a first time period; collecting, by the UE, sensing information obtained using the spatial filter configuration, the sensing information comprising at least one of: sidelink resource reservation information, or at least one sidelink reference signal received power (SL-RSRP) measurement of the sidelink communication; Determining, by the UE, one or more candidate resources based on the sensing information; Selecting, by the UE, one or more resources from the one or more candidate resources for transmission; re-evaluating, by the UE, the selected one or more resources using the spatial filter configuration; and Based on the results of the re-evaluation of the selected one or more resources, it is determined whether reselection of the one or more resources is triggered.

[0083] Clause 2. A method according to clause 1, wherein the UE is a first UE and the method further comprises: It is determined by the first UE whether the location of the second UE is known to the first UE.

[0084] Clause 3. The method according to clause 2, further comprising: In response to determining that the location of the second UE is known to the first UE, a directional spatial filter configuration is selected as the spatial filter configuration.

[0085] Clause 4. The method according to clause 2, further comprising: In response to determining that the location of the second UE is unknown to the first UE, the widened spatial filter configuration is selected as the spatial filter configuration.

[0086] Clause 5. The method of clause 1, wherein selecting one or more resources from one or more candidate resources further comprises: One or more resources are semi-persistently selected by the UE from one or more candidate resources.

[0087] Clause 6. The method of clause 1, wherein selecting one or more resources from one or more candidate resources further comprises: One or more resources up to a maximum number of the one or more resource reservations are selected by the UE from the one or more candidate resources.

[0088] Clause 7. The method according to clause 1, further comprising: In response to determining that reselection of the one or more resources is not triggered, a signal or data is transmitted based on the spatial filter configuration and the one or more selected resources.

[0089] Clause 8. The method according to clause 7, further comprising: After the transmission, it is determined whether the spatial filter configuration is to be updated.

[0090] Clause 9. The method of clause 8, wherein the reselection of the one or more resources is a first reselection, and the method further comprises: In response to determining that the first spatial filter configuration does not need to be updated, determining whether a second reselection of the one or more resources is triggered based on determining whether a maximum number of reservations for the one or more resources is reached.

[0091] Clause 10. The method according to clause 9, further comprising: In response to determining that a second reselection of the one or more resources is triggered, iterating the method from determining the spatial filter configuration; and In response to determining that a second reselection of resources is not triggered, another transmission is initiated based on the spatial filter configuration.

[0092] Clause 11. The method according to Clause 9, further comprising: In response to determining that the first spatial filter configuration needs to be updated, the method is iterated from determining the spatial filter configuration.

[0093] Clause 12. The method according to Clause 7, further comprising: Responsive to determining that reselection of the one or more resources is triggered, the method is iterated from collecting the sensory information.

[0094] Clause 13. The method of clause 1, wherein re-evaluating the selected one or more resources further comprises at least one of: decoding one or more signals on a physical sidelink control channel (PSCCH) received from one or more other UEs, the PSCCH being received using the spatial filter configuration; or Measure one or more sidelink reference signal received powers (SL-RSRP) on at least one of a PSCCH or a physical sidelink shared channel (PSSCH) received from one or more other UEs, at least one of the PSCCH or PSSCH being received using a spatial filter configuration.

[0095] Clause 14. The method according to clause 1, further comprising: In response to determining that reselection of the one or more resources is not triggered, determining whether to update the spatial filter configuration; and In response to determining that reselection of one or more resources is triggered, the method is iterated from determining the spatial filter configuration or from collecting the sensory information.

[0096] Clause 15. The method according to Clause 14, further comprising: In response to determining that the spatial filter configuration does not need to be updated, a signal or data is transmitted based on the spatial filter configuration.

[0097] Clause 16. The method of clause 15, wherein the reselection of the one or more resources is a first reselection, and the method further comprises: Based on determining whether the maximum number of resource reservations is reached, determining whether a second reselection of the one or more resources is triggered.

[0098] Clause 17. The method according to Clause 16, further comprising: In response to determining that a second reselection of the one or more resources is triggered, iterating the method from determining the spatial filter configuration; and In response to determining that a second reselection of resources is not triggered, another transmission is initiated based on the spatial filter configuration.

[0099] Clause 18. The method according to Clause 14, further comprising: In response to determining that the spatial filter configuration needs to be updated, the method is iterated from determining the spatial filter configuration.

[0100] Clause 19. The method according to Clause 18, further comprising: Select a new spatial filter configuration to replace the spatial filter configuration.

[0101] Clause 20. The method of clause 1, wherein the UE is a first UE and the spatial filter configuration is determined based on location information of a second UE.

[0102] Clause 21. The method of clause 3, wherein the location of the second UE is known to the first UE based on receipt of a cooperative awareness message (CAM) or a basic safety message (BSM) transmitted from the second UE.

[0103] Clause 22. The method of clause 1, wherein the UE is a first UE, the spatial filter configuration is a first spatial filter configuration, and the first time period is a time period starting at t0 and ending at t2, and wherein collecting sensing information obtained using the spatial filter configuration comprises: performing, at t0, a first sidelink sensing in a first direction towards an estimated position of the second UE at t1, t1 being a time between t0 and t2; and At t1 , a second sidelink sensing is performed in a second direction towards an estimated position of the second UE at t2 .

[0104] Clause 23. The method according to Clause 22, further comprising: Prior to t2, a signal or data is transmitted in a first direction towards an estimated location of the second UE at t1 using at least one resource selected based on the first sidelink sensing performed at t0.

[0105] Clause 24. The method of clause 23, wherein the second spatial filter configuration is associated with a second time period, the second time period being a time period starting at t2 and ending at t3, and the method further comprises: At t2, a third sidelink sensing is performed in a third direction towards the estimated position of the second UE at t3.

[0106] Clause 25. The method according to Clause 24, further comprising: Prior to t3, a signal or data is transmitted in a second direction toward the second UE at t2 using at least one resource selected based on the second sidelink sensing performed at t1.

[0107] Clause 26. The method of clause 22, wherein the first sidelink sensing and the second sidelink sensing are performed when the difference between t1 and t0 is greater than a minimum difference and less than a maximum difference.

[0108] Clause 27. The method of clause 26, wherein at least one of the minimum difference or the maximum difference is a function of an absolute speed of the first UE and a relative speed of the first UE with respect to the second UE.

[0109] Clause 28. The method of clause 26, wherein at least one of the minimum difference or the maximum difference is pre-configured or configured.

[0110] Clause 29. The method of clause 24, wherein the first sidelink sensing and the second sidelink sensing are performed only when the first spatial filter configuration is expected to be changed to the second spatial filter configuration in the second time period.

[0111] Clause 30. The method of clause 22, wherein one or more reference signal received power (RSRP) thresholds used during the first sidelink sensing and the second sidelink sensing are adapted at t0 and t1.

[0112] Clause 31. The method of clause 22, wherein one or more reference signal received power (RSRP) thresholds used during the first sidelink sensing and the second sidelink sensing are adapted based on a spatial filter gain difference.

[0113] Clause 32. A method according to clause 23, wherein before transmitting the signal or data in the first direction towards the estimated location of the second UE at t1, a second sidelink sensing in a second direction towards the estimated location of the second UE at t2 is performed, and wherein sidelink control information (SCI) at the transmission indicates one or more resources to be used at t2, and the method further comprises: Monitoring the resource pool while adapting the first spatial filter configuration by the first UE; and A determination is made by the first UE whether reselection of one or more resources is triggered.

[0114] Clause 33. The method of clause 1, wherein the UE is a first UE, the spatial filter configuration is a first spatial filter configuration, the first time period is a time period starting at t0 and ending at t2, and wherein collecting sensing information obtained using the spatial filter configuration comprises: performing, at t0, a first sidelink sensing in each of directions towards an estimated position of the second UE at a plurality of times after t0 (including t1, t2, t3, and t4), wherein t2 is a starting point of a second time period and t3 is an ending point of the second time period; and At t1, second sidelink sensing is performed in each of the directions towards the estimated position of the second UE at a plurality of time instances after t1, including t2, t3, and t4.

[0115] Clause 34. The method according to clause 33, further comprising: Prior to t2, a signal or data is transmitted to the second UE in a direction towards the estimated position of the second UE at t1 using at least one resource determined according to the first sidelink sensing performed at t0.

[0116] Clause 35. The method according to clause 34, further comprising: At t2, a third sidelink sensing is performed in each of the directions towards the estimated position of the second UE at a plurality of time instances after t2, including t3 and t4.

[0117] Clause 36. The method according to clause 35, further comprising: Before t3, a signal or data is transmitted to the second UE in a direction towards the estimated position of the second UE at t2 based on the at least one resource determined by the second sidelink sensing performed at t1.

[0118] Clause 37. The method according to clause 33, further comprising: An inter-UE coordination (IUC) signal is received from the second UE, the IUC signal including information of sidelink sensing performed by the second UE at t1 in each of directions towards an estimated position of the first UE at a plurality of times after t1, including t2, t3, and t4.

[0119] Clause 38. The method of clause 33, wherein one or more reference signal received power (RSRP) thresholds used during the first sidelink sensing and the second sidelink sensing are adapted at t0 and t1.

[0120] Clause 39. The method according to clause 37, further comprising: Prior to t3, a signal or data is transmitted in a direction towards an estimated position of the second UE at t2 based on at least one resource determined by sidelink sensing performed by the second UE at t1 and an IUC signal received from the second UE.

[0121] Clause 40. The method of clause 22, wherein at t0, first sidelink sensing is performed in a first direction towards an estimated position of the second UE at t1, further comprising: At t0, sidelink sensing is performed in a direction opposite to the first direction.

[0122] Clause 41. A method according to clause 22, wherein at t1, second sidelink sensing is performed in a second direction towards an estimated position of the second UE at t2, further comprising: At t1, sidelink sensing is performed in a direction opposite to the second direction.

[0123] Clause 42. The method of clause 24, wherein at t2, third sidelink sensing is performed in a third direction, further comprising: At t2, sidelink sensing is performed in a direction opposite to the third direction.

[0124] Clause 43. A method according to clause 33, wherein, during the first sidelink sensing performed in each of the directions toward the estimated position of the second UE at t1, t2, t3 and t4, a different reference signal received power (RSRP) threshold is used for each of the directions toward the estimated position of the second UE at t1, t2, t3 and t4.

[0125] Clause 44. A user equipment (UE) for sidelink communication, the UE comprising: a memory storing instructions; and A processor configured to execute instructions stored in the memory to: determining a spatial filter configuration, the spatial filter configuration being associated with the first time period; collecting sensing information obtained using a spatial filter configuration, the sensing information comprising at least one of: sidelink resource reservation information, or at least one sidelink reference signal received power (SL-RSRP) measurement of a sidelink communication; determining one or more candidate resources based on the sensed information; selecting one or more resources from one or more candidate resources for transmission; re-evaluating the selected one or more resources using the spatial filter configuration; and Based on the results of the re-evaluation of the selected one or more resources, it is determined whether reselection of the one or more resources is triggered.

[0126] Clause 45. The UE of clause 44, wherein the UE is a first UE and the processor is further configured to execute instructions stored in the memory to: It is determined whether the location of the second UE is known to the first UE.

[0127] Clause 46. The UE of clause 45, wherein the processor is further configured to execute instructions stored in the memory to: In response to determining that the location of the second UE is known to the first UE, a directional spatial filter configuration is selected as the spatial filter configuration.

[0128] Clause 47. The UE of clause 45, wherein the processor is further configured to execute instructions stored in the memory to: In response to determining that the location of the second UE is unknown to the first UE, the widened spatial filter configuration is selected as the spatial filter configuration.

[0129] Clause 48. A UE according to clause 44, wherein, when selecting one or more resources from the one or more candidate resources, the processor is further configured to execute instructions stored in the memory to: Semi-persistently select one or more resources from one or more candidate resources.

[0130] Clause 49. A UE according to clause 44, wherein, when selecting one or more resources from the one or more candidate resources, the processor is further configured to execute instructions stored in the memory to: One or more resources are selected from the one or more candidate resources to be at most a maximum number of the one or more resource reservations.

[0131] Clause 50. The UE of clause 44, wherein the processor is further configured to execute instructions stored in the memory to: In response to determining that reselection of the one or more resources is not triggered, a signal or data is transmitted based on the spatial filter configuration and the one or more selected resources.

[0132] Clause 51. The UE of clause 50, wherein the processor is further configured to execute instructions stored in the memory to: After the transmission, it is determined whether the spatial filter configuration is to be updated.

[0133] Clause 52. The UE of clause 51, wherein the reselection of the one or more resources is a first reselection, and the processor is further configured to execute instructions stored in the memory to: In response to determining that the first spatial filter configuration does not need to be updated, determining whether a second reselection of the one or more resources is triggered based on determining whether a maximum number of reservations for the one or more resources is reached.

[0134] Clause 53. The UE of clause 52, wherein the processor is further configured to execute instructions stored in the memory to: In response to determining that a second reselection of the one or more resources is triggered, iterating execution of instructions from determining the spatial filter configuration; and In response to determining that a second reselection of resources is not triggered, another transmission is initiated based on the spatial filter configuration.

[0135] Clause 54. The UE of clause 52, wherein the processor is further configured to execute instructions stored in the memory to: In response to determining that the first spatial filter configuration needs to be updated, execution of the instructions is iterated from determining the spatial filter configuration.

[0136] Clause 55. The UE of clause 50, wherein the processor is further configured to execute instructions stored in the memory to: Responsive to determining that reselection of the one or more resources is triggered, execution of the instructions is iterated from collecting the sensory information.

[0137] Clause 56. The UE of clause 44, wherein, when re-evaluating the selected one or more resources, the processor is further configured to execute instructions stored in the memory to: decoding one or more signals on a physical sidelink control channel (PSCCH) received from one or more other UEs, the PSCCH being received using the spatial filter configuration; or Measure one or more sidelink reference signal received powers (SL-RSRP) on at least one of a PSCCH or a physical sidelink shared channel (PSSCH) received from one or more other UEs, at least one of the PSCCH or PSSCH being received using a spatial filter configuration.

[0138] Clause 57. The UE of clause 44, wherein the processor is further configured to execute instructions stored in the memory to: In response to determining that reselection of the one or more resources is not triggered, determining whether to update the spatial filter configuration; and In response to determining that reselection of one or more resources is triggered, execution of the instructions is iterated from determining the spatial filter configuration or from collecting the sensory information.

[0139] Clause 58. A UE according to clause 57, wherein the processor is further configured to execute instructions stored in the memory to: In response to determining that the spatial filter configuration does not need to be updated, a signal or data is transmitted based on the spatial filter configuration.

[0140] Clause 59. The UE of clause 58, wherein the reselection of the one or more resources is a first reselection, and the processor is further configured to execute instructions stored in the memory to: Based on determining whether the maximum number of resource reservations is reached, determining whether a second reselection of the one or more resources is triggered.

[0141] Clause 60. The UE of clause 59, wherein the processor is further configured to execute instructions stored in the memory to: In response to determining that a second reselection of the one or more resources is triggered, iterating execution of instructions from determining the spatial filter configuration; and In response to determining that a second reselection of resources is not triggered, another transmission is initiated based on the spatial filter configuration.

[0142] Clause 61. A UE according to clause 57, wherein the processor is further configured to execute instructions stored in the memory to: In response to determining that the spatial filter configuration needs to be updated, execution of the instructions is iterated from determining the spatial filter configuration.

[0143] Clause 62. The UE of clause 61, wherein the processor is further configured to execute instructions stored in the memory to: Select a new spatial filter configuration to replace the spatial filter configuration.

[0144] Clause 63. The method of clause 44, wherein the UE is a first UE and the spatial filter configuration is determined based on location information of a second UE.

[0145] Clause 64. A UE according to clause 46, wherein the location of the second UE is known to the first UE based on receipt of a cooperative awareness message (CAM) or a basic safety message (BSM) transmitted from the second UE.

[0146] Clause 65. A UE according to clause 44, wherein the UE is a first UE, the spatial filter configuration is a first spatial filter configuration, and the first time period is a time period starting at t0 and ending at t2, and wherein, when collecting sensing information obtained using the spatial filter configuration, the processor is further configured to execute instructions stored in the memory to: performing, at t0, a first sidelink sensing in a first direction towards an estimated position of the second UE at t1, t1 being a time between t0 and t2; and At t1 , a second sidelink sensing is performed in a second direction towards an estimated position of the second UE at t2 .

[0147] Clause 66. The UE of clause 65, wherein the processor is further configured to execute instructions stored in the memory to: Prior to t2, a signal or data is transmitted in a first direction towards an estimated location of the second UE at t1 using at least one resource selected based on the first sidelink sensing performed at t0.

[0148] Clause 67. A UE according to clause 66, wherein the second spatial filter configuration is associated with a second time period, the second time period being a time period starting at t2 and ending at t3, and the processor is further configured to execute the instructions stored in the memory to: At t2, a third sidelink sensing is performed in a third direction towards the estimated position of the second UE at t3.

[0149] Clause 68. The UE of clause 67, wherein the processor is further configured to execute instructions stored in the memory to: Prior to t3, a signal or data is transmitted in a direction towards the second UE at t2 using at least one resource determined by the second sidelink sensing performed at t1.

[0150] Clause 69. The UE of clause 65, wherein the first sidelink sensing and the second sidelink sensing are performed when the difference between t1 and t0 is greater than a minimum difference and less than a maximum difference.

[0151] Clause 70. The UE of clause 69, wherein at least one of the minimum difference or the maximum difference is a function of an absolute speed of the first UE and a relative speed of the first UE with respect to the second UE.

[0152] Clause 71. The UE of clause 69, wherein at least one of the minimum difference or the maximum difference is pre-configured or configured.

[0153] Clause 72. The UE of clause 67, wherein the first sidelink sensing and the second sidelink sensing are performed only when the first spatial filter configuration is expected to be changed to the second spatial filter configuration in the second time period.

[0154] Clause 73. A UE according to clause 65, wherein one or more reference signal received power (RSRP) thresholds used during the first sidelink sensing and the second sidelink sensing are adapted at t0 and t1.

[0155] Clause 74. A UE according to clause 65, wherein one or more reference signal received power (RSRP) thresholds used during the first sidelink sensing and the second sidelink sensing are adapted based on a spatial filter gain difference.

[0156] Clause 75. A UE according to clause 66, wherein, prior to transmitting a signal or data in a first direction towards an estimated location of the second UE at t1, a second sidelink sensing in a second direction towards an estimated location of the second UE at t2 is performed, wherein sidelink control information (SCI) at the transmission indicates one or more resources to be used at t2, and wherein the processor is further configured to execute instructions stored in the memory to: Monitoring the resource pool while adapting the first spatial filter configuration; and Determine whether reselection of one or more resources is triggered.

[0157] Clause 76. A UE according to clause 44, wherein the UE is a first UE, the spatial filter configuration is a first spatial filter configuration, the first time period is a time period starting at t0 and ending at t2, and wherein, when collecting sensing information obtained using the spatial filter configuration, the processor is further configured to execute instructions stored in the memory to: performing, at t0, a first sidelink sensing in each of directions towards an estimated position of the second UE at a plurality of times after t0 (including t1, t2, t3, and t4), wherein t2 is a starting point of a second time period and t3 is an ending point of the second time period; and At t1, second sidelink sensing is performed in each of the directions towards the estimated position of the second UE at a plurality of time instances after t1, including t2, t3, and t4.

[0158] Clause 77. A UE according to clause 76, wherein the processor is further configured to execute instructions stored in the memory to: Prior to t2, a signal or data is transmitted to the second UE in a direction towards the estimated position of the second UE at t1 using at least one resource determined according to the first sidelink sensing performed at t0.

[0159] Clause 78. A UE according to clause 77, wherein the processor is further configured to execute instructions stored in the memory to: At t2, a third sidelink sensing is performed in each of the directions towards the estimated position of the second UE at a plurality of time instances after t2, including t3 and t4.

[0160] Clause 79. A UE according to clause 78, wherein the processor is further configured to execute instructions stored in the memory to: Before t3, a signal or data is transmitted to the second UE in a direction towards the estimated position of the second UE at t2 based on the at least one resource determined by the second sidelink sensing performed at t1.

[0161] Clause 80. A UE according to clause 76, wherein the processor is further configured to execute instructions stored in the memory to: An inter-UE coordination (IUC) signal is received from the second UE, the IUC signal including information of sidelink sensing performed by the second UE at t1 in each of directions towards an estimated position of the first UE at a plurality of times after t1, including t2, t3, and t4.

[0162] Clause 81. A UE according to clause 76, wherein one or more reference signal received power (RSRP) thresholds used during the first sidelink sensing and the second sidelink sensing are adapted at t0 and t1.

[0163] Clause 82. The UE of clause 80, wherein the processor is further configured to execute instructions stored in the memory to: Prior to t3, a signal or data is transmitted in a direction towards an estimated position of the second UE at t2 based on at least one resource determined by sidelink sensing performed by the second UE at t1 and an IUC signal received from the second UE.

[0164] Clause 83. A UE according to clause 65, wherein, at t0, when performing the first sidelink sensing in a first direction towards an estimated position of the second UE at t1, the processor is further configured to execute instructions stored in the memory to: At t0, sidelink sensing is performed in a direction opposite to the first direction.

[0165] Clause 84. A UE according to clause 65, wherein, at t1, when performing the second sidelink sensing in a second direction towards an estimated position of the second UE at t2, the processor is further configured to execute instructions stored in the memory to: At t1, sidelink sensing is performed in a direction opposite to the second direction.

[0166] Clause 85. A UE according to clause 67, wherein, at t2, when performing a third sidelink sensing in the third direction, the processor is further configured to execute instructions stored in the memory to: At t2, sidelink sensing is performed in a direction opposite to the third direction.

[0167] Clause 86. A UE according to clause 76, wherein, during the first sidelink sensing performed in each of the directions towards the estimated position of the second UE at t1, t2, t3 and t4, a different reference signal received power (RSRP) threshold is used for each of the directions towards the estimated position of the second UE at t1, t2, t3 and t4.

[0168] Clause 87. A non-transitory computer-readable medium storing instructions executable by one or more processors of a user equipment (UE) for sidelink communication to perform a method comprising: determining a spatial filter configuration, the spatial filter configuration being associated with the first time period; collecting sensing information obtained using a spatial filter configuration, the sensing information comprising at least one of: sidelink resource reservation information, or at least one sidelink reference signal received power (SL-RSRP) measurement of a sidelink communication; determining one or more candidate resources based on the sensed information; selecting one or more resources from one or more candidate resources for transmission; re-evaluating the selected one or more resources using the spatial filter configuration; and Based on the results of the re-evaluation of the selected one or more resources, it is determined whether reselection of the one or more resources is triggered.

Claims

1. A method for resource selection in sidelink communication, the method comprising: determining, by a user equipment (UE), a spatial filter configuration, the spatial filter configuration being associated with a first time period; collecting, by the UE, sensing information obtained using the spatial filter configuration, the sensing information comprising at least one of: sidelink resource reservation information, or at least one sidelink reference signal received power (SL-RSRP) measurement of the sidelink communication; determining, by the UE, one or more candidate resources based on the sensing information; selecting, by the UE, one or more resources from the one or more candidate resources for transmission; re-evaluating, by the UE, the selected one or more resources using the spatial filter configuration; as well as Based on the result of the re-evaluation of the selected one or more resources, it is determined whether a reselection of the one or more resources is triggered.

2. The method according to claim 1, wherein: The UE is a first UE, and the method further includes: It is determined by the first UE whether the location of the second UE is known to the first UE.

3. The method according to claim 2, further comprising: In response to determining that the location of the second UE is known to the first UE, a directional spatial filter configuration is selected as the spatial filter configuration.

4. The method according to claim 2, further comprising: In response to determining that the location of the second UE is unknown to the first UE, a widened spatial filter configuration is selected as the spatial filter configuration.

5. The method according to claim 1, wherein: Selecting the one or more resources from the one or more candidate resources further comprises: The one or more resources are semi-persistently selected by the UE from among the one or more candidate resources.

6. The method according to claim 1, wherein: Selecting the one or more resources from the one or more candidate resources further comprises: The one or more resources up to a maximum number of one or more resource reservations are selected by the UE from the one or more candidate resources.

7. The method according to claim 1, further comprising: In response to determining that reselection of the one or more resources is not triggered, transmitting a signal or data based on the spatial filter configuration and the one or more selected resources.

8. The method according to claim 7, further comprising: After the transmission, it is determined whether the spatial filter configuration is to be updated.

9. The method according to claim 7, further comprising: In response to determining that reselection of the one or more resources is triggered, the method is iterated from collecting the sensed information.

10. The method according to claim 1, wherein: The re-evaluating the selected one or more resources further comprises at least one of: decoding one or more signals on a physical sidelink control channel (PSCCH) received from one or more other UEs, the PSCCH being received using the spatial filter configuration; or Measure one or more sidelink reference signal received powers (SL-RSRP) on at least one of the PSCCH or physical sidelink shared channel (PSSCH) received from the one or more other UEs, and the at least one of the PSCCH or PSSCH is received using the spatial filter configuration.

11. The method according to claim 1, further comprising: In response to determining that reselection of the one or more resources is not triggered, determining whether to update the spatial filter configuration; as well as In response to determining that reselection of the one or more resources is triggered, the method is iterated from determining the spatial filter configuration or from collecting the sensed information.

12. The method according to claim 11, further comprising: In response to determining that the spatial filter configuration does not need to be updated, a signal or data is transmitted based on the spatial filter configuration.

13. The method according to claim 11, further comprising: In response to determining that the spatial filter configuration needs to be updated, the method is iterated from determining the spatial filter configuration.

14. The method according to claim 1, wherein: The UE is a first UE, and the spatial filter configuration is determined based on location information of a second UE.

15. The method according to claim 1, wherein: The UE is a first UE, the spatial filter configuration is a first spatial filter configuration, and the first time period is a time period starting at t0 and ending at t2, and wherein collecting sensing information obtained using the spatial filter configuration comprises: performing, at t0, a first sidelink sensing in a first direction towards an estimated position of the second UE at t1, t1 being a time between t0 and t2; and At t1 , a second sidelink sensing is performed in a second direction towards an estimated position of the second UE at t2 .

16. The method according to claim 15, further comprising: Prior to t2, a signal or data is transmitted in a first direction towards an estimated position of the second UE at t1 using at least one resource selected based on the first sidelink sensing performed at t0.

17. The method according to claim 15, wherein: When the difference between t1 and t0 is greater than a minimum difference and less than a maximum difference, the first sidelink sensing and the second sidelink sensing are performed.

18. The method according to claim 1, wherein: The UE is a first UE, the spatial filter configuration is a first spatial filter configuration, the first time period is a time period starting at t0 and ending at t2, and wherein collecting sensing information obtained using the spatial filter configuration comprises: At t0, performing a first sidelink sensing in each of directions towards an estimated position of the second UE at a plurality of times after t0 including t1, t2, t3, and t4, wherein t2 is a starting point of a second time period and t3 is an ending point of the second time period; and At t1, second sidelink sensing is performed in each of the directions towards the estimated position of the second UE at a plurality of times after t1, including t2, t3, and t4.

19. A user equipment (UE) for sidelink communication, the UE comprising: a memory storing instructions; as well as a processor configured to execute the instructions stored in the memory to: determining a spatial filter configuration, the spatial filter configuration being associated with a first time period; collecting sensing information obtained using the spatial filter configuration, the sensing information comprising at least one of: sidelink resource reservation information, or at least one sidelink reference signal received power (SL-RSRP) measurement of the sidelink communication; determining one or more candidate resources based on the sensed information; selecting one or more resources from the one or more candidate resources for transmission; re-evaluating the selected one or more resources using the spatial filter configuration; as well as Based on the result of the re-evaluation of the selected one or more resources, it is determined whether a reselection of the one or more resources is triggered.

20. A non-transitory computer readable medium storing instructions executable by one or more processors of a user equipment (UE) for sidelink communication to perform a method comprising: determining a spatial filter configuration, the spatial filter configuration being associated with a first time period; collecting sensing information obtained using the spatial filter configuration, the sensing information comprising at least one of: sidelink resource reservation information, or at least one sidelink reference signal received power (SL-RSRP) measurement of the sidelink communication; determining one or more candidate resources based on the sensed information; selecting one or more resources from the one or more candidate resources for transmission; re-evaluating the selected one or more resources using the spatial filter configuration; as well as Based on the result of the re-evaluation of the selected one or more resources, it is determined whether a reselection of the one or more resources is triggered.

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