Configuration and selection of sidelink positioning reference signal resources

Abstract

Methods, apparatuses, and systems for a UE for positioning are disclosed. In one embodiment, a method includes determining at least one of one or more sidelink positioning reference signal (SL-PRS) resource sets in a time slot, or one or more SL-PRS resource set patterns for one or more time slots, the one or more SL-PRS resource sets being configured or pre-configured for one or more UEs including the UEs for one or more SL-PRS transmissions; selecting at least one SL-PRS resource set from the one or more SL-PRS resource sets based on at least one of: random selection, one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from the network node; and transmitting at least one of the following: the one or more SL-PRS signals or the SL-PRS control information.

Description

Cross Reference to Related Patent Applications

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 457,255, filed April 5, 2023, entitled “CONFIGURATION AND SELECTION OF SL-PRS RESOURCE SETS TO MITIGATE NEAR-FAR PROBLEM DUE TO IN-BAND EMISSION INTERFERENCE,” the entirety of which is incorporated by reference herein. TECHNICAL FIELD

[0002] Apparatuses and methods consistent with the present disclosure relate generally to communications, and more particularly, to methods, systems, and devices for configuration and selection of sidelink positioning reference signal resource sets in communications. BACKGROUND

[0003] User Equipment (UE) in communications, such as vehicles in Vehicle-to-Everything (V2X) communications, need to obtain timely and accurate location information for various purposes. The UE can use traditional positioning methods, e.g., based on signals transmitted / received to / from a Global Navigation Satellite System (GNSS) or a network node (e.g., a base station), to obtain the location information. However, if the UE is located in an area where such signals are intermittent or unreliable, e.g., in a parking lot or a tunnel, the UE can not be able to obtain the location information.

[0004] Sidelink positioning based on Sidelink Positioning Reference Signal (SL-PRS) can provide a solution to the above issues in traditional positioning methods. For sidelink positioning, a UE (a transmitter UE) needs to transmit SL-PRS to a receiver UE. However, if there is another transmitter UE in the sidelink communication that also transmits SL-PRS to the same receiver UE, the signal from the other transmitter UE can interfere with the signal from the UE at the receiver UE, resulting in a reduction in positioning accuracy. The impact of such degradation in positioning accuracy is more severe if the SL-PRS resource set for the two transmitter UEs is configured or preconfigured as a comb-based SL-PRS resource set, and the two transmitter UEs transmit SL-PRS signals in a periodic or semi-persistent scheduling manner by multiplexing the comb-based SL-PRS resource set, resulting in persistent or semi-persistent signal interference for a long period of time. It is desirable to have systems and methods for configuring and selecting SL-PRS resource sets that can mitigate signal interference and improve sidelink positioning accuracy. SUMMARY

[0005] According to some embodiments of the present disclosure, a UE for sidelink positioning is provided. The UE includes a memory storing instructions and a processor configured to execute the instructions stored in the memory to: determine at least one of: one or more SL-PRS resource sets in a slot, or one or more SL-PRS resource set patterns for one or more slots, the one or more SL-PRS resource sets being configured or preconfigured for one or more SL-PRS transmissions by one or more UEs including the UE; select at least one SL-PRS resource set from the one or more SL-PRS resource sets based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node; and transmit at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one SL-PRS resource set.

[0006] According to some embodiments of the present disclosure, a node for sidelink positioning is provided. The node includes a memory storing instructions and a processor configured to execute the instructions stored in the memory to configure one or more sets of SL-PRS resources for one or more UEs including a first UE, obtain information about a positioning accuracy of the first UE, and determine whether to deactivate at least one set of SL-PRS resources configured for the first UE and whether to configure at least one other set of SL-PRS resources for the first UE.

[0007] According to some embodiments of the present disclosure, a method for a UE in sidelink positioning is provided. The method includes determining at least one of: one or more sets of SL-PRS resources in a slot, or one or more SL-PRS resource set patterns for one or more slots, the one or more sets of SL-PRS resources being configured or preconfigured for one or more SL-PRS transmissions of one or more UEs including the UE, selecting at least one set of SL-PRS resources from the one or more sets of SL-PRS resources based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node, and transmitting at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one set of SL-PRS resources.

[0008] According to some embodiments of the present disclosure, a method involving a node for sidelink positioning is provided. The method includes configuring one or more sets of SL-PRS resources for one or more UEs including a first UE, obtaining information about a positioning accuracy of the first UE, and determining whether to deactivate at least one set of SL-PRS resources configured for the first UE and whether to configure at least one other set of SL-PRS resources for the first UE.

[0009] According to some embodiments of the present disclosure, a non-transitory computer-readable medium storing instructions executable by one or more processors of a UE in sidelink positioning is provided. The method includes determining at least one of: one or more SL-PRS resource sets in a slot, or one or more SL-PRS resource set patterns for one or more slots, the one or more SL-PRS resource sets configured or preconfigured for one or more SL-PRS transmissions of one or more UEs including the UE; selecting at least one SL-PRS resource set from the one or more SL-PRS resource sets based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node; and transmitting at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one SL-PRS resource set.

[0010] According to some embodiments of the present disclosure, a non-transitory computer-readable medium storing instructions executable by one or more processors of a node for sidelink positioning to perform a method is provided. The method includes configuring one or more SL-PRS resource sets for one or more UEs including a first UE; obtaining information about a positioning accuracy of the first UE; and determining whether to deactivate at least one SL-PRS resource set configured for the first UE and whether to configure at least one other SL-PRS resource set for the first UE. BRIEF DESCRIPTION OF DRAWINGS

[0011] [FIG. 1] Figures 1A-1C is a diagram illustrating some exemplary scenarios in which conventional positioning is unavailable or inaccurate, consistent with some embodiments of the present disclosure.

[0012] [ Figure 2 ] Figure 2 is a diagram illustrating sidelink positioning, consistent with some embodiments of the present disclosure.

[0013] [ Figure 3 ] Figure 3 is a diagram illustrating an exemplary downlink positioning reference signal (DL-PRS) resource mapping, consistent with some embodiments of the present disclosure.

[0014] [ Figure 4 ] Figure 4FIG. 1 is a diagram illustrating an exemplary SL-PRS resource mapping, in accordance with some embodiments consistent with the present disclosure.

[0015] [ Figure 5 ] Figure 5 FIG. 2 is a diagram illustrating in-band emission interference occurring between two or more UEs transmitting SL-PRS signals using one or more SL-PRS resource sets in the same time slot, in accordance with some embodiments consistent with the present disclosure.

[0016] [ Figure 6A ] Figure 6A FIG. 3 is a diagram illustrating an exemplary SL-PRS resource mapping, in accordance with some embodiments consistent with the present disclosure. [ Figure 6B ] Figure 6B FIG. 4 is a diagram illustrating another exemplary SL-PRS resource mapping, in accordance with some embodiments consistent with the present disclosure. [ Figure 6C ] Figure 6C FIG. 5 is a diagram illustrating another exemplary SL-PRS resource mapping, in accordance with some embodiments consistent with the present disclosure.

[0017] [ Figure 7A ] Figure 7A FIG. 6 is a diagram illustrating an exemplary SL-PRS resource mapping including a first SL-PRS resource set pattern, in accordance with some embodiments consistent with the present disclosure. [ Figure 7B ] Figure 7B FIG. 7 is a diagram illustrating an exemplary SL-PRS resource mapping including a second SL-PRS resource set pattern, in accordance with some embodiments consistent with the present disclosure. [ Figure 7C ] Figure 7C FIG. 8 is a diagram illustrating an exemplary SL-PRS resource mapping including a third SL-PRS resource set pattern, in accordance with some embodiments consistent with the present disclosure.

[0018] [ Figure 8 ] Figure 8 FIG. 9 is a diagram illustrating a method for a UE in sidelink positioning, in accordance with some embodiments consistent with the present disclosure.

[0019] [ Figure 9 ] Figure 9 FIG. 10 is a diagram illustrating a method involving a node for sidelink positioning, in accordance with some embodiments consistent with the present disclosure.

[0020] [ Figure 10 ] Figure 10 FIG. 11 shows a block diagram of a device, in accordance with some embodiments consistent with the present disclosure. DETAILED DESCRIPTION

[0021] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers represent the same or similar elements between the several figures. The implementation set forth in the description of exemplary embodiments below is not meant to represent all implementations consistent with the present disclosure. Instead, they are simply exemplary aspects of systems, apparatuses and methods that can be employed in accordance with the disclosure as claimed.

[0022] Figures 1A-1C are schematic diagrams illustrating some example scenarios in which conventional positioning is unavailable or inaccurate in accordance with some embodiments of the present disclosure. A UE in communication, which is an example of a mobile node, such as a vehicle in V2X communication, needs to obtain timely and accurate positioning information for various purposes. The term “node” is used as a general term in this disclosure, which can be a user equipment, a relay node, a road side unit, a vehicle, a vehicle mounted module, or a network infrastructure device (e.g., a base station, a relay device, a wireless router, a controller, an access point). For many V2X services, location information is one of the essential data elements that need to be exchanged over V2X communication. In V2X communication, location information can be exchanged via a Basic Safety Message (BSM), a Collective Perception Message (CPM), a Maneuver Coordination Message (MCM), or a Personal Safety Message (PSM), etc. To obtain location information, a UE can use a conventional positioning method, e.g., based on transmitting / receiving Global Navigation Satellite System (GNSS) signals to / from a satellite. However, precise positioning using GNSS signals is challenging in some scenarios, Figures 1A-1C such challenging scenarios are schematically illustrated. Referring to Figure 1A , a UE 102 (e.g., a vehicle) in an urban canyon can attempt to obtain positioning information using GNSS signals transmitted from a satellite 104. However, due to Non-Light-Of-Sight (NLOS) and multipath in the urban canyon, the UE 102 can not be able to receive the GNSS signals, and thus, GNSS-based positioning can be unavailable or inaccurate in this scenario. Referring to Figure 1B , a UE 106 (e.g., a vehicle) in a tunnel can also suffer from the same challenge when it attempts to obtain positioning information using GNSS signals transmitted from a satellite 108, as the tunnel obstructs the transmission of GNSS signals. Similarly, as Figure 1CAs shown, when a UE attempts to obtain positioning information using GNSS signals transmitted from satellite 112, a UE 110 in a parking lot (e.g., a vehicle) may encounter similar difficulties because the parking lot buildings obstruct the transmission of GNSS signals.

[0023] UEs (e.g., UE 102, UE 106, or UE 110) can also use other conventional positioning methods, such as Inertial Measurement Unit (IMU) / dead reckoning. However, in IMU / dead reckoning, positioning errors typically increase with distance, leading to decreased positioning accuracy. UEs can also attempt to use Uu-based positioning methods based on signals communicated with network nodes (e.g., base stations). However, if the UE is outside the coverage area of ​​a network node, signals from the network node are unavailable. Sidelink positioning can provide a solution for the above scenarios, as described below.

[0024] Figure 2 This is a schematic diagram illustrating side-link positioning conforming to some embodiments of this disclosure. To address issues such as... Figures 1A-1C The challenges of conventional positioning methods described herein, and at least some embodiments of this disclosure, relate to lateral walkway positioning. (See references...) Figure 2 In lateral link localization, target node 202 (e.g., vehicle, one or more pedestrians, etc.) and anchor node 204 (e.g., roadside unit) can transmit / receive SL-PRS signals to determine the location of target node 202. For example, the location of target node 202 can be determined by measuring the round-trip time (RTT), relative time of arrival (RTOA), angle of arrival (AoA), or zenith of arrival (ZoA) of the SL-PRS signal. Localization can be absolute localization determining the coordinates of target node 202 and / or relative localization determining the relative position of target node 202 with respect to another node (e.g., anchor node 204). Transmission of SL-PRS signals may require radio resources (e.g., time and / or frequency resources). At least some embodiments of this disclosure use comb-based SL-PRS resource mapping, similar to DL-PRS resource mapping, as described below.

[0025] Figure 3 This is a schematic diagram illustrating exemplary DL-PRS resource mappings conforming to some embodiments of this disclosure. For example... Figure 3As shown, DL-PRS resource mapping is a comb-based mapping. Radio resources can consist of time resources and / or frequency resources. Figure 3 In the diagram, the horizontal axis indicates time resources, and the vertical axis indicates frequency resources. Figure 3 The comb-based resource mapping in the example includes a resource set comprising multiple resource elements (REs), shown as black squares. For example... Figure 3 As shown, on the horizontal axis, each resource element corresponds to a symbol length. Figure 3 The horizontal axis shows the 14 symbols that make up a time slot. Figure 3 In the DL-PRS mapping shown, the interval between two adjacent resource elements in the horizontal direction is 3, and the interval between two adjacent resource elements in the vertical direction is also 3. In some embodiments, Figure 3 The DL-PRS resource set can be associated with resource ID, comb size, comb offset, start symbol of the slot, or number of symbols within the slot. Figure 3 The DL-PRS resource mappings in this application are merely exemplary and are not limited thereto. The DL-PRS resource mappings disclosed herein may include any number of resource sets and may form any resource set pattern.

[0026] Figure 4 This is a schematic diagram illustrating exemplary SL-PRS resource mappings conforming to some embodiments of this disclosure. For example... Figure 4 As shown, SL-PRS resource mapping is a comb-based mapping. See also... Figure 4 An exemplary SL-PRS resource mapping includes four different SL-PRS resource sets in a time slot: SL-PRS1, SL-PRS2, SL-PRS3, and SL-PRS4. These four different SL-PRS resource sets can be configured for one or more UEs. The one or more UEs can reuse resource elements from these four different resource sets. In some embodiments, SL-PRS resources consist of time and / or frequency. In some embodiments, each of the four SL-PRS resource sets can be associated with at least one of the following: resource ID, comb size, comb offset, start symbol of the time slot, or number of symbols within the time slot. In scenarios where four different SL-PRS resource sets are configured for multiple UEs (e.g., four UEs), multiplexing comb-based SL-PRS resources from the four different SL-PRS resource sets may result in in-band transmission (IBE) interference between multiple UEs transmitting SL-PRS signals using the same SL-PRS resource set in the same time slot, as described below.

[0027] Figure 5This is a schematic diagram illustrating in-band transmit interference between two or more UEs transmitting SL-PRS signals using one or more SL-PRS resource sets in the same time slot, according to some embodiments of this disclosure. Reference Figure 5 Transmitter (Tx) UE 502 and Tx UE 504 can use one or more resource sets in the same time slot for SL-PRS transmission. For example, Tx UE 502 can use... Figure 4 SL-PRS2, and Tx UE 504 can use the SL-PRS2 adjacent in the vertical direction (frequency domain). Figure 4 SL-PRS1. Both Tx UE 502 and Tx UE 504 send SL-PRS signals to Rx UE 506. Tx UE 502 is farther from Rx UE 506, while Tx UE 504 is closer to Rx UE 506. In this case, the leakage of the signal from Tx UE 504 (i.e., IBE) interferes with the signal from Tx UE 502 at Rx UE 506, resulting in reduced positioning accuracy of the side-link positioning. In this disclosure, this phenomenon is referred to as the near-far problem caused by IBE interference. This degradation in positioning accuracy is more severe if multiple Tx UEs send SL-PRS signals in a periodic and / or semi-persistent scheduling (SPS) manner using comb-based multiplexing based on the SL-PRS resource set in the same time slot. This is because it leads to persistent or semi-persistent near-far problems. In this situation, the distance issue may occur during continuous SL-PRS transmissions, resulting in a longer period of deterioration in positioning accuracy.

[0028] At least some embodiments of the present disclosure provide solutions to mitigate the near-far problem caused by IBE interference. For example, in some embodiments, each Tx UE can use a set of SL-PRS resources with less IBE interference impact for each SL-PRS transmission and / or use different sets of SL-PRS resources for periodic or semi-periodic SL-PRS transmissions to mitigate persistent or semi-persistent near-far problem. According to some embodiments of the present disclosure, to mitigate the near-far problem, for example, a Tx UE can select one or more sets of SL-PRS resources for one or more subsequent SL-PRS transmissions based on random selection from the available sets of SL-PRS resources and / or based on a configured or pre-configured pattern of sets of SL-PRS resources and / or its own sensing information and / or control signaling and / or assistance information from one or more other Tx UEs or Rx UEs and / or a network node. In addition, a Tx UE can transmit control information for SL-PRS signals that indicates SL-PRS resource set information for one or more subsequent SL-PRS transmissions (e.g., an initial transmission and / or retransmission(s) in a current SPS period and / or subsequent SPS period(s)), so that one or more UEs in the surrounding can be aware of the set of SL-PRS resources to avoid selecting a set of SL-PRS resources that is reserved and / or a set of SL-PRS resources that can be subject to IBE interference.

[0029] Figure 6A is a diagram illustrating an example SL-PRS resource mapping consistent with some embodiments of the present disclosure, Figure 6B is a diagram illustrating another example SL-PRS resource mapping consistent with some embodiments of the present disclosure, and Figure 6C is a diagram illustrating another example SL-PRS resource mapping consistent with some embodiments of the present disclosure. Referring to Figure 6A , the example SL-PRS resource mapping includes four different sets of SL-PRS resources in a slot: SL-PRS1, SL-PRS2, SL-PRS 3, and SL-PRS4. In Figure 6A , the spacing value between two adjacent resource elements on the horizontal axis and the vertical axis is zero. Referring to Figure 6B , the example SL-PRS resource includes two different sets of SL-PRS resources in a slot, which are: SL-PRS1 and SL-PRS 3. In Figure 6B , the spacing value between two adjacent resource elements for SL-PRS1 and SL-PRS 3 on the horizontal axis is zero, and the spacing value on the vertical axis is 1. Referring to Figure 6C , the example SL-PRS resource includes one SL-PRS resource in a slot, which is: SL-PRS1. In Figure 6CIn the example, the interval between two adjacent resource elements used in SL-PRS1 is 3 on both the horizontal and vertical axes.

[0030] like Figures 6A-6C The three SL-PRS resource mappings shown are merely exemplary resource mappings, and the scope of this application is not limited thereto. In some embodiments, based on the impact of the near-far problem and / or positioning accuracy requirements and / or the priority of SL-PRS signals and / or congestion metrics associated with SL-PRS signals, SL-PRS resource mappings are configured, pre-configured, or predefined such that any number of SL-PRS resource sets can be included in a single time slot, or any interval value between two adjacent resource elements can be used. In some embodiments, the near-far problem is mitigated by configuring, pre-configuring, defining, or pre-defining different SL-PRS resource set patterns, as described below. Figures 7A-7C As described.

[0031] Figure 7A This is a schematic diagram illustrating an exemplary SL-PRS resource mapping including a first SL-PRS resource set pattern, conforming to some embodiments of this disclosure. Figure 7B This is a schematic diagram illustrating an exemplary SL-PRS resource mapping including a second SL-PRS resource set pattern, conforming to some embodiments of this disclosure, and Figure 7C This is a schematic diagram illustrating an exemplary SL-PRS resource mapping including a third SL-PRS resource set pattern, conforming to some embodiments of this disclosure. See also Figure 7A An exemplary SL-PRS resource mapping includes six different SL-PRS resource sets in a time slot: SL-PRS1, SL-PRS2, SL-PRS3, SL-PRS4, SL-PRS5, and SL-PRS6. The arrangement (sequence) of the resource elements in these six different SL-PRS resource sets forms the first SL-PRS resource set pattern, such as... Figure 7A As shown. In Figure 7A In this context, there is no gap between two adjacent resource elements on both the horizontal and vertical axes. See also... Figure 7B An exemplary SL-PRS resource mapping includes six identical SL-PRS resource sets (SL-PRS1, SL-PRS2, SL-PRS3, SL-PRS4, SL-PRS5, and SL-PRS6) in a time slot. However, compared to... Figure 7A compared to, Figure 7B The arrangement (order) of resource elements in the six different SL-PRS resource sets is different. Figure 7B The arrangement of resource elements from six different SL-PRS resource sets forms the second SL-PRS resource set pattern. Figure 7B In this context, there is no gap between two adjacent resource elements on either the horizontal or vertical axis. See alsoFigure 7C The example SL-PRS resource mapping includes six identical SL-PRS resource sets (SL-PRS1, SL-PRS2, SL-PRS3, SL-PRS4, SL-PRS5, and SL-PRS6) in a slot. The arrangement of resource elements of the six SL-PRS resource sets form a third SL-PRS resource set pattern that is different from the first SL-PRS resource set pattern and the second SL-PRS resource set pattern. In Figure 7C , there is also no gap between two adjacent resource elements on the horizontal axis and the vertical axis.

[0032] The three SL-PRS resource set patterns as shown in Figures 7A-7C are merely example resource set patterns, and the scope of the present application is not limited thereto. In some embodiments, any type of SL-PRS resource set pattern is configured, pre-configured, defined, or pre-defined based on the impact of the near-far problem and / or the positioning accuracy requirement.

[0033] Figure 8 is a schematic diagram showing a method for a UE in sidelink positioning consistent with some embodiments of the present disclosure. The UE can be any UE or mobile node in a communication system, such as a vehicle or a pedestrian. For example, in one embodiment, the UE can be the target node 202 of Figure 2 . Referring to Figure 8 , the method 800 includes a step 802 of determining at least one of: one or more SL-PRS resource sets in a slot, or one or more SL-PRS resource set patterns for one or more slots, the one or more SL-PRS resource sets configured or pre-configured for one or more SL-PRS transmissions of one or more UEs including the UE. The slot can be a slot of a dedicated SL-PRS resource pool or a slot of a shared SL-PRS resource pool. One or more of the one or more SL-PRS resource sets can be at least one of: one or more time resources, or one or more frequency resources. In some embodiments, each of the one or more SL-PRS resource sets can be associated with at least one of: an SL-PRS resource identifier (ID), an SL-PRS comb size, an SL-PRS comb offset, a starting symbol of the slot, or a number of SL-PRL symbols within the slot. In some embodiments, the one or more SL-PRS resource sets can be one or more valid SL-PRS resource sets configured or pre-configured to be available for at least one slot. For example, the one or more SL-PRS resource sets can be SL-PRS1 of Figure 6C , SL-PRS1 and SL-PRS3 of Figure 6B , or SL-PRS1, SL-PRS3, and SL-PRS5 of Figure 6ASL-PRS 1, SL-PRS 2, SL-PRS 3, and SL-PRS 4. In some embodiments, one or more SL-PRS resource sets can be configured or preconfigured such that each of the one or more SL-PRS resource sets has a corresponding SL-PRS resource ID. For example, in some embodiments, Figure 6A each of SL-PRS 1, SL-PRS 2, SL-PRS 3, and SL-PRS 4 has a corresponding SL-PRS resource ID.

[0034] In some embodiments, one or more SL-PRS resource sets can be configured or preconfigured based on at least one of: one or more priorities of the one or more SL-PRS signals, or one or more congestion metrics associated with the one or more SL-PRS signals. For example, the one or more congestion metrics associated with the one or more SL-PRS signals can include at least one of a Channel Busy Ratio (CBR) or a Channel Occupancy Ratio (CR). In some embodiments, one or more SL-PRS resource sets can be configured or preconfigured such that, in at least one time slot, the one or more SL-PRS resource sets are associated with an odd resource set index or an even resource set index.

[0035] In some embodiments, one or more SL-PRS resource sets can be configured or preconfigured such that, in at least one time slot, a spacing between two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is equal to or greater than an integer. The integer can be configured or preconfigured. The two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets can be two adjacent resource elements. For example, in Figure 4 In some embodiments, one or more SL-PRS resource sets can be configured or preconfigured such that, in at least one time slot, a spacing between two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is equal to or greater than an integer. The integer can be configured or preconfigured. The two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets can be two adjacent resource elements. For example, in Figure 4 The spacing of 2 mentioned in the above example in

[0036] In some embodiments, one or more SL-PRS resource sets can be configured or preconfigured such that a wider spacing between two resource elements for any two of the one or more SL-PRS resource sets can be used for SL-PRS signals having at least one of: a lower congestion level or a higher priority. On the other hand, a narrower spacing between two resource elements for any two of the one or more SL-PRS resource sets can be used for SL-PRS signals having at least one of: a higher congestion level or a lower priority. The spacing between two resource elements for any two of the one or more SL-PRS resource sets can be at least one of: a spacing in the frequency domain, or a spacing in the time domain. In some embodiments, the two resource elements for any two of the one or more SL-PRS resource sets are two adjacent resource elements. For example, Figure 6B shows a spacing of 1 between two adjacent resource elements for two SL-PRS resource sets (SL-PRS1 and SL-PRS3) in the frequency domain, while Figure 6A shows a spacing of 0 between the same two adjacent resource elements for two SL-PRS resource sets (SL-PRS1 and SL-PRS3) in the frequency domain. Figure 6B SL-PRS resource mapping of Figure 6A is configured or preconfigured to have a wider spacing between two adjacent resource elements than Figure 6B SL-PRS has a lower congestion level and / or a higher priority than Figure 6A .

[0037] In some embodiments, the one or more SL-PRS resource set patterns can include a plurality of SL-PRS resource set patterns, and the one or more time slots can be associated with at least one SL-PRS resource set pattern from among the one or more SL-PRS resource set patterns. For example, Figures 7A-7C shows three different SL-PRS resource set patterns (a first SL-PRS resource set pattern, a second SL-PRS resource set pattern, and a third SL-PRS resource set pattern), Figure 7A a time slot in Figure 7B is associated with the second SL-PRS resource set pattern, and Figure 7CThe slots in the set of slots are associated with a third SL-PRS resource set pattern. One or more SL-PRS resource set patterns can be configured or preconfigured, and each of the one or more SL-PRS resource set patterns can be associated with one or more slots. In some embodiments, at least one SL-PRS resource set pattern associated with one or more slots can be different from one or more SL-PRS resource set patterns of an integer number of contiguous slots. The integer can be configured or preconfigured. In some embodiments, at least one SL-PRS resource set pattern can be associated with an integer number of consecutive slots, where the integer is configured or preconfigured. In some embodiments, at least one SL-PRS resource set pattern can be associated with one or more slots identified by one or more mapping tables. The one or more mapping tables can include a mapping between the at least one SL-PRS resource set pattern and the identified one or more slots. The one or more mapping tables can be configured or preconfigured.

[0038] In some embodiments, the one or more SL-PRS resource sets can be a plurality of SL-PRS resource sets configured or preconfigured for a plurality of UEs including the UE, and each UE of the plurality of UEs can be associated with a corresponding SL-PRS resource set of the plurality of SL-PRS resource sets. For example, in Figure 4 In some embodiments, the one or more SL-PRS resource sets can be a plurality of SL-PRS resource sets configured or preconfigured for a plurality of UEs including the UE, and each UE of the plurality of UEs can be associated with a corresponding SL-PRS resource set of the plurality of SL-PRS resource sets. For example, in

[0039] The method 800 includes selecting, from the one or more sets of SL-PRS resources, at least one set of SL-PRS resources based on at least one of: a random selection, one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node, step 804. In some embodiments, the UE can select, for at least one time slot, at least one particular set of SL-PRS resources corresponding to the UE from the one or more sets of SL-PRS resources. In some embodiments, the UE can use a different set of SL-PRS resources from among the one or more sets of SL-PRS resources for each SL-PRS transmission based on a selected one or more rotation patterns. For example, the one or more sets of SL-PRS resources can be rotated in each periodic SL-PRS transmission. The selected one or more rotation patterns can be derived based on at least one of: a region in which the UE is located, an anchor group associated with the UE, or a positioning session associated with the UE. For example, anchor UEs sharing the same mobility pattern (e.g., anchor UEs following the same target UE on a highway) can use a rotation pattern that points to adjacent SL-PRS, while anchor UEs with different mobility patterns and potentially subject to mutual Doppler shifts can use an antagonistic rotation pattern. The one or more rotation patterns can be configured by a network node or preconfigured at the UE.

[0040] In some embodiments, the UE can perform or obtain its own channel sensing information. The UE can select, for one or more SL-PRS signal transmissions, at least one particular set of SL-PRS resources corresponding to the UE from the one or more sets of SL-PRS resources randomly or based on the obtained channel sensing information. For example, the UE can select the at least one set of SL-PRS resources for at least one of: one or more initial transmissions in a SPS, one or more retransmissions in a SPS, or one or more transmissions in a one-shot transmission.

[0041] In some embodiments, the UE can randomly or based on the obtained channel sensing information select one or more available radio resources having a granularity of at least one of one or more time resources or one or more frequency resources from among the one or more available radio resources having the granularity of at least one of one or more time resources or one or more frequency resources. The UE can randomly or based on the obtained channel sensing information select one or more SL-PRS resource sets having a granularity of a SL-PRS resource set from among the selected one or more radio resources. For example, the granularity of at least one of one or more time resources or one or more frequency resources can be a granularity of at least one of one or more slots or one or more sub-channels. In this way, the random selection for a SL-PRS resource set disclosed in the present disclosure provides additional randomness to mitigate the near-far problem.

[0042] In some embodiments, the UE can be a first transmitter UE that receives SL-PRS control signals (information) generated by a second transmitter UE from the second transmitter UE. The received SL-PRS control information can include SL-PRS resource set information for the second transmitter UE for at least one of one or more current SL-PRS transmissions or one or more subsequent transmissions. The control information can include at least one of (1) SL-PRS resource set information for one or more initial transmissions in a current SPS period, (2) SL-PRS resource set information for one or more retransmissions in the current SPS period, (3) SL-PRS resource set information for one or more initial transmissions in at least one subsequent SPS period, or (4) SL-PRS resource set information for one or more retransmissions in at least one subsequent SPS period. The UE can receive the SL-PRS control information via direct communication or via a network node.

[0043] The UE (first transmitter UE) can determine whether to select or reselect one or more SL-PRS resource sets based on the received SL-PRS control information while ensuring a minimum separation between resource elements of the one or more SL-PRS resource sets for the first transmitter UE and resource elements of the one or more SL-PRS resource sets for the second transmitter UE. The minimum separation can be configured or preconfigured. For example, the minimum separation can be one (or any other number) of resource element lengths in the frequency domain. In some embodiments, the UE (first transmitter UE) can also determine whether to adjust a transmitter power for the first transmitter UE based on at least one of: a location of the first transmitter UE, a location of the second transmitter UE, a mobility of the first transmitter UE, or a mobility of the second transmitter UE. In some embodiments, the UE can adjust a transmission power for the first transmitter UE in response to determining that the minimum separation between resource elements of the one or more SL-PRS resource sets for the first transmitter UE and resource elements of the one or more SL-PRS resource sets for the second transmitter UE cannot be satisfied. The transmission power for the first transmitter UE can be adjusted based on at least one of: decreasing the transmission power for the first transmitter UE if a distance between the first transmitter UE and the second transmitter UE is equal to or less than a first threshold, or maintaining or increasing the transmission power for the first transmitter UE if the distance between the first transmitter UE and the second transmitter UE is greater than a second threshold. The first threshold and / or the second threshold can be configured or preconfigured.

[0044] In some embodiments, a UE can be a first transmitter UE and can obtain assistance information from a second transmitter UE, such as information about one or more SL-PRS resource sets reserved by the second transmitter UE. The UE (first transmitter UE) can also determine whether to select or reselect one or more SL-PRS resource sets based on the information about the one or more SL-PRS resource sets reserved by the second transmitter UE. In some embodiments, the information about the one or more SL-PRS resource sets reserved by the second transmitter UE can be obtained based on at least one of: decoding sidelink control information (SCI) received from the second transmitter UE, or measuring one or more SL-PRS signals received from the second transmitter UE. Measuring the one or more SL-PRS signals received from the second transmitter UE can include measuring at least one of: a reference signal received power (RSRP), a received signal strength indicator (RSSI), a reference signal received quality (RSRQ), or a signal to noise and interference ratio (SINR) of the one or more SL-PRS signals. In some embodiments, the UE can exclude the one or more SL-PRS resource sets reserved by the second transmitter UE in response to a determination of at least one of: (1) a separation between resource elements of the one or more SL-PRS resource sets for the first transmitter UE and resource elements of the one or more SL-PRS resource sets for the second transmitter UE is less than a first threshold, or (2) one or more signal metrics of the one or more SL-PRS resource sets reserved by the second transmitter UE exceed a second threshold. The first threshold and the second threshold can be configured or preconfigured, defined or predefined.

[0045] In some embodiments, the UE can be a transmitter UE that receives assistance information from a receiver UE. For example, the transmitter UE can receive at least one of: one or more signal metrics measured by the receiver UE on one or more SL-PRS signals received by the receiver UE, or one or more coordination indications. In some embodiments, the one or more signal metrics or the one or more coordination indications can include at least one of: (1) a Reference Signal Received Power (RSRP) of one or more SL-PRS signals received by the receiver UE, (2) a Received Signal Strength Indicator (RSSI) of one or more SL-PRS signals received by the receiver UE, (3) a Reference Signal Received Quality (RSRQ) of one or more SL-PRS signals received by the receiver UE, (4) a Signal-to-Noise and Interference Ratio (SINR) of one or more SL-PRS signals received by the receiver UE, (5) one or more preferred SL-PRS resource sets for the transmitter UE, or (6) one or more non-preferred SL-PRS resource sets for the transmitter UE. In some embodiments, in selecting the at least one SL-PRS resource set, the UE can consider channel sensing information obtained by the transmitter UE and at least one of: the one or more signal metrics received from the receiver UE, or the one or more coordination indications received from the receiver UE. In some embodiments, the transmitter UE can receive one or more collision indications from the receiver UE indicating a presence of at least one SL-PRS transmission that affects reception of one or more SL-PRS signals by the receiver UE.

[0046] In some embodiments, the selected at least one SL-PRS resource set can be dynamically activated or deactivated based on a determination of positioning accuracy. For example, in some embodiments, the dynamic activation or deactivation of the selected at least one SL-PRS resource set can be performed by a network node (e.g., a base station, a Location Management Function (LMF), or a server UE). In some embodiments, the UE can determine an accuracy of the positioning by receiving accuracy information from at least one of: a base station, an LMF, or a server UE.

[0047] The method 800 includes transmitting, based on the selected at least one SL-PRS resource set, at least one of: one or more SL-PRS signals or SL-PRS control information. In some embodiments, the UE can be a first transmitter UE that transmits the SL-PRS control information to one or more second transmitter UEs via direct communication or via a network node, via unicast, groupcast, or broadcast. In some embodiments, the UE can transmit the SL-PRS control information to one or more second transmitter UEs via SCI or a medium access control protocol control element (MAC CE), via unicast, groupcast, or broadcast.

[0048] Figure 9 is a schematic diagram illustrating a method involving a node for sidelink positioning, consistent with some embodiments of the present disclosure. The node can be at least one of: a base station, an LMF, or a UE (e.g., a server UE). For example, in one embodiment, the node can be an anchor node 204 of Figure 2

[0049] Referring to Figure 9 The method 900 includes configuring, for one or more UEs including a first UE, one or more SL-PRS resource sets. In some embodiments, the one or more SL-PRS resource sets can be a plurality of SL-PRS resource sets for a plurality of UEs including the first UE. The node can also configure the plurality of SL-PRS resource sets such that each SL-PRS resource set of the plurality of SL-PRS resource sets is available for one or more slots. In some embodiments, the node can configure the one or more SL-PRS resource sets based on at least one of: one or more priorities for one or more SL-PRS signals for the one or more UEs, or one or more congestion metrics associated with the one or more UEs. In some embodiments, the node can configure the one or more SL-PRS resource sets such that, in the one or more slots, the one or more SL-PRS resource sets are associated with one or more of: an odd resource set index or an even resource set index. In some embodiments, the node can configure the one or more SL-PRS resource sets such that a separation between two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is equal to or greater than an integer. In some embodiments, the two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets are adjacent two resource elements. The integer can be configured or preconfigured. In some embodiments, the separation between the two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets can be at least one of: a separation in a frequency domain, or a separation in a time domain. ​

[0050] In some embodiments, the node can configure one or more SL-PRS resource sets such that a wider spacing between two resource elements for any two of the one or more SL-PRS resource sets is used for one or more of a lower congestion level or a higher priority for the SL-PRS signals, and a narrower spacing between two resource elements for any two of the one or more SL-PRS resource sets is used for one or more of a higher congestion level or a lower priority for the SL-PRS signals. The two resource elements for any two of the one or more SL-PRS resource sets can be two adjacent resource elements. The spacing between the two resource elements for any two of the one or more SL-PRS resource sets can be at least one of a spacing in a frequency domain, or a spacing in a time domain.

[0051] The method 900 includes a step 904 of obtaining information about a positioning accuracy of the first UE. For example, in some embodiments, the node can determine a degradation of the positioning accuracy of the first UE based on at least one of a configuration of one or more SL-PRS resource sets for one or more UEs, one or more measurement reports regarding one or more SL-PRS signals transmitted from the one or more UEs, or one or more shared mobility patterns of the one or more other UEs.

[0052] The method 900 includes a step 906 of determining whether to deactivate at least one SL-PRS resource set configured for the first UE and whether to configure at least one other SL-PRS resource set for the first UE. For example, the node can dynamically deactivate at least one SL-PRS resource set configured for the first UE in response to determining that the positioning accuracy for the first UE is below a threshold. The node can also configure at least one other SL-PRS resource set for the first UE.

[0053] The methods described in this disclosure can apply to any sidelink positioning. However, the scope of the methods of this disclosure is not limited thereto. In some embodiments, the methods can be used, for example, using a system as described in U.S. Patent Application No. 16 / 209,407, filed December 3, 2018, entitled “Systems, Methods, and Devices for Positioning,” which is incorporated by reference in its entirety. Figure 3The illustrated DL-PRS resource mapping or any variant thereof is applied to uplink / downlink (Uu) positioning. The uplink / downlink positioning can use, for example, Long Term Evolution (LTE) or New Radio (NR) or future generation (6G, 7G or any future generation) radio access technology. The methods described in this disclosure can also be applied to other systems, for example, systems that comply with other standards (e.g., Institute of Electrical and Electronics Engineers (IEEE) standards, including 802.11).

[0054] Figure 10 is a block diagram of a device 1000 that complies with some embodiments of the present disclosure. For example, the device 1000 can be a node that obtains positioning information using sidelink positioning, such as Figure 2 the target node 202. For another example, the device 1000 can be a node involved in sidelink positioning, such as Figure 2 the anchor node 204. For yet another example, the device 1000 can be a Tx UE that transmits data / signals to an Rx UE, such as Figure 5 the Tx UE 502 or the Tx UE 504. For yet another example, the device 1000 can be a receiver UE that receives data / signals from one or more transmitter UEs, such as Figure 5 the Rx UE 506. The device 1000 can take any form, including but not limited to, a vehicle, a component installed in a vehicle, a road side unit, a laptop computer, a desktop computer, a server computer, a wireless terminal including a cell phone, a wireless handheld device, or a wireless personal device, or any other form.

[0055] Referring to Figure 10 , the device 1000 can include an antenna 1002 that can be used to transmit or receive electromagnetic signals to or from a network node or a mobile node. The antenna 1002 can include one or more antenna elements, and can enable different input-output antenna configurations, for example, Multiple Input Multiple Output (MIMO) configuration, Multiple Input Single Output (MISO) configuration, and Single Input Multiple Output (SIMO) configuration. In some embodiments, the antenna 1002 can include multiple (e.g., tens or hundreds) of antenna elements, and can enable multiple antenna functions such as beamforming. In some embodiments, the antenna 1002 is a single antenna.

[0056] The device 1000 can include a transceiver 1004 coupled to an antenna 1002. The transceiver 1004 can be a wireless transceiver at the device 1000 and can communicate bi-directionally with network nodes or mobile nodes. For example, the transceiver 1004 can receive / send wireless signals (e.g., DL-PRS) from / to a base station via downlink / uplink communications. The transceiver 1004 can also receive / send wireless signals (e.g., SL-PRS) from / to a UE or road side unit via sidelink communications. The transceiver 1004 can include a modem to modulate the packets and provide the modulated packets to the antenna 1002 for transmission, and to demodulate packets received from the antenna 1002.

[0057] The device 1000 can include a memory 1006. The memory 1006 can be any type of computer-readable storage medium, including volatile or nonvolatile memory devices, or a combination thereof. Computer-readable storage media include, but are not limited to, non-transitory computer-readable media. Non-transitory storage media can be accessed by a general purpose or special purpose computer. Examples of non-transitory storage media include, but are not limited to, portable, compact fixed, hard drives, random access memory (RAM), erasable programmable read-only memory (EPROM), read-only memory (ROM), electrically erasable programmable ROM (EEPROM), digital versatile disks (DVDs), flash memory, compact disks (CDs) ROM or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage, or other magnetic storage devices, etc. Non-transitory media can be used to carry or store desired program code means (e.g., instructions and / or data structures) and can be accessed by a general purpose or special purpose computer, or a general-purpose or special-purpose processor. In some examples, software / code can be transmitted from a remote source (e.g., a website, server, etc.) using coaxial cable, fiber optic cable, twisted pair cable, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave. In such examples, the coaxial cable, fiber optic cable, twisted pair cable, DSL, or wireless technologies such as infrared, radio, and microwave are within the definition of medium. Combinations of the above are also included within the scope of computer-readable media.

[0058] Memory 1006 can store information related to an identity of device 1000 as well as signals and / or data received by antenna 1002. Memory 1006 can also store post-processed signals and / or data. Memory 1006 can also store computer-readable program instructions, mathematical models, and algorithms used in signal processing using transceiver 1004 and computations in processor 1008 included as part of device 1000 (e.g., computations for determining coordinates of device 1000). Memory 506 can also store computer-readable program instructions for execution by processor 1008 to operate device 1000 to perform various functions described in the present disclosure. For example, memory 1006 can store instructions for execution by processor 1008 to operate device 1000 to perform Figure 8 method 800 and / or Figure 9 method 900. In some examples, memory 1006 can include a Basic Input / Output System (BIOS) that can control basic hardware or software operation such as the interaction with peripheral components or devices.

[0059] Computer readable program instructions of the present disclosure can be in assemblies instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or in any combination of one or more programming languages including an object oriented programming language and a conventional procedural programming language. Computer readable program instructions can execute entirely on a computing device, or a portion of the instructions can execute on a first computing device and a portion of the instructions can execute on a second computing device distant from the first computing device. In the latter scenario, the second computing device can be connected to the first computing device through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN).

[0060] The processor 1008 can include a hardware device having processing capability. The processor 1008 can include at least one of a general-purpose processor, a digital signal processor (DSP), a central processing unit (CPU), a microcontroller, an application specific integrated circuit (ASIC), a 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 the general-purpose processor include, but are not limited to, a microprocessor, any conventional processor, a controller, a microcontroller, or a state machine. In some embodiments, the processor 1008 can be implemented using a combination of devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. The processor 1008 can receive a downlink signal or a sidelink signal from the transceiver 1004 and further process the signal. For example, the processor 1008 can also process the signal to determine a location of the device 1000. The processor 1008 can also receive data packets from the transceiver 1004 and further process the packets. In some embodiments, the processor 1008 can be configured to operate memory using a memory controller. In some embodiments, the memory controller can be integrated into the processor 1008. The processor 1008 can be configured to execute computer-readable instructions stored in memory (e.g., the memory 1006) to cause the device 1000 to perform various functions.

[0061] The device 1000 can include a global positioning system (GPS) 1010. The GPS 1010 can be used to enable location-based services or other services based on a geographic location of the device 1000, and / or synchronization between nodes. The GPS 1010 can receive GNSS signals from a single satellite or multiple satellite signals via the antenna 1002 and provide a geographic location (e.g., coordinates) of the device 1000. In some embodiments, the GPS 1010 is omitted. In some embodiments, a timer is included.

[0062] The device 1000 can include an input / output (I / O) device 1012, which can be used to communicate signals and results to a user or other devices. The I / O device 1012 can include a user interface including a display and input devices, such as a keyboard and a pointing device, for sending user commands to the processor 1008. The display can be configured to display the status of signal reception at the device 1000, data stored at the memory 1006, the status of signal processing, and results of computations, among other things. The display can include, but is not limited to, a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), a Light-Emitting Diode (LED), a plasma gas display, a touchscreen, or other image projection device for displaying information to a user. The input devices can be any type of computer hardware device for receiving data and control signals from a user. The input devices can include, but are not limited to, a keyboard, a mouse, a scanner, a digital camera, a joystick, a trackball, cursor direction keys, a touchscreen monitor, or an audio / video commander, among others.

[0063] The device 1000 can also include a machine interface 1014, such as an electrical bus connecting the transceiver 1004, the memory 1006, the processor 1008, the GPS 1010, and the I / O device 1012.

[0064] In some embodiments, the device 1000 can be a UE for sidelink positioning (e.g., a UE in need of obtaining positioning information). The processor 1008 can be configured or programmed to execute instructions stored in the memory 1006 to determine at least one of: one or more sets of SL-PRS resources in a slot, or one or more SL-PRS resource set patterns for one or more slots, the one or more sets of SL-PRS resources being configured or preconfigured for one or more SL-PRS transmissions by one or more UEs including the UE; select at least one set of SL-PRS resources from the one or more sets of SL-PRS resources based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node; and transmit at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one set of SL-PRS resources.

[0065] In some embodiments, the device 1000 can be a node for sidelink positioning. The processor 1008 can be configured to or programmed to execute instructions stored in the memory 1006 to configure one or more sets of SL-PRS resources for one or more UEs including a first UE, obtain information regarding a positioning accuracy of the first UE, and determine whether to deactivate at least one set of SL-PRS resources configured for the first UE and whether to configure at least one other set of SL-PRS resources for the first UE.

[0066] As used in the present disclosure, use of the term “or” in a list of items indicates an inclusive list. An item list of A, B, or C can be prefixed with a phrase such as “at least one of’ or “one or more of’ to indicate an inclusive list. 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). Furthermore, as used in the present disclosure, a phrase referring to “based on” a list of conditions is not to be construed as “based only on” the list of conditions but is to be construed as “based at least in part on” the list of conditions. For example, an outcome described as “based on condition A” can be based on both condition A and condition B without departing from the scope of the present disclosure.

[0067] In this specification, the terms “comprise,” “contain,” or “include,” can be used interchangeably and have the same meaning, and are interpreted to be inclusive and open-ended. The terms “comprise,” “contain,” or “include” can be used before an element list, and mean that at least all of the listed elements are present, but other elements not in the list can 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.

[0068] 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” is not to be construed as “preferred” or “advantageous over other examples,” but is to be construed as “illustrative, example, or exemplary.” From reading the present disclosure, including the description of the embodiments and the drawings, those skilled in the art will be able to contemplate changes that would be permissible under the doctrine of equivalents to the claims. Those skilled in the art will appreciate that embodiments described herein or certain features thereof can be combined with other embodiments or certain features thereof to obtain other embodiments for practicing the technology described herein. Therefore, the present disclosure is not intended to be limited to the examples described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0069] The diagrams in the figures illustrated possible architectures, functional and operational scenarios that can be implemented according to various embodiments. It should be noted that many of the elements described in the figures are functional entities that can be implemented using either software or hardware including one or more computer processors and / or other processing logic. It should also be noted that the figures are not to scale and that the relative placement of the elements in the figures can be different from the relative placement of the elements in an actual implementation. The flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments. It should be noted that the flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments. Many of the

[0070] It should be understood that the described embodiments are not mutually exclusive and elements, components, materials or steps described in connection with one example embodiment can be combined with or eliminated from other embodiments in a suitable manner to achieve the desired design objectives.

[0071] Reference herein to "some embodiments" or "some example embodiments" means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment. Appearances of the phrase "one embodiment", "some embodiments" or "another embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all referring to a single, alternative embodiment, or a particular series of alternative embodiments.

[0072] Furthermore, the use of the terms "a" and "an" to describe singular entities in the present disclosure and the appended claims are taken to mean "one or more" in general, unless otherwise indicated or clearly contradicted by the context.

[0073] Unless expressly stated otherwise, each numerical value and range should be interpreted as approximately like the word "about" or "approximately" preceding the numerical value or range.

[0074] Although the elements in the method claims, if any, are in a specific order, the order of the elements does not necessarily indicate the order in which the elements are performed, unless explicitly stated otherwise.

[0075] It should be understood that certain features of the disclosure, which are, for clarity, described in the context of separate embodiments, can also be provided in combination in a single embodiment. Conversely, various features of the disclosure, which are, for brevity, described in the context of a single embodiment, can also be provided separately or in any suitable

[0076] It will be further appreciated that those skilled in the art, on the basis of the illustrative details of the components described and illustrated for the purpose of explaining the nature of the embodiments described, can make various modifications, substitutions, and alterations to the details of the components, materials, and arrangements described and illustrated without departing from the scope. Accordingly, the appended claims encompass all such alternatives, modifications, and alterations falling within the aspects of the claims.

[0077] Clause 1 : A user equipment (UE) for sidelink positioning, the UE comprising: a memory storing instructions; and a processor configured to execute the instructions stored in the memory to: determine at least one of: one or more sidelink positioning reference signal (SL-PRS) resource sets in a slot, or one or more SL-PRS resource set patterns for one or more slots, the one or more SL-PRS resource sets configured or preconfigured for one or more SL-PRS transmissions by one or more UEs including the UE; select at least one SL-PRS resource set from the one or more SL-PRS resource sets based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node; and transmit at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one SL-PRS resource set.

[0078] Clause 2: The UE of clause 1, wherein the one or more SL-PRS resource sets are one or more valid SL-PRS resource sets configured or preconfigured available for at least one slot.

[0079] Clause 3: The UE of clause 1, wherein the one or more SL-PRS resource sets are configured or preconfigured such that each of the one or more SL-PRS resource sets has a corresponding SL-PRS resource identifier (ID).

[0080] Clause 4: The UE of clause 1, wherein the one or more SL-PRS resource sets are configured or preconfigured based on at least one of: one or more priorities of the one or more SL-PRS signals, or one or more congestion metrics associated with the one or more SL-PRS signals.

[0081] Clause 5: The UE of clause 4, wherein the one or more congestion metrics associated with the one or more SL-PRS signals comprise at least one of a channel busy ratio (CBR) or a channel occupancy ratio (CR).

[0082] Clause 6: The UE of clause 2, wherein the one or more SL-PRS resource sets are configured or preconfigured such that, in the at least one time slot, the one or more SL-PRS resource sets are associated with odd resource set indices or even resource set indices.

[0083] Clause 7: The UE of clause 1, wherein the one or more SL-PRS resource sets are configured or preconfigured such that, in the at least one time slot, a spacing between two resource elements for any two of the one or more SL-PRS resource sets is equal to or greater than an integer.

[0084] Clause 8: The UE of clause 7, wherein the integer is configured or preconfigured.

[0085] Clause 9: The UE of clause 7, wherein the two resource elements for any two of the one or more SL-PRS resource sets are adjacent.

[0086] Clause 10: The UE of clause 7, wherein the spacing between the two resource elements for any two of the one or more SL-PRS resource sets is at least one of: a spacing in a frequency domain or a spacing in a time domain.

[0087] Clause 11: The UE of clause 1, wherein the one or more SL-PRS resource sets are configured or preconfigured such that a wider spacing between two resource elements for any two of the one or more SL-PRS resource sets is used for SL-PRS signals having at least one of: a lower congestion level or a higher priority, and a narrower spacing between two resource elements for any two of the one or more SL-PRS resource sets is used for SL-PRS signals having at least one of: a higher congestion level or a lower priority.

[0088] Clause 12: The UE of clause 11, wherein the two resource elements for any two of the one or more SL-PRS resource sets are adjacent.

[0089] Clause 13: The UE of clause 11, wherein the separation between the two resource elements for any two of the one or more sets of SL-PRS resources is at least one of a separation in a frequency domain or a separation in a time domain.

[0090] Clause 14: The UE of clause 1, wherein the one or more SL-PRS resource set patterns comprises a plurality of SL-PRS resource set patterns, and the one or more time slots are associated with at least one SL-PRS resource set pattern from among the one or more SL-PRS resource set patterns.

[0091] Clause 15: The UE of clause 14, wherein the one or more SL-PRS resource set patterns are configured or preconfigured, and each of the one or more SL-PRS resource set patterns is associated with the one or more time slots.

[0092] Clause 16: The UE of clause 14, wherein the at least one SL-PRS resource set pattern associated with the one or more time slots is different from one or more SL-PRS resource set patterns of an integer number of contiguous time slots, the integer being configured or preconfigured.

[0093] Clause 17: The UE of clause 14, wherein the at least one SL-PRS resource set pattern is associated with an integer number of consecutive time slots, the integer being configured or preconfigured.

[0094] Clause 18: The UE of clause 14, wherein the at least one SL-PRS resource set pattern is associated with one or more time slots identified by one or more mapping tables, the one or more mapping tables comprising a mapping between the at least one SL-PRS resource set pattern and the identified one or more time slots, the one or more mapping tables being configured or preconfigured.

[0095] Clause 19: The UE of clause 2, wherein the processor is configured to execute the instructions stored in the memory to: select, for the at least one time slot, at least one particular set of SL-PRS resources from the one or more sets of SL-PRS resources corresponding to the UE.

[0096] Clause 20: The UE of clause 1, wherein the one or more sets of SL-PRS resources are a plurality of sets of SL-PRS resources configured or preconfigured for a plurality of UEs including the UE, each UE of the plurality of UEs being associated with a corresponding set of SL-PRS resources of the plurality of sets of SL-PRS resources.

[0097] Clause 21 : The UE of clause 1, wherein the processor is configured to execute the instructions stored in the memory to use, for each SL-PRS transmission, a different SL-PRS resource set from among the one or more SL-PRS resource sets based on a selected one or more rotation patterns, the one or more rotation patterns being configured by a network node or preconfigured at the UE.

[0098] Clause 22: The UE of clause 21, wherein the one or more rotation patterns are derived based on at least one of: a region in which the UE is located, an anchor group associated with the UE, or a positioning session associated with the UE.

[0099] Clause 23: The UE of clause 1, wherein the processor is configured to execute the instructions stored in the memory to: select, for one or more SL-PRS signal transmissions, at least one particular SL-PRS resource set corresponding to the UE from among the one or more SL-PRS resource sets randomly or based on obtained channel sensing information.

[0100] Clause 24: The UE of clause 23, wherein the at least one SL-PRS resource set is selected for at least one of: one or more initial transmissions in a semi-persistent scheduling (SPS), one or more retransmissions in the SPS, or one or more transmissions in a single-shot transmission.

[0101] Clause 25: The UE of clause 1, wherein the processor is configured to execute the instructions stored in the memory to: select, from among one or more available radio resources having a granularity of at least one of one or more time resources or one or more frequency resources, one or more available radio resources having a granularity of at least one of one or more time slots or one or more sub-channels randomly or based on obtained channel sensing information; and select, from among the selected one or more radio resources, the one or more SL-PRS resource sets having a granularity of SL-PRS resource sets randomly or based on obtained channel sensing information.

[0102] Clause 26: The UE of clause 25, wherein the granularity of at least one of one or more time resources or one or more frequency resources is the granularity of at least one of one or more time slots or one or more sub-channels.

[0103] Clause 27: The UE of clause 1, wherein the UE is a first transmitter UE and the processor is configured to execute the instructions stored in the memory to: transmit the SL-PRS control information to one or more second transmitter UEs via direct communication or via a network node, via unicast, groupcast, or broadcast.

[0104] Clause 28: The UE of clause 1, wherein the UE is a first transmitter UE and the processor is configured to execute the instructions stored in the memory to: receive, from a second transmitter UE, SL-PRS control information generated by the second transmitter UE, the received SL-PRS control information including SL-PRS resource set information for the second transmitter UE for at least one of: one or more current SL-PRS transmissions, or one or more future transmissions.

[0105] Clause 29: The UE of clause 28, wherein the SL-PRS control information is received via direct communication or via a network node.

[0106] Clause 30: The UE of clause 28, wherein the processor is configured to execute the instructions stored in the memory to: determine, based on the received SL-PRS control information, whether to select or reselect one or more SL-PRS resource sets while ensuring a minimum separation between resource elements of the one or more SL-PRS resource sets for the first transmitter UE and resource elements of the one or more SL-PRS resource sets for the second transmitter UE.

[0107] Clause 31: The UE of clause 30, wherein the minimum separation is configured or preconfigured.

[0108] Clause 32: The UE of clause 28, wherein the processor is configured to execute the instructions stored in the memory to: determine whether to adjust a transmitter power for the first transmitter UE based on at least one of: a location of the first transmitter UE, a location of the second transmitter UE, a mobility of the first transmitter UE, or a mobility of the second transmitter UE.

[0109] Clause 33: The UE of clause 30, wherein the processor is configured to execute the instructions stored in the memory to: in response to determining that the minimum separation between the resource elements of the one or more SL-PRS resource sets for the first transmitter UE and the resource elements of the one or more SL-PRS resource sets for the second transmitter UE cannot be satisfied, adjust a transmission power for the first transmitter UE.

[0110] Clause 34: The UE of clause 33, wherein the transmission power for the first transmitter UE is adjusted based on at least one of: decreasing the transmission power for the first transmitter UE if a distance between the first transmitter UE and the second transmitter UE is equal to or less than a first threshold, or maintaining or increasing the transmission power for the first transmitter UE if the distance between the first transmitter UE and the second transmitter UE is greater than a second threshold.

[0111] Clause 35: The UE of clause 1, wherein the selected at least one set of SL-PRS resources is dynamically activated or deactivated based on a determination of positioning accuracy.

[0112] Clause 36: The UE of clause 35, wherein the determination is performed by receiving the accuracy information from at least one of: a base station, a location management function (LMF), or a server UE.

[0113] Clause 37: The UE of clause 1, wherein the UE is a first transmitter UE, and the processor is configured to execute the instructions stored in the memory to: obtain, from a second transmitter UE, information about one or more sets of SL-PRS resources reserved by the second transmitter UE; and determine, based on the information about the one or more sets of SL-PRS resources reserved by the second transmitter UE, whether to select or reselect one or more sets of SL-PRS resources.

[0114] Clause 38: The UE of clause 37, wherein the information about the one or more sets of SL-PRS resources reserved by the second transmitter UE is obtained based on at least one of: decoding sidelink control information (SCI) received from the second transmitter UE, or measuring one or more SL-PRS signals received from the second transmitter UE.

[0115] Clause 39: The UE of clause 38, wherein measuring the one or more SL-PRS signals received from the second transmitter UE includes measuring at least one of: a reference signal received power (RSRP), a received signal strength indicator (RSSI), a reference signal received quality (RSRQ), or a signal to noise and interference ratio (SINR) of the one or more SL-PRS signals.

[0116] Clause 40: The UE of clause 37, wherein the processor is configured to execute the instructions stored in the memory to: exclude the one or more sets of SL-PRS resources reserved by the second transmitter UE in response to a determination of at least one of: (1) a separation between resource elements of the one or more sets of SL-PRS resources for the first transmitter UE and resource elements of the one or more sets of SL-PRS resources for the second transmitter UE is less than a first threshold, or (2) one or more signal metrics of the one or more sets of SL-PRS resources reserved by the second transmitter UE exceed a second threshold.

[0117] Clause 41 : The UE of clause 1, wherein the UE is a transmitter UE, and the processor is configured to execute the instructions stored in the memory to: receive, from a receiver UE, at least one of: one or more signal metrics measured by the receiver UE on one or more SL-PRS signals received by the receiver UE, or one or more coordination indications.

[0118] Clause 42: The UE of clause 41, wherein the one or more signal metrics or the one or more coordination indications comprise at least one of: (1) an RSRP of the one or more SL-PRS signals received by the receiver UE, (2) an RSSI of the one or more SL-PRS signals received by the receiver UE, (3) an RSRQ of the one or more SL-PRS signals received by the receiver UE, (4) an SINR of the one or more SL-PRS signals received by the receiver UE, (5) one or more preferred sets of SL-PRS resources for the transmitter UE, or (6) one or more non-preferred sets of SL-PRS resources for the transmitter UE.

[0119] Clause 43: The UE of clause 42, wherein the processor is configured to execute the instructions stored in the memory to: consider, in selecting the at least one set of SL-PRS resources, channel sensing information obtained by the transmitter UE and at least one of: the one or more signal metrics received from the receiver UE, or the one or more coordination indications received from the receiver UE.

[0120] Clause 44: The UE of clause 1, wherein the UE is a transmitter UE, and the processor is configured to execute the instructions stored in the memory to: receive, from a receiver UE, one or more collision indications indicating a presence of at least one SL-PRS transmission affecting reception of the one or more SL-PRS signals by the receiver UE.

[0121] Clause 45: The UE of clause 1, wherein the one or more reception control signals comprise at least one of: (1) SL-PRS resource set information for one or more initial transmissions in a current SPS period, (2) SL-PRS resource set information for one or more retransmissions in a current SPS period, (3) SL-PRS resource set information for one or more initial transmissions in at least one subsequent SPS period, or (4) SL-PRS resource set information for one or more retransmissions in at least one subsequent SPS period.

[0122] Clause 46: The UE of clause 1, wherein the UE is a first transmitter UE and the processor is configured to execute the instructions stored in the memory to: transmit, via SCI or a medium access control protocol control element (MAC CE), the SL-PRS control information to one or more second transmitter UEs via unicast, groupcast, or broadcast.

[0123] Clause 47: The UE of clause 1, wherein the slot is a slot of a dedicated SL-PRS resource pool or a slot of a shared SL-PRS resource pool.

[0124] Clause 48: The UE of clause 1, wherein one or more of the one or more SL-PRS resource sets is at least one of: one or more time resources, or one or more frequency resources.

[0125] Clause 49: The UE of clause 1, wherein each of the one or more SL-PRS resource sets is associated with at least one of: an SL-PRS resource ID, an SL-PRS comb size, an SL-PRS comb offset, a starting symbol of the slot, or a number of SL-PRL symbols within the slot.

[0126] Clause 50: A node for sidelink positioning, the node comprising: a memory storing instructions; and a processor configured to execute the instructions stored in the memory to: configure one or more sidelink positioning reference signal (SL-PRS) resource sets for one or more user equipment (UEs) including a first UE; obtain information regarding a positioning accuracy of the first UE; and determine whether to deactivate at least one SL-PRS resource set configured for the first UE and whether to configure at least one other SL-PRS resource set for the first UE.

[0127] Clause 51 : The node of Clause 50, wherein the node comprises at least one of: a base station, a location management function (LMF), or a UE other than the one or more UEs.

[0128] Clause 52: The node of Clause 51, wherein the UE other than the one or more UEs is a server UE.

[0129] Clause 53: The node of Clause 50, wherein the processor is configured to execute the instructions stored in the memory to: determine a degradation of a positioning accuracy of the first UE based on at least one of: the configuration of the one or more sets of SL-PRS resources for the one or more UEs, one or more measurement reports regarding one or more SL-PRS signals transmitted from the one or more UEs, or one or more shared mobility patterns of one or more other UEs.

[0130] Clause 54: The node of Clause 50, wherein the one or more sets of SL-PRS resources are a plurality of sets of SL-PRS resources for a plurality of UEs including the first UE, and the processor is configured to execute the instructions stored in the memory to: configure the plurality of sets of SL-PRS resources such that each set of SL-PRS resources of the plurality of sets of SL-PRS resources is available for one or more time slots.

[0131] Clause 55: The node of Clause 50, wherein the processor is configured to execute the instructions stored in the memory to: configure the one or more sets of SL-PRS resources based on at least one of: one or more priorities for one or more SL-PRS signals of one or more UEs, or one or more congestion metrics associated with the one or more UEs.

[0132] Clause 56: The node of Clause 50, wherein the processor is configured to execute the instructions stored in the memory to: configure the one or more sets of SL-PRS resources such that, in the one or more time slots, the one or more sets of SL-PRS resources are associated with one or more of: an odd set index or an even set index.

[0133] Clause 57: The node of Clause 50, wherein the processor is configured to execute the instructions stored in the memory to: configure the one or more sets of SL-PRS resources such that a spacing between two resource elements for any two sets of SL-PRS resources of the one or more sets of SL-PRS resources is equal to or greater than an integer.

[0134] Clause 58: The node of clause 57, wherein the two resource elements are adjacent.

[0135] Clause 59: The node of clause 57, wherein the integer is configured or preconfigured.

[0136] Clause 60: The node of clause 57, wherein the separation between the two resource elements for any two of the one or more sets of SL-PRS resources is at least one of: a separation in a frequency domain or a separation in a time domain.

[0137] Clause 61: The node of clause 50, wherein the processor is configured to execute the instructions stored in the memory to: configure the one or more sets of SL-PRS resources such that a wider separation between two resource elements for any two of the one or more sets of SL-PRS resources is used for one or more of a lower congestion level or a higher priority for SL-PRS signals and a narrower separation between two resource elements for any two of the one or more sets of SL-PRS resources is used for one or more of a higher congestion level or a lower priority for SL-PRS signals.

[0138] Clause 62: The UE of clause 61, wherein the two resource elements for any two of the one or more sets of SL-PRS resources are adjacent.

[0139] Clause 63: The node of clause 61, wherein the separation between the two resource elements for any two of the one or more sets of SL-PRS resources is at least one of: a separation in a frequency domain or a separation in a time domain.

[0140] Clause 64: A method for a user equipment (UE) in sidelink positioning, the method comprising: determining at least one of: one or more sets of sidelink positioning reference signal (SL-PRS) resources in a slot or one or more SL-PRS resource set patterns for one or more slots, the one or more SL-PRS resources being configured or preconfigured for one or more SL-PRS transmissions by one or more UEs including the UE; selecting at least one SL-PRS resource set from the one or more SL-PRS resource sets based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node; and transmitting at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one SL-PRS resource set.

[0141] Clause 65: A method of a node for sidelink positioning, the method comprising: configuring one or more sidelink positioning reference signal (SL-PRS) resource sets for one or more user equipments (UEs) including a first UE; obtaining information about a positioning accuracy of the first UE; and determining whether to deactivate at least one SL-PRS resource set configured for the first UE and whether to configure at least one other SL-PRS resource set for the first UE.

[0142] Clause 66: A non-transitory computer-readable medium storing instructions executable by one or more processors of a user equipment (UE) in sidelink positioning to perform a method comprising: determining at least one of: one or more sidelink positioning reference signal (SL-PRS) resource sets in a slot or one or more SL-PRS resource set patterns for one or more slots, the one or more SL-PRS resource sets configured or preconfigured for one or more SL-PRS transmissions of one or more UEs including the UE; selecting at least one SL-PRS resource set from the one or more SL-PRS resource sets based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node; and transmitting at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one SL-PRS resource set.

[0143] Clause 67: A non-transitory computer-readable medium storing instructions executable by one or more processors of a node for sidelink positioning to perform a method comprising: One or more sidelink positioning reference signal (SL-PRS) resource sets are configured for one or more user equipments (UEs) including a first UE; information regarding a positioning accuracy of the first UE is obtained; and a determination is made whether to deactivate at least one SL-PRS resource set configured for the first UE and whether to configure at least one other SL-PRS resource set for the first UE.

Claims

1. A user equipment (UE) for sidelink positioning, the UE comprising: a memory that stores instructions; and a processor configured to execute the instructions stored in the memory to: determine at least one of: one or more sidelink positioning reference signal (SL-PRS) resource sets in a slot, or one or more SL-PRS resource set patterns for one or more slots, the one or more SL-PRS resource sets configured or preconfigured for one or more SL-PRS transmissions of one or more UEs including the UE; select at least one SL-PRS resource set from the one or more SL-PRS resource sets based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node; and transmit at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one SL-PRS resource set.

2. The UE of claim 1, wherein, the one or more SL-PRS resource sets are one or more valid SL-PRS resource sets configured or preconfigured available for at least one slot.

3. The UE of claim 1, wherein, the one or more SL-PRS resource sets are configured or preconfigured such that each of the one or more SL-PRS resource sets has a corresponding SL-PRS resource identifier (ID).

4. The UE of claim 1, wherein, the one or more SL-PRS resource sets are configured or preconfigured based on at least one of: one or more priorities of the one or more SL-PRS signals, or one or more congestion metrics associated with the one or more SL-PRS signals.

5. The UE of claim 4, wherein, the one or more congestion metrics associated with the one or more SL-PRS signals include at least one of: a channel busy ratio (CBR) or a channel occupancy ratio (CR).

6. The UE of claim 2, wherein, the one or more SL-PRS resource sets are configured or preconfigured such that, in the at least one slot, the one or more SL-PRS resource sets are associated with an odd resource set index or an even resource set index.

7. The UE of claim 1, wherein, the one or more SL-PRS resource sets are configured or preconfigured such that, in the at least one slot, a spacing between two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is equal to or greater than an integer.

8. The UE of claim 7, wherein, the integer is configured or preconfigured.

9. The UE of claim 7, wherein, the two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets are adjacent.

10. The UE of claim 7, wherein, the spacing between the two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is at least one of: a spacing in a frequency domain or a spacing in a time domain.

11. The UE of claim 1, wherein, The one or more SL-PRS resource sets are configured or preconfigured such that a wider spacing between two resource elements for any two of the one or more SL-PRS resource sets is used for SL-PRS signals having at least one of: a lower congestion level or a higher priority, and a narrower spacing between two resource elements for any two of the one or more SL-PRS resource sets is used for SL-PRS signals having at least one of: a higher congestion level or a lower priority.

12. The UE of claim 11, wherein, The two resource elements for any two of the one or more SL-PRS resource sets are adjacent.

13. The UE of claim 11, wherein, The spacing between the two resource elements for any two of the one or more SL-PRS resource sets is at least one of: a spacing in a frequency domain or a spacing in a time domain.

14. The UE of claim 1, wherein, The one or more SL-PRS resource set patterns include a plurality of SL-PRS resource set patterns, and the one or more time slots are associated with at least one SL-PRS resource set pattern from among the one or more SL-PRS resource set patterns.

15. The UE of claim 14, wherein, The one or more SL-PRS resource set patterns are configured or preconfigured, and each of the one or more SL-PRS resource set patterns is associated with the one or more time slots.

16. The UE of claim 14, wherein, The at least one SL-PRS resource set pattern associated with the one or more time slots is different from one or more SL-PRS resource set patterns of an integer number of contiguous time slots, the integer being configured or preconfigured.

17. The UE of claim 14, wherein, The at least one SL-PRS resource set pattern is associated with an integer number of consecutive time slots, the integer being configured or preconfigured.

18. The UE of claim 14, wherein, The at least one SL-PRS resource set pattern is associated with one or more time slots identified by one or more mapping tables, the one or more mapping tables including a mapping between the at least one SL-PRS resource set pattern and the identified one or more time slots, the one or more mapping tables being configured or preconfigured.

19. The UE of claim 2, wherein, The processor is configured to execute the instructions stored in the memory to: select, for the at least one time slot, at least one particular SL-PRS resource set from the one or more SL-PRS resource sets corresponding to the UE.

20. The UE of claim 1, wherein, The one or more SL-PRS resource sets are a plurality of SL-PRS resource sets configured or preconfigured for a plurality of UEs including the UE, each UE of the plurality of UEs being associated with a corresponding SL-PRS resource set of the plurality of SL-PRS resource sets.

21. The UE of claim 1, wherein, The processor is configured to execute the instructions stored in the memory to use a different SL-PRS resource set from among the one or more SL-PRS resource sets for each SL-PRS transmission based on a selected one or more rotation patterns, the one or more rotation patterns being configured by a network node or preconfigured at the UE.

22. The UE of claim 21, wherein, The one or more rotation patterns are derived based on at least one of: a region in which the UE is located, an anchor group associated with the UE, or a positioning session associated with the UE.

23. The UE of claim 1, wherein, The processor is configured to execute the instructions stored in the memory to: select, for one or more SL-PRS signal transmissions, at least one specific SL-PRS resource set corresponding to the UE from among the one or more SL-PRS resource sets randomly or based on the obtained channel sensing information.

24. The UE of claim 23, wherein, The at least one SL-PRS resource set is selected for at least one of: one or more initial transmissions in a semi-persistent scheduling (SPS), one or more retransmissions in the SPS, or one or more transmissions in a single transmission.

25. The UE of claim 1, wherein, The processor is configured to execute the instructions stored in the memory to: select, from among one or more available radio resources having a granularity of at least one of one or more time resources or one or more frequency resources, one or more available radio resources having a granularity of at least one of one or more slots or one or more sub-channels randomly or based on the obtained channel sensing information; and select, from among the selected one or more radio resources, the one or more SL-PRS resource sets having a granularity of SL-PRS resource sets randomly or based on the obtained channel sensing information.

26. The UE of claim 25, wherein: The granularity of at least one of one or more time resources or one or more frequency resources is the granularity of at least one of one or more slots or one or more sub-channels.

27. The UE of claim 1, wherein, The UE is a first transmitter UE, and the processor is configured to execute the instructions stored in the memory to: transmit, to one or more second transmitter UEs, the SL-PRS control information via unicast, groupcast, or broadcast via direct communication or via a network node.

28. The UE of claim 1, wherein, The UE is a first transmitter UE, and the processor is configured to execute the instructions stored in the memory to: receive, from a second transmitter UE, SL-PRS control information generated by the second transmitter UE, the received SL-PRS control information including SL-PRS resource set information for the second transmitter UE for at least one of: one or more current SL-PRS transmissions, or one or more future transmissions.

29. The UE of claim 28, wherein, The SL-PRS control information is received via direct communication or via a network node.

30. The UE of claim 28, wherein, The processor is configured to execute the instructions stored in the memory to: determine, based on the received SL-PRS control information, whether to select or reselect one or more SL-PRS resource sets while ensuring a minimum separation between resource elements of the one or more SL-PRS resource sets for the first transmitter UE and resource elements of the one or more SL-PRS resource sets for the second transmitter UE.

31. The UE of claim 30, wherein, The minimum separation is configured or preconfigured.

32. The UE of claim 28, wherein, The processor is configured to execute the instructions stored in the memory to: determining whether to adjust a transmitter power for the first transmitter UE based on at least one of a location of the first transmitter UE, a location of the second transmitter UE, a mobility of the first transmitter UE, or a mobility of the second transmitter UE.

33. The UE of claim 30, wherein, the processor is configured to execute the instructions stored in the memory to: adjust a transmission power for the first transmitter UE in response to determining that the minimum separation between the resource elements of the one or more sets of SL-PRS resources for the first transmitter UE and the resource elements of the one or more sets of SL-PRS resources for the second transmitter UE cannot be satisfied.

34. The UE of claim 33, wherein, the transmission power for the first transmitter UE is adjusted based on at least one of decreasing the transmission power for the first transmitter UE if a distance between the first transmitter UE and the second transmitter UE is equal to or less than a first threshold, or maintaining or increasing the transmission power for the first transmitter UE if the distance between the first transmitter UE and the second transmitter UE is greater than a second threshold.

35. The UE of claim 1, wherein, the selected at least one set of SL-PRS resources is dynamically activated or deactivated based on a determination of positioning accuracy.

36. The UE of claim 35, wherein, the determination is performed by receiving the accuracy information from at least one of a base station, a location management function (LMF), or a server UE.

37. The UE of claim 1, wherein, the UE is a first transmitter UE, and the processor is configured to execute the instructions stored in the memory to: obtain, from a second transmitter UE, information about one or more sets of SL-PRS resources reserved by the second transmitter UE; and determine whether to select or reselect one or more sets of SL-PRS resources based on the information about the one or more sets of SL-PRS resources reserved by the second transmitter UE.

38. The UE of claim 37, wherein, the information about the one or more sets of SL-PRS resources reserved by the second transmitter UE is obtained based on at least one of decoding sidelink control information (SCI) received from the second transmitter UE, or measuring one or more SL-PRS signals received from the second transmitter UE.

39. The UE of claim 38, wherein, measuring the one or more SL-PRS signals received from the second transmitter UE includes measuring at least one of a reference signal received power (RSRP), a received signal strength indicator (RSSI), a reference signal received quality (RSRQ), or a signal to noise and interference ratio (SINR) of the one or more SL-PRS signals.

40. The UE of claim 37, wherein, the processor is configured to execute the instructions stored in the memory to: exclude the one or more sets of SL-PRS resources reserved by the second transmitter UE in response to a determination of at least one of: (1) a separation between resource elements of the one or more sets of SL-PRS resources for the first transmitter UE and resource elements of the one or more sets of SL-PRS resources for the second transmitter UE is less than a first threshold, or (2) one or more signal metrics of the one or more sets of SL-PRS resources reserved by the second transmitter UE exceed a second threshold.

41. The UE of claim 1, wherein, the UE is a transmitter UE, and the processor is configured to execute the instructions stored in the memory to: receive, from a receiver UE, at least one of: one or more signal metrics measured by the receiver UE on one or more SL-PRS signals received by the receiver UE, or one or more coordination indications.

42. The UE of claim 41, wherein, the one or more signal metrics or the one or more coordination indications include at least one of: (1) an RSRP of the one or more SL-PRS signals received by the receiver UE, (2) an RSSI of the one or more SL-PRS signals received by the receiver UE, (3) an RSRQ of the one or more SL-PRS signals received by the receiver UE, (4) an SINR of the one or more SL-PRS signals received by the receiver UE, (5) one or more preferred sets of SL-PRS resources for the transmitter UE, or (6) one or more non-preferred sets of SL-PRS resources for the transmitter UE.

43. The UE of claim 42, wherein, the processor is configured to execute the instructions stored in the memory to: consider, in selecting the at least one set of SL-PRS resources, channel sensing information obtained by the transmitter UE and at least one of: the one or more signal metrics received from the receiver UE, or the one or more coordination indications received from the receiver UE.

44. The UE of claim 1, wherein, the UE is a transmitter UE, and the processor is configured to execute the instructions stored in the memory to: receive, from a receiver UE, one or more collision indications indicating a presence of at least one SL-PRS transmission affecting reception of the one or more SL-PRS signals by the receiver UE.

45. The UE of claim 1, wherein, the one or more reception control signals include at least one of: (1) SL-PRS resource set information for one or more initial transmissions in a current SPS period, (2) SL-PRS resource set information for one or more retransmissions in a current SPS period, (3) SL-PRS resource set information for one or more initial transmissions in at least one subsequent SPS period, or (4) SL-PRS resource set information for one or more retransmissions in at least one subsequent SPS period.

46. The UE of claim 1, wherein, the UE is a first transmitter UE, and the processor is configured to execute the instructions stored in the memory to: The SL-PRS control information is transmitted to one or more second transmitter UEs via unicast, groupcast, or broadcast via a SCI or a medium access control protocol control element (MAC CE).

47. The UE of claim 1, wherein, The slot is a slot of a dedicated SL-PRS resource pool or a slot of a shared SL-PRS resource pool.

48. The UE of claim 1, wherein, The one or more SL-PRS resource sets of the one or more SL-PRS resource sets are at least one of: one or more time resources, or one or more frequency resources.

49. The UE of claim 1, wherein, Each SL-PRS resource set of the one or more SL-PRS resource sets is associated with at least one of: an SL-PRS resource ID, an SL-PRS comb size, an SL-PRS comb offset, a starting symbol of the slot, or a number of SL-PRL symbols within the slot.

50. A node for sidelink positioning, the node comprising: a memory storing instructions; and a processor configured to execute the instructions stored in the memory to: configure one or more sidelink positioning reference signal (SL-PRS) resource sets for one or more user equipments (UEs) including a first UE; obtain information regarding a positioning accuracy of the first UE; and determine whether to deactivate at least one SL-PRS resource set configured for the first UE and whether to configure at least one other SL-PRS resource set for the first UE.

51. The node of claim 50, wherein, The node comprises at least one of: a base station, a location management function (LMF), or a UE other than the one or more UEs.

52. The node of claim 51, wherein, The UE other than the one or more UEs is a server UE.

53. The node of claim 50, wherein, The processor is configured to execute the instructions stored in the memory to: determine a degradation in the positioning accuracy of the first UE based on at least one of: the configuration of the one or more SL-PRS resource sets for the one or more UEs, one or more measurement reports regarding one or more SL-PRS signals transmitted from the one or more UEs, or one or more shared mobility patterns of one or more other UEs.

54. The node of claim 50, wherein, The one or more SL-PRS resource sets are a plurality of SL-PRS resource sets for a plurality of UEs including the first UE, and the processor is configured to execute the instructions stored in the memory to: configure the plurality of SL-PRS resource sets such that each SL-PRS resource set of the plurality of SL-PRS resource sets is available for one or more slots.

55. The node of claim 50, wherein, The processor is configured to execute the instructions stored in the memory to: configure the one or more SL-PRS resource sets based on at least one of: one or more priorities for one or more SL-PRS signals of one or more UEs, or one or more congestion metrics associated with the one or more UEs.

56. The node of claim 50, wherein, the processor is configured to execute the instructions stored in the memory to configure the one or more SL-PRS resource sets such that, in the one or more slots, the one or more SL-PRS resource sets are associated with one or more of an odd resource set index or an even resource set index.

57. The node of claim 50, wherein, the processor is configured to execute the instructions stored in the memory to configure the one or more SL-PRS resource sets such that a spacing between two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is equal to or greater than an integer.

58. The node of claim 57, wherein, the two resource elements are adjacent.

59. The node of claim 57, wherein, the integer is configured or preconfigured.

60. The node of claim 57, wherein, the spacing between the two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is at least one of a spacing in a frequency domain or a spacing in a time domain.

61. The node of claim 50, wherein, the processor is configured to execute the instructions stored in the memory to configure the one or more SL-PRS resource sets such that a wider spacing between two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is used for one or more of a lower congestion level or a higher priority for SL-PRS signals, and a narrower spacing between two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is used for one or more of a higher congestion level or a lower priority for SL-PRS signals.

62. The UE of claim 61, wherein, the two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets are adjacent.

63. The node of claim 61, wherein, the spacing between the two resource elements for any two SL-PRS resource sets of the one or more SL-PRS resource sets is at least one of a spacing in a frequency domain or a spacing in a time domain.

64. A method for a user equipment (UE) in sidelink positioning, the method comprising: determining at least one of: one or more sets of sidelink positioning reference signals (SL-PRS) resources in a slot, or one or more SL-PRS resource set patterns for one or more slots, the one or more SL-PRS resource sets being configured or preconfigured for one or more SL-PRS transmissions by one or more UEs including the UE; selecting at least one SL-PRS resource set from the one or more SL-PRS resource sets based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node; and transmitting at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one SL-PRS resource set.

65. A method for a node in sidelink positioning, the method comprising: configuring one or more sidelink positioning reference signal (SL-PRS) resource sets for one or more UEs including a first user equipment (UE); obtaining information about a positioning accuracy of the first UE; and determining whether to deactivate at least one SL-PRS resource set configured for the first UE and whether to configure at least one other SL-PRS resource set for the first UE.

66. A non-transitory computer-readable medium storing instructions executable by one or more processors of a user equipment (UE) in sidelink positioning to perform a method comprising: determining at least one of: one or more sidelink positioning reference signal (SL-PRS) resource sets in a slot, or one or more SL-PRS resource set patterns for one or more slots, the one or more SL-PRS resource sets configured or preconfigured for one or more SL-PRS transmissions by one or more UEs including the UE; selecting at least one SL-PRS resource set from the one or more SL-PRS resource sets based on at least one of: a random selection, the one or more SL-PRS resource set patterns, one or more received control signals, assistance information received from at least one other UE different from the UE, or assistance information received from a network node; and transmitting at least one of: one or more SL-PRS signals or SL-PRS control information based on the selected at least one SL-PRS resource set.

67. A non-transitory computer-readable medium storing instructions executable by one or more processors of a node for sidelink positioning to perform a method comprising: configuring one or more sidelink positioning reference signal (SL-PRS) resource sets for one or more UEs including a first user equipment (UE); obtaining information about a positioning accuracy of the first UE; and determining whether to deactivate at least one SL-PRS resource set configured for the first UE and whether to configure at least one other SL-PRS resource set for the first UE. ​

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