Methods, architectures, apparatus and systems for anchor device selection for bistatic sensing

Abstract

A process, method, architecture, apparatus, system, apparatus, and computer program product for bistatic sensing. In certain representative embodiments, a wireless transmit / receive unit (WTRU) may receive information indicating: a reference signal (RS) configuration; a first time threshold and a second time threshold; and a transmission / reception point (TRP) location. The WTRU may select a first set of TRP. The WTRU may send an uplink bistatic sensing request that includes information indicative of the first group, an obstacle location, and / or a WTRU location. The WTRU may receive an uplink bistatic sensing acknowledgement that includes information indicating a second set of TRPs. The WTRU may select one or more of the RS configurations based on the first time threshold and the second time threshold and the TRP locations of the second set. The WTRU may transmit one or more RSs using the one or more RS configurations. The second set of TRPs may receive the transmitted RS and perform bistatic sensing on the obstacle.

Description

Cross Reference to Related Applications

[0001] This application claims the benefit of U.S. Provisional Patent Application (i) 63 / 531,096, filed August 7, 2023, which is incorporated by reference herein. TECHNICAL FIELD

[0002] The present disclosure relates generally to the fields of communications, software, and coding, including, for example, to methods, architectures, devices, systems for bistatic sensing. BACKGROUND

[0003] 5G NR sensing involves using NR RF signals to detect, estimate, and monitor conditions (e.g., shape, size, orientation, speed, location, distance, or relative motion between objects) of an environment and / or objects within the environment. The presence of an obstacle can pose a safety hazard to users and / or devices in its vicinity. Solutions that can improve and / or enhance sensing are desirable. SUMMARY

[0004] In representative embodiments, a wireless transmit / receive unit (WTRU) can receive information indicating: (i) a plurality of sounding reference signal for positioning (SRSp) configurations; (ii) a first time threshold and a second time threshold associated with the plurality of SRSp configurations; and (iii) assistance information indicating a plurality of transmission / reception point (TRP) locations of a plurality of TRPs. The WTRU can detect a (e.g., coarse) obstacle location of an obstacle. The WTRU can select a first set of TRPs from the plurality of TRPs. For example, the first set of TRPs can be TRPs preferred by the WTRU for bistatic sensing. For example, each TRP in the first set can be associated with an RTT between the obstacle location and the TRP location of the respective TRP that is greater than the first time threshold and less than the second time threshold (e.g., satisfies an RTT of a sensing coverage area). The WTRU can send an uplink bistatic sensing request to a network, the uplink bistatic sensing request including information indicating any of: (i) the first set; (ii) the obstacle location; and / or (iii) a WTRU location of the WTRU. The WTRU can receive an uplink bistatic sensing confirmation from the network, the uplink bistatic sensing confirmation including information indicating a second set of TRPs. For example, the second set of TRPs can be selected by the network, such as based on the first set of TRPs indicated by the WTRU. The WTRU can select one or more SRSp configurations from the plurality of SRSp configurations based on the first time threshold, the second time threshold, and the TRP locations of the second set of TRPs. The WTRU can transmit one or more SRSp using one or more SRSp resources of the selected one or more SRSp configurations. For example, the second set of TRPs can receive the transmitted SRSp and perform bistatic sensing on the obstacle.

[0005] In representative embodiments, a network entity can transmit, to a WTRU, information indicating: (i) a plurality of SRSp configurations; (ii) a first time threshold and a second time threshold associated with the plurality of SRSp configurations; and (iii) assistance information indicating a plurality of TRP locations of a plurality of TRPs. The network entity can receive, from the WTRU, an uplink bistatic sensing request including information indicating any of: (i) a first WTRU preferred group of TRPs from the plurality of TRPs; (ii) a first (e.g., coarse) obstacle location of an obstacle; and / or (iii) a WTRU location of the WTRU. For example, each TRP in the first group can be associated with an RTT between the obstacle location and a TRP location of the respective TRP that is greater than the first time threshold and less than the second time threshold. The network entity can transmit, to the WTRU, an uplink bistatic sensing confirmation including information indicating a second network selected group of TRPs. For example, the second group of TRPs can be selected by the network, such as based on the first group of TRPs indicated by the WTRU. The network entity can transmit, to the WTRU, information indicating a second (e.g., fine) obstacle location of the obstacle. For example, the second obstacle location can be received based on the second network selected group of TRPs using one or more SRSp resources in one or more of the plurality of SRSp configurations.

[0006] In representative embodiments, a WTRU can receive information indicating a set of reference signal (RS) configurations (e.g., PRS, SRSp, CSI-RS, DM-RS, SSB, and / or other configurations). The WTRU can transmit an uplink bistatic sensing request including information indicating: a first group (e.g., preferred) of TRPs, an obstacle location of an obstacle, and a WTRU location of the WTRU. The WTRU can receive an uplink bistatic sensing confirmation including information indicating a second group (e.g., network selected) of TRPs. The WTRU can select one or more RS configurations from the set of RS configurations based on locations of the second group of TRPs. The WTRU can transmit one or more RSs using one or more resources in the selected one or more RS configurations.

[0007] In representative embodiments, a network entity can send (e.g., to a WTRU) information indicating a set of RS configurations (e.g., associated with a bistatic sensing). The network entity can receive an uplink bistatic sensing request including information indicating a first set of TRPs determined by the WTRU, an obstacle location of an obstacle, and a WTRU location of the WTRU. The network entity can send an uplink bistatic sensing confirmation including information indicating a second set of TRPs. The network entity can send location information associated with the obstacle based on receiving one or more RSs sent by the WTRU using one or more resources in one or more RS configurations of the set of RS configurations. For example, the network entity and / or the second set of TRPs can determine the location information (e.g., a refined obstacle location) based on the RSs sent by the WTRU.

[0008] In representative embodiments, a first WTRU can receive a sensing request including information indicating a first (e.g., coarse) obstacle location of an obstacle and a location of another (e.g., second) WTRU. For example, the sensing request can be received from the other WTRU. The first WTRU can determine a set of anchor WTRUs based on the location of the anchor WTRU, the first obstacle location, and the location of the other (e.g., second) WTRU. The first WTRU can activate the set of anchor WTRUs (e.g., a subset thereof) to perform bistatic sensing using at least one reference signal (RS) configuration. The first WTRU can receive information from at least one anchor WTRU of the set of anchor WTRUs based on the bistatic sensing performed using the at least one RS configuration, the information indicating a second (e.g., refined) obstacle location of the obstacle.

[0009] In representative embodiments, an anchor WTRU can receive information from another WTRU indicating to activate a set of anchor WTRUs to perform bistatic sensing using at least one RS configuration. The anchor WTRU can perform bistatic sensing using the at least one RS configuration. The anchor WTRU can send information to the other WTRU or other anchor WTRUs within the set based on the bistatic sensing, the information indicating an (e.g., refined) obstacle location of an obstacle.

[0010] In representative embodiments, a first WTRU can receive information indicating a RS configuration. The first WTRU can determine first threshold information associated with bistatic sensing (e.g., for a bistatic sensing coverage area) and second threshold information associated with monostatic sensing (e.g., for a monostatic sensing range). The first WTRU can receive, from another (e.g., second) WTRU, information indicating any of: (i) a location of the other (e.g., second) WTRU; (ii) a location of an obstacle; and (iii) a target sensing area. The first WTRU can perform monostatic sensing for the target sensing area or perform bistatic sensing with the second WTRU based on: (i) a first round trip time (RTT) associated with a location of the first WTRU, a location of the obstacle, and a location of the second WTRU; (ii) a second RTT associated with the location of the first WTRU and the location of the obstacle; (iii) the first threshold information; and (iv) the second threshold information, in accordance with the positioning RS configuration.

[0011] In representative embodiments, a first WTRU can receive information indicating at least one RS configuration. The first WTRU can determine a set of second WTRUs. The first WTRU can determine one or more obstacle-second WTRU pairs based on: (i) round trip time (RTT) information and threshold information associated with the set of second WTRUs; and (ii) priority information associated with an obstacle and / or the set of second WTRUs. The first WTRU can transmit, to the one or more obstacle-second WTRU pairs, information indicating a measurement window associated with bistatic sensing. During the measurement window, the first WTRU can perform bistatic sensing with one or more second WTRUs of the determined one or more obstacle-second WTRU pairs using the at least one positioning RS configuration.

[0012] In representative embodiments, a WTRU can receive information indicating at least one positioning reference signal (RS) configuration. The WTRU can determine threshold information (e.g., minimum and maximum thresholds for bistatic sensing) associated with sensing (e.g., bistatic). The WTRU can detect an obstacle (e.g., using monostatic sensing). The WTRU can determine a second (e.g., anchor) WTRU for bistatic sensing in proximity to the WTRU based on the threshold information, such as based on a (e.g., bistatic) round trip time. The WTRU can transmit one or more RSs using first time / frequency resources associated with the positioning RS configuration. The WTRU can receive, from another (e.g., anchor) WTRU, information indicating a location of the obstacle (e.g., a location resulting from bistatic sensing).

[0013] In representative embodiments, a first WTRU can receive a sensing request from a second WTRU. The sensing request can include information indicating a location of an obstacle and a location of the second WTRU. The first WTRU can determine one or more anchor WTRUs. The first WTRU can determine a group from the one or more anchor WTRUs based on: (i) respective locations of the one or more anchor WTRUs; and (ii) the location of the second WTRU. The first WTRU can transmit information indicating at least one positioning RS configuration to one or more anchor WTRUs of the group. The first WTRU can determine a sub-group from the group based on: (i) respective locations of the one or more anchor WTRUs of the group; and (ii) the location of the obstacle. The first WTRU can activate the sub-group for bistatic sensing. The first WTRU can receive information indicating the location of the obstacle from at least one anchor WTRU of the sub-group.

[0014] In representative embodiments, a WTRU can receive positioning RS configuration information. The WTRU can determine first threshold information associated with bistatic sensing and second threshold information associated with monostatic sensing. The WTRU can receive information from a second WTRU indicating: (i) a location of the second WTRU; (ii) a location of an obstacle; and (iii) a target sensing area. The WTRU can perform bistatic sensing with the second WTRU based on the positioning RS configuration information and based on: (i) a first round trip time (RTT) associated with a location of the first WTRU, the location of the obstacle, and the location of the second WTRU; (ii) a second RTT associated with the location of the first WTRU and the location of the obstacle; (iii) the first threshold information; and (iv) the second threshold information.

[0015] In representative embodiments, a WTRU can receive information indicating at least one positioning RS configuration. The WTRU can determine threshold information associated with (e.g., bistatic) sensing. The WTRU can determine one or more second WTRUs. The WTRU can determine first priority information associated with an obstacle based on a location of the first WTRU and a location of the obstacle. The WTRU can determine second priority information associated with the obstacle based on respective locations of the one or more second WTRUs and the location of the obstacle. The WTRU can determine one or more obstacle-second WTRU pairs based on: (i) round trip time (RTT) information associated with the one or more second WTRUs and the threshold information; (ii) the first priority information; and / or (iii) the second priority information. The WTRU can transmit, to the one or more obstacle-second WTRU pairs, information indicating suggested measurement window information. The WTRU can perform bistatic sensing with one or more second WTRUs of the determined one or more obstacle-second WTRU pairs using the at least one positioning RS configuration and the suggested measurement window. BRIEF DESCRIPTION OF DRAWINGS

[0016] A more detailed understanding can be had from the following description, given by way of example in conjunction with the accompanying drawings wherein: FIG. 1A is a system diagram illustrating an example communications system; FIG. 1B is a system diagram illustrating an example wireless transmit / receive unit (WTRU) that can be used within the communications system 100 shown in FIG. 1A is a system diagram illustrating an example radio access network (RAN) and an example core network (CN) that can be used within the communications system 100 shown in FIG. 1C is a system diagram illustrating an example RAN and an example CN that can be used within the communications system 100 shown in FIG. 1A FIG. 1D is a system diagram illustrating yet another example RAN and yet another example CN that can be used within the communications system 100 shown in FIG. 1A FIG. 2 is a system diagram illustrating an example of a monostatic sensing region; FIG. 3 is a system diagram illustrating an example of a bistatic sensing region; FIG. 4 is a system diagram illustrating an example of an ambiguous region; FIG. 5 ​​is a system diagram illustrating an example of bi-directional round trip time (RTT) based obstacle sensing; FIG. 6 is a system diagram illustrating an example of expected monostatic RTT; FIG. 7 is a system diagram illustrating an example of expected bi-static RTT; FIG. 8 is a system diagram illustrating an example of bi-static RTT threshold and sensing coverage area; FIG. 9 is a system diagram illustrating another example of expected bi-static RTT; FIG. 10 is a system diagram illustrating an example of anchor UE selection based on threshold information; FIG. 11 is a system diagram illustrating spatial SL-PRS configuration based on threshold information; FIG. 12 is a system diagram illustrating a difference in sensing coverage area for uplink and downlink sensing; FIG. 13 is a system diagram illustrating SRSp configuration for UL bi-static sensing based on obstacle location; FIG. 14 is a system diagram illustrating TRP selection for bi-static sensing; FIG. 15 is a system diagram illustrating group formation for reference location and group distance threshold information; FIG. 16 is a system diagram illustrating UE roles and beam transmission patterns for obstacle detection; FIG. 17 is a system diagram illustrating sub-group selection for sensing based on obstacle location and sub-group distance threshold information; FIG. 18 is a system diagram illustrating signaling exchange between UEs and anchor UEs for group and sub-group formation and procedures; FIG. 19 is a system diagram illustrating sub-group modification due to obstacle movement; FIG. 20 is a system diagram illustrating mode selection based on bi-static and monostatic threshold information; FIG. 21 is a system diagram illustrating sensing mode selection procedure for monostatic and bi-static sensing; FIG. 22 is a system diagram illustrating requests from multiple target UEs for bi-static sensing and priority assignment; FIG. 23 is a time and frequency resource diagram illustrating suggested measurement window configuration for different obstacles; FIG. 24 is a signaling diagram illustrating signaling exchanges between a network, a UE, and a target UE; FIG. 25 is a flow diagram illustrating an exemplary procedure for anchor point device selection; FIG. 26 is a flow diagram illustrating an exemplary procedure for group-based sensing; FIG. 27 is a flow diagram illustrating an exemplary procedure for sensing mode selection; FIG. 28 is a flow diagram illustrating an exemplary procedure for prioritization of bistatic sensing; FIG. 29 is a flow diagram illustrating an exemplary procedure for bistatic sensing using TRPs; FIG. 30 is a flow diagram illustrating an exemplary procedure for bistatic sensing using TRPs; FIG. 31 is a flow diagram illustrating an exemplary procedure for bistatic sensing using TRPs; FIG. 32 is a flow diagram illustrating an exemplary procedure for bistatic sensing using TRPs; FIG. 33 is a flow diagram illustrating an exemplary procedure for group-based sensing; FIG. 34 is a flow diagram illustrating an exemplary procedure for group-based sensing; FIG. 35 is a flow diagram illustrating an exemplary procedure for sensing mode selection; and FIG. 36 is a flow diagram illustrating an exemplary procedure for prioritization of bistatic sensing. DETAILED DESCRIPTION

[0017] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments and / or examples disclosed herein. However, it will be understood that such embodiments and examples can be practiced without some or all of the specific details set forth herein. In other instances, well known methods, procedures, components and circuits have not been described in detail so as not to obscure the following description. Also, embodiments and examples described hereinbelow can be implemented in combination with each other, instead of alone, or in combination with other embodiments and examples described or otherwise provided herein (collectively referred to as “provided”). Although various embodiments are described and / or claimed herein, it should be understood that any device, system, apparatus, and / or any element thereof can be configured to perform any of the operations, processes, algorithms, functions and / or any portion thereof described and / or claimed herein.

[0018] Example communication system The methods, devices, and systems provided herein are well suited to communications involving wired networks and wireless networks. With respect to FIGS. 1A-1D An overview of various types of wireless devices and infrastructure are provided, where various elements of a network can utilize, perform, be arranged in accordance with, and / or be adapted and / or configured for the methods, devices, and systems provided herein.

[0019] FIG. 1A is a system diagram illustrating an example communication system 100 in which one or more disclosed embodiments can be implemented. The communication system 100 can be a multiple access system that provides content, such as voice, data, video, messaging, broadcast, etc., to multiple wireless users. The communication system 100 can enable multiple wireless users to access such content through the sharing of system resources, including wireless bandwidth. For example, the communication systems 100 can employ one or more channel access methods, such as code division multiple access (CDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), orthogonal FDMA (OFDMA), single-carrier FDMA (SC-FDMA), zero-tail (ZT) unique-word (UW) discrete Fourier transform (DFT) spread OFDM (ZT UW DTS-s OFDM), unique-word OFDM (UW-OFDM), resource block-filter OFDM, filter bank multicarrier (FBMC), and / or the like.

[0020] As FIG. 1AAs shown, the communication system 100 can include wireless transmit / receive units (WTRUs) 102a, 102b, 102c, 102d, a radio access network (RAN) 104 / 113, a core network (CN) 106 / 115, a public switched telephone network (PSTN) 108, the Internet 110, and other networks 112, though it will be appreciated that the disclosed embodiments contemplate any number of WTRUs, base stations, networks, and / or network elements. Each of the WTRUs 102a, 102b, 102c, 102d can be any type of device configured to operate and / or communicate in a wireless environment. By way of example, the WTRUs 102a, 102b, 102c, 102d (e.g., at least one of which can be referred to as a “station” and / or a “STA”) can be configured to transmit and / or receive wireless signals, and can include (or be) user equipment (UE), a mobile station, a fixed or mobile subscriber unit, a subscription-based unit, a pager, a cellular telephone, a personal digital assistant (PDA), a smartphone, a laptop, a netbook, a personal computer, a wireless sensor, a hotspot or Mi-Fi device, an Internet of Things (IoT) device, a watch or other wearable, a head-mounted display (HMD), a vehicle, a drone, a medical appliance or application, industrial equipment and applications (e.g., robots and / or other wireless devices operating in an industrial and / or an automated processing chain context), a consumer electronics device, a device operating on a commercial and / or industrial wireless network, etc. (e.g., at least one of which can be referred to as a UE).

[0021] The communication system 100 can also include a base station 114a and / or a base station 114b. Each of the base stations 114a, 114b can be any type of device configured to wirelessly interface with at least one of the WTRUs 102a, 102b, 102c, 102d, e.g., to facilitate access to one or more communication networks, such as the CN 106 / 115, the Internet 110, and / or the networks 112. By way of example, the base stations 114a, 114b can (e.g., at least) be any of a base transceiver station (BTS), a Node-B, an eNode-B (eNB), a Home Node-B (HNB), a Home eNode-B (HeNB), a gNode-B (gNB), a NR Node-B (NR NB), a site controller, an access point (AP), a wireless router, and / or the like. While the base stations 114a, 114b are each depicted as a single element, it will be appreciated that the base stations 114a, 114b can include any number of interconnected base stations and / or network elements.

[0022] The base stations 114a can be part of the RAN 104 / 113, which can also include other base stations and / or network elements (not shown), such as a base station controller (BSC), a radio network controller (RNC), relay nodes, etc. The base stations 114a and / or the base stations 114b can be configured to transmit and / or receive wireless signals on one or more carrier frequencies, which can be referred to as a cell (not shown). The frequencies can be in licensed or unlicensed spectrum, or a combination of licensed and unlicensed spectrum. The cell can provide communication coverage for a particular geographic area. The cell can further be divided into cell sectors each with a coverage area. For example, the cell associated with a base station 114a can be divided, such as with three, into three sectors. Thus, in one embodiment, the base station 114a can include three transceivers, one for each sector of the cell. In an embodiment, the base station 114a can employ

[0023] The base stations 114a, 114b can communicate with one or more of the WTRUs 102a, 102b, 102c, 102d over an air interface 116, which can be any suitable wireless communication link (e.g., radio frequency (RF), microwave, centimeter wave, micrometer wave, infrared (IR), ultraviolet (UV), visible light). The air interface 116 can be established using any suitable radio access technology (RAT).

[0024] More specifically, as noted above, the communications system 100 can be a multiple access system and can employ one or more channel access schemes, such as CDMA, TDMA, FDMA, OFDMA, SC-FDMA, and the like. For example, the base station 114a in the RAN 104 / 113 and the WTRUs 102a, 102b, 102c can implement a radio technology such as UMTS Terrestrial Radio Access (UTRA) that can establish the air interface 116 using wideband CDMA (WCDMA). WCDMA can include communication protocols such as High-Speed Packet Access (HSPA) and / or Evolved HSPA (HSPA+). HSPA can include High-Speed Downlink Packet Access (HSDPA) and / or High-Speed Uplink Packet Access (HSUPA).

[0025] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c can implement a radio technology such as Evolved UMTS Terrestrial Radio Access (E-UTRA), which can establish the air interface 116 using Long Term Evolution (LTE) and / or LTE-Advanced (LTE-A) and / or LTE-Advanced Pro (LTE-A Pro).

[0026] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c can implement a radio technology such as NR Radio Access, which can establish the air interface 116 using New Radio (NR).

[0027] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c can implement multiple radio access technologies. For example, the base station 114a and WTRUs 102a, 102b, 102c can implement LTE wireless access and NR wireless access together, for instance using dual connectivity (DC) principles. Thus, the air interface utilized by WTRUs 102a, 102b, 102c can be characterized by multiple types of radio access technologies and / or transmissions sent to / from multiple types of base stations (e.g., an eNB and a gNB).

[0028] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c can implement a radio technology such as IEEE 802.11 (i.e., Wireless Fidelity (Wi-Fi), IEEE 802.16 (i.e., Worldwide Interoperability for Microwave Access (WiMAX)), CDMA2000, CDMA2000 IX, CDMA2000 EV-DO, Interim Standard 2000 (IS-2000), Interim Standard 95 (IS-95), Interim Standard 856 (IS-856), Global System for Mobile communications (GSM), Enhanced Data rates for GSM Evolution (EDGE), GSM EDGE (GERAN), and / or the like.

[0029] FIG. 1AThe base station 114b in the embodiment can be, for example, a wireless router, Home Node B, Home eNode-B, or access point, and can utilize any suitable RAT for facilitating wireless connectivity access by the WTRUs 102c, 102d within a local area, such as a place of business, a home, a vehicle, a campus, an industrial facility, an aerial corridor (e.g., for drones), a roadway, etc. In one embodiment, the base station 114b and the WTRUs 102c, 102d can implement a radio technology such as IEEE 802.11 to establish a wireless local area network (WLAN). In an embodiment, the base station 114b and the WTRUs 102c, 102d can implement a radio technology such as IEEE 802.15 to establish a wireless personal area network (WPAN). In an embodiment, the base station 114b and the WTRUs 102c, 102d can utilize based cellular radio technologies (e.g., WCDMA, CDMA2000, GSM, LTE, LTE-A, LTE-A Pro, NR, etc.) to establish any of (e.g., at least) a cellular-based FIG. 1A As shown, the base station 114b can be directly connected to the Internet 110. Hence, the base station 114b can not need to access the Internet 110 via the CN 106 / 115.

[0030] The RAN 104 / 113 can be in communication with the CN 106 / 115, which can be any type of network configured to provide voice, data, applications, and / or voice over internet protocol (VoIP) services to one or more of the WTRUs 102a, 102b, 102c, 102d. The data can have varying quality of service (QoS) requirements, such as differing throughput requirements, latency requirements, error tolerance requirements, reliability requirements, data throughput requirements, mobility requirements, and the like. The CN 106 / 115 can provide call control, billing services, mobile location-based services, pre-paid calling, Internet connectivity, video distribution, and / or FIG. 1A Although not shown in FIG. 1A, it will be appreciated that the RAN 104 / 113 and / or the CN 106 / 115 can be in direct or indirect communication with other RANs that employ the same RAT as the RAN 104 / 113 or a different RAT. For example, in addition to being connected to the RAN 104 / 113, which can be utilizing a NR radio technology, the CN 106 / 115 can also be in communication with another RAN (not shown) employing a GSM, UMTS, CDMA 2000, WiMAX, E-UTRA, or Wi-Fi radio technology.

[0031] The CN 106 / 115 can also serve as a gateway for the WTRUs 102a, 102b, 102c, 102d to access the PSTN 108, the Internet 110, and / or the other networks 112. The PSTN 108 can include circuit-switched telephone networks that provide infrastructure for the provision of voice telephony. The Internet 110 can include a global system of interconnected computer networks and devices that use

[0032] Some or all of the WTRUs 102a, 102b, 102c, 102d in the communications system 100 can include multi-mode capabilities, e.g., the WTRUs 102a, 102b, 102c, 102d can include multiple transceivers for communicating with different wireless networks over different wireless links. For example, the WTRU 102a, 102b, 102c, 102d can include a transceiver FIG. 1A The WTRU 102c shown in Figure 1C can be configured to communicate as a wireless device with the base station 114c, and can include hardware and / or software components that enable it to operate with different wireless networks and

[0033] FIG. 1B is a system diagram illustrating an example WTRU 102. As shown in FIG. 1B The WTRU 102 can include a processor 118, a transceiver 120, a transmit / receive element 122, a speaker / microphone 124, a keypad 126, a display / touchpad 128, non-removable memory 130, removable memory 132, a power source 134, a global positioning system (GPS) chipset 136, and / or other

[0034] The processor 118 can be a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Array (FPGAs) circuits, any other type of integrated circuit (IC), a state machine, and the like. The processor 118 can perform signal coding, data processing, power control, input / output processing, and / or any other functionality that enables the WTRU 102 to operate in a wireless environment. The processor 118 can be coupled to the transceiver 120, which can be coupled to the transmit / receive element 122. While FIG. 1B The processor 118 and the transceiver 120 are depicted as separate components, it is to be understood that the processor 118 and the transceiver 120 can be integrated together in an electronic package or chip.

[0035] The transmit / receive element 122 can be configured to transmit signals to, or receive signals from, a base station (e.g., the base station 114a) over the air interface 116. For example, in one embodiment, the transmit / receive element 122 can be an antenna configured to transmit and / or receive RF signals. In an embodiment, the transmit / receive element 122 can be an emitter / detector configured to transmit and / or receive IR, UV, or visible light signals, for example. In an embodiment, the transmit / receive element 122 can be configured to transmit and / or receive both RF and light signals. It will be appreciated that the transmit / receive element 122 can be configured to transmit and / or receive any combination of wireless signals.

[0036] Although the transmit / receive element 122 is depicted in the WTRU 102 FIG. 1B In one embodiment, the WTRU 102 can include two or more transmit / receive elements 122 (e.g., multiple antennas) for transmitting and receiving wireless signals over the air interface 116.

[0037] The transceiver 120 can be configured to modulate information to be transmitted by the transmit / receive element 122 and to demodulate information received by the transmit / receive element 122. As noted above, the WTRU 102 can have multi-mode capabilities. Thus, the transceiver 120 can include multiple transceivers for enabling the WTRU 102 to communicate via multiple RATs, such as NR and IEEE 802.11, for example.

[0038] The processor 118 of the WTRU 102 can be coupled to, and can receive user input data from, the speaker / microphone 124, the keypad 126, and / or the display / touchpad 128 (e.g., a liquid crystal display (LCD) display unit or organic light-emitting diode (OLED) display unit). The processor 118 can also output user data to the speaker / microphone 124, the keypad 126, and / or the display / touchpad 128. In addition, the processor 118 can access information from, and store data in, any type of suitable memory, such as the non-removable memory 130 and / or the removable memory 132. The non-removable memory 130 can include random-access memory (RAM), read-only memory (ROM), a hard disk, or any other type of memory storage device. The removable memory 132 can include a subscriber identity module (SIM) card, a memory stick, a secure digital (SD) memory card, and the like. In other embodiments, the processor 118 can access information from, and store data in, memory that is not physically located on the WTRU 102, such as on a server or a home computer (not shown).

[0039] The processor 118 can receive power from the power source 134, and can be configured to distribute and / or control the power to the other components in the WTRU 102. The power source 134 can be any suitable device for powering the WTRU 102. For example, the power source 134 can include one or more dry cell batteries (e.g., nickel-cadmium (NiCd), nickel-zinc (NiZn), nickel metal hydride (NiMH), lithium-ion (Li-ion), solar cells, fuel cells, and the like.

[0040] The processor 118 can also be coupled to the GPS chipset 136, which can be configured to provide location information (e.g., longitude and latitude) regarding the current location of the WTRU 102. In addition to, or in lieu of, the information from the GPS chipset 136, the WTRU 102 can receive location information over the air interface 116 from a base station (e.g., base stations 114a, 114b) and / or determine its location based on the timing of the signals being received from two or more nearby base stations. It will be appreciated that the WTRU 102 can acquire location information by way of any suitable location-determination method while remaining consistent with an embodiment.

[0041] The processor 118 can also be coupled to other elements / peripherals 138, which can include one or more software and / or hardware modules / units required to provide additional features, functionality and / or wired or wireless connectivity. For example, the elements / peripherals 138 can include an accelerometer, an e-compass, a satellite transceiver, a digital camera (e.g., for photographs and / or video), a universal serial bus (USB) port, a vibration device, a television transceiver, a hands free headset, a Bluetooth® module, a frequency modulated (FM) radio unit, a digital music player, a media player, a video game player module, an Internet browser, a virtual reality and / or an augmented reality (VR / A R) device, an activity tracker, and the like. The elements / peripherals 138 can include one or more sensors that can be

[0042] The WTRU 102 can include a full duplex radio where transmission and reception of some or all of the signals (e.g., associated with particular subframes for both uplink (e.g., for transmissions) and downlink (e.g., for reception) with respect to the same frequency bank) can be concurrent and / or simultaneous. The full duplex radio can include an interference management unit to reduce and or substantially eliminate self-interference and / or cross- interference due to concurrent or simultaneous transmission and reception. In one embodiment, the WTRU 102 can include a half duplex radio, where transmission and reception of some or all of the signals (e.g., associated with particular subframes for either uplink (e.g., for transmissions) or downlink (e.g., for reception) with respect to a same frequency bank) can be time divided.

[0043] FIG. 1C FIG. 1 1 is a system diagram illustrating the RAN 104 and the CN 106 according to an embodiment. As noted above, the RAN 104 can employ an E-UTRA radio technology to communicate with the WTRUs 102a, 102b, and 102c over the air interface 116. The RAN 104 can also be in communication with the CN 106.

[0044] The RAN 104 can include eNode-Bs 160a, 160b, 160c, though it will be appreciated that the RAN 104 can include any number of eNode-Bs while remaining consistent with an embodiment. The eNode-Bs 160a, 160b, 160c can each include one or more transceivers for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In one embodiment, the eNode-Bs 160a, 160b, 160c can implement MIMO technology. Thus, the eNode-B 160a, for example, can use multiple antennas to transmit wireless signals to, and receive wireless signals from, the WTRU 102a.

[0045] Each of the eNode-Bs 160a, 160b, and 160c can be associated with a particular cell (not shown) and can be configured to handle radio resource management decisions, handover decisions, scheduling of users in the uplink (UL) and / or downlink (DL), and the like. As shown, the eNode-Bs 160a, 160b, 160c can communicate with one another over an X2 interface. FIG. 1C

[0046] FIG. 1C The CN 106 can include a mobility management entity (MME) 162, a serving gateway (SGW) 164, and a packet data network (PDN) gateway (PGW) 166, as shown. While each of the foregoing elements are depicted as part of the CN 106, it will be appreciated that any of these elements can be owned and / or operated by an entity other than the CN operator.

[0047] The MME 162 can be connected to each of the eNode-Bs 160a, 160b, and 160c in the RAN 104 via an SI interface and can serve as a control node. For example, the MME 162 can be responsible for authenticating users of the WTRUs 102a, 102b, 102c, bearer activation / deactivation, selecting a particular serving gateway during an initial attach of the WTRUs 102a, 102b, 102c, and the like. The MME 162 can provide a control plane function for switching between the RAN 104 and other RANs (not shown) that employ other radio technologies, such as GSM and / or WCDMA.

[0048] ​The SGW 164 can be connected to each of the eNode Bs 160a, 160b, 160c in the RAN 104 via the S1 interface. The SGW 164 can generally route and forward user data packets to / from the WTRUs 102a, 102b, 102c. The SGW 164 can perform other functions, such as anchoring user planes during inter-eNode B handovers, triggering paging when DL data is available for the WTRUs 102a, 102b, 102c, managing and storing contexts of the WTRUs 102a, 102b, 102c, and the like.

[0049] The SGW 164 can be connected to the PGW 166, which can provide the WTRUs 102a, 102b, 102c with access to packet-switched networks, such as the Internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices.

[0050] The CN 106 can also serve as a gateway for the WTRUs 102a, 102b, 102c to access the PSTN 108, the Internet 110, and / or the other networks 112. The PSTN 108 can include circuit-switched telephone networks that provide infrastructure for the provision of voice, video, and / or data services to users. The CN 106 can include IP gateways, such as an IP Multimedia Subsystem (IMS), that serve as interfaces between the CN 106 and the PSTN 108. The CN 106 can also include serving as gateways for the WTRUs 102a, 102b, 102c to access the other networks 112, which can include networks owned and / or operated by other service providers.

[0051] Although WTRUs are often depicted in the illustrations as a portable computer or other type of computer with a wireless interface, it is contemplated that the WTRU can be any wireless device that has the ability to communicate with a network, such as a network access device or a network node. FIGS. 1A-1D

[0052] In representative embodiments, the other network 112 can be a WLAN.

[0053] ​A WLAN in Infrastructure Basic Services Set (BSS) mode may have an access point (AP) for the BSS and one or more stations (STAs) associated with the AP. The AP may have access or an interface to an Access Distribution System (DS) or another type of wired / wireless network that carries traffic entering and / or leaving the BSS. Traffic originating outside the BSS destined for a STA can be delivered to the AP. Traffic from a STA to a destination outside the BSS can be sent to the AP for delivery to the appropriate destination. Traffic between STAs within the BSS can be sent via the AP, for example, where a source STA can send traffic to the AP, and the AP can deliver the traffic to the destination STA. Traffic between STAs within the BSS can be considered and / or referred to as point-to-point traffic. Point-to-point traffic can be sent between a source STA and a destination STA using a Direct Link Setup (DLS) (e.g., directly between them). In some representative embodiments, the DLS may use 802.11e DLS or 802.11z Tunneled DLS (TDLS). A WLAN using the Standalone BSS (IBSS) mode may not have an access point (AP), and STAs within the IBSS or using the IBSS (e.g., all STAs) can communicate directly with each other. The IBSS communication mode may sometimes be referred to as an "ad-hoc" communication mode in this document.

[0054] When operating in 802.11ac infrastructure mode or a similar mode, the AP can transmit beacons on a fixed channel, such as the primary channel. The primary channel can be of fixed width (e.g., a 20 MHz bandwidth) or dynamically set via signaling. The primary channel can be the operating channel of the BSS and can be used by the STA to establish a connection with the AP. In some representative embodiments, Carrier Sense Multiple Access with Collision Avoidance (CSMA / CA) can be implemented, for example, in an 802.11 system. For CSMA / CA, each STA, including the AP, can sense the primary channel. If a particular STA senses / detects the primary signal and / or determines that the primary signal is busy, that STA can back off. In a given BSS, at any given time, only one STA (e.g., only one station) can transmit.

[0055] High-throughput (HT) STAs can communicate using a 40 MHz wide channel, for example, by combining a primary 20 MHz channel with adjacent or non-adjacent 20 MHz channels.

[0056] Very High Throughput (VHT) STAs can support 20 MHz, 40 MHz, 80 MHz, and / or 160 MHz wide channels. 40 MHz and / or 80 MHz channels can be formed by combining contiguous 20 MHz channels. A 160 MHz channel can be formed by combining 8 contiguous 20 MHz channels, or by combining two non-contiguous 80 MHz channels, which can be referred to as an 80+80 configuration. For the 80+80 configuration, data, after channel encoding, can be passed through a segment parser, which can divide the data into two streams. Inverse Fast Fourier Transform (IFFT) processing, and time domain processing, can be done on each stream separately. The streams can be mapped on to the two 80 MHz channels, and the data can be transmitted by the transmitting STA. At the receiver of the receiving STA, the above described operations for the 80+80 configuration can be reversed, and the combined data can be sent to the Medium Access Control (MAC) layer, entity 802.11af and 802.11ah support sub-1 GHz modes of operation. The channel operating bandwidths and carriers are reduced in 802.11af and 802.11ah relative to those used in 802.11η and 802.11ac. 802.11af supports 5 MHz, 10 MHz, and 20 MHz bandwidths in the TV White Space (TVWS) spectrum, and 802.11ah supports 1 MHz, 2 MHz, 4 MHz, 8 MHz, and 16 MHz bandwidths using non-TVWS spectrum. According to representative embodiments, 802.11ah can support meter type control / Machine Type Communication (MTC) such as MTC devices in a macro coverage. The MTC devices can have certain capabilities, e.g., limited capabilities, including support (e.g., only support) for certain and / or limited bandwidths. The MTC devices can include a battery with a battery life above a threshold (e.g., to maintain a very long battery life).

[0057] WLAN systems that can support multiple channels and channel bandwidths such as 802.11η, 802.11ac, 802.11af, and 802.11ah include a channel that can be designated as a primary channel. The primary channel can have a bandwidth equal to the largest common operating bandwidth supported by all STAs in the BSS. The bandwidth of the primary channel can be set and / or limited by the STA that supports the smallest bandwidth operating mode among all STAs operating in the BSS. In the example of 802.11ah, for STAs that support (e.g., only support) 1 MHz mode, the primary channel can be 1 MHz wide even if other STAs in the AP and BSS support 2 MHz, 4 MHz, 8 MHz, 16 MHz, and / or other channel bandwidth operating modes. Carrier sensing and / or network allocation vector (NAV) settings can depend on the status of the primary channel. If the primary channel is busy, for example, due to a STA (that only supports 1 MHz operating mode) transmitting to the AP, then the entire available frequency band can be considered busy even if most of the frequency band remains idle and can be available.

[0058] In the United States, the available frequency bands that can be used by 802.11ah are 902 MHz to 928 MHz. In Korea, the available frequency bands are 917.5 MHz to 923.5 MHz. In Japan, the available frequency bands are 916.5 MHz to 927.5 MHz. The total bandwidth available to 802.11ah is 6 MHz to 26 MHz, depending on the country code.

[0059] FIG. 1D is a system diagram illustrating the RAN 113 and the CN 115 according to an embodiment. As described above, the RAN 113 can employ an NR radio technology to communicate with the WTRUs 102a, 102b, 102c over the air interface 116. The RAN 113 can also be in communication with the CN 115.

[0060] The RAN 113 can include gNBs 180a, 180b, 180c, although it will be appreciated that the RAN 113 can include any number of gNBs while remaining consistent with an embodiment. The gNBs 180a, 180b, 180c can each include one or more transceivers for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In one embodiment, the gNBs 180a, 180b, 180c can implement MIMO technology. For example, gNBs 180a, 180b implement beamforming techniques. Thus, the gNB 180a, for example, can use multiple antennas to transmit wireless signals to, and / or receive wireless signals from, the WTRU 102a. In one embodiment, the gNBs 180a, 180b, 180c can implement carrier aggregation technology. For example, the gNB 180a can transmit multiple component carriers to the WTRU 102a (not shown). A subset of these component carriers can be on unlicensed spectrum while the remaining component carriers can be on licensed spectrum. In one embodiment, the gNBs 180a, 180b, 180c can implement Coordinated Multi-Point (CoMP) technology. For example, WTRU 102a can receive coordinated transmissions from gNBs 180a and 180b (and / or gNB 180c).

[0061] The WTRUs 102a, 102b, 102c can use transmission associated with scalable numerology to communicate with gNBs 180a, 180b, 180c. For example, the OFDM symbol spacing and / or OFDM subcarrier spacing can vary for different transmissions, different cells, and / or different portions of the wireless transmission spectrum. The WTRUs 102a, 102b, 102c can communicate with gNBs 180a, 180b, 180c using subframes or transmission time intervals (TTIs) of various or scalable lengths (e.g., including different numbers of OFDM symbols and / or lasting different lengths of absolute time).

[0062] The gNBs 180a, 180b, 180c can be configured to communicate with the WTRUs 102a, 102b, 102c in a standalone configuration and / or a non-standalone configuration. In the standalone configuration, the WTRUs 102a, 102b, 102c can communicate with gNBs 180a, 180b, 180c without also accessing other RANs, such as eNode-Bs 160a, 160b, 160c. In the standalone configuration, WTRUs 102a, 102b, 102c can utilize one or more of gNBs 180a, 180b, 180c as a mobility anchor point. In the standalone configuration, WTRUs 102a, 102b, 102c can utilize signals

[0063] Each of the gNBs 180a, 180b, 180c can be associated with a particular cell (not shown) and can be configured to handle radio resource management decisions, handover decisions, scheduling of users in the UL and / or DL, support of network slicing, dual connectivity, interworking between NR and E-UTRA, routing of user plane data towards user plane functions (UPFs) 184a, 184b, routing of control plane information towards access and mobility management functions (AMFs) 182a, 182b, and the like. As shown, the gNBs 180a, 180b, 180c can communicate with one another over an Xn interface. FIG. 1D As shown, the gNBs 180a, 180b, 180c can be in communication with the AN 180a, 180b, 180c over an Xn interface.

[0064] FIG. 1DThe illustrated CN 115 can include at least one AMF 182a, 182b, at least one UPF 184a, 184b, at least two Session Management Functions (SMFs) 183a, 183b, and at least one Data Network (DN) 185a, 185b. While each of the foregoing elements are depicted as part of the CN 115, it will be appreciated that any of these elements can be owned and / or operated by an entity other than the CN operator, for example, a mobile network operator, a mobile virtual network operator, and / or the like.

[0065] The AMF 182a, 182b can be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 113 via an N2 interface and can serve as a control node. For example, the AMF 182a, 182b can be responsible for authenticating the WTRUs 102a, 102b, 102c, support for network slicing (e.g., handling of different Protocol Data Unit (PDU) sessions with different requirements), selecting a particular SMF 183a, 183b, management of the WTRU 102a, 102b, 102c registration area, termination of NAS signaling, mobility management, and the like. The AMF 162 can utilize network slicing, for example, to customize CN support for the WTRU 102a, 102b, 102c based on the type of services being utilized by the WTRU 102a, 102b, 102c. For example, different network slices can be established for different use cases such as services relying on ultra-reliable low latency (URLLC) access, services relying on enhanced massive mobile broadband (eMBB) access, services for MTC access, and / or the like. The AMF 162 can provide control plane functionality such as for switching between the RAN 113 and other RANs (not shown) that employ other radio technologies, such as LTE, LTE-A, LTE-A Pro, and / or non-3GPP access technologies such as Wi-Fi.

[0066] The SMF 183a, 183b can be connected to AMF 182a, 182b in the CN 115 via an N11 interface. The SMF 183a, 183b can also be connected to UPF 184a, 184b in the CN 115 via an N4 interface. The SMF 183a, 183b can select and control the UPF 184a, 184b and configure the routing of traffic through the UPF 184a, 184b. The SMF 183a, 183b can perform other functions, such as managing and allocating IP address, managing PDU sessions, controlling policy enforcement and QoS, providing downlink data notifications, and the like. The PDU session type can be IP-based, non-IP based, Ethernet-based, and the like.

[0067] The UPF 184a, 184b can be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 113 via an N3 interface, which can provide the WTRUs 102a, 102b, 102c with access to packet- switched networks, such as the Internet 110, e.g., to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices. The UPF 184, 184b can perform other functions, such as routing and forwarding packets, enforcing user plane policies, supporting multi-homed PDU sessions, handling user plane QoS, buffering of downlink packets, providing mobility anchoring, and the like.

[0068] The CN 115 can facilitate communications with other networks. For example, the CN 115 can include, or can communicate with, an IP gateway for the CN 115 (such as an IP Multimedia Subsystem (IMS) server) to serve as an interface between the CN 115 and the PSTN 108. Further, the CN 115 can provide the WTRUs 102a, 102b, 102c with access to the other networks 112, which can include other wired and / or wireless networks that are owned and / or operated by other service providers. In one embodiment, the WTRUs 102a, 102b, 102c can be connected to a DN 185a, 185b through the UPF 184a, 184b via the N3 interface between the UPF 184a, 184b and the DN 185a, 185b.

[0069] In view of FIGS. 1A-1D and FIGS. 1A-1D corresponding descriptions, one or more of, or all of, the functions described herein with respect to (for example, at least) any of the WTRUs 102a-102d, base stations 114a-114b, eNode-Bs 160a-160c, MME 162, SGW 164, PGW 166, gNBs 180a-180c, AMFs 182a-182b, UPFs 184a-184b, SMFs 183a-183b, DNs 185a-185b, and / or any other elements / apparatuses described herein can be performed by one or more emulation elements / apparatuses (not shown). The emulation apparatus can be one or more apparatuses configured to emulate one or more, or all, of the functions described herein. For example, the emulation apparatus can be used to test other apparatuses and / or to simulate network and / or WTRU behavior.

[0070] The emulation devices can be designed to implement one or more tests on other devices in a laboratory environment and / or a carrier network environment. For example, one or more emulation devices can perform one or more, or all, functions while implemented and / or deployed fully or partially as a component of a wired and / or wireless communication network in order to test other devices within the communication network. The emulation device(s) can perform one or more, or all, functions while implemented / deployed temporarily as a component of a wired and / or wireless communication network. The emulation devices can be coupled directly to another device for testing purposes, and / or can perform testing using over-the-air, wireless communication.

[0071] The emulation device(s) can perform one or more, including all, functions while not implemented / deployed as part of a wired and / or wireless communication network. For example, the emulation devices can be used in a testing laboratory and / or a testing field environment to implement test scenarios for testing one or more components. The emulation device(s) can be test equipment. The emulation devices can transmit and / or receive data using direct RF coupling and / or over-the-air, wireless communication via RF circuitry (which can include one or more antennas), for example.

[0072] INTRODUCTION The following abbreviations and acronyms can be used herein: ACK acknowledgement AoA angle of arrival AoD angle of departure ARFCN absolute radio frequency channel number BLER block error rate BW bandwidth BWP bandwidth part CAP channel access priority CAPC channel access priority class CCA clear channel assessment CCE control channel element CE control element CG configured grant or cell group CORESET control resource set CP cyclic prefix CP-OFDM conventional OFDM (cyclic prefix-dependent) CQI channel quality indicator CRC cyclic redundancy check CSI channel state information CW contention window CWS contention window size CO channel occupancy DAI downlink assignment index DCI downlink control information DFI downlink feedback information DG Dynamic Licensing DL downlink DM-RS demodulation reference signal DRB Data Radio Bearer DRX discontinuous reception ECID Enhanced Cell ID LEA Enhanced License Assisted Access ebb Enhanced Mobile Broadband FeLAA further enhances licensed assisted access. GDoP Geometric Precision Factor HARQ Hybrid Automatic Repeat Request IM Interference Measurement LAA Licensed Assisted Access LBT listens before speaking LCH logical channel LCP Logical Channel Priority LBT listens before speaking LOS sight distance NLOS Non-line-of-sight LMF location management function LPP LTE positioning protocol LTE Long Term Evolution, for example, from 3GPP LTE Release 8 and later. MAC CEMAC control element MAC Media Access Control MCS modulation and coding scheme MIMO (Multiple Input Multiple Output) NACK negates ACK NAS Non-Access Layer NR New Radio OFDM (Orthogonal Frequency Division Multiplexing) Time difference of arrival observed by OTDOA PDCCH Physical Downlink Control Channel PDSCH Physical Downlink Shared Channel PDU Packet Data Unit PHY physical layer PID process ID PO paging timing PRACH Physical Random Access Channel PRS positioning reference signal PRU positioning reference unit PSS master synchronization signal PTRS phase tracking reference signal PUCCH (Physical Uplink Control Channel) PUSCH Physical Uplink Shared Channel RA random access (or procedure) RACH Random Access Channel RAR Random Access Response RCU Radio Access Network Center Unit RE Resource Elements RF radio frequency RLF radio link failure RLM radio link monitoring RNTI Radio Network Identifier RNARAN Notification Region RORACH timing RRC Radio Resource Control RRM Wireless Resource Management RTT round trip time RP receiving point RS reference signal RSRP reference signal received power RSTD Reference Signal Time Difference RTT round trip time RSSI Received Signal Strength Indicator RTOA relative arrival time SDAP Service Data Adaptation Protocol SDU Service Data Unit SLPP side-link positioning protocol SRB signaling radio bearer SRS detection reference signal SS Synchronization Signal SSS auxiliary synchronization signal SWG switching interval (in a separate subframe) SPS semi-persistent scheduling SUL supplements uplink TB transport block TBS transport block size TDoA arrival time difference Time of Flight (ToF) TRP Transmitter-Receiver Point TSC Time-Sensitive Communication TSN Time-Sensitive Networking TTI Transmission Time Interval UCI uplink control information UL uplink URLLC Ultra-Reliable and Low-Latency Communication WBWP Wide Bandwidth Part WTRU Wireless Transmit Receive Unit or User Equipment (UE) WLAN Wireless Local Area Network and related technologies (IEEE 802.xx domain) In 5G NR sensing as defined by 3GPP SA1, it involves using NR RF signals to detect, estimate, and monitor the conditions (e.g., shape, size, orientation, speed, location, distance, or relative motion between objects) of an environment and / or objects within the environment. The technologies adopted by 5G advanced and 6G, such as high carrier frequency, large available bandwidth, large number of antennas, device-to-device communication, network densification, and AI / ML, all contribute to extracting relevant information with high resolution, thus enabling high-precision sensing.

[0073] In 3GPP, SA1 has been working on a study item on sensing in the context of Integrated Sensing and Communication (ISAC), including study use cases, potential enhancements to the 5G system, different sensing modes, and key performance indicators (KPIs) related to sensing. For example, different sensing modes are defined, and are categorized into monostatic sensing and bistatic sensing mainly according to the location of the transmitter and receiver. Monostatic sensing refers to the sensing mode where the transmitter and receiver are co-located, and bistatic sensing refers to the sensing mode where the transmitter and receiver are not co-located.

[0074] The term “monostatic” and its intended functionality are borrowed from radar, where a transmitter emits reference pulses that reflect back from a target as backscattered signals received by a receiver for performing various radar tasks (e.g., target detection, estimation, tracking, and classification). In NR, monostatic sensing utilizes co-located transmitter and receiver, and can be deployed at the WTRU side or the gNB side. The advantage of the monostatic sensing mode is that only one terminal is needed for sensing, and clock synchronization. However, the challenge is that this mode requires full-duplex (FD) capability since it needs to transmit and receive the transmitted signals simultaneously.

[0075] A terminal with full-duplex (FD) capability can refer to a WTRU capable of transmitting and receiving wireless signals simultaneously, which can improve communication capacity and reduce latency. A terminal with FD capability is a non-limiting example of a type of WTRU that supports transmitting and receiving wireless signals simultaneously within the same frequency band. Any other type of WTRU capability can replace the FD capability and still be consistent with the present disclosure. The transmitting and receiving functions in a WTRU can be: (i) allocated to different sub-bands (e.g., non-overlapping sub-band FD), or (ii) separated by independent physical transmit and receive antennas (e.g., antenna groups, antenna port groups, antenna panels), but transmitting and receiving within the same frequency band.

[0076] In NR, bistatic sensing refers to a bistatic sensing mode in which a transmitter transmits a reference signal that bounces off (e.g., reflects, refracts, diffracts) from a target object and is received by a receiver. Unlike monostatic sensing, in bistatic sensing, the transmitter and receiver are not co-located. The architecture can consist of a combination of gNBs or WTRUs as transmitters and another gNB or another WTRU as receiver. This setup avoids the full-duplex requirement and self-interference problem of monostatic sensing. However, this sensing mode requires multiple terminals and, in case of time-based measurements, the terminals have to be clock-synchronized.

[0077] Since sensing has been considered as an extension of NR positioning, in certain representative embodiments, the positioning reference signals, architecture, signaling framework, methods, and protocols defined by 3GPP can be used as a baseline for NR sensing.

[0078] 3GPP Release 16 defines positioning-specific reference signals (PRS) for the downlink and (SRSp) for the uplink. For example, each PRS resource or SRSp resource can be allocated into a time / frequency OFDM grid of the transmitter. These resources can also be transmitted as directional beams. A set (e.g., complete) of directional beams transmitted by a TRP or WTRU at the same frequency can be referred to as a PRS resource set.

[0079] At each (e.g., each time) positioning occasion, the PRS or SRSp configuration considers the time, frequency, and / or spatial domain arrangement of the reference signals. In the time domain, the configuration can include the starting symbol and the total number of symbols allocated for PRS or SRS. In the frequency domain, the configuration can include the starting resource element and the total bandwidth allocated for positioning. In the spatial domain, the PRS or SRSp resource configuration can be characterized by multiple resource sets. Each resource set can include a set of PRS or SRS beams carrying their resource id, beam direction in terms of elevation and azimuth angles, and beam width.

[0080] For accurate positioning, multiple measurements from different TRPs or WTRUs are needed at any (e.g., each time) positioning occasion. Therefore, each positioning occasion contains the multiplexing of PRS or SRS resources from different TRPs or WTRUs in time, frequency, and / or space. To allow this multiplexing, for each TRP or WTRU, the PRS resources or SRS resources can be allocated in an interleaved comb arrangement.

[0081] In addition, PRS or SRSp transmissions can also be performed at multiple positioning occasions. For example, between different positioning occasions, PRS resources can be transmitted in a periodic, semi-periodic, or aperiodic manner depending on the positioning requirements and capabilities of the target WTRU. The PRS or SRSp configuration can contain periodicity to indicate that these transmissions are for multiple PRS occasions or SRSp occasions.

[0082] For example, 3GPP Release 16 defines different positioning methods in downlink and uplink.

[0083] In downlink positioning methods, PRS resources from multiple TRPs are transmitted to the target WTRU. The signal propagation environment changes certain properties of the transmitted signal, such as signal amplitude, frequency, and / or phase, which the WTRU measures as RSRP, RSTD, Doppler shift. The WTRU can then use these measurements to infer intermediate positioning metrics, such as inferring the delay between the TRP and the WTRU using DL-TDoA, or inferring the angle using DL-AoA.

[0084] In uplink positioning methods, the WTRU can transmit SRSp resources to multiple TRPs. Upon receiving these resources, the TRPs measure the RSRP, RSTD, Doppler shift of each resource. The TRPs can then infer positioning metrics, such as inferring the delay with UL-TDoA, or inferring the angle with UL-AoA.

[0085] For example, a combination of both downlink and uplink methods includes the TRP transmitting PRS and the WTRU transmitting SRSp upon receiving the DL-PRS. This generates a two-way ranging between the TRP and the target WTRU, thus eliminating the TRP-UE clock synchronization error issue.

[0086] These measurements and metrics at the WTRU or multiple TRPs can then be fused together at the WTRU, TRP, or network to estimate the 2D or 3D coordinate position of the target WTRU.

[0087] For example, the 5G positioning architecture can contain three main entities: the target WTRU, the NG-RAN (e.g., NR gNB or LTE ng-eNB TRP), and the core network 5GC (e.g., AMF and LMF). Depending on whether the positioning is WTRU-based or WTRU-assisted, the role of each of these entities can include at least one of the following: • Request / send positioning assistance information, • Request / send DL-PRS / UL-SRS resources, • Measure and / or send positioning metrics, and / or • Measure and send the final position estimate.

[0088] For example, 3GPP Release 16 also defines various interfaces through which messages are sent to different entities. For example, the NG-C interface connects the NG-RAN and the 5G core network. For example, the NR / LTE Uu interface connects the WTRU and the NG-RAN.

[0089] In addition, there are different signaling protocols used to exchange positioning information and measurements between entities. For example, NRPPa can be used between the NG-RAN nodes and the LMF over the NG-C interface. For example, RRC can be used between the gNB / ng-eNB and the WTRU over the NR / LTE-Uu interface. For example, LPP can be used between the WTRU and the LMF over the NG-C and NR / LTE-Uu interfaces.

[0090] 3GPP for NR currently does not define any special features or support specifically for sensing. However, 3GPP Release 16 defines various features for NR positioning, including the definition of DL reference signals and UL reference signals, architecture, protocols. Sensing features can be developed by considering the NR positioning features as a baseline.

[0091] In certain representative embodiments, the presence of an obstacle can pose a safety risk to nearby WTRUs. For example, the obstacle can be located in a blind zone or too far away from the WTRU to be sensed. For example, since the WTRU can not know when an obstacle will be in its vicinity, the WTRU can not always be willing to allocate resources to scan for obstacles. However, the target WTRU can benefit from informing other WTRUs in its vicinity of the presence, location of the obstacle.

[0092] In certain representative embodiments, a WTRU can perform procedures to inform other WTRUs in its vicinity of the presence of an obstacle.

[0093] In certain representative embodiments, an anchor WTRU selection procedure, such as a bistatic selection procedure, can be performed. For example, a WTRU can receive SRSp and / or SL-PRS configuration information (e.g., for sensing) from the network. The configuration information can include time thresholds (e.g., threshold_min, threshold_max). The WTRU can detect an obstacle (e.g., via SRSp measurements from monostatic sensing). The WTRU can send a discovery message to any anchor WTRU containing information indicating (e.g., at least) any of a WTRU location, an obstacle location, and / or a sensing area (e.g., a maximum sensing radius). The WTRU can receive a response from (e.g., each) anchor WTRU carrying assistance information indicating a (e.g., respective) anchor WTRU location. The WTRU can select an anchor WTRU for bistatic sensing, such as in a case where an expected RTT (e.g., determined based on the anchor WTRU location and the obstacle location) is greater than a threshold (e.g., threshold_min or otherwise associated with an out-of-ambiguity range) and less than another threshold (e.g., threshold_max or otherwise below a maximum range). The WTRU can send a bistatic sensing request to the selected anchor WTRU. The request can contain information indicating at least a measurement window (e.g., a start time, a duration). The WTRU can send SL-PRS configuration information to the anchor WTRU based on the anchor WTRU sending back a “yes” reply. The SL-PRS configuration information (e.g., spatial Tx directions of SL-PRS, order of SL-PRS transmissions) can be determined by a sensing coverage area, such as can be associated with threshold_min and threshold_max. The WTRU can send the SL-PRS configuration information to the anchor WTRU and can receive a report from the anchor WTRU carrying obstacle location information.

[0094] In certain representative embodiments, a group-based sensing procedure can be performed. For example, a WTRU (e.g., a server WTRU) can receive a sensing request from a WTRU (e.g., a target WTRU located out of coverage) carrying an obstacle location and a WTRU location. The WTRU can send a discovery message carrying the obstacle location. The WTRU can receive a response from any anchor WTRU carrying an anchor WTRU location. If the anchor WTRU is within a threshold distance (e.g., within a sub-group distance threshold) from the target WTRU location, the WTRU can add the anchor WTRU to the group. The WTRU can configure the group with SL-PRS configuration information (e.g., SL-PRS resource ID, measurement window). The WTRU can form a sub-group of WTRUs for bistatic sensing based on the WTRUs in the sub-group being within a threshold distance from the obstacle. For example, the WTRU can determine WTRU roles (e.g., Tx WTRU, Rx WTRU) for bistatic sensing. The WTRU (e.g., via groupcast) can activate a sub-group (e.g., containing a Tx WTRU and at least one Rx WTRU) by sending a bistatic sensing assistance information carrying at least the sub-group anchor WTRU location and WTRU roles to the WTRUs in the sub-group. The WTRU can receive a measurement report carrying the obstacle location from the WTRUs in the sub-group.

[0095] In certain representative embodiments, a WTRU can receive a deactivation request from a WTRU (e.g., an Rx WTRU) in a sub-group. If a WTRU in the sub-group is more than a threshold distance from the obstacle location, the WTRU can determine whether to remove the WTRU from the sub-group based on, for example, periodic broadcast information of the anchor WTRU location. If a new WTRU is within a threshold distance from the obstacle, the WTRU can determine to add the new WTRU in a sub-group from the group. The WTRU (e.g., via groupcast) can activate a modified sub-group and send a modified assistance information. The WTRU can determine to deactivate a sub-group, such as when the number of WTRUs in the sub-group is less than a threshold.

[0096] In certain representative embodiments, a sensing mode selection procedure can be performed such as by an anchor WTRU. For example, a WTRU (e.g., anchor WTRU) can receive SRSp and SL-PRS configuration information for sensing from the network. The configuration information can include a bi-static time threshold (e.g., threshold_min, threshold_max), a mono-static threshold, and a distance threshold. The WTRU can receive a discovery message for obstacle sensing from a target WTRU carrying target WTRU position, obstacle position, and target WTRU sensing area information. The WTRU can respond with its position such as in the case where the distance of the WTRU from the obstacle is less than the distance threshold. The WTRU can receive a bi-static sensing request from the target WTRU carrying a measurement window. The WTRU can determine to assist the target WTRU for bi-static sensing and respond with “yes” such as in the case where: (i) the expected bi-static RTT is greater than a threshold (e.g., threshold_min or otherwise beyond the ambiguity range) and less than another threshold (e.g., threshold_max or otherwise less than the maximum distance); or (ii) the expected mono-static RTT is greater than a mono-static RTT threshold. If the expected mono-static RTT is less than the mono-static threshold, the WTRU can respond with “no” and determine to perform mono-static sensing. If the expected bi-static RTT and mono-static RTT are greater than threshold_max and the mono-static threshold, respectively, the WTRU can respond with “no” and determine not to sense.

[0097] For example, the WTRU can configure resources for transmission and / or reception. If the WTRU’s response is “yes”, the WTRU activates the measurement window and receives SL-PRS in the SL-PRS resources for bi-static sensing. If the WTRU’s response is “no” and it determines to perform mono-static sensing, the WTRU configures SRSp resources and transmits and receives SRSp in the SRSp resources.

[0098] In certain representative embodiments, a procedure for bistatic obstacle prioritization for multiple sensing requests can be performed. For example, a WTRU (e.g., an anchor WTRU) can receive SL-PRS configuration information from a network for sensing, the SL-PRS configuration information including time thresholds (e.g., threshold_min, threshold_max). The (e.g., anchor) WTRU can receive discovery messages from multiple WTRUs. For example, the discovery messages can contain information indicating (e.g., at least) any of a WTRU location, a sensing area, and / or an obstacle location. The WTRU can respond to (e.g., at least) any of the target WTRUs, such as based on its distance to the obstacle being less than a threshold. The WTRU can receive a bistatic sensing request from a target WTRU, the request carrying a measurement window. The WTRU can determine an obstacle priority from the perspective of the WTRU and the target WTRU (e.g., based on the target WTRU, the obstacle, and their locations). The WTRU can select one or more obstacle and target WTRU pairs.

[0099] For example, the WTRU can select an obstacle and target WTRU pair (e.g., at least) based on any of: (i) an expected RTT of the obstacle and target WTRU pair is greater than a threshold (e.g., threshold_min or otherwise beyond an ambiguity range) and less than another threshold (e.g., threshold_max or otherwise below a maximum range); (ii) the obstacle has a priority from the perspective of the WTRU that is above a threshold; and / or (iii) the obstacle has a priority from the perspective of the target WTRU that is above a threshold. For each obstacle in the selected obstacle and target WTRU pairs, the WTRU can determine a suggested measurement window. The suggested measurement window can be based on a received measurement window of a target WTRU paired with the obstacle.

[0100] For example, the WTRU can respond with a “yes” to each target WTRU in an obstacle and target WTRU pair (e.g., each pair), and include in the “yes” response a suggested measurement window (e.g., for bistatic sensing) determined for the obstacle paired with the WTRU. When the (e.g., anchor) WTRU receives an acknowledgement of the “yes” from at least one target WTRU paired with the obstacle, the (e.g., anchor) WTRU can activate the suggested measurement window and receive SL-PRS from the target WTRU in the SL-PRS resource (e.g., during the activated measurement window).

[0101] General terminology As used herein, “TRP” can be used interchangeably with “gNB” or “PRU.”

[0102] As used herein, a “target WTRU” can be used interchangeably with a “sensing WTRU.”

[0103] As used herein, a “network” can refer to (e.g., at least) any of an AMF, an LMF, and / or a gNB.

[0104] As used herein, a “location” can be used interchangeably with a “position.”

[0105] As used herein, a “measurement occasion” can be defined as an instance in which a WTRU measures one or more (e.g., different) positioning metrics (e.g., RSRP, ToF).

[0106] As used herein, “RS” can refer to (e.g., at least) any of a positioning and reference signal such as PRS, SRSp, CSI-RS, DM-RS, SSB.

[0107] As used herein, a WTRU can receive one or more (pre)configured thresholds from a network (e.g., LMF, gNB), such as via a downlink physical channel (e.g., PDSCH, PDCCH) and / or via lower or higher layer signaling (e.g., UCI, MAC-CE, RRC, and / or LPP message).

[0108] As used herein, a WTRU can receive (pre)configured thresholds from a WTRU (e.g., server WTRU), such as via a sidelink physical channel (e.g., PDSCH, PDCCH) and / or via lower or higher layer signaling (e.g., SCI, SL-MAC-CE, PC5-RRC message).

[0109] As used herein, an effective bandwidth can be defined as the total amount of frequency resources used for sensing purposes (e.g., in Hz). For example, for a comb-6 configuration with a bandwidth of 50 RBs, the effective bandwidth can be calculated as .

[0110] As used herein, a relative speed can be defined as the speed of an object / UE relative to another WTRU. The relative speed can define the rate of change of the relative position of an obstacle / UE with respect to another WTRU over time.

[0111] As used herein, an RTT can be defined as the total signal propagation time (e.g., ToF) between a transmitter and a receiver through a single bounce off an obstacle. The RTT can refer to the propagation time between a TRP and a WTRU, or between a WTRU and a WTRU (e.g., SL-RTT).

[0112] As used herein, an angle of coverage refers to the angle of a coverage sector.

[0113] As used herein, expected AoD refers to the angle between the transmitter and the (e.g., coarse) obstacle location with reference to the orientation of the transmitter.

[0114] As used herein, expected AoA refers to the angle between the (e.g., coarse) obstacle location and the receiver with reference to the orientation of the receiver.

[0115] As used herein, a sensing window can be defined as a time period that can be reserved for sensing purposes (e.g., sensing RS transmission, reception, sensing procedure measurement, estimation, reporting). A sensing window can be characterized by (e.g., at least) any of a start time, a stop time, a duration, an offset.

[0116] As used herein, a measurement window can be defined as a time period that can be reserved for RS measurement. A measurement window can be characterized by (e.g., at least) any of a start time, a stop time, a duration, a periodicity, an offset.

[0117] As used herein, an LMF is a non-limiting example of a node or entity (e.g., a network node or entity) that can be used or support positioning. Any other node or entity (e.g., a server WTRU) can replace the LMF and still be consistent with the present disclosure.

[0118] As used herein, a server WTRU can refer to a WTRU that can be capable of (e.g., at least) performing any of the following tasks: (i) receiving and authorizing a request from a WTRU for positioning, sensing tasks; (ii) selecting an anchor WTRU for positioning / sensing; (iii) configuring a WTRU with positioning resources (e.g., SL-PRS resources, SRSp resources); (iv) selecting a positioning method (e.g., RTT, TDoA); (v) computing the location of a target WTRU, obstacle based on (reported) measurements; and / or (vi) forwarding measurement reports to a reporting entity (e.g., a WTRU). Any other node or entity (e.g., an LMF) that can be used or support positioning can replace the server WTRU and still be consistent with the present disclosure.

[0119] As used herein, a sensing time resolution (e.g., measured in seconds, number of symbols, number of slots, number of frames, or number of subframes) can refer to the time granularity at which an entity (e.g., a WTRU) can measure a time-dependent positioning metric (e.g., RTT). It can depend on the WTRU’s ability to process (e.g., compute FFT) large frequency-domain samples.

[0120] As used herein, a sensing frequency resolution (e.g., measured in Hz, number of REs, number of RBs) can refer to a frequency granularity at which an entity (e.g., a WTRU) can measure a frequency of a received RS. The sensing frequency resolution can depend on a number of OFDM symbols used in each measurement occasion.

[0121] Configuration for RS sensing Configuration for DL-PRS In certain representative embodiments, a DL-PRS configuration can contain information indicating (e.g., at least) any of the following parameters: a number of symbols, a transmission power, a number of DL-PRS resources contained in a DL-PRS resource set, a muting pattern of the DL-PRS (e.g., the muting pattern can be represented via a bitmap), a periodicity, a type of PRS (e.g., periodic, semi-persistent, or aperiodic), a slot offset for periodic transmission of the DL-PRS, a vertical offset in the frequency domain for the DL-PRS pattern, a time interval during repetition, a repetition factor, a RE (resource element) offset, a comb pattern, a comb size, a spatial relation, QCL information for the DL-PRS (e.g., a QCL target, a QCL source), a number of PRUs, a number of TRPs, an absolute radio frequency channel number (ARFCN), a subcarrier spacing, an expected RSTD, an uncertainty of the expected RSTD, a starting physical resource block (PRB), a bandwidth, a BWP ID, a number of frequency layers, a start / end time of PRS transmission, an on / off indicator for the PRS, a TRP ID, a PRS ID, a cell ID, a global cell ID, a PRU ID, and / or an applicable time window. For example, a WTRU can apply a PRS configuration if the WTRU is within the applicable time window at a current time. An “ID” can be used interchangeably with an “index.”

[0122] Configuration of SRS for positioning In certain representative embodiments, an SRS (SRSp) or SRS configuration for positioning can include information indicating (e.g., at least) any of: a resource ID; a comb offset value, a cyclic shift value; a starting position in the frequency domain; a number of SRSp symbols; a shift of SRSp in the frequency domain; a frequency hopping pattern; a type of SRSp (e.g., aperiodic, semi-persistent, or periodic); a sequence ID used to generate SRSp, or other ID used to generate a SRSp sequence; spatial relation information indicating which reference signal (e.g., DL RS, UL RS, CSI-RS, SRS, DM-RS) or SSB (e.g., SSB ID, cell ID of SSB) SRSp is spatially related to, where SRSp and DL RS can be spatially aligned; QCL information (e.g., QCL relationship between SRSp and other reference signal or SSB); QCL type (e.g., QCL Type A, QCL Type B, QCL Type D); resource group ID; a list of SRSp resources in a resource group; transmission power related information; path loss reference information, which can contain an index to SSB, CSI-RS, or PRS; periodicity of SRSp transmission; and / or spatial information such as spatial direction information (e.g., beam information, transmission angle) of SRSp transmission, spatial direction information (e.g., beam ID for receiving DL RS, angle of arrival) of DL RS reception. As used herein, the term “ID” can be used interchangeably with “index”.

[0123] Configuration for SL-PRS In certain representative embodiments, the SL-PRS configuration can include information indicating (e.g., at least) any of the following parameters: number of symbols, transmission power, number of SL-PRS resources included in a SL-PRS resource group, muting pattern of the SL-PRS (e.g., the muting pattern can be represented via a bitmap), periodicity, type of the SL-PRS (e.g., periodic, semi-persistent, or aperiodic), slot offset for periodic transmission of the SL-PRS, vertical shift in the frequency domain for the SL-PRS pattern, time interval during repetition, repetition factor, RE (resource element) offset, comb pattern, comb size, spatial relation, QCL information for the SL-PRS (e.g., QCL target, QCL source), number of PRUs, number of TRPs, absolute radio frequency channel number (ARFCN), subcarrier spacing, expected RSTD, uncertainty of the expected RSTD, starting physical resource block (PRB), bandwidth, BWP ID, number of frequency layers, start / end time of PRS transmission, on / off indicator for the SL-PRS, TRP ID, SL-PRS ID, cell ID, global cell ID, PRU ID, and / or applicable time window. For example, the WTRU can apply the SL-PRS configuration if the WTRU is within the applicable time window at the current time.

[0124] Measurement In certain representative embodiments, RTT can be defined as the total round-trip time or time of flight between a transmitter, an obstacle, and a receiver.

[0125] In monostatic sensing, monostatic RTT can be defined as the delay corresponding to two-way ranging between a transmitting / receiving entity (e.g., a full-duplex WTRU / TRP) and an obstacle. In bistatic sensing, bistatic RTT can be defined as the delay corresponding to a single-bounce range between a transmitting entity (e.g., a WTRU / TRP), an obstacle, and a receiving entity (e.g., a WTRU / TRP). In the present disclosure, the term ToF can be used instead of RTT. If both the transmitting entity and the receiving entity are WTRUs (e.g., co-located or non-co-located), in the present disclosure, the term SL-RTT can also be used instead of RTT.

[0126] In certain representative embodiments, RTT can be measured by sending and receiving timestamps. The WTRU can measure the timestamps according to, for example, at least any of a symbol index, a slot index, a frame index. The timestamps can be absolute or relative. An absolute time can refer to the exact sending and receiving times of the sensing RS (e.g., Tx time: 5th slot, Rx time: 6th slot, RTT = Rx timestamp - Tx timestamp = 1 slot). A relative time can refer to the difference between the sending and receiving times of the bit RS (e.g., ToF = 1 slot).

[0127] Obstacle detection In certain representative embodiments, the WTRU can detect an obstacle during, for example, at least any of a communication phase, a positioning phase, and / or a dedicated sensing phase. For example, the WTRU can detect an obstacle during a communication phase or a positioning phase.

[0128] In certain representative embodiments, the WTRU can detect an obstacle based on, for example, at least any of the following conditions during communication: a measured delay spread from a TRP exceeds a (pre)configured threshold, a measured Doppler shift in a RS exceeds a (pre)configured threshold, a drop in RSRP of a RS exceeds a (pre)configured threshold, a change in measured Doppler shift of a RS exceeds a (pre)configured threshold, a drop in SNR / SINR of a received RS exceeds a (pre)configured threshold, and / or an increase in retransmission requests exceeds a (pre)configured threshold.

[0129] In certain representative embodiments, the WTRU can detect an obstacle during a positioning procedure based on, for example, at least any of the following conditions: a LoS / NLoS ID of a communication TRP is less than a (pre)configured threshold, a measured RSRP from a NLoS TRP exceeds a (pre)configured threshold, a change in LoS / NLoS ID of a TRP from LoS to NLoS exceeds a (pre)configured threshold, a total measurement time measurement value corresponding to the same PRS resource ID exceeds a (pre)configured threshold, a difference between measured AoAs corresponding to the same received PRS resource ID exceeds a (pre)configured threshold, and / or a difference in RSRP of PRS resources in multiple measurement occasions exceeds a (pre)configured threshold.

[0130] In certain representative embodiments, a WTRU can be configured for monostatic sensing and can detect an obstacle. For example, procedures for initiation and detection of an obstacle location using monostatic sensing are provided below.

[0131] In certain representative embodiments, a WTRU can be configured with SRSp for monostatic sensing.

[0132] In one example, a WTRU can send a SRSp configuration request for sensing to the network (e.g., LMF, gNB, entity configuring reference signals for the WTRU) in an uplink physical channel (such as PUSCH or PUCCH) via higher layer signaling (e.g., MAC-CE or RRC) and / or via LPP messages.

[0133] In one example, a WTRU can receive a SRSp configuration from the network (e.g., LMF, gNB).

[0134] In one example, a WTRU can receive sensing assistance information and exchange capability information with the network as part of the initial configuration. These messages and exchanges can be semi-statically (e.g., via LPP or RRC messages).

[0135] In one example, a WTRU can receive sensing assistance information from the network, which includes at least a configured set of SRSp resources and spatial information of the resources, including angles (e.g., azimuth, elevation) and beamwidth.

[0136] In another example, a WTRU and network can also send (e.g., exchange) capability information. The capability messages can contain (e.g., at least) any of the following information: full duplex capability of the WTRU (e.g., whether applicable for simultaneous transmission and reception of wireless signals at the same frequency, including cases of sub-band overlap or non-overlap; any parameters related to time intervals required for Tx / Rx switching; and / or parameters related to the number of antenna panels, antenna groups, and antenna port groups applicable for simultaneous Tx / Rx), measurement capability of the WTRU (e.g., capability to measure Doppler shift, maximum sensing range, sensing time resolution, sensing frequency resolution), and / or Reporting capability of the WTRU (e.g., capability to measure, estimate, and / or report Doppler shift, capability to measure, estimate, and / or report its position and / or orientation periodically / aperiodically).

[0137] In certain representative embodiments, the WTRU can be a positioning reference unit (PRU). For example, the PRU can be a WTRU whose position is known to the network and / or a peer WTRU (e.g., target WTRU, anchor WTRU, server WTRU) that has the capability to provide SL-PRS configuration to the WTRU, receive measurement reports from the WTRU, determine the position of the WTRU, and / or schedule resources for SL-PRS transmission. The WTRU can transmit (e.g., exchange) capability information with the network and / or a peer WTRU.

[0138] In certain representative embodiments, the WTRU can initiate monostatic sensing for obstacle detection.

[0139] In one example, the WTRU can receive an indication from the network to initiate the sensing procedure, such as through a WTRU-specific DCI, MAC-CE, RRC, and / or LPP message. The indication can be triggered by the WTRU or initiated by the network.

[0140] In one example, the WTRU can trigger the sensing procedure due to its implicit sensing of the presence of an obstacle in its vicinity. The above-mentioned can determine the condition when to trigger the sensing procedure (e.g., loss in communication performance exceeds a (pre-)configured threshold, loss in positioning performance exceeds a (pre-)configured threshold).

[0141] In another example, the network can also trigger the sensing based on identifying the presence of an obstacle at a location that is less than a (pre-)configured threshold distance from the WTRU.

[0142] In one example, the WTRU can receive a sensing window along with the indication. The sensing window can be characterized by (e.g., at least) any of the following parameters: a start or end time of the window (e.g., expressed in symbol index, slot index, frame index, absolute time, relative time with respect to a reference point), and / or a duration of the window (e.g., expressed in number of symbols, number of slots, number of frames, number of subframes, number of seconds).

[0143] In certain representative embodiments, the WTRU can use monostatic sensing to detect and localize an obstacle.

[0144] In one example, the WTRU can initiate monostatic sensing with the configured SRSp resources at the beginning of the sensing window. Assuming the WTRU is equipped with full duplex capability, it can use independent but co-located transmit and receive antenna panels to transmit and receive the SRSp resources.

[0145] In one example, the WTRU can detect an obstacle with monostatic sensing based on the measured values (e.g., RSRP, RTT, AoA) of its (e.g., reflected) SRSp resources based on at least one of the following conditions: The measured RSRP of the SRSp resources exceeds a (pre)configured threshold, The difference in the measured RSRP of the SRSp resources across multiple measurement occasions corresponding to the same SRSp resource exceeds a (pre)configured threshold, The measured RTT of the resources is less than a (pre)configured threshold, The difference in the measured RTT across multiple measurement occasions exceeds a (pre)configured threshold, and / or The difference between the AoD of the transmitted resources and the AoA of the received resources is less than a (pre)configured threshold.

[0146] In one example, the WTRU can determine the location of the obstacle and / or the associated uncertainty range from the measurements. The WTRU can use a combination of the measured values (e.g., RTT, AoD, AoA) to determine the obstacle location.

[0147] In one example, the WTRU can also measure the velocity associated with the obstacle. The WTRU can determine the velocity based on the measured Doppler shift corresponding to the received SRSp resources associated with the obstacle.

[0148] In certain representative embodiments, the WTRU can determine the uncertainty of the obstacle location.

[0149] In one example, the uncertainty related to the obstacle location and / or velocity can be defined as a range of possible values that the true value can fall into. In one example, a 2D location uncertainty can be defined as (x ± m, y ± n), where “m” and “n” can define the horizontal direction “x” uncertainty range and vertical direction “y” uncertainty range, respectively. This indicates that the true horizontal and vertical values of the location can lie within the ranges [x - m, x + m] and [y - n, y + n], respectively.

[0150] In one example, the uncertainty of the location and velocity can be measured in meters and meters / second, respectively.

[0151] In one example, the WTRU can calculate the uncertainty of the obstacle position and / or velocity to perform anchor WTRU selection, WTRU selection, resource allocation for obstacle position and / or velocity estimation.

[0152] In one example, the WTRU can indicate to the network the source of the uncertainty associated with the obstacle position and / or velocity. The source of the error can include at least one of: The error is associated with the positioning method associated with the obstacle position and / or velocity: o For example, the number of entities (e.g., anchor WTRU, TRP) used for the position and / or velocity measurement (e.g., transmission, reception) is less than a (pre)configured threshold, o For example, the obstacle position is obtained from RTT measurements from less than (e.g., 3) monostatic WTRUs, o For example, the obstacle position is obtained due to blockage detection (e.g., drop of SNR / SINR above a (pre)configured threshold) between the WTRU and the TRP during the communication, o For example, the obstacle position is obtained due to multipath detection (e.g., RSRP of multipath components above a (pre)configured threshold, drop of LoS / NLoS ID between multiple measurement occasions above a (pre)configured threshold) during the positioning, o For example, the obstacle position is obtained from monostatic sensing RTT measurements from multiple WTRUs, where the WTRU position results in high GDoP (e.g., WTRU position is co-linear with the obstacle); The error is associated with the Tx / Rx capability and RS signal properties: o For example, for time-based methods (e.g., RTT), the effective bandwidth of the RS (e.g., PRS, SRSp) is less than a (pre)configured threshold, o For example, for time-based methods (e.g., RTT) and angle-based methods (e.g., AoD, AoA), the beamwidth of the RS (e.g., PRS, SRSp) exceeds a (pre)configured threshold, o For example, for time-based methods (e.g., RTT) and angle-based methods (e.g., AoD, AoA), the number of transmit and / or receive antennas is less than a (pre)configured threshold, o For example, the total number of OFDM symbols allocated in the resource is less than a (pre)configured threshold; The error is associated with the uncertainty of the WTRU position / velocity: o For example, the uncertainty of the position of the WTRU involved in the measurement and / or the anchor WTRU exceeds a (pre)configured threshold, o For example, the uncertainty of the velocity of the WTRU involved in the measurement and / or the anchor WTRU exceeds a (pre)configured threshold; and / or The error is associated with time / frequency / phase synchronization: o For example, for time-based methods and / or frequency-based methods (e.g., RTT, Doppler shift), the WTRU / TRP involved in the measurement is time-synchronized with the same source (e.g., TRP), and / or time-synchronized with a source having a known clock offset.

[0153] In one example, the WTRU can be configured by the network with an indication of the error sources and / or weights associated with each error source, to determine the uncertainty of the obstacle position and / or velocity.

[0154] In another example, the WTRU can determine autonomously the weights associated with the error sources based on the measurements.

[0155] In certain representative embodiments, the WTRU can report the obstacle (e.g., obstacle information) to the network.

[0156] In one example, the WTRU can be configured to report the obstacle position to the network based on (e.g., at least) any of the following trigger conditions, which can be configured by the network: The distance between the WTRU and the obstacle position is less than a (pre)configured threshold, The determined obstacle priority for the WTRU is higher than a (pre)configured threshold, The measured RSRP of the obstacle exceeds a (pre)configured threshold, The velocity of the obstacle exceeds a (pre)configured threshold, The coverage of the WTRU changes from out-of-coverage to in-coverage, and / or The WTRU receives a request from the network to report the obstacle position periodically and / or when it detects the obstacle.

[0157] In another example, the network can configure the WTRU to report the obstacle position at configured reporting time instances. The reporting time configuration can contain (e.g., at least) any of the following: a reporting time instance (e.g., expressed in symbol index, time slot index, frame index, absolute time, relative time with respect to a reference point); and / or a reporting periodicity (e.g., expressed in number of symbols, number of time slots, number of frames, number of subframes, number of seconds).

[0158] In another example, the WTRU can be configured to report the obstacle location within a time window (e.g., N time slots, N seconds, N subframes, N frames, N symbols) from the time (e.g., instance) that the WTRU determines or detects the presence of the obstacle.

[0159] In one example, in the case of reporting at a configured time instance, if the WTRU does not detect the obstacle, the WTRU can: abandon the reporting at the scheduled instance, or report in the measurement report that the obstacle was not detected.

[0160] In one example, the WTRU, upon the reporting condition being satisfied, can report (e.g., at least) any of: a UE location and / or an associated uncertainty range, an obstacle location and / or an associated uncertainty range, an obstacle velocity and / or an associated uncertainty range, a measurement value (e.g., measured RSRP, AoD, AoA, RTT), an SRSp resource ID associated with the measurement value, an SRSp resource group ID associated with the measurement value, and / or a measurement timestamp.

[0161] In certain representative embodiments, the WTRU can use (e.g., at least) any of DCI, MAC-CE, RRC, and / or LPP message to perform the obstacle measurement report.

[0162] an obstacle priority In certain representative embodiments, the WTRU (e.g., target WTRU, anchor WTRU) can determine a priority of the obstacle based on the location of the obstacle and / or the location of any other entity (e.g., anchor WTRU).

[0163] In one example, priority can be indicated in terms of categories (e.g., low, medium, high) or numerical values (e.g., 0, 0.1,..., 1). The WTRU can prioritize processing measurements related to the obstacle. The priority ranking can depend on (e.g., at least) any of the following: UE position and / or associated uncertainty range, UE velocity and / or associated uncertainty range, Obstacle position and / or associated uncertainty range, and / or Obstacle velocity and / or associated uncertainty range.

[0164] In one example, the WTRU can use a combination of the above factors to decide and indicate the priority of the obstacle.

[0165] In one example, the WTRU can determine and / or indicate the obstacle as high priority if at least one of the following conditions is met: The distance between the WTRU and the obstacle is less than a (pre)configured threshold, The velocity of the obstacle exceeds a (pre)configured threshold, The velocity of the WTRU exceeds a (pre)configured threshold, The relative velocity between the WTRU and the obstacle exceeds a (pre)configured threshold, The uncertainty of the obstacle position exceeds a (pre)configured threshold, The uncertainty of the WTRU position exceeds a (pre)configured threshold, and / or The uncertainty of the WTRU velocity exceeds a (pre)configured threshold In one example, the WTRU can determine and / or indicate the obstacle as low priority if the above conditions are not met.

[0166] In another example, the WTRU can receive the obstacle priority from the network based on the reported WTRU position and / or associated uncertainty range, obstacle position and / or associated uncertainty range, and / or velocity and / or associated uncertainty range.

[0167] In one example, a target WTRU can determine and allocate resources (e.g., time, frequency) based on its priority. WTRU can allocate time resources (e.g., number of symbols, number of resources, periodicity) and frequency resources (e.g., number of RBs, comb size) greater than the threshold for obstacles with priorities higher than the (pre)configured threshold.

[0168] In one example, WTRU could otherwise allocate time and / or frequency resources below a (pre)configured threshold for obstacles with a priority below the threshold.

[0169] General principles and observations In some representative embodiments, RTT is considered the primary sensing method because it plays a crucial role not only in locating obstacles but also in determining sensing coverage areas, transmission parameters, selecting anchor points WTRU, and / or indicating configured resources.

[0170] In some representative embodiments, the WTRU can perform obstacle localization based on RTT.

[0171] For example, RTT can correspond to the absolute difference between the RS transmission time and the reception time. In monostatic sensing, the Time of Flight (ToF) between a terminal (e.g., WTRU, gNB) and an obstacle can correspond to the RTT from the WTRU to the obstacle and back to the WTRU. In bistatic sensing, the RTT between the transmitting terminal, the obstacle, and the receiving terminal can correspond to the total time required for the RS to propagate a single bounce path between the two terminals and the obstacle.

[0172] In some representative embodiments, the WTRU can perform RTT-based obstacle localization in or using monostatic sensing.

[0173] FIG. 2 This is a system diagram illustrating an example of a monopolar sensing area under a given RTT.

[0174] For monostatic sensing, the RTT measurement from object (e.g., obstacle) 202 (e.g., This corresponds to a radius equal to the distance between the WTRU location and the unidirectional Time-of-Flight (ToF) between the WTRU 102 and the object 204. The position of the object in circle 204, such as FIG. 2 As shown.

[0175] In one example, the monostatic sensing WTRU 102 can transmit and receive RS and measure localization metrics (e.g., RTT, AoD, AoA, Doppler shift). In one example, RTT-based monostatic obstacle localization can be WTRU-based or WTRU-assisted.

[0176] For example, for WTRU-based, single-base RTT-based obstacle positioning, the WTRU 102 can measure single-base RTT measurements and obtain the range of the obstacle. In another example, the WTRU can measure a combination of RTT and AoD and / or AoA and determine the position coordinates of the obstacle.

[0177] For example, for WTRU-assisted, single-base RTT-based obstacle positioning, the network can assist in obtaining the obstacle position for RTT-based obstacle positioning with the WTRU 102. In one example, the network can obtain RTT measurements from multiple single-base sensing WTRUs to determine the position coordinates of the obstacle (e.g., via circle-based trilateration).

[0178] In one example, single-base RTT can be expressed in seconds, number of symbols, number of slots, number of frames, and / or number of subframes.

[0179] In certain representative embodiments, the WTRU 102 can perform RTT-based obstacle positioning in or using double-base sensing.

[0180] FIG. 3 is a system diagram illustrating an example of a double-base sensing region.

[0181] For double-base sensing, the RTT measurement (e.g., ) can correspond to an ellipse 302 with two foci (e.g., Tx and Rx locations) with the major axis . Considering the same RTT measurement (e.g., , as shown in FIG. 3 , will be equal to .

[0182] FIG. 4 is a system diagram illustrating an example of a blur region (e.g., blur region) 402.

[0183] In double-base sensing using WTRUs 102a and 102b, the blur RTT can be defined as the delay duration in which the receiver cannot distinguish between the measured delay of the path reflected from the obstacle and the direct LoS delay. This is due to the granularity of the delay estimation caused by the limited bandwidth. Specifically, if the double-base , where represents the direct LoS delay and represents the delay resolution, where is the total number of subcarriers used, and is the subcarrier spacing. As FIG. 4As shown, the region is also represented by an ellipse 402, where the obstacle can not be able to be localized if it is within the ellipse region).

[0184] In one example, for a bistatic sensing, an entity (e.g., TRP, WTRU) can transmit an RS that is received by another entity (e.g., another TRP, WTRU) and measures a positioning metric (e.g., RTT, AoD, AoA, Doppler shift). In one example, a bistatic RTT based obstacle positioning can be WTRU based or network assisted.

[0185] In one example, a bistatic RTT can be expressed in seconds, number of symbols, number of slots, number of frames, and / or number of subframes.

[0186] For a network based bistatic RTT, a bistatic RTT can be determined based on Rx-Tx times at the WTRU and the TRP (or gNB). For example, a WTRU can report a WTRU Rx-Tx time based on a transmission time of the SRSp and a reception time of the DL-PRS, where the reception or transmission times can be based on the timing of the reception or transmission of the symbol, slot, subframe, and / or frame containing the SRS or DL-PRS, respectively.

[0187] For example, a bistatic RTT for SL based sensing can be determined based on Rx-Tx times at the target WTRU and the anchor WTRU. For example, a WTRU can report a WTRU Rx-Tx time based on a transmission time of the SL-PRS and a reception time of the SL-PRS, where the reception or transmission times can be based on the timing of the reception or transmission of the symbol, slot, subframe, and / or frame containing the SRS or PRS, respectively.

[0188] In certain representative embodiments, a two-way RTT based obstacle positioning can be performed in a bistatic sensing.

[0189] FIG. 5 is a system diagram illustrating an example of two-way RTT based obstacle sensing.

[0190] For a two-way sensing method, a WTRU can receive configured DL-PRS resources in the downlink and measure configured metrics (e.g., RTT, AoA). For example, as shown in FIG. 4 As shown, WTRU 102 can receive a DL-PRS resource transmitted by TRP 502 and measure a Rx time “t2”. WTRU 102 can transmit a configured SRSp resource in the uplink and record a transmission time AoD. For example, as shown in FIG. 5As shown, the WTRU can transmit the SRSp resource and measure the transmission time "t3". The WTRU can report the measurements (e.g., DL-PRS Rx time, SRSp Tx time, DL-AoA, UL-AoD) to the network and receive the obstacle location of the object 202. The order of DL and UL in the above diagram can be interchanged, or in some cases can be performed simultaneously (e.g., full duplex WTRU).

[0191] Expected monostatic and bistatic RTTs and uncertainties In certain representative embodiments, based on the transmitter location, the (e.g., coarse) obstacle location, and the receiver location, a WTRU (e.g., target WTRU, anchor WTRU, server WTRU) can determine the expected monostatic and bistatic RTTs.

[0192] As used herein, the term "expected" is used for both monostatic and bistatic RTTs to indicate that the RTT can be determined based on a coarse knowledge of the obstacle location. This is different from monostatic and bistatic RTTs computed based on a known exact obstacle location or an obstacle location with an uncertainty below a (pre-)configured threshold.

[0193] FIG. 6 is a system diagram illustrating an example of an expected monostatic RTT.

[0194] For example, the expected monostatic RTT can be defined as the expected round-trip propagation time for an RS transmitted in a single bounce path to bounce off the obstacle 202 and be received by the monostatic WTRU 102. The expected monostatic RTT can be computed as where is the distance between the WTRU 102 and the obstacle 202, and is the speed of light constant, as FIG. 6 illustrated.

[0195] In one example, the expected monostatic RTT can be expressed in seconds, number of symbols, number of slots, number of frames, and / or number of subframes.

[0196] FIG. 7 is a system diagram illustrating an example of an expected bistatic RTT.

[0197] In one example, the expected bistatic RTT can be defined as the expected one-way propagation time for an RS to traverse from the transmitting WTRU 102a to the obstacle 202, bounce off the obstacle 202, and be received by the bistatic receiving WTRU 102b in a single bounce path. The expected bistatic RTT can be computed as where and These represent the distances between the transmitting WTRU102a and the obstacle 202, respectively, and the distances between the receiving WTRU102b and the obstacle 202, such as... FIG. 7 As shown.

[0198] In one example, the expected bipolar RTT can be represented in seconds, number of symbols, number of time slots, number of frames, and / or number of subframes.

[0199] In another example, the WTRU can also determine the uncertainties associated with the expected monobase RTT and bibase RTT. In one example, the WTRU can be configured to report at least one of the following sources of uncertainty: Uncertainty associated with the location of the obstacle, For example, the uncertainty of obstacle position can be associated with measurement errors (e.g., RTT, AoA), WTRU Tx or Rx timing errors, clock synchronization errors between Tx and Rx, resolution errors (e.g., time resolution, angular resolution), and / or Uncertainty associated with the location of the transmit / receive WTRU For example, the Tx / Rx WTRU position error can be associated with position estimation measurement error, Tx / Rx timing error, clock synchronization error, and reference position error (e.g., TRP position error).

[0200] In some representative embodiments, nearby WTRUs may be provided with indications of the presence / occurrence of nearby obstacles.

[0201] In some representative embodiments, a process may be performed to determine the sensing RS configuration for WTRU / TRP used for resource allocation.

[0202] In some representative embodiments, WTRUs can perform resource-efficient obstacle detection in environments with multiple WTRUs, thereby providing benefits such as early warnings (e.g., for autonomous driving) and blockage prediction.

[0203] In some representative embodiments, the WTRU can perform improved and efficient continuous sensing of obstacles between WTRUs for obstacle tracking.

[0204] In some representative embodiments, the WTRU can perform sensing with improved accuracy and precision.

[0205] WTRU selection for bistatic sensing RS configuration for sensing SL-PRS Configuration In certain representative embodiments, a WTRU (e.g., target WTRU) can be preconfigured with one or more SL-PRS configurations.

[0206] In one example, a target WTRU can send a SL-PRS configuration request for sensing to the network (e.g., LMF, gNB, another WTRU, or an entity that configures reference signals for the WTRU) via higher layer signaling (e.g., MAC-CE or RRC, SLPP) and / or via LPP message, such as in any uplink physical channel (e.g., PUSCH or PUCCH).

[0207] In one example, a target WTRU can receive one or more sets of SL-PRS configurations from the network (e.g., LMF, gNB), which include (e.g., at least) any of time, frequency, periodicity, and / or spatial configuration. In one example, in the case of multiple configuration sets, the target WTRU can also receive an index (e.g., SL-PRS configuration ID) associated with each configuration.

[0208] PRS / SRSp resource configuration In certain representative embodiments, a WTRU can be (pre)configured with one or more DL-PRS configurations.

[0209] In one example, a (e.g., target) WTRU can (e.g., also) receive a set of (pre)configured DL-PRS configuration parameters for obstacle position estimation from the network. The (pre)configuration can include configurations corresponding to one or more TRPs. Each configuration can be associated with a TRP index (e.g., TRP ID) and a configuration index (e.g., configuration ID).

[0210] In one example, the (pre)configuration (e.g., a subset thereof) can also be associated with a request for on-demand bi-static sensing issued by the network. These on-demand (pre)configurations can be sent by the network in the case of an on-demand request.

[0211] In one example, a WTRU can also receive assistance information from the network, which consists of (e.g., at least) any of the following: DL-PRS configuration ID, which can be associated with a DL-PRS configuration; TRP validity time: o The validity time indicates the time instances for which each TRP is available, and can be characterized by at least one of the following parameters: TRP ID and / or TRP position, a start or end time of the availability (e.g., expressed in symbol index, time slot index, frame index, absolute time, relative time with respect to a reference point), and / or a duration of the availability (e.g., expressed in number of symbols, time slots, frames, subframes, seconds); geographical coordinates of the TRP; and / or triggering conditions for when configured with on-demand DL-PRS resources In certain representative embodiments, a WTRU can be (pre)configured with one or more sets of SRSp configurations.

[0212] In one example, a target WTRU can receive one or more sets of SRSp configurations from the network for obstacle sensing.

[0213] In certain representative embodiments, a WTRU (e.g., a target WTRU) can receive a QoS configuration for sensing.

[0214] In one example, any SL-PRS / DL-PRS / SRSp configuration can also contain or be associated with a QoS requirement for a location. The QoS requirement can contain (e.g., at least) any of the following parameters: a sensing accuracy requirement: o For example, a target WTRU can be preconfigured with an accuracy requirement for a distance (e.g., horizontal accuracy, vertical accuracy) in meters, a timing accuracy requirement (e.g., associated with a configured sensing method) in seconds, an angular accuracy requirement (e.g., associated with a configured angle-based sensing method) in degrees, radians; a sensing latency requirement: o For example, a target WTRU can be preconfigured with a latency requirement in seconds. A WTRU can be configured with a total sensing duration, which can also be associated with a latency requirement; and / or a sensing reliability requirement: o For example, a target WTRU can be preconfigured with a reliability requirement, which can be associated with a reliability of a sensing measurement in variance (e.g., seconds2if the configured sensing method is based on time, degrees2if the configured sensing method is based on angle), which can be associated with a reporting reliability expressed in seconds (e.g., time delay between a measurement and a report).

[0215] In certain representative embodiments, a WTRU (e.g., a target WTRU) can send its sensing capability information.

[0216] In one example, the WTRU can be configured and / or the WTRU can receive a request from the network to send its capability information and / or assistance information to the network. The capability information and / or assistance information can include (e.g., at least) any of the following: a location of the target WTRU and / or an associated uncertainty range; a transmission capability: o For example, the target WTRU can indicate a maximum sensing range associated with its maximum transmission power. If the transmission power is N dBm, then based on a configured association rule, the maximum sensing range is X meters; and / or o In one example, the WTRU can indicate a transmission power based on a SL-PRS configuration, a configured downlink pathloss RS, or a transmission power used for data communication (e.g., determined for PUSCH, PUCCH, SRSp, SRS); a sensing measurement capability: o For example, the target WTRU can indicate whether it is capable of transmitting and / or measuring positioning RS (e.g., SL-PRS, DL-PRS, SRSp) resources; o For example, the target WTRU can indicate a measurement (e.g., ToA, RTT, RSTD, AoD, AoA, Doppler shift) it supports; o For example, the target WTRU can indicate a maximum time resolution (e.g., Y ns) and / or a frequency resolution (e.g., Z Hz) associated with time and frequency measurements, For example, the maximum time resolution can depend on the total bandwidth available for sensing. Thus, the maximum time resolution can depend on the WTRU’s ability to process (e.g., compute FFT) large frequency domain samples, and thus on the available energy and computational resources. Moreover, depending on its capabilities, the WTRU can also improve the sensing time resolution based on its ability to oversample the received SRSp resources, and / or For example, the maximum Doppler resolution can depend on the number of OFDM symbols transmitted / measured in each measurement occasion; o For example, the target WTRU can indicate a sensing method (e.g., RTT) it supports; o For example, the target WTRU can indicate whether it is capable of computing and / or estimating an obstacle location (e.g., coordinates) corresponding to the measurements; o For example, the target WTRU can indicate whether it is capable of computing and / or estimating an obstacle velocity from the measurements; o For example, the target WTRU can indicate whether it needs another assisting entity (e.g., anchor WTRU, server WTRU, TRP) to compute the final position coordinates of the obstacle; and / or o For example, the target WTRU can indicate how many obstacles it is capable of measuring and estimating the position of; and / or Sensing reporting capability: o For example, the target WTRU can indicate whether the final position estimate can be absolute or relative to its position; o For example, the target WTRU can indicate how frequently it can report measurements / estimates; and / or o For example, the target WTRU can indicate how many measurements and / or estimates it can report.

[0217] In another example, the WTRU can send the capability information to the network without an indication from the network due to (e.g., at least) any of the following conditions: The target WTRU determines that this capability information can assist the network to evaluate the need for anchor WTRU / TRP and aid the network in anchor WTRU selection; The target WTRU determines that this measurement capability can assist the network to determine the sensing method (e.g., RTT); The target WTRU determines that the reporting capability (e.g., total number of obstacles) can assist the network to assign WTRUs to perform suitable tasks (e.g., counting the number of obstacles); and / or The target WTRU determines that the maximum sensing range and sensing time / Doppler resolution information can assist the network to assign sensing configuration (e.g., SRSp resources) to the WTRU.

[0218] Bistatic RTT threshold In certain representative embodiments, a WTRU (e.g., target WTRU) can receive a bistatic RTT threshold information from the network.

[0219] FIG. 8 is a system diagram illustrating an example of a bistatic RTT threshold and a sensing coverage area.

[0220] In one example, as FIG. 8In the illustrated bi-static sensing, the network can configure a WTRU with bi-static RTT thresholds (e.g., threshold_min and threshold_max) associated with (e.g., defining) a bi-static sensing coverage area 802 (e.g., an ellipse) between two entities (e.g., target WTRU, anchor WTRU, TRP) such as WTRUs 102a and 102b. In one example, each of the thresholds can be associated (e.g., unique) to each bi-static sensing pair. The WTRU can receive a minimum threshold 804 (referred to as “threshold_min” in this disclosure) and a maximum threshold 806 (referred to as “threshold_max” in this disclosure).

[0221] In one example, the sensing coverage area (e.g., ellipse) can also be alternatively represented with entity locations as the two foci, by a major axis and a minor axis. In another example, threshold_min and threshold_max can also be replaced with major axis distance threshold and minor axis distance threshold as illustrated. For example, the alternative representation of threshold_max can be a major axis threshold (e.g., max_1) and a minor axis threshold (e.g., max_2). FIG. 8

[0222] In another example, the bi-static sensing coverage area (e.g., ellipse) can also be alternatively represented by a combination of a pair of angles between a point on the ellipse circumference, an entity location (e.g., WTRU1) and another entity location (e.g., WTRU2). This is illustrated in FIG. 8

[0223] In one example, since threshold_max and threshold_min between two entities can depend on different capabilities of each entity, they can also depend on the transmitting entity. For example, in the case of gNB-UE bi-static sensing, the DL threshold_max can be different from the UL threshold_max.

[0224] In one example, a WTRU (e.g., target WTRU, anchor WTRU, server WTRU) can receive information indicating threshold_min and threshold_max from the network. The WTRU can receive these thresholds via a downlink physical channel (e.g., PDSCH, PDCCH) and / or via higher layer signaling (e.g., UCI, MAC-CE, RRC and / or LPP message).

[0225] ​​​​In another example, the WTRU can also receive the threshold from other WTRUs (e.g., target WTRU, anchor WTRU, server WTRU). The WTRU can receive these thresholds via sidelink physical channels (e.g., PSSCH, PSCCH) and / or via lower and higher layer signaling (e.g., SCI, SL-MAC-CE, PC5-RRC message), such as independently or as part of the SL-PRS configuration.

[0226] In certain representative embodiments, the WTRU (e.g., target WTRU) can autonomously determine the bistatic RTT threshold.

[0227] In one example, the target WTRU can be configured by the network to autonomously determine the bistatic RTT threshold.

[0228] For example, the target WTRU can determine the threshold_max based on (e.g., at least) any of the following: Maximum transmission power: o The target WTRU can compute and / or estimate the maximum threshold_max based on the maximum transmission power of the transmitting TRP / UE. This can correspond to the maximum RTT (or corresponding distance) between the transmitter, the obstacle, and the receiver, such that the received SNR / RSRP / signal quality can exceed a (pre)configured threshold in order to localize the obstacle. For example, a transmission power X dB can be associated with a threshold_max Y ms, o For example, the WTRU can compute and / or estimate the threshold_max as Y1 ms if its maximum transmission power exceeds a (pre)configured threshold, otherwise Y2 ms. In one example, Y1 can be greater than Y2; QoS requirement: o The WTRU can compute and / or estimate the threshold_max based on a (pre)configured QoS requirement (e.g., horizontal positioning accuracy, vertical positioning accuracy, reliability) of the obstacle location. For example, a horizontal accuracy X m, a vertical accuracy Y m can be associated with a threshold_max Z ms, o For example, the WTRU can compute and / or estimate the threshold_max as Y1 ms if its QoS requirement (e.g., accuracy) is below a (pre)configured threshold, otherwise Y2 ms. In one example, Y1 can be greater than Y2; Obstacle velocity: o For example, a velocity X m / s can correspond to a threshold_max Y ms, For example, if the obstacle speed is less than a (pre)configured threshold, WTRU can calculate and / or estimate threshold_max as Y1 ms, otherwise as Y2 ms. In one example, Y1 can be greater than Y2. The target WTRU can estimate a smaller threshold for obstacle speeds exceeding a threshold, thus limiting the selection of anchor WTRU / TRP to WTRU / TRPs closer to the obstacle. This allows the target WTRU and anchor WTRU to continue sensing the obstacle even if its speed is high. Uncertainty regarding the position / velocity of an entity (e.g., a WTRU): oWTRU can calculate and / or estimate threshold_max based on the uncertainty of the position and / or velocity of an entity (e.g., transmitting WTRU / TRP, receiving WTRU / TRP). If the uncertainty of the WTRU location exceeds a (pre)configured threshold, the WTRU can calculate and / or estimate threshold_max as Y1 ms, otherwise as Y2 ms. For example, Y1 can be less than Y2. For example, uncertainty in the position of an entity can also lead to errors in the position and / or velocity of an obstacle. Therefore, WTRU can choose a smaller threshold_max to limit obstacle errors caused by uncertainty. For example, the horizontal uncertainty X1m and the vertical uncertainty Y1m can be associated with the threshold_max Z1ms. For example, the uncertainty of the entity's velocity, X² m / s, can be associated with the threshold_max, Z² ms. Distance between entities (e.g., target WTRU, anchor WTRU, TRP): If the distance between the target WTRU and the anchor WTRU / TRP is greater than a (pre)configured threshold, the WTRU can calculate and / or estimate the threshold_max as Y1 ms; otherwise, it is Y2 ms. In one example, Y1 can be greater than Y2. For example, the distance Xm between entities can correspond to threshold_max Yms; and / or Total number of available anchor points WTRU / TRP: If the total number of available (e.g., discovered) anchor points WTRU / TRP exceeds the (pre)configured threshold, then WTRU can calculate and / or estimate threshold_max as Y1 ms, otherwise as Y2 ms. o For positioning methods, we need a limited number of anchor WTRUs, with a lower threshold can limit the total number of anchor WTRUs applicable for bi-static sensing.

[0229] In one example, the target WTRU can determine threshold_min based on: Effective bandwidth: o If the effective bandwidth is less than a (pre)configured threshold, the WTRU can determine threshold_min to be Y1 ms, otherwise Y2 ms. For example, Y1 can be greater than Y2, o The effective bandwidth is associated with a fuzzy area where the receiving WTRU can not be able to distinguish between a LoS path and a single-bounce path from an obstacle, o For example, the WTRU can associate an effective bandwidth X Hz with a threshold_min Y ms.

[0230] In another example, the WTRU can also be configured with a set of bi-static thresholds threshold_max and threshold_min (e.g., via a table and / or a formula), such as these thresholds can depend on various values of the above-mentioned parameters. Then, the WTRU can select the appropriate threshold_min and threshold_max from the (pre)configured set of thresholds based on the determined values of the parameters.

[0231] Anchor WTRU selection for SL bi-static sensing Anchor WTRU discovery procedure In certain representative embodiments, the WTRU can determine to initiate a discovery procedure.

[0232] In one example, the target WTRU can initiate a discovery procedure to discover other (e.g., anchor) WTRUs that can sense an obstacle or assist in sensing an obstacle.

[0233] In one example, the target WTRU can initiate a discovery procedure based on obstacle detection. The discovery procedure can be triggered by (e.g., at least) any of the following conditions: The target WTRU determines a condition related to WTRU detecting an obstacle (e.g., a drop in communication performance exceeds a (pre)configured threshold, a drop in positioning performance is less than a (pre)configured threshold); The distance between the target WTRU and the obstacle location is less than a (pre)configured threshold; The speed of the located obstacle exceeds a (pre)configured threshold; an uncertainty of the determination of the obstacle position exceeds a (pre)configured threshold; and / or a priority of the indicated obstacle is above a (pre)configured threshold In another example, the target WTRU can be instructed by the network to initiate the discovery procedure.

[0234] In certain representative embodiments, the WTRU can broadcast a discovery message.

[0235] In one example, the target WTRU can broadcast a discovery message to other WTRUs in its vicinity, such as via a PC5 interface or any other interface that allows for connectivity between WTRUs (e.g., RRC).

[0236] In one example, the discovery message can contain information indicating (e.g., at least) any of the following: information of the target WTRU, information of the obstacle, and / or requirements and / or capabilities of the discovered WTRU as a potential anchor WTRU.

[0237] In one example, the WTRU can send (e.g., at least) any of the following in the discovery message: Target WTRU information: o target WTRU ID (e.g., RNTI) or any other ID used to identify the target WTRU, o target WTRU location and / or associated uncertainty range, o target WTRU coverage information (e.g., in-coverage, cell ID), o target WTRU sensing area (e.g., maximum monostatic RTT threshold), o (maximum) transmission power, o synchronization source information (e.g., time / frequency / phase synchronization), o supported frequency ranges (e.g., FR1, FR2) and / or subcarrier spacing and / or (maximum) bandwidth of SL-PRS; Obstacle information: o obstacle location and / or uncertainty range, o obstacle velocity and / or uncertainty range, o QoS requirements (e.g., accuracy, latency, reliability requirements) of the obstacle location, and / or o determination means of the obstacle location (e.g., by network, by monostatic sensing); and / or Required anchor WTRU capabilities: o capability to estimate its location, o the ability to perform sidelink measurements (e.g., time, angle, frequency, frequency shift), o the ability to perform a specific positioning method (e.g., RTT), o the ability to obtain position coordinates from measurements, o the ability to report its position to the network, WTRU (e.g., server WTRU), o the ability to report the position of an obstacle to the network, WTRU (e.g., server WTRU), o the ability to report measurements to the network, WTRU (e.g., server WTRU) o the sensing window configuration (e.g., start time, duration, stop time), o the time resolution threshold required for time-dependent positioning methods (e.g., RTT, TDoA), o the angle resolution threshold required for angle-dependent positioning methods (e.g., AoD, AoA), o the speed resolution threshold required for speed-dependent positioning methods, and / or o the minimum energy threshold required, In another example, the WTRU can request the network to provide a list of nearby WTRUs.

[0238] In certain representative embodiments, a WTRU (e.g., target WTRU) can receive a discovery response containing assistance information.

[0239] In certain representative embodiments, the target WTRU can (e.g., also) request assistance information to be sent by the discovered anchor WTRU in its response (e.g., in a semi-static or dynamic message) upon discovery.

[0240] In one example, the target WTRU can receive a response to the discovery message upon determining its suitability for sensing based on information and capability requirements from the anchor WTRU.

[0241] In one example, the target WTRU can receive a set of assistance information including (e.g., at least) any of the following: Anchor WTRU information: o Anchor WTRU ID (e.g., RNTI) or any other ID used to identify the anchor WTRU, o Anchor WTRU position and / or its uncertainty range, o Anchor WTRU speed and / or its uncertainty range, o Anchor WTRU coverage information (e.g., in coverage, out of coverage, cell ID), and / or o Anchor WTRU duplexing information (e.g., full duplex WTRU); and / or Anchor WTRU capability information: o (maximum) transmission power, o Supported sensing method (e.g., RTT), o Supported measurement value (e.g., ToA, RSTD, AoA), o Maximum number of supported obstacles, o Available sensing start time and duration, and / or o Available WTRU energy In another example, the target WTRU can also request and receive potential anchor WTRU information from the network, which includes their status, capability, and / or assistance information.

[0242] Anchor WTRU selection and request for bi-static sensing In certain representative embodiments, a WTRU (e.g., target WTRU) can determine anchor WTRUs that can assist in bi-static sensing with the aid of obstacle status and / or assistance information from potential anchor WTRUs.

[0243] In certain representative embodiments, a WTRU (e.g., target WTRU) can select anchor WTRUs for bi-static sensing.

[0244] In one example, the target WTRU can determine a set of anchor WTRUs that can assist itself in bi-static sensing from the set of discovered anchor WTRUs that responded to the discovery message. The WTRU can select the set of anchor WTRUs based on the received assistance information and / or bi-static RTT threshold values (e.g., threshold_min, threshold_max).

[0245] FIG. 9 is a system diagram illustrating another example of expected bi-static RTT.

[0246] FIG. 10 is a system diagram illustrating an example of anchor WTRU selection based on threshold information (e.g., threshold_max) In one example, the WTRU 102 can select an anchor WTRU based on an anchor WTRU that satisfies (e.g., at least) any of the following conditions: expected bi-static RTT associated with the target WTRU 902 and the anchor WTRU 904 (e.g., at least based on the location determination of the target WTRU 902, the anchor WTRU 904, and the obstacle 202, as illustrated in FIG. 9is less than a (pre-)configured threshold_max; o For example, this condition ensures that the detected obstacle is within the sensing coverage area 800 determined by threshold_max, and thus the target WTRU and the anchor WTRU can be able to perform bistatic sensing while ensuring QoS requirements, and / or o For example, as FIG. 10 illustrated, since the obstacle is not within the coverage area 800b determined by threshold_max of the anchor WTRU2 1002, the anchor WTRU2 1002 will not be selected for bistatic sensing; the expected bistatic RTT associated with the target WTRU 902 and the anchor WTRU 904 is greater than a (pre-)configured threshold_min: o For example, this condition ensures that the anchor WTRU is able to distinguish between the LoS path and the single-bounce path from the obstacle 202, allowing accurate localization of the obstacle 202; the distance between the anchor WTRU and the obstacle 202 is less than a (pre-)configured threshold, the uncertainty of the anchor WTRU position and / or velocity is below a (pre-)configured threshold, o For example, since the obstacle position estimate depends on the accuracy of the target WTRU and anchor WTRU locations, a threshold on the uncertainty can allow accurate localization of the obstacle; the velocity of the anchor WTRU is less than a (pre-)configured threshold, o For example, if the anchor WTRU is mobile and the velocity exceeds the (pre-)configured threshold, the target WTRU will need to evaluate the suitability of the anchor WTRU at each measurement occasion due to the variation of the expected bistatic RTT and its uncertainty, o For example, this can require the anchor WTRU to frequently (e.g., periodically) send its state (e.g., position and / or velocity) and its associated uncertainty, and / or o This can degrade sensing performance and increase the complexity of signaling and computation; the relative velocity of the anchor WTRU and the target WTRU is less than a (pre-)configured threshold, o For example, if the target WTRU is a moving vehicle and the velocity difference of another vehicle is found to be less than a (pre-)configured threshold, the WTRU can select the anchor WTRU to assist it in bistatic sensing; the anchor WTRU has a known / same time / frequency / phase synchronization source, For example, some positioning methods require time / frequency / phase synchronization (e.g., RTT, carrier phase positioning). The target WTRU can select an anchor WTRU that meets the following conditions: (i) synchronized with the same entity (e.g., TRP); and / or (ii) synchronized with an entity with a known synchronization offset therebetween; The sensing duration of the anchor WTRU exceeds the (pre)configured threshold; and / or The available sensing energy of the anchor WTRU exceeds the (pre)configured threshold.

[0247] In one example, the target WTRU can be configured from at least one of a set of discovered anchor WTRUs. A number of anchor points WTRU, or at least one anchor point WTRU that can be determined (e.g., selected) from a set of discovered anchor points WTRU. There are WTRUs with anchor points, where the value of N can be configured by network and / or peer WTRUs (e.g., WTRUs with LMF capability, server WTRUs). The total number (e.g., a large number) of anchor WTRUs used for bistatic sensing can be determined based on (e.g., at least) any of the following: The number of WTRUs required in the configured positioning method exceeds the (pre)configured threshold. The uncertainty of the obstacle's position and / or velocity exceeds a (pre)configured threshold. The uncertainty of the target WTRU position and / or velocity exceeds the (pre)configured threshold. The obstacle speed exceeds the (pre-)configured threshold, and / or QoS requirements (e.g., accuracy, reliability, latency) exceed (pre-)configured thresholds.

[0248] In one example, if the selected anchor point WTRU is less than the (pre)configured threshold (e.g., Then the target WTRU can: The number of anchor point WTRUs can be increased by reducing the restrictions on the anchor point WTRU selection criteria by changing the threshold value. For example, WTRU can lower the lower threshold (e.g., a criterion with a value less than the (pre)configured threshold) and / or raise the upper threshold (e.g., a criterion with a value exceeding the (pre)configured threshold); or Terminate the sensing process.

[0249] In one example, if the total number of selected anchor points WTRU exceeds a (pre)configured threshold (e.g., Then, WTRU can perform secondary filtering (e.g., reduction) of the selected anchor WTRU based on the priority ranking of one or more selection criteria. For example, WTRU can select (e.g., (One) Anchor point WTRU with minimum expected bibase RTT.

[0250] In some representative embodiments, the WTRU (e.g., the target WTRU) may send a bistatic sensing request to the anchor WTRU.

[0251] In one example, the target WTRU can send a bistatic sensing request to the anchor WTRU via (at least) any of the following sidelink-specific signals: SCI, SL-MAC-CE, and / or PC5-RRC messages. The target WTRU can send the request as a multicast or unicast transmission to the selected anchor WTRU.

[0252] In one example, the target WTRU request may include an indication of the amount of resources that can be sent. In another example, the target WTRU may indicate the resources required for SL-PRS transmission and / or reception by at least one of the following: Sensing window configuration The start or end time of the o window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time with respect to a reference point). The duration of the o window (e.g., expressed in the number of symbols, time slots, frames, subframes, or seconds). For example, the sensing window can indicate that the anchor point WTRU may need to reserve time for sensing; The target WTRU's QoS requirements for obstacle locations (e.g., accuracy, latency, reliability); SL-PRS transmission bandwidth (e.g., expressed in RB, Hz); The total energy (e.g., in joules) used by the target WTRU for sensing; and / or Transmission power rating (e.g., an indication of path loss RS used to determine power, a relative power difference relative to path loss RS, or transmission power).

[0253] This auxiliary information can explicitly or implicitly indicate to the target WTRU the amount of resources that the target WTRU can reserve and transmit for bistatic sensing. This allows the anchor WTRU to decide whether to participate in assisting the target WTRU.

[0254] SL-PRS Configuration In some representative embodiments, a WTRU (e.g., a target WTRU) may receive indications (e.g., "yes", ACK) from one or more anchor WTRUs agreeing to bistatic sensing. The WTRU may determine to configure SL-PRS resources for bistatic sensing, such as when the total number of anchor WTRUs responding "yes" to bistatic sensing exceeds a (pre)configured threshold.

[0255] In some representative embodiments, the WTRU (e.g., the target WTRU) can determine the SL-PRS configuration.

[0256] In one example, the target WTRU can determine the SL-PRS transport configuration based on the detected obstacle location and / or the selected anchor WTRU.

[0257] In one example, the target WTRU can determine the SL-PRS time configuration with a certain number of symbols (e.g., 2 symbols per resource, 12 symbols per resource).

[0258] In one example, the target WTRU can determine the SL-PRS time configuration with N1 OFDM symbols per resource based on (for example, at least) any of the following conditions: The distance between the target WTRU and the obstacle is less than the (pre)configured threshold. The bistatic RTT threshold_max is less than the (pre)configured threshold. The bistatic RTT threshold_min is greater than the (pre)configured threshold. The expected bibase RTT is less than the (pre)configured threshold. The QoS accuracy requirements based on time-based location estimation exceed the (pre)configured threshold. QoS latency requirements exceeding the (pre)configured threshold The available energy of the target WTRU exceeds the (pre)configured threshold. The available sensing duration of the anchor WTRU is less than the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The number of selected anchor point WTRUs is less than the (pre)configured threshold, and / or Obstacles have a higher priority than the (pre)configured threshold for the target WTRU; and / or Alternatively, WTRU can choose a configuration with N2 OFDM symbols per resource. In one example, N1 can be greater than N2.

[0259] In one example, the target WTRU may determine an SL-PRS frequency configuration having at least one of the following: a variable allocated bandwidth (e.g., 100 RB, 60 RB) and / or a comb shape (e.g., comb 2, comb 12).

[0260] In one example, the target WTRU may determine the SL-PRS frequency configuration based on (e.g., at least) any of the following (e.g., having bandwidth allocation M1 (e.g., 100 MHz) and / or Comb-N1): The distance between the target WTRU and the obstacle is less than the (pre)configured threshold. If threshold_max is less than the (pre)configured threshold, threshold_min is less than the (pre)configured threshold. The expected bibase RTT is less than the (pre)configured threshold. The QoS accuracy requirements based on time-based location estimation exceed the (pre)configured threshold. QoS latency requirements exceeding the (pre)configured threshold The available energy of the target WTRU exceeds the (pre)configured threshold. The available sensing duration of the anchor WTRU is less than the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The number of selected anchor point WTRUs is less than the (pre)configured threshold, and / or Obstacles have a higher priority than the (pre)configured threshold for the target WTRU. In one example, the target WTRU could otherwise determine an SL-PRS time configuration with another set of frequency characteristics, such as bandwidth allocation M2 (e.g., 50 MHz) and / or Comb-N2.

[0261] In one example, the target WTRU can determine the SL-PRS type configuration based on (for example, at least) any of the following (e.g., periodic, aperiodic, semi-persistent): QoS requirements (e.g., accuracy, reliability) exceed (pre-)configured thresholds. The total available sensing duration exceeds the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The uncertainty of the obstacle's velocity exceeds the (pre)configured threshold. The target WTRU and / or anchor WTRU's speed exceeds the (pre)configured threshold, and / or The velocity uncertainty of the target WTRU and / or anchor WTRU exceeds the (pre)configured threshold. For example, a target WTRU can select / determine a non-periodic configuration if at least one of the following conditions is met: The total available sensing duration is less than the (pre)configured threshold. The obstacle's speed is less than the (pre-)configured threshold. The uncertainty of the obstacle's velocity is below the (pre)configured threshold. The speed of the target WTRU and / or the anchor WTRU is less than the (pre)configured threshold, and / or The uncertainty in the speed of the WTRU and / or the target WTRU is below the (pre)configured threshold. For example, the target WTRU can select / determine the semi-persistent configuration if at least one of the following is met: QoS requirements (e.g., accuracy, reliability) are lower than the (pre)configured threshold. The total available sensing duration is less than the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The uncertainty of the obstacle's velocity exceeds the (pre)configured threshold. The target WTRU and / or anchor WTRU's speed exceeds the (pre)configured threshold, and / or The uncertainty of the velocity of the target WTRU and / or the anchor WTRU exceeds the (pre)configured threshold.

[0262] In one example, the target WTRU can determine the SL-PRS periodic configuration (e.g., in the case of a periodic configuration or a semi-persistent configuration) which has (e.g., different) SL-PRS resource periodicity (e.g., 1 slot, 5 slots).

[0263] In one example, the target WTRU can determine the SL-PRS periodic configuration with period P1 based on (for example, at least) any of the following conditions: The distance between the target WTRU and the obstacle is less than the (pre)configured threshold. If threshold_max is less than the (pre)configured threshold, The obstacle's speed exceeds the (pre)configured threshold. The assigned sensing duration is less than the (pre)configured threshold. QoS latency requirements exceeding the (pre)configured threshold Available sensing energy exceeds a (pre)configured threshold, and / or Obstacles have a higher priority than the (pre)configured threshold for the target WTRU. In one example, the target WTRU can otherwise determine the SL-PRS periodic configuration with a period of P2.

[0264] In one example, the target WTRU can determine the spatial configuration of the SL-PRS (e.g., AoD, beamwidth, and spatial coverage of the SL-PRS resources), which has spatial relationships between the SL-PRS and other RSs (e.g., SLs).

[0265] FIG. 11 This is a system diagram illustrating a spatial SL-PRS configuration based on threshold information (e.g., threshold_max and threshold_min).

[0266] For example, WTRU can select / determine the priority processing of SL-PRS resources such that the AoD of the selected SL-PRS resources is within the coverage area 800a created by threshold_max and threshold_min, such as FIG. 11 As shown.

[0267] For example, the WTRU can select / determine the priority processing of SL-PRS resources such that the difference between the AoD of the selected SL-PRS resource and the expected AoD of the obstacle is less than a (pre)configured threshold. For example, the WTRU can determine the priority processing of SL-PRS resources with a beamwidth of X1 degrees based on (e.g., at least) any of the following conditions: The distance between the target WTRU and the obstacle is less than the (pre)configured threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold, and / or The uncertainty of the target WTRU location exceeds the (pre)configured threshold.

[0268] For example, otherwise the WTRU could determine to prioritize SL-PRS resources, thus selecting a beamwidth of X2 degrees.

[0269] For example, WTRU can select / determine a (sub)group of SL-PRS resources based on (at least) any of the following conditions, such that the coverage angle is C1 degrees (e.g., 60 degrees): The distance between the target WTRU and the obstacle is less than the (pre)configured threshold. The expected bibase RTT is less than the (pre)configured threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold, and / or The uncertainty of the WTRU location exceeds the (pre)configured threshold.

[0270] For example, WTRU can select / determine (sub)groups of SL-PRS resources, otherwise make the selection coverage angle C2 (e.g., 15 degrees).

[0271] In one example, WTRU can determine the spatial configuration of SL-PRS based on threshold_max and threshold_min, such as... FIG. 11As shown. For example, a WTRU can determine an SL-PRS or other SL RS (e.g., CSI-RS) whose AoD is within the threshold_min and threshold_max range. The WTRU can indicate to the anchor WTRU the SL-PRS configuration to be used (e.g., via the SL-PRS configuration ID), or indicate to the anchor WTRU by indicating the RS ID (e.g., the SL-CSI-RS ID) that the SL-PRS will be sent from the target WTRU in the direction corresponding to said RS ID. In another example, the WTRU can indicate to the anchor WTRU the expected AoD or AoA associated with the SL-PRS resource (e.g., an index) to inform the SL-PRS of the transmission or reception direction, respectively.

[0272] In another example, the target WTRU may be configured with more than one set of SL-PRS configurations by a network or peer WTRU (e.g., a server WTRU), where each SL-PRS configuration can be identified by a configuration ID. Each SL-PRS configuration may contain different time, frequency, and / or periodic configurations. The target WTRU may select an SL-PRS configuration based on conditions specified by the target WTRU in the configuration determination. In one example, the configured SL-PRS resources may partially or fully correspond to the indicated configuration ID. In another example, the SL-PRS configuration may also correspond to one or more configuration indices.

[0273] In another example, the target WTRU may be pre-configured with one or more resource pools, where each resource pool may contain one or more SL-PRS configurations. The WTRU may select a configuration from the resource pools based on conditions specified by the target WTRU in the configuration determination. In one example, the selected resource pool may be identified by an index.

[0274] In some representative embodiments, such as when a request is rejected, the WTRU may perform a rollback operation.

[0275] In another example, if the total number of WTRUs that provide positive responses for bistatic sensing is less than a threshold, the target WTRU can determine to perform / continue monostatic sensing, or the target WTRU can determine to terminate the sensing process.

[0276] In some representative embodiments, (e.g., the target) WTRU may indicate the selected SL-PRS resource to the anchor WTRU.

[0277] In one example, the target WTRU can indicate at least some configured parameters to the anchor WTRU. The target WTRU can use semi-static messages (such as SCI, SL-RRC) to send (at least) any of the following parameters: Measurement time window, such as (at least) any of the following: The start or end time of the o window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time with respect to a reference point). The duration of the o window (e.g., expressed in the number of symbols, time slots, frames, subframes, or seconds). The periodicity of the o window (e.g., expressed in the number of symbols, time slots, frames, subframes, and seconds). The target WTRU can determine the measurement time window configuration based on the SL-PRS configuration; Auxiliary measurement information can be used to assist in the measurement of anchor point WTRU: For example, the target WTRU can indicate the SL-PRS resource ID and SL-PRS resource group ID that may be reflected from the obstacle. For example, a target WTRU can indicate any combination of symbols / slots, bandwidth, comb value, and periodicity. For example, the target WTRU can indicate the expected RTT range when it can receive reflections from obstacles (e.g., in symbol index, slot index, frame index, absolute time, or relative time with respect to a reference point (e.g., the start time of the measurement window)). For example, a target WTRU can indicate the expected AoA range (e.g., relative to absolute orientation (e.g., geographic north), target WTRU orientation, anchor point WTRU orientation) in relation to the (rough) location of an obstacle. For example, the target WTRU can indicate the transmission type (e.g., periodic, semi-persistent, aperiodic), and can also indicate the periodicity of the transmission (if relevant), and / or For example, the target WTRU can indicate the LoS / NLoS ID between the target and the anchor WTRU; and / or Supplementary reporting information, such as (for example, at least) any of the following: For example, the target WTRU can indicate the reporting time (e.g., in symbol index, slot index, frame index, absolute time, or relative time relative to a reference point (e.g., the end of the measurement window)). For example, a target WTRU may indicate the reporting frequency (e.g., periodicity) and / or its periodicity along with reporting triggers. For example, a target WTRU can indicate the priority associated with reported measurements and / or estimates.

[0278] In another example, if the target WTRU is configured by the network with one or more sets of configurations, the WTRU can indicate the configuration index (e.g., configuration ID) to the anchor WTRU.

[0279] In another example, if the target WTRU determines the SL-PRS configuration from the configured resource pool, the target WTRU can indicate the resource pool index (e.g., the resource pool ID) to the anchor WTRU.

[0280] In another example, the target WTRU can indicate the SL-PRS configuration based on (e.g., at least) any of the following: Threshold_max: The target WTRU can indicate the configured SL-PRS resources (e.g., SL-PRS resource ID, SL-PRS resource group ID, SL-PRS AoD, and beamwidth of the resource group) to the anchor WTRU based on the bistatic sensing coverage area defined by threshold_max.

[0281] For example, the target WTRU can indicate at least one of the following configurations to the anchor WTRU, which has the above (pre)configured threshold_max: SL-PRS resource IDs with N (unique) beams An SL-PRS resource group with a bandwidth of X MHz, Transmission power of Y dBm, and / or The sensing duration of Z ms For example, otherwise the target WTRU could be directed to another configuration group; Threshold_min: For example, if threshold_min is less than the (pre)configured threshold, the target WTRU can indicate the bandwidth (e.g., X1 MHz) to the anchor WTRU. Expected bi-base RTT: For example, if the expected bistatic RTT is greater than the (pre)configured threshold, the target WTRU can indicate the SL-PRS time resource configuration (e.g., N OFDM symbols, Z ms sensing duration) and / or frequency resources (e.g., Comb-M, X MHz bandwidth) to the anchor WTRU. Otherwise, the WTRU can indicate another set of time and / or frequency configurations; One or more combinations of SL-PRS periodicity, bandwidth, sensing duration, time offset, and comb mode: For example, the target WTRU can indicate the SL-PRS configuration based on one or more of the parameters mentioned above; and / or For example, a target WTRU can indicate SL-PRS configuration to an anchor WTRU from a (pre)configured group, such that the difference between one or more indicated parameters and (pre)configured parameters is less than a (pre)configured threshold. Available sensing energy: For example, if the total available sensing energy is less than a threshold, the target WTRU can indicate time and / or frequency resources (e.g., Comb-M configuration, N OFDM symbols and / or Z ms sensing duration) to the anchor WTRU. Measurement window indication: For example, if the indicated measurement window duration is less than a (pre)configured threshold, the target WTRU may indicate SL-PRS periodicity (e.g., periodicity with a period of P1 ms) and / or bandwidth (e.g., X MHz). Configure the AoD, number of unique spatial beams, and beamwidth of SL-PRS resources: For example, the target WTRU can indicate a resource ID from a (pre)configured resource group to the anchor WTRU such that the difference between the AoD of the resource in the (pre)configured resource group and the indicated AoD is less than a (pre)configured threshold; and / or For example, the target WTRU can indicate the SL-PRS resource group ID to the anchor WTRU such that the difference between the configured beamwidth and the indicated beamwidth is less than the (pre)configured threshold. SL-PRS QCL Information: In one example, the target WTRU can indicate its QCL (e.g., type D) relationship with any other RS ​​that the anchor WTRU may be known to; and / or For example, the target WTRU can indicate the SL-PRS resource / resource group ID from the (pre)configured group to the anchor WTRU based on the known spatial orientation of the RS of the QCL; and / or QoS requirements: For example, if QoS requirements (e.g., accuracy) exceed a (pre)configured threshold, the target WTRU can indicate SL-PRS time configuration and / or SL-PRS frequency configuration (e.g., N OFDM symbols, comb-M configuration, X MHz bandwidth allocation), and / or For example, if the aforementioned QoS latency requirement exceeds the (pre)configured threshold, the target WTRU can indicate periodic P1, otherwise it can indicate periodic P2.

[0282] In one example, the target WTRU can (e.g., implicitly) indicate the SL-PRS configuration based on (e.g., at least) any of the following (e.g., the anchor WTRU may already be available): Target WTRU location: For example, if the distance between the target WTRU and the anchor WTRU is greater than a (pre)configured threshold, the target WTRU can indicate the transmission power (e.g., Y dBm) and / or frequency allocation (e.g., comb-M, X MHz bandwidth) to the anchor WTRU. Otherwise, the WTRU can indicate another set of parameters; Obstacle location: For example, the target WTRU can indicate a (pre-)configured subgroup of SL-PRS resources (e.g., SL-PRS resource group ID, SL-PRS resource ID) to the anchor WTRU, such that the difference between the AoD of the SL-PRS resource ID and the AoD between the target WTRU and the obstacle is less than a (pre-)configured threshold, and / or For example, if the distance between the target WTRU and the obstacle is greater than the (pre)configured threshold, the WTRU can indicate an SL-PRS configuration with a small beamwidth (e.g., SL-PRS resource group ID) to the anchor WTRU; otherwise, the target WTRU can indicate a configuration with a large beamwidth. Obstacle speed: For example, if the obstacle speed exceeds a (pre)configured threshold, the target WTRU can indicate a beamwidth configuration (e.g., X1 MHz) to the anchor WTRU; otherwise, the target WTRU can indicate another set of beamwidths (e.g., X2 MHz), and / or For example, if the obstacle speed exceeds a (pre)configured threshold, the target WTRU can indicate bandwidth allocation (e.g., X1 MHz) and / or sensing duration (e.g., Y ms) to the anchor WTRU.

[0283] Uncertainty regarding the location of the obstacle: For example, if the uncertainty of the obstacle location exceeds a (pre)configured threshold, the target WTRU can indicate a beamwidth configuration (e.g., X1 MHz) to the anchor WTRU, or otherwise indicate another configuration (e.g., X2 MHz), and / or For example, the target WTRU can indicate the SL-PRS configuration (e.g., SL-PRS resource ID, SL-PRS resource group ID) to the anchor WTRU such that the difference between the AoD of the configured SL-PRS resource and the AoD range of the obstacle containing the uncertainty range is less than the (pre)configured threshold.

[0284] In some representative embodiments, (e.g., the target) WTRU can send SL-PRS resources and receive measurement reports.

[0285] In one example, WTRU can send the configured SL-PRS resource at the indicated time and frequency resources.

[0286] In one example, the target WTRU may receive information in the measurement report indicating (at least) any of the following: The location of the obstacle and / or the associated range of uncertainty. The range of uncertainty regarding the obstacle's velocity and / or associated uncertainty. Measurements associated with obstacles (e.g., RTT, AoA, RSRP) Uncertainty of measurements associated with obstacles, and / or Timestamps associated with obstacle position measurement and / or obstacle velocity measurement In one example, the target WTRU can forward measurement reports from the anchor WTRU to the network. The target WTRU can (e.g., also) report any of the following (e.g., at least): SL-PRS transmission time along with SL-PRS ID, Bipolar RTT thresholds (e.g., threshold_max and / or threshold_min), and / or Obstacle priority indicated In one example, the target WTRU may use (at least) any of the following messages: DCI, MAC-CE, RRC, SLPP, and / or LPP to perform obstacle measurement reporting to the network.

[0287] In a representative embodiment, the WTRU can receive SRSp and SL-PRS configuration information from the network (e.g., for sensing). The WTRU can detect obstacles, such as via SRSp measurements from monostatic sensing. The WTRU can determine time thresholds (threshold_min, threshold_max) based on its transmission capabilities (e.g., transmission power, bandwidth) and / or requirements (e.g., QoS requirements). The WTRU can send a discovery message to the anchor WTRU containing information about the WTRU location, obstacle location, and / or sensing area (e.g., maximum sensing radius). The WTRU can receive a response from the anchor WTRU with auxiliary data (e.g., anchor WTRU location). The WTRU can select the anchor WTRU for bistatic sensing if, for example, the expected RTT (e.g., determined based on the anchor WTRU location and obstacle location) is greater than a first threshold (e.g., threshold_min) (e.g., outside the fuzzy range) and less than a second threshold (e.g., threshold_max) (e.g., below the maximum range). The WTRU can send a bistatic sensing request to any selected anchor WTRU. The request may include information indicating the measurement window (e.g., start time, duration). After the anchor WTRU accepts the bistatic sensing request (e.g., "Yes"), the WTRU may indicate one or more of the SL-PRS configuration to the anchor WTRU, such as via threshold_min and threshold_max (e.g., sensing coverage area). The WTRU may send the configured SL-PRS to the anchor WTRU. The WTRU may receive reports with obstacle locations from the anchor WTRU.

[0288] TRP Selection for GNB-based Bistatic Sensing TRP Selection for Bistatic Sensing In some representative embodiments, the WTRU (e.g., the target WTRU) can be selected as a TRP for UL and / or DL ​​dual-base sensing.

[0289] In one example, the target WTRU can be configured to select a suitable TRP for DL ​​and / or UL bistatic sensing from a set of (pre-)configured TRPs. The target WTRU can select the TRP based on (at least) any of the following: The expected bipolar RTT associated with TRP is less than the (pre)configured threshold_max. The expected bipolar RTT associated with TRP is greater than the (pre)configured threshold_min, and / or The distance between the TRP and the obstacle is less than the (pre-)configured threshold.

[0290] In one example, WTRU can be configured to select a total of The TRP is used for DL ​​and / or UL bistatic sensing. In one example, the quantity It can correspond to the TRP required to perform the expected sensing method (e.g., 3 TRPs are required for RTT), and therefore it is associated with the method.

[0291] If the number of TRPs that meet the TRP selection criteria (e.g.) Exceed (For example, WTRUs can be further screened (e.g., reduced) based on a priority ranking of certain criteria for the number of TRPs (e.g., for DL ​​and / or UL bistatic sensing methods). WTRUs can be selected based on (e.g., at least) any of the following criteria. TRP: Minimum distance to the target WTRU One TRP, The difference between the expected AoD and the obstacle exceeds the (pre)configured threshold. One TRP, and / or DL / UL expected minimum bibase RTT TRP In some representative embodiments, the WTRU (e.g., the target WTRU) may receive a request from the network to initiate bistatic sensing.

[0292] In one example, the WTRU can receive requests from the network (e.g., LMF, gNB) to perform sensing. The WTRU can also receive requests in semi-static messages (e.g., RRC, LPP).

[0293] In one example, the WTRU can receive a location estimate from the network (e.g., a coarse estimate of the obstacle's location). If the WTRU does not receive a location estimate from the network, it determines the obstacle's location if a WTRU-based sensing method is configured, or reports the measurement to the network if an NW-assisted sensing method is configured. If the WTRU cannot determine the obstacle's location, it can report a reason to the network as a response to a request (e.g., the reason could be that the WTRU could not find the obstacle (e.g., no multipath measurement found), or the reason could be a response indicating that the WTRU could not find the obstacle).

[0294] In some representative embodiments, the WTRU (e.g., the target WTRU) may request the network to perform gNB-based bistatic sensing.

[0295] In one example, the target WTRU can request network assistance for obstacle sensing. The request can be triggered by (at least) any of the following conditions: The target WTRU determines the conditions related to the WTRU's obstacle detection (e.g., communication performance degradation exceeds the (pre)configured threshold, and positioning performance degradation is less than the (pre)configured threshold). Obstacles have a higher priority than the (pre)configured threshold. The uncertainty of the obstacle's location exceeds the (pre)configured threshold. The difference in obstacle position between multiple measurement times exceeds a (pre)configured threshold. If the target WTRU performs monobase sensing across multiple measurement times, the drop in SRSp RSRP exceeds the (pre)configured threshold. The obstacle's speed exceeds a (pre-)configured threshold, and / or The coverage area of ​​the target WTRU changes from outside the coverage area to within the coverage area.

[0296] In one example, the WTRU can receive trigger information from the PRS and / or SRSp (pre)configured settings from the network.

[0297] In some representative embodiments, the WTRU (e.g., the target WTRU) can select its role in bistatic sensing (e.g., transmitter / receiver).

[0298] In one example, the target WTRU may (e.g., may also) indicate a preferred sensing role (e.g., DL bistatic sensing, UL bistatic sensing).

[0299] In one example, the target WTRU may decide to perform DL bistatic sensing based on (for example, at least) any of the following conditions: The expected bipolar RTT is less than the (pre)configured DL threshold_max. The expected bistatic RTT is greater than the (pre)configured DL threshold_min. The expected bistatic RTT is greater than the (pre)configured UL threshold_max. The total number of suitable TRPs determined for DL ​​bistatic sensing exceeds a (pre)configured threshold (e.g., ,in (for threshold) The distance between the WTRU and the obstacle is greater than the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. QoS requirements (e.g., accuracy) exceed (pre-)configured thresholds. The uncertainty of the obstacle's position and / or velocity exceeds a (pre)configured threshold, and / or The energy availability of the target WTRU is less than the (pre)configured threshold. FIG. 12 This is a system diagram illustrating the differences in sensing coverage areas used for uplink sensing and downlink sensing.

[0300] For example, such as FIG. 12 As shown, the transmission power in DL and the resulting maximum sensing range can be greater than the maximum sensing range in UL. If WTRU 102 determines that an obstacle is beyond its maximum bistatic sensing range, WTRU can request TRP 502 to perform a DL-PRS transmission for sensing.

[0301] For example, since the transmission power can (e.g., may also) be associated with the accuracy of obstacle position and / or velocity estimation, if the accuracy requirement and / or uncertainty of obstacle position and / or velocity exceeds a (pre)configured threshold, the target WTRU can (e.g., may also) determine to request the TRP to perform DL sensing.

[0302] In another example, the target WTRU may decide to perform UL bistatic sensing based on (e.g., at least) any of the following conditions: The expected bistatic RTT is less than the (pre-)configured UL bistatic threshold_max. The expected bistatic RTT is greater than the (pre-)configured UL bistatic threshold_min. The expected bipolar RTT is greater than the (pre-)configured DL bipolar threshold_max. The total number of suitable TRPs identified for UL bistatic sensing exceeds a (pre)configured threshold (e.g., ), The distance between the WTRU and the obstacle is less than the (pre)configured threshold. QoS requirements (e.g., accuracy) are lower than the (pre)configured threshold. The uncertainty of the obstacle's position and / or velocity is below a (pre)configured threshold, and / or The energy available for the target WTRU exceeds the (pre)configured threshold.

[0303] In uplink bistatic sensing scenarios, the WTRU can have lower transmission power. Therefore, when the detected obstacle is within the bistatic range of both the WTRU and TRP, this mode or preference can be determined.

[0304] Similarly, if the WTRU determines that the total energy available for sensing exceeds the required (pre)configured threshold, it may wish to perform uplink sensing.

[0305] In another example, the WTRU may determine whether to perform bidirectional sensing (e.g., both DL and UL sensing) based on (at least) any of the following: The expected bistatic RTT is less than the (pre-)configured UL bistatic threshold_max. The expected bistatic RTT is greater than the (pre-)configured UL bistatic threshold_min. The expected bipolar RTT is less than the (pre-)configured DL bipolar threshold_max. The total number of suitable TRPs identified for UL bistatic sensing exceeds a (pre)configured threshold (e.g., ), and / or QoS requirements (e.g., accuracy) exceed (pre-)configured thresholds.

[0306] In another example, the WTRU can be configured by the network to have its role for sensing.

[0307] In some representative embodiments, the WTRU (e.g., the target WTRU) can send on-demand DL and / or UL bistatic sensing requests.

[0308] In one example, if (pre-)configured, the target WTRU can determine to send an on-demand DL / UL bistatic sensing request to the network. The WTRU can use at least one of the signals (e.g., UCI, MAC-CE, RRC, LPP) to send the request to the network. The request can include (e.g., at least) any of the following: Preferred roles of bistatic sensing (e.g., DL bistatic sensing, UL bistatic sensing). Selected set A TRP (e.g., TRP ID). The bibase thresholds for each TRP (e.g., threshold_min, threshold_max) (e.g., if determined autonomously by the target WTRU), and / or Expected bibase RTT per TRP In some representative embodiments, the WTRU (e.g., the target WTRU) can receive a bistatic sensing request acceptance response.

[0309] In one example, the target WTRU can receive a response from one of the downlink signals (e.g., DCI, MAC-CE, RRC, LPP) from the network.

[0310] In one example, the WTRU may receive an acceptance message (e.g., ACK, "Yes") from the network, indicating that it has accepted a bistatic request from the WTRU, which includes a requested or preferred mode (e.g., UL and / or DL) and a TRP.

[0311] In another example, the WTRU can receive acceptance messages (e.g., ACK, "yes") from the network and can receive a set of (e.g., new or modified) TRPs and / or sensing patterns from the network that are different from the patterns requested by the target WTRU.

[0312] In both cases, the WTRU can determine the configuration for transmission or reception based on this instruction.

[0313] In some representative embodiments, the WTRU (e.g., the target WTRU) can perform a rollback operation if the request is denied.

[0314] In one example, the WTRU may receive a rejection message (e.g., NACK, "No") from the network, indicating that the bistatic sensing request has been rejected. In this case, the behavior of the target WTRU can be characterized by (e.g., at least) any of the following: The target WTRU can determine whether to execute or continue monobase sensing. The target WTRU can identify nearby anchor WTRUs and request bistatic sensing based on lateral walkways, and / or The target WTRU can determine the termination of the sensing process.

[0315] DL-PRS / SRSp configuration In some representative embodiments, the WTRU (e.g., the target WTRU) may receive DL-PRS configuration (e.g., its indication).

[0316] In one example, the target WTRU can be configured to perform DL bistatic sensing upon receiving a bistatic sensing request.

[0317] In one example, the target WTRU can explicitly receive DL-PRS configuration from the TRP, such as including time, frequency, periodicity, DL-PRS resource ID, and DL-PRS resource group ID. The WTRU can (e.g., it can also) receive a measurement window containing (e.g., at least) any of the following parameters: The start or end time of the window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time to a reference point). The duration of the window (e.g., expressed in the number of symbols, time slots, frames, subframes, or seconds), and / or The periodicity of the window (e.g., the number of symbols, time slots, frames, subframes, and seconds).

[0318] The target WTRU can receive an instruction (e.g., a DCI / MAC-CE instruction) from the network to initiate DL-PRS transmission.

[0319] In another example, if the WTRU is (pre-)configured with any on-demand DL-PRS configuration, the WTRU can receive an indication from the network to activate that group of on-demand configurations or its subgroups (e.g., a DCI / MAC-CE indication).

[0320] In one example, the target WTRU may (e.g., further) implicitly determine the on-demand configuration subgroup based on (e.g., at least) any of the following auxiliary information indicated for the target WTRU: TRP ID: For example, a WTRU can determine a subset of TRP IDs corresponding to the target WTRU from a set of on-demand DL-PRS configurations; Obstacle location: For example, WTRU can determine subgroups from a set of on-demand DL-PRS configurations (e.g., PRS resource IDs, DL resource group IDs) such that the difference between the AoD of the PRS resource and the expected AoD of the obstacle is less than a (pre)configured threshold; and / or Uncertainty regarding the location of the obstacle: For example, if the uncertainty of the obstacle location exceeds a (pre)configured threshold, the WTRU can determine a subgroup with a large beamwidth from the group-on-demand DL-PRS configuration (e.g., DL-PRS resource group ID), and / or For example, if the difference between the AoD of a PRS resource and the expected AoD of an obstacle is less than a (pre)configured threshold, WTRU can determine a subgroup from a set of on-demand DL-PRS resources (e.g., DL-PRS resource IDs).

[0321] In another example, WTRU can implicitly determine the DL-PRS configuration from the set of (pre-)configured resources based on (at least) any of the following: Valid for: For example, if there is a pre-configured validity period for a set of configurations and / or TRP IDs, the target WTRU can determine the valid DL-PRS configuration based on the current time and the duration for which the DL-PRS configuration can be valid. For example, if TRP 1 is invalid at the current time instance, the target WTRU may not select the configuration associated with TRP 1; Threshold_max Threshold_min, Expected dual-base RTT Obstacle location, obstacle speed, Uncertainty regarding the location of the obstacle, and / or Target WTRU location.

[0322] In the above text, the association between parameters and configuration can be the same as in the case of implicit SL-PRS indication, and can be reused here by replacing the anchor WTRU with TRP and "SL-PRS" with "DL-PRS".

[0323] In addition, the WTRU can receive auxiliary data from the network, which contains indications of an active DL-PRS configuration from a set of (pre)configured settings. The WTRU can determine the DL-PRS configuration using (for example, at least) any of the following auxiliary information: Configuration ID: For example, if the target WTRU is (pre-)configured with multiple DL-PRS configurations, each associated with a configuration ID, then the selected configuration ID can be used to instruct the WTRU. In one example, WTRU can determine that the configured PRS resource may correspond partially or entirely to the indicated configuration ID, and / or In one example, if multiple configuration IDs are indicated, WTRU can determine that the DL-PRS configuration can be a combination of multiple (pre)configured configurations; TRP quantity, TRP ID / location indication: For example, WTRU can determine the DL-PRS configuration (e.g., DL-PRS resource ID, DL-PRS resource group ID) from the configuration of the group (pre)configured corresponding to the TRP ID indicated in the auxiliary information. For example, WTRU can infer the DL-PRS combo size based on the configured number of TRPs, thereby inferring the frequency density (e.g., 3 TRPs could correspond to a Comb-2 or Comb-4 configuration), and / or For example, the WTRU can determine the total number of symbols in the configuration based on the number of TRPs configured. For example, N TRPs may correspond to a specific set of frequency domain resource allocations (e.g., Com-N, bandwidth X MHz) and / or time allocations (e.g., Y OFDM symbols per resource); One or more combinations of DL-PRS periodicity, bandwidth, sensing duration, time offset, and comb mode; Available sensing energy; Measurement window indicator; Configure the AoD of the resources, the number of unique spatial beams, and the beamwidth; DL-PRS QCL information; and / or QoS requirements.

[0324] In the above, the association between the auxiliary information parameters and the configuration can be the same as the association in the case of implicit SL-PRS indication, and the association can be reused here by replacing the anchor WTRU with TRP and "SL-PRS" with "DL-PRS".

[0325] In one example, the target WTRU can be configured with a measurement window for DL-PRS resource reception.

[0326] In another example, the WTRU can receive an instruction from the network to activate a measurement window among a set of (pre)configured multiple measurement windows. In one example, the WTRU can receive the activation instruction using (at least) one of the following: measurement window ID, measurement start time, and measurement duration.

[0327] In another example, WTRU can implicitly determine the measurement window based on configured or determined DL-PRS resources.

[0328] WTRU can receive and measure DL-PRS resources during transmission.

[0329] In some representative embodiments, the WTRU (e.g., the target WTRU) can receive and measure the configured DL-PRS resources.

[0330] In one example, the target WTRU can receive configured DL-PRS resources from the TRP under the indicated time and frequency resources.

[0331] In one example, the WTRU can measure at least one of ToA, RSTD, AoA, RSRP, RSRPP, or Doppler shift from the received signal, with indicated time and frequency resources.

[0332] In one example, the WTRU can be configured to estimate obstacle positions. The target WTRU can use measurements to determine obstacle positions and / or velocities.

[0333] In one example, the target WTRU can be configured to report (at least) any of the following: Measurements from received DL-PRS resources (e.g., ToA, RSTD, AoA, RSRP, RSRPP, Doppler shift). The timestamp of the measurement Uncertainty regarding the location of the obstacle and / or its associated location. The obstacle's velocity and / or associated uncertainties, Reference values ​​(e.g., reference TRPs used for RSTD measurements), and / or Target WTRU orientation (e.g., a reference for AoA measurements). In some representative embodiments, the WTRU (e.g., the target WTRU) can determine the SRSp configuration.

[0334] In one example, the WTRU can be configured to perform UL bistatic sensing upon receiving a bistatic sensing request. In one example, the request can indicate a sensing method (e.g., RTT-based UL sensing, RTT-based bidirectional sensing).

[0335] In another example, the WTRU can explicitly receive SRSp configuration for UL bistatic sensing from the network, which includes information indicating time, frequency, periodicity, SRSp resource ID, or SRSp resource group ID (at least one of these).

[0336] In another example, WTRU can determine an SRSp resource from a set of (pre)configured SRSp resources based on conditions similar to those used for SL-PRS configuration by replacing the anchor WTRU with TRP and replacing the SL-PRS configuration parameters (e.g., SL-PRS resource ID, SL-PRS resource group ID) with SRSp configuration parameters (e.g., SRSp resource ID, SRSp resource group ID).

[0337] In one example, the WTRU can (e.g., for bistatic sensing based on bidirectional RTT) determine a subgroup of SRSp configurations or SRSp resources spatially aligned with the received DL-PRS. For example, if the WTRU determines an obstacle location (e.g., based on measurements of the DL-PRS), the WTRU can determine threshold_min and threshold_max based on (e.g., at least) any of the determined obstacle location, TRP location, and / or expected bistatic RTT. Based on the determined threshold_min and threshold_max, the WTRU can determine the spatial transmission direction of the SRSp (e.g., the spatial transmission direction of the SRSp lies within threshold_min and threshold_max). The WTRU can determine which SRSp resources to use, where each resource is associated with a beam direction (e.g., represented by DL RS, such as CSI-RS resource ID, DL PRS resource ID). If there are multiple SRSp resources for transmission, the WTRU can determine to start transmitting the SRSp from the resource with the smallest index number.

[0338] In one example, threshold_min and threshold_max can be represented in meters and / or degrees. For example, threshold_min and threshold_max could be 5 degrees and 30 degrees, respectively.

[0339] In some representative embodiments, the WTRU (e.g., the target WTRU) can send configured SRSp resources.

[0340] In one example, WTRU can send the configured SRSp resources at the indicated time and frequency resources.

[0341] In one example, the target WTRU can report measurements to the network that include (for example, at least) any of the following: UL bistatic thresholds (e.g., UL bistatic threshold_max, UL bistatic threshold_min), and / or SRSp transmission timestamp along with SRSp ID In one example, the target WTRU can receive obstacle locations from the network.

[0342] FIG. 13 This is a system diagram illustrating an SRSp configuration for UL bistatic sensing based on obstacle location.

[0343] In a representative embodiment, WTRU 102 (e.g., target WTRU 902) can receive candidate SRSp configuration information from a network (e.g., LMF, gNB), carrying obstacle locations and associated uncertainty ranges for sensing. WTRU 102 can determine an SRSp configuration based on the obstacle 202 location and the associated uncertainty range (e.g., from candidate SRSp configurations provided by the network). The WTRU can indicate the configured resources (e.g., time, frequency) to the network. The WTRU can transmit the determined SRSp resources for bistatic sensing.

[0344] FIG. 14 This is a system diagram illustrating the selection of TRPs for bistatic sensing. FIG. 14 In the context of TRP 2502b, when the obstacle is located within the ambiguous area of ​​TRP 2502b, the target WTRU 902 can select TRP 1 502a.

[0345] In a representative embodiment, the WTRU (e.g., the target WTRU) can receive candidate SRSp configuration information for monostatic sensing from the network, including time thresholds (e.g., threshold_min, threshold_max). The WTRU can detect obstacles (e.g., via measurements from reflected SRS). The WTRU can report the obstacle location and its position to the network. If the expected RTT (e.g., determined based on TRP location and obstacle location) is greater than threshold_min (e.g., outside the ambiguity range) and less than threshold_max (e.g., below the maximum range), the WTRU can select one or more TRPs for bistatic sensing. The WTRU can send an on-demand request carrying any selected TRPs, obstacles, and their positions to perform bistatic sensing. The WTRU can receive ACK information from the network instructing the TRPs to perform UL sensing. The WTRU can determine the SRSp configuration based on threshold_min and threshold_max (e.g., the sensing coverage area) (e.g., from candidate SRSp configurations provided by the network). The WTRU can send the determined SRSp resources for bistatic sensing.

[0346] Group-based sensing Discovery process In some representative embodiments, the WTRU (e.g., a target WTRU) may receive group-based sensing requests.

[0347] In one example, the discovery message used to sense group formation can be triggered by a request from an anchor WTRU, a WTRU (such as a server WTRU or any other WTRU capable of and authorized to perform the discovery process, anchor WTRU selection, lateral link resource allocation), or a request from the network. In all cases, the triggering condition may or may not be obstacle detection.

[0348] In one example, the WTRU can receive a discovery initiation request for sensing group formation from an anchor WTRU (e.g., a target WTRU), such as via sidelink-specific lower and higher layer signaling (e.g., SCI, SL-MAC-CE, PC5-RRC messages). For example, the WTRU can receive (at least) any of the following in the discovery request: Anchor point WTRU information: o Anchor WTRU ID (e.g., RNTI), or any other ID used to identify the anchor WTRU. o Anchor point WTRU location and / or associated uncertainty range, o Anchor point WTRU velocity and / or associated uncertainty range, o Anchor point WTRU coverage information (e.g., within the coverage area, cell ID) o Anchor point WTRU sensing area (e.g., maximum single-base RTT threshold). o (maximum) transmission power, o Synchronization source information (e.g., time / frequency / phase synchronization). o Supported frequency range (e.g., FR1, FR2) and / or subcarrier spacing and / or the (maximum) bandwidth of SL-PRS, and / or o Anchor point WTRU duplex information (e.g., full-duplex WTRU); Obstacle information: o Obstacle location and / or uncertainty range, o obstacle velocity and / or uncertainty range, and / or o Methods for determining the location of obstacles (e.g., via a network, via monostatic sensing); Anchor point WTRU capability: o (maximum) transmission power, o Supports sensing measurements (e.g., time, angle, speed, distance). The number of obstacles supported. o Available start time and sensing duration, and / or o Available anchor point WTRU energy; and / or Group anchor WTRU request: The number of anchor WTRUs in the o group (e.g., minimum number, maximum number), and / or o QoS requirements for obstacle locations (e.g., accuracy, latency, reliability requirements).

[0349] In one example, WTRU may determine to initiate the discovery process for sensing group formation based on (for example, at least) any of the following: The distance between the anchor point WTRU and the located obstacle is less than the (pre)configured threshold. The reported obstacle speed exceeds the (pre)configured threshold. The reported uncertainty in obstacle position and / or velocity exceeds a (pre)configured threshold. The transmit / receive bandwidth capacity of the anchor WTRU exceeds the (pre)configured threshold, and / or Available sensing duration exceeds (pre)configured threshold In another example, the WTRU (e.g., the server WTRU) can autonomously determine the initiation of the detection process for sensing group formation based on (e.g., at least) any of the following triggering conditions: The WTRU satisfies at least one condition for obstacle detection. The distance between the WTRU and the located obstacle is less than a (pre)configured threshold. The speed of the located obstacle exceeds the (pre)configured threshold. The indicated obstacle has a higher priority than the (pre)configured threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold, and / or The uncertainty of the obstacle's velocity exceeds the (pre)configured threshold. In another example, the WTRU can receive a request from the network to initiate a discovery process for sensing group formation. The WTRU can receive this request via lower-layer and / or higher-layer signaling (e.g., DCI, MAC-CE, RRC, SLPP, LPP messages).

[0350] In some representative embodiments, the WTRU can send discovery messages for group formation.

[0351] In one example, the WTRU can determine to initiate a discovery process for sensing group formation. The WTRU can broadcast discovery messages to other nearby WTRUs, such as via the PC5 interface or any other interface that allows connections between WTRUs (e.g., RRC).

[0352] In one example, WTRU may send at least one of the following in the discovery message: Request anchor WTRU information (if the discovery process is initiated by the anchor WTRU), which includes (for example, at least) any of the following: o Anchor WTRU ID (e.g., RNTI) or any other ID used to identify the anchor WTRU. o Anchor point WTRU location and / or associated uncertainty range, o Anchor point WTRU coverage information (e.g., within the coverage area, cell ID) o Anchor point WTRU sensing area (e.g., maximum single-base RTT threshold). o Anchor point WTRU (maximum) transmission power, o Anchor WTRU synchronization source information (e.g., time / frequency / phase synchronization), and / or o Supported frequency range (e.g., FR1, FR2) and / or subcarrier spacing and / or SL-PRS (maximum) bandwidth; Obstacle information (e.g., if the discovery process is triggered by obstacle detection) includes (at least) any of the following: o Obstacle location and / or uncertainty range and / or obstacle location timestamp, obstacle velocity and / or uncertainty range and / or location timestamp o QoS requirements for obstacle locations (e.g., accuracy, latency, reliability requirements), and / or o Methods for determining the location of obstacles (e.g., via a network, via monostatic sensing); and / or The required WTRU capacity to be included in the group, such as (at least) any of the following: o The ability to estimate its location and / or orientation o The ability to perform side link measurements (e.g., time, angle, frequency, frequency shift), The ability to execute specific positioning methods (e.g., RTT). o The ability to obtain location coordinates from measurements The ability to report its location and orientation to the network and WTRUs (e.g., server WTRUs). The ability to report the location of obstacles to the network and WTRUs (e.g., server WTRUs). The ability to report measurements to the network and WTRUs (e.g., server WTRUs). o Required sensing start time and duration threshold o The resolution threshold required for time-related localization methods (e.g., RTT, TDoA) The resolution threshold required for angle-dependent localization methods (e.g., AoD, AoA) o Resolution threshold required for velocity-dependent localization methods o Minimum WTRU energy threshold, and / or minimum WTRU complexity threshold In some representative embodiments, the WTRU may receive discovery responses and / or auxiliary information.

[0353] In one example, the WTRU may (for example, also) request auxiliary information to be sent by the anchor WTRU in the discovery message after discovery, which includes anchor WTRU information and / or capabilities.

[0354] In one example, the target WTRU can receive a response to the discovery message after determining its suitability for sensing based on information from the WTRU. The WTRU can (e.g., may also) receive a set of auxiliary information including (e.g., at least) any of the following: Response anchor WTRU information, such as (for example, at least) any of the following: o Anchor point WTRU ID (e.g., RNTI) o Anchor point WTRU type (e.g., vehicle, mobile phone) o Anchor point WTRU location and / or its uncertainty, o Anchor point WTRU velocity and / or its uncertainty, o Anchor point WTRU coverage information (e.g., within coverage, outside coverage, cell ID), and / or o Anchor point WTRU duplex information (e.g., full-duplex WTRU); and / or Response anchor WTRU capability information, such as (for example, at least) any of the following: o (maximum) transmission power, o Supported positioning methods The number of obstacles supported. o Available sensing start time and duration, and / or Available WTRU energy Group formation and process In some representative embodiments, WTRUs can form a group of anchor WTRUs for sensing.

[0355] FIG. 15 This is a system diagram showing the group formation for reference position 1502 and group distance threshold information 1504.

[0356] In one example, (e.g., server) WTRU 102 may form a group 1506 of anchor WTRUs for sensing based on discovery responses and / or auxiliary information received from anchor WTRUs 102a, 102b, 102c, 102d. WTRU 102a may use (e.g., at least) any of the following criteria to determine whether to include an anchor WTRU in the group for sensing: The distance between the response anchor WTRU and the request anchor WTRU is less than a (pre)configured threshold (e.g., a group distance threshold). For example, the WTRU can be (pre)configured with a threshold (e.g., X meters) and depends on the location of the response anchor WTRU. In one example, the threshold can be (pre-)configured by the network to the WTRU. In another example, the threshold can be determined autonomously by the WTRU. For instance, the WTRU can determine a group distance threshold of X1 meters (e.g., 80 meters) under at least one of the following conditions: The number of response anchor WTRUs exceeds the (pre)configured threshold. The maximum transmission power of the anchor WTRU exceeds the pre-configured threshold. The obstacle speed exceeds the (pre-)configured threshold, and / or The uncertainty of the obstacle's location exceeds the (pre)configured threshold. Otherwise, WTRU can determine another group distance threshold as X2 meters (e.g., 30 meters). The distance between the discovered anchor point WTRU and the indicated location is less than a (pre)configured threshold (e.g., group distance threshold). For example, a WTRU can determine a sensing area, where the WTRU may be interested in sensing obstacles, such as... FIG. 15As shown. In one example, the sensing area can be an area indicated by reference 2D or 3D coordinates (e.g., area center) or reference 2D / 3D location coordinates (e.g., cell, sector, circle). The WTRU can determine this area by one or more combinations of the following: The area location reported by the requesting anchor point WTRU for the obstacle location. If an obstacle location triggers discovery, the area location of the obstacle is detected by the WTRU (e.g., between two entities (e.g., TRP, WTRU), the cell / sector of the TRP that detected the obstacle), and / or The area location of obstacles can be configured by the network for the WTRU; The discovered anchor point WTRU has a speed lower than the (pre)configured threshold. For example, a WTRU may preferentially select an anchor WTRU with a velocity less than a threshold due to one or more of the following: Sensing groups and / or subgroups may become more static over longer periods (e.g., where anchor WTRUs are located in the same place), and / or Anchor points (WTRUs) do not need to report their location frequently (e.g., periodically). The relative velocity of the discovered anchor point WTRU to the group reference velocity is less than the (pre)configured threshold; The maximum transmit power of the discovered anchor WTRU exceeds the (pre)configured threshold. For example, a WTRU can identify anchor WTRUs where the transmission power exceeds a threshold in order to maximize monostatic and bistatic coverage areas within a group. This can be due to the fact that if the transmission power is higher, there will be more suitable bistatic sensing pairs within the group; The uncertainty of the discovered anchor point WTRU location is below the (pre)configured threshold. For example, uncertainty in the location of the WTRU can also cause errors to propagate to the location of obstacles; Given the synchronization of the anchor point WTRU, For example, anchor point WTRU can be selected into the group if the following conditions are met: The synchronization source of the discovered anchor WTRU (e.g., TRP, any other entity with a precise reference time) is the same as and / or the synchronization source of the WTRU. The WTRU is known to have discovered the WTRU's synchronization source (e.g., clock offset). The available sensing duration of the discovered anchor point WTRU exceeds the (pre)configured threshold; and / or The energy available at the identified anchor point WTRU exceeds the (pre)configured threshold.

[0357] In some representative embodiments, the WTRU can send group instructions and / or auxiliary information to the anchor WTRU group.

[0358] In one example, the WTRU may indicate group and / or auxiliary information to selected anchor WTRUs in the sensing group, such as lower-layer and / or higher-layer signaling specific to the sidelink (e.g., SCI, SL-MAC-CE, PC5-RRC messages). In one example, the WTRU may send (e.g., at least) any of the following group information and / or auxiliary information to the anchor WTRU group: Group ID: WTRUs within a group can be assigned a unique group ID to associate SL-PRS transmissions, measurements, estimations, and sessions with that group. In one example, the WTRU can be pre-configured with a group ID from the network, and / or In another example, WTRU can generate a group ID and assign it to an anchor WTRU within the group; Anchor point WTRU information: o Anchor point WTRU ID, The location of the anchor point WTRU within the group and / or the associated range of uncertainty, and / or o Anchor point WTRU velocity and / or associated uncertainty range in the group; Obstacle information: o obstacle location and / or associated uncertainty range, and / or o obstacle velocity and / or associated uncertainty range; and / or Group sensing window: The oWTRU can determine the total duration of a group that can be dedicated to group-based sensing. The WTRU can indicate the group sensing duration, having at least: The start or end time of the window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time relative to a reference point), and / or The duration of the window (e.g., in terms of the number of symbols, time slots, frames, subframes, or seconds).

[0359] In some representative embodiments, the WTRU can (pre)configure the sensing group using one or more SL-PRS configurations.

[0360] In one example, an anchor WTRU in a group can be (pre)configured using more than one set of SL-PRS configuration parameters for obstacle location estimation. The (pre)configuration may include (e.g., at least) either a transmit configuration or a receive configuration. Each transmit and / or receive configuration may be specific to one or more WTRUs, such as by using an indication via a WTRU ID or an SL-PRS resource ID specific to a particular WTRU, or it may be a generic configuration (e.g., not specific to any WTRU).

[0361] In one example, the WTRU can indicate the configuration to the anchor WTRU in the group via (for example, at least) any of the following: via resource pool (pre)configuration: For example, an anchor WTRU in a group can be (pre)configured using one or more resource pools, where each resource pool can contain one or more SL-PRS transmission parameters and / or reception parameters. For example, the WTRU can select a resource pool and the SL-PRS configuration within the pool to meet obstacle location estimation requirements. If the QoS accuracy requirement is below a (pre)configured threshold and / or the energy availability of the anchor WTRU is less than a (pre)configured threshold, the WTRU can select a resource pool with a set of resources (e.g., a Comb-M1 configuration, N OFDM symbols per resource). Otherwise, the WTRU can select a resource pool with different sets of resources; and / or Instruct the anchor point WTRU to configure the SRSp (pre) configuration: For example, a WTRU can send one or more sets of SRSp configurations to anchor WTRUs within a group. In one example, each configuration group can be tagged with a configuration ID, and / or For example, the (pre)configuration may include any complete or partial configuration specific to or independent of each anchor WTRU within the group. The WTRU can then indicate one or more combinations of configuration IDs corresponding to a defined SL-PRS configuration.

[0362] In one example, the transmit parameters and / or receive parameters (e.g., via resource pool indication or (pre)configuration) may include at least one of the following: SL-PRS resource ID, SL-PRS resource group ID, transmit power, time pattern (e.g., number of symbols, duration of SL-PRS transmission), frequency pattern (e.g., comb size, bandwidth, bandwidth allocation), periodicity (e.g., type, number of repetitions), SL-PRS mute mode, and / or measurement window configuration (e.g., start time, stop time, duration).

[0363] In some representative embodiments, the WTRU can allocate resources to a group for obstacle detection.

[0364] In one example, a WTRU can be configured with one or more anchor WTRU groups to detect obstacles based on at least one of the following conditions: The available energy of the anchor WTRU exceeds the (pre)configured threshold, and / or The transmit power of the anchor WTRU exceeds the (pre-)configured threshold. In one example, the anchor point WTRU group assigned for obstacle detection may or may not be part of one or more subgroups within the group, such as depending on resource availability (e.g., time, frequency, energy).

[0365] In one example, a WTRU can allocate resources to one or more anchor WTRUs in a subgroup of an anchor WTRU group based on (for example, at least) any of the following for monobase sensing-based obstacle detection: Anchor point WTRU groups are capable of performing full-duplex sensing, and / or The distance between the anchor point WTRU and another anchor point WTRU in the group that can be used for obstacle detection is greater than the (pre)configured threshold.

[0366] In one example, the WTRU can assign at least two or more of the subgroups in the anchor WTRU group that can be used for obstacle detection based on bistatic sensing.

[0367] In one example, the WTRU can determine and assign each WTRU role (e.g., transmitting WTRU, receiving WTRU) for selection of obstacle detection based on bistatic sensing. The WTRU can assign at least one transmitting WTRU and at least one receiving WTRU. The WTRU can assign the transmitting WTRU role to the anchor WTRU based on (e.g., at least) any of the following conditions: The transmit power of the anchor WTRU exceeds the (pre-)configured threshold, and / or The distance between the anchor point WTRU and another transmitting anchor point WTRU and / or monobase sensing WTRU is greater than the (pre)configured threshold.

[0368] In one example, if the above conditions are not met, the WTRU can be assigned a receiving WTRU role.

[0369] FIG. 16 This is a system diagram illustrating the WTRU role and beam transmission mode used for obstacle detection.

[0370] In one example, for obstacle detection, the WTRU 102 can be configured with features such as... FIG. 16 The anchor points WTRU 102a, 102b, 102c, and 102d are shown for the beam transmission modes (e.g., beam patterns). For example, the WTRU can be configured to transmit beams sequentially from the lowest SL-PRS ID to the highest SL-PRS ID. For example, the WTRU can be configured to transmit beams sequentially from the lowest AoD to the highest AoD.

[0371] In one example, the WTRU can instruct the anchor WTRU group selected for obstacle detection (e.g., via unicast) to (at least) any of the following: The indicated WTRU role (e.g., monobase WTRU, bibase Tx WTRU, bibase Rx WTRU); Configured SL-PRS resources, such as o Time resources (e.g., number of symbols, starting symbol position) o Frequency resources (e.g., number of RBs, starting RE location), and / or o Periodicity (e.g., type, number of repetitions); Beam transmission mode (e.g., beam scanning); Measurement window configuration (e.g., start time, stop time, duration); and / or Report configuration (e.g., report time, report cycle).

[0372] In one example, the WTRU can send (at least) any of the following auxiliary information to the anchor WTRU group assigned for obstacle detection: Participating anchor point WTRU ID, Anchor point WTRU role, SL-PRS resource ID, SL-PRS resource group ID, Spatial information of SL-PRS resource ID, and / or Beam transmission mode of anchor point WTRU.

[0373] In one example, the WTRU can send an instruction (e.g., UCI) to initiate obstacle detection.

[0374] In one example, the WTRU can receive instructions from anchor WTRUs in a group used for obstacle detection. The target WTRU can receive (at least) any of the following: The location of the obstacle and / or the associated range of uncertainty. The obstacle velocity and / or the associated uncertainty range, and / or Timestamp of obstacle location.

[0375] In one example, the WTRU may receive a message carrying information indicating that no obstacle has been detected. The WTRU may then determine whether to continue obstacle detection if the remaining group sensing window exceeds a (pre)configured threshold, or to terminate the sensing group.

[0376] Subgroup formation and process In some representative embodiments, the WTRU can determine the subgroups formed for obstacle sensing.

[0377] In one example, WTRU may determine the formation of subgroups for locating obstacles based on (for example, at least) any of the following conditions: The WTRU receives an obstacle detection report from the group anchor WTRU. The WTRU receives obstacle detection reports from other entities (e.g., the network, other WTRUs). The distance between the anchor point WTRU within the group and the obstacle is less than the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The uncertainty of the obstacle and / or velocity position exceeds the (pre)configured threshold, and / or The remaining duration in the group sensing window exceeds the (pre)configured threshold.

[0378] In one example, the WTRU can determine the requirements of a subgroup, which include (for example, at least) any of the following: QoS requirements for sensing: For example, a WTRU can determine QoS requirements, which include at least accuracy (e.g., vertical accuracy, horizontal accuracy), latency, and reliability. A WTRU can determine high QoS requirements (e.g., accuracy and / or latency) if the following conditions are met: The distance (e.g., average) between the obstacle and the WTRUs within the group is less than a (pre)configured threshold. The obstacle's speed exceeds a (pre-)configured threshold, and / or The obstacle priority (e.g., average) from WTRUs within the group exceeds a (pre)configured threshold. In another example, the WTRU can receive QoS requirements for sensing from the network; Subgroup sensing window: For example, WTRU can use (at least) any of the following parameters to determine the subgroup sensing duration: The start or end time of the window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time relative to a reference point), and / or The duration of the window (e.g., expressed in the number of symbols, time slots, frames, subframes, or seconds); For example, the WTRU can determine the sensing window duration (e.g., X ms) based on (e.g., at least) any of the following: The obstacle's speed is less than the (pre-)configured threshold. The distance (e.g., average) between the obstacle and the WTRUs within the group is less than a (pre)configured threshold. QoS accuracy requirements exceed the (pre)configured threshold. QoS latency requirements are below the (pre)configured threshold, and / or The remaining time within the group sensing duration exceeds the (pre)configured threshold. Alternatively, the WTRU can determine another sensing window duration (e.g., Y ms); and / or Total number of WTRUs in the subgroup: For example, the total number of WTRUs in a subgroup can be determined based on (at least) any of the following conditions: (For example, including the range of minimum and maximum WTRU numbers): The uncertainty of the obstacle's location exceeds the (pre)configured threshold. The (average) uncertainty of the WTRU location exceeds the (pre-)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The uncertainty of the obstacle's velocity exceeds the (pre)configured threshold. QoS accuracy requirements exceed the (pre)configured threshold. QoS latency requirements exceeding (pre)configured thresholds, and / or The number of WTRUs required in the configured positioning method exceeds the (pre)configured threshold.

[0379] In another example, WTRU can be configured with requirements from subgroups of the network.

[0380] In some representative embodiments, the WTRU can select the anchor WTRU in the subgroup.

[0381] FIG. 17 This is a system diagram illustrating the selection of subgroups for sensing based on obstacle location and subgroup distance threshold information.

[0382] In one example, (for example, a server) WTRU can select anchors WTRU 102a, 102b, and 102c in the group as subgroup 1702, such as... FIG. 17 As shown. WTRU can select an anchor WTRU for subgroup 1702 based on (for example, at least) any of the following conditions: The distance from group anchor WTRU 102d to obstacle 202 is less than a (pre)configured threshold (e.g., subgroup distance threshold). The uncertainty of the location of group anchor WTRU 102d is below the (pre)configured threshold. The speed of the group anchor WTRU 102d is less than the (pre)configured threshold. The velocity difference between group anchor WTRU 102d and reference anchor WTRU (e.g., the first selected anchor WTRU in subgroup 1702) is less than a (pre)configured threshold. Available time and / or frequency resources exceed (pre)configured thresholds. The available sensing of the group anchor WTRU 102d has a duration exceeding the (pre)configured threshold, and / or The available energy of the group anchor WTRU 102d exceeds the (pre)configured threshold.

[0383] In one example, if the total number of WTRUs selected in subgroup 1702 is less than Then WTRU 102 can: The discovery message is resent after a (pre)configured time interval T (e.g., in milliseconds or time slots). Increase the (pre-)configured subgroup distance threshold to include more WTRUs into subgroups from this group. Reduce (pre)configuration requirements (e.g., sensing duration requirements) to include more WTRUs in subgroup 1702 from this group; and / or Disable the sensor subgroup.

[0384] In another example, if it is determined that the total number of WTRUs in a subgroup exceeds a (pre)configured threshold, the WTRUs can be further filtered (e.g., reduced) based on the priority ranking of one or more subgroup formation conditions for the selected anchor WTRUs in the subgroup. For example, the WTRU can be configured and / or its distance from an obstacle can be determined as the highest priority. The WTRU can select the one closest to the obstacle. One WTRU.

[0385] In one example, the WTRU can assign a role (e.g., transmitting WTRU, receiving WTRU) to each anchor WTRU used for bistatic sensing within a subgroup. Role assignment can depend on the configured localization method and / or the location of the anchor WTRU within the subgroup. Multiple bistatic Tx-Rx pairs can exist within each subgroup. In one example, within each Tx-RxWTRU pair, multiple transmitting WTRUs can exist for each receiving WTRU, and / or multiple receiving WTRUs can exist for each transmitting WTRU.

[0386] In some representative embodiments, the WTRU can configure SL-PRS configuration information (e.g., resources) for a subgroup of anchor WTRUs to perform bistatic sensing.

[0387] In one example, a WTRU can determine to configure SL-PRS resources (e.g., Tx configuration, Rx configuration) for each WTRU in a subgroup. In one example, a WTRU can determine: Select one or more subgroups of SL-PRS configuration for WTRUs in a subgroup from a set of (pre)configured resources, and / or Select one or more subgroups of SL-PRS configuration for WTRUs in the (pre)configured SL-PRS resource pool.

[0388] The WTRU can determine, for each anchor in the subgroup, (at least) any of the following SL-PRS configurations from the (pre)configured SL-PRS configurations for that group and / or the (pre)configured resource pool for SL-PRS: Time configuration: For example, WTRU can choose a configuration with different numbers of symbols (e.g., 2 symbols per resource, 12 symbols per resource). For example, WTRU can select a configuration with N1 OFDM symbols per resource based on (for example, at least) any of the following conditions: The number of identified Tx WTRUs in the subgroup is less than the (pre)configured threshold. The number of identified Rx WTRUs in the subgroup is less than the (pre)configured threshold. The total number of anchor WTRUs in the subgroup is less than the (pre)configured threshold. The distance between the anchor point WTRU in the subgroup and the obstacle is greater than the (pre)configured threshold. The uncertainty of the location of the anchor point WTRU in the subgroup exceeds the (pre)configured threshold. The anchor WTRU in the subgroup exceeds the (pre)configured threshold. The velocity uncertainty of the anchor WTRU in the subgroup exceeds the (pre)configured threshold. The uncertainty of the obstacle's location exceeds the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The QoS accuracy requirement for obstacle location exceeds the (pre)configured threshold. The QoS latency requirement at the obstacle location exceeds the (pre)configured threshold. The available energy of the anchor WTRU exceeds the (pre)configured threshold, and / or The assigned subgroup sensing duration is less than the (pre)configured threshold; Alternatively, WTRU can choose a configuration with N2 OFDM symbols. In one example, N1 can be greater than N2.

[0389] Frequency configuration: For example, WTRU can be configured with varying allocated bandwidth (e.g., 100 RB, 60 RB). For example, the target WTRU can be configured with different comb shapes (e.g., comb 2, comb 12). The oWTRU can select a set of frequency configurations (e.g., bandwidth allocation M1 (e.g., 100 MHz), Comb-N1 configuration) based on (e.g., at least) any of the following conditions: The number of identified Tx WTRUs in the subgroup is less than the (pre)configured threshold. The number of identified Rx WTRUs in the subgroup is less than the (pre)configured threshold. The total number of anchor WTRUs in the subgroup is less than the (pre)configured threshold. The distance between the anchor point WTRU in the subgroup and the obstacle is less than the (pre)configured threshold. The uncertainty of the location of the anchor point WTRU in the subgroup exceeds the (pre)configured threshold. The anchor point WTRU's speed exceeds the (pre)configured threshold. The uncertainty of the anchor point velocity in the subgroup exceeds the (pre)configured threshold. The uncertainty of the obstacle's location exceeds the (pre)configured threshold. If the WTRUs in the subgroup are configured with a time-based location estimation method, the QoS accuracy requirement for obstacle localization exceeds the (pre)configured threshold. The QoS latency requirement at the obstacle location exceeds the (pre)configured threshold. The available energy of the anchor WTRU exceeds the (pre)configured threshold, and / or The assigned subgroup sensing duration is less than the (pre)configured threshold; Alternatively, the WTRU can choose another set of frequency configurations (e.g., bandwidth allocation M2 (e.g., 50 MHz), Comb-N2 configuration); Configuration type (e.g., periodic, aperiodic, semi-persistent). For example, WTRU can select and / or determine the periodic configuration based on (at least) any of the following: The obstacle's speed exceeds the (pre)configured threshold. The uncertainty of the obstacle's velocity exceeds the (pre)configured threshold. The total available subgroup sensing duration exceeds the (pre)configured threshold, and / or The QoS requirements (e.g., accuracy, reliability) used for sensing exceed the (pre)configured thresholds. For example, WTRU can select and / or determine a non-periodic configuration if at least one of the following conditions is met: The obstacle's speed is less than the (pre-)configured threshold. The uncertainty of the obstacle's velocity is below a (pre)configured threshold, and / or The total available subgroup sensing duration is less than the (pre)configured threshold. For example, WTRU can select and / or determine the semi-persistent configuration if at least one of the following conditions is met: The obstacle's speed exceeds the (pre)configured threshold. The uncertainty of the obstacle's velocity exceeds a (pre-)configured threshold, and / or The total available subgroup sensing duration is less than the (pre)configured threshold. Periodic configurations (e.g., periodic or semi-persistent configuration types) For example, WTRU can select and / or determine a configuration corresponding to (e.g., different) SL-PRS resource periodicity (e.g., 1 time slot, 5 time slots). WTRU can choose a periodicity configuration of P1 under at least one of the following conditions: The distance between the anchor point WTRU in the subgroup and the obstacle is less than the (pre)configured threshold. The uncertainty of the location of the anchor point WTRU in the subgroup exceeds the (pre)configured threshold. The anchor WTRU in the subgroup exceeds the (pre)configured threshold. The velocity uncertainty of the anchor WTRU in the subgroup exceeds the (pre)configured threshold. The uncertainty of the obstacle's location exceeds the (pre)configured threshold. The assigned subgroup sensing duration is less than the (pre)configured threshold, and / or The QoS latency requirement at the obstacle location exceeds the (pre)configured threshold. Otherwise, WTRU can be configured with a periodicity of P2; Space configuration: For example, WTRU can select spatial configurations (e.g., beamwidth and spatial coverage of SRSp resources).

[0390] For example, WTRU can determine the preferred SL-PRS resources for WTRU in a subgroup, such that: The AoD of the selected SL-PRS resource is located within the coverage area determined by the subgroup distance threshold, and / or The difference between the AoD of the selected SL-PRS resource and the expected AoD of the obstacle is less than the (pre)configured threshold. For example, the WTRU can determine the preferred SL-PRS resource with a beamwidth of X1 degrees based on (at least) any of the following conditions: The distance between the WTRU in the subgroup and the obstacle is less than the (pre)configured threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold, and / or The uncertainty of the location of the anchor point WTRU in the subgroup exceeds the (pre)configured threshold. Otherwise, the WTRU can determine to preferentially select SL-PRS resources with a beamwidth of X2 degrees. For example, WTRU can select a (sub)group of SL-PRS resources based on (at least) any of the following, such that the coverage angle is C1 (e.g., 60 degrees): The distance between the WTRU in the subgroup and the obstacle is less than the (pre)configured threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold, and / or The uncertainty of the location of the anchor point WTRU in the subgroup exceeds the (pre)configured threshold. Otherwise, WTRU can determine a (sub)group of SL-PRS resources such that the coverage area is C2 (e.g., 15 degrees); and / or Measurement window: For example, the WTRU can determine the measurement window from a set of (pre)configured SL-PRS configurations based on the selected transport resources. For example, a measurement window may contain (at least) any of the following: The start or end time of the window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time to a reference point). The duration of the window (e.g., expressed in the number of symbols, time slots, frames, subframes, or seconds), and / or The periodicity of the window (e.g., in terms of the number of symbols, time slots, frames, subframes, and seconds).

[0391] In another example, the WTRU can determine these configurations and instruct the subgroups of the anchor WTRU for obstacle sensing.

[0392] In some representative embodiments, the WTRU can activate the subgroups for bistatic sensing.

[0393] In one example, a WTRU can indicate the SL-PRS configuration of a selected group to each WTRU (e.g., via unicast) via one or more indices (e.g., SL-PRS configuration ID, resource pool ID). A WTRU can indicate a WTRU-specific SL-PRS transmission configuration to a subgroup of WTRUs within a subgroup that has a determined role as a transmitting WTRU. A WTRU can indicate a WTRU-specific receive configuration to a subgroup of WTRUs within a subgroup that has a determined role as a receiving WTRU.

[0394] In one example, the WTRU may (e.g., additionally) send (e.g., via multicast) subgroup auxiliary information, which includes (e.g., at least) any of the following: Group ID; Subgroup ID; Subgroup WTRU information: o Subgroup WTRU ID, o Subgroup WTRU location and / or its associated uncertainty range, o Subgroup WTRU speed and / or its associated uncertainty range, o Subgroup WTRU roles (e.g., transmitting WTRU, receiving WTRU), and / or o Subgroup WTRU synchronization source; Obstacle information: o The range of uncertainty regarding the location of the obstacle and / or its associated extent. o obstacle velocity and / or associated uncertainty range, and / or QoS requirements for obstacle location estimation (e.g., accuracy, latency); Sensing methods (e.g., RTT); Measurement parameters (e.g., configuration-based positioning methods (ToA, RSTD, AoA, AoD)); Subgroup sensing window configuration (e.g., start time, stop time, duration); and / or Measurement Report: o Report window (e.g., start time, stop time, duration), o Report content (e.g., location, velocity, uncertainty range, measurement value), and / or o can report the measured and estimated WTRU ID.

[0395] In one example, WTRU can determine whether to send both configuration instructions and auxiliary information via unicast transmission.

[0396] In another example, the WTRU can determine to send the configuration indication via unicast, since the configuration indication may be unique for each WTRU, and send auxiliary information via multicast, since the auxiliary information may contain common parameters.

[0397] In some representative embodiments, the WTRU can receive measurement reports carrying the location of obstacles from a subgroup.

[0398] In one example, the WTRU can send an instruction (e.g., an SCI instruction) to the (sub)group (e.g., via multicast) to initiate the transmission and measurement process.

[0399] In one example, the WTRU can receive reports from a (pre-)configured reporting anchor WTRU within a subgroup. Measurement reports can contain (at least) any of the following: o Subgroup ID, o Obstacle location and associated uncertainty range, o Obstacle velocity and associated uncertainty range, o Measurements associated with subgroups, and / or o is the timestamp of the measurement corresponding to the obstacle's location.

[0400] FIG. 18 This is a system diagram showing the signaling exchange and processes between the WTRU and the anchor WTRU for group and subgroup formation. FIG. 18An exemplary process for group- and subgroup-based sensing is illustrated. At 1802, (e.g., service) WTRU 102 may send a sensing group indication to anchor WTRU groups (such as anchor WTRU 102a, anchor WTRU 102b, anchor WTRU 102c, and anchor WTRU 102d). For example, the sensing group indication may include the duration of the group sensing window. At 1804, the obstacle location of obstacle 202 may be determined, for example, between WTRU 102 and anchor WTRU 102b. At 1806, WTRU 102 may send a subgroup formation indication to the subgroups of anchor WTRUs (such as anchor WTRU 102a, anchor WTRU 102b, and anchor WTRU 102c). At 1808, WTRU 102 may send a subgroup transmission configuration identifier to anchor WTRU 102a. At 1810, WTRU 102 can send a subgroup reception configuration identifier to anchor WTRUs 102b and 102c. At 1812, anchor WTRU 102a can send (e.g., using an identified subgroup transmission configuration) a set of RSs (such as SL-PRS), which can be received by anchor WTRUs 102b and 102c (e.g., using an identified subgroup reception configuration). For example, the sent RSs can be sent during the duration of the subgroup sensing window. At 1814, WTRU 102 can receive a measurement report from the subgroup. For example, the measurement report may include obstacle locations determined using bistatic sensing based on the RSs sent at 1812.

[0401] Subgroup modification and deactivation In some representative embodiments, the WTRU can receive the anchor WTRU location.

[0402] In one example, a subgroup anchor WTRU can be configured to (e.g., periodically) report its location to the WTRU. Location information can be used (e.g., as required) to determine the validity of the subgroup, since any WTRU mobility may change the subgroup properties.

[0403] In one example, the subgroup anchor WTRU can be configured to report its location to the WTRU when any change over two measurement times exceeds a (pre)configured threshold.

[0404] In another example, subgroup anchors WTRUs can periodically report their location and associated uncertainty range, such as along with or within the measurement report.

[0405] In another example, the subgroup anchor WTRU can be configured to report its location and associated uncertainty upon request from the WTRU.

[0406] In some representative embodiments, the WTRU can receive a subgroup deactivation request from the subgroup anchor WTRU.

[0407] In one example, WTRU can receive subgroup deactivation requests from anchor WTRUs within a group.

[0408] WTRU may receive, for example, at least one of the following in a request: o Measurement values ​​(e.g., RSRP, RTT, Doppler shift) The difference in measurement values ​​between oN measurement points o Anchor point WTRU location and / or associated uncertainty, and / or o Anchor point WTRU velocity and / or associated uncertainty.

[0409] In some representative embodiments, the WTRU can determine the modification subgroup.

[0410] FIG. 19 This is a system diagram illustrating the subgroup modifications caused by obstacle movement.

[0411] In one example, (for example, server) WTRU 102 can determine to modify the subgroup to form the modified subgroup 1902, such as FIG. 19 As shown. This modification can be triggered by (for example, at least) any of the following conditions: The RSRP measurement value corresponding to the obstacle reported by the anchor point WTRU is less than the (pre)configured threshold. The decrease in the reported RSRP measurement value corresponding to the obstacle between multiple measurement times exceeds the (pre)configured threshold. o If the RTT of the report corresponding to the obstacle is greater than the (pre)configured threshold, The increase in reported RTT corresponding to obstacles in multiple measurement instances exceeds the (pre)configured threshold. o The reported Doppler shift measurement corresponding to the obstacle exceeds the (pre-)configured threshold. The difference between reported measurement Doppler shifts across multiple measurement times exceeds a (pre)configured threshold. The difference in anchor point WTRU location between multiple measurement events exceeds a (pre)configured threshold. The uncertainty of the WTRU anchor location exceeds the (pre)configured threshold. The increase in uncertainty of the anchor point WTRU location during multiple measurement events exceeds the (pre)configured threshold. The WTRU speed at the anchor point exceeds the (pre)configured threshold. The uncertainty of the WTRU velocity at the o-anchor point exceeds the (pre)configured threshold. The difference in obstacle position between multiple measurement times exceeds a (pre)configured threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold. The obstacle velocity difference in multiple measurement moments exceeds a (pre)configured threshold, and / or o The remaining group sensing window duration exceeds the (pre)configured threshold.

[0412] In one example, the WTRU can request the position and / or velocity of the subgroup anchor WTRU and its associated range of uncertainties.

[0413] In one example, WTRU can remove a subgroup anchor WTRU from a group based on (for example, at least) any of the following: The distance between the obstacle and the anchor point WTRU location is greater than the (pre)configured threshold. The uncertainty of the WTRU anchor location exceeds the (pre)configured threshold. The speed of the o-anchor WTRU exceeds the (pre)configured threshold, and / or The uncertainty of the velocity of the o-anchor WTRU exceeds the (pre)configured threshold.

[0414] In one example, the WTRU can determine the location and / or velocity of the request group anchor WTRU and its associated range of uncertainties.

[0415] In one example, WTRU can determine whether to add an anchor WTRU from the group to the subgroup based on (for example, at least) any of the following: The distance between the anchor point WTRU and the obstacle is less than the (pre)configured threshold. The uncertainty of the anchor point WTRU location is below the (pre)configured threshold. The speed of the anchor WTRU is less than the (pre)configured threshold. The uncertainty of the anchor point WTRU's velocity is below the (pre)configured threshold, and / or The available energy of the anchor WTRU exceeds the (pre)configured threshold.

[0416] In one example, the WTRU can determine a new WTRU role (e.g., transmitting WTRU, receiving WTRU) for the anchor WTRU in the modified subgroup.

[0417] In some representative embodiments, the WTRU can activate the modified subgroup and send the modified auxiliary information.

[0418] In one example, if the total number of WTRUs in a subgroup exceeds a (pre)configured threshold (e.g., WTRU can determine the SL-PRS resource configuration for the modified subgroup.

[0419] In one example, the WTRU can determine the SL-PRS sending and receiving configuration parameters for the new subgroup anchor WTRU from a set of (pre)configured SL-PRS configurations.

[0420] In another example, the WTRU can determine a new configuration for the remaining anchor WTRUs in the subgroup, or continue using the previous configuration. The WTRU can determine to continue using the previous configuration based on (for example, at least) any of the following: The difference in obstacle position across multiple measurement times is less than a (pre)configured threshold. The uncertainty of the obstacle's location is below the (pre)configured threshold. The obstacle's speed is less than the (pre-)configured threshold. The QoS requirements (e.g., latency, accuracy) between the old subgroup and the modified subgroup are lower than the (pre)configured threshold. The difference in distance between the removed anchor point WTRU and the added anchor point WTRU is less than the (pre)configured threshold. The speed difference between the removed anchor point WTRU and the added anchor point WTRU is less than the (pre)configured threshold, and / or The WTRU roles between the old and modified subgroups remain unchanged.

[0421] The WTRU can determine the modified auxiliary information and send it to the modified subgroup. The WTRU can instruct (for example, at least) any of the following: Subgroup WTRU information: o Subgroup WTRU ID, o Added subgroup ID, o Removed subgroup ID, o Subgroup WTRU location and / or its associated uncertainty range, o Subgroup WTRU speed and / or its associated uncertainty range, o Subgroup WTRU roles (e.g., transmitting WTRU, receiving WTRU), and / or o Subgroup WTRU synchronization source; Obstacle information: o The range of uncertainty regarding the location of the obstacle and / or its associated extent. o obstacle velocity and / or associated uncertainty range, and / or QoS requirements for obstacle location estimation (e.g., accuracy, latency); Sensing methods (e.g., RTT); Measurement parameters (e.g., configuration-based positioning methods (ToA, RSTD, AoA, AoD)); Subgroup sensing window configuration (e.g., start time, stop time, duration); Measurement Report: o Report window (e.g., start time, stop time, duration), o Report content (e.g., location, velocity, uncertainty range, measured value), o can report the measured and estimated WTRU ID.

[0422] In some representative embodiments, the WTRU can determine to disable subgroups or groups.

[0423] In one example, WTRU can determine the deactivation of sensing groups based on (for example, at least) any of the following conditions: The total number of anchor point WTRUs in subgroup o is less than the (pre)configured threshold. If the distance (e.g., average distance) between the anchor point WTRU and the obstacle exceeds a (pre)configured threshold, If the expected RTT (e.g., average) between Tx-Rx WTRU pairs in the o subgroup exceeds the (pre)configured threshold, The rate (e.g., average) of WTRUs among anchor WTRUs in the o subgroup exceeds a (pre)configured threshold. The relative velocity between WTRUs in the subgroup (e.g., relative to the reference anchor WTRU within the subgroup) exceeds a (pre)configured threshold, and / or o The available sensing duration is less than the (pre)configured threshold.

[0424] In one example, the WTRU can (e.g., via multicast) send an instruction to the subgroups of the anchor WTRU to disable the subgroups.

[0425] Obstacle Reporting and Group Termination In some representative embodiments, the WTRU can send measurement reports to the target WTRU and / or network that requested sensing.

[0426] In one example, a WTRU can be configured to report a measurement report to the target WTRU that initiated the sensing request. In another example, a WTRU can be configured to report a measurement report to the network.

[0427] For example, a measurement report may include (at least) any of the following: o The range of uncertainty regarding the location of the obstacle and / or its associated extent. o The range of uncertainty regarding the obstacle's velocity and / or associated parameters. oGroup ID, o Group anchor WTRU ID associated with group ID, o Subgroup ID, o Subgroup anchor WTRU ID associated with subgroup ID, and / or o is the timestamp of the measurement associated with the obstacle's location.

[0428] In some representative embodiments, the WTRU may send a group termination instruction to the network.

[0429] In one example, WTRU may determine to terminate a group based on (for example, at least) any of the following conditions: o The remaining total group sensing duration is less than the (pre)configured threshold. o The remaining available energy (e.g., average) is less than the (pre-)configured threshold, and / or The total number of anchor WTRUs in the o group is less than the (pre)configured threshold.

[0430] In one example, a WTRU can (e.g., via multicast) send a group termination instruction to other WTRUs in the group.

[0431] In one example, the WTRU can send a group termination instruction to the network.

[0432] Sensing mode selection via anchor point WTRU In some representative embodiments, the WTRU may be pre-configured with one or more sets of SRSp configurations.

[0433] FIG. 20 This is a system diagram illustrating pattern selection based on bibase threshold and monobase threshold information (e.g., coverage area).

[0434] In one example, WTRU 102 (e.g., FIG. 20The anchor WTRU (904) in the network can send SRSp configuration requests to the network (e.g., LMF, gNB, entity that configures reference signals for WTRU) via higher-layer signaling (e.g., MAC-CE or RRC) and / or via LPP messages, such as in the uplink physical channel (e.g., PUSCH or PUCCH) and / or via LPP messages.

[0435] In one example, the WTRU can receive one or more sets of SRSp configurations from the network for obstacle sensing.

[0436] In some representative embodiments, the WTRU may be pre-configured with one or more SL-PRS configurations.

[0437] In one example, the WTRU may send an SL-PRS configuration request for sensing in the uplink physical channel to the network (e.g., LMF, gNB, other WTRUs, entities that configure reference signals for the WTRU) via higher-layer signaling (e.g., MAC-CE or RRC) and / or via LPP messages, such as in the uplink physical channel (e.g., PUSCH or PUCCH) and / or via LPP messages.

[0438] In one example, the WTRU may receive one or more sets of SL-PRS configurations from a network (e.g., LMF, gNB), which include at least time, frequency, periodicity, and spatial configurations. In another example, where multiple configuration sets exist, the WTRU may also receive an index (e.g., SL-PRS configuration ID) associated with each configuration.

[0439] As used in this article, the target WTRU (such as in FIG. 20 The target WTRU can be either a TRP or a gNB. The WTRU can receive PRS configuration from the network for bistatic sensing. In the examples described herein, "target WTRU" can be used interchangeably with either "TRP" or "gNB".

[0440] Discovery process In some representative embodiments, the WTRU can receive a discovery message from the target WTRU.

[0441] In one example, the network pre-configures one or more resource pools for the WTRU. Each resource pool may include resources (e.g., SCI, data) for receiving discovery messages from other nearby WTRUs.

[0442] In another example, the WTRU may receive a resource pool that includes resources for (e.g., in an SIB message) receiving discovery messages from the network.

[0443] In one example, if the WTRU is (pre-)configured with a resource pool for discovery messages, the WTRU can monitor and receive discovery messages from another nearby WTRU.

[0444] In another example, a WTRU can receive discovery messages from another nearby WTRU, such as via the PC5 interface or any other interface that allows connections between WTRUs (e.g., RRC).

[0445] In some representative embodiments, the WTRU can receive auxiliary information and conditions in the discovery message.

[0446] In one example, the WTRU may receive one or more combinations of target WTRU information, obstacle information, and requests, wherein the target WTRU information, obstacle information, and requests include (for example, at least) any of the following: Target WTRU information: o Target WTRU ID (e.g., RNTI) or any other ID used to identify the target WTRU, o Target WTRU location and / or associated uncertainty range, o Target WTRU coverage information (e.g., within the coverage area, cell ID) o Target WTRU sensing area (e.g., maximum monobase RTT threshold). o (maximum) transmission power, o Synchronization source information (e.g., time / frequency / phase synchronization), and / or o Supported frequency ranges (e.g., FR1, FR2) and / or the (maximum) bandwidth of SCS and / or SL-PRS; Obstacle information: o Obstacle location and / or uncertainty range, o Obstacle velocity and / or uncertainty range, o QoS requirements for obstacle locations (e.g., accuracy, latency, reliability requirements), and / or o Methods for determining the location of obstacles (e.g., via a network, via monostatic sensing); and / or Required WTRU capacity: o The ability to estimate its location, o The ability to perform side link measurements (e.g., time, angle, frequency, frequency shift), The ability to execute specific positioning methods (e.g., RTT). o The ability to obtain the location coordinates of obstacles from measurements o The ability to report its location to the network, WTRU (e.g., server WTRU), The ability to report the location of obstacles to the network and WTRUs (e.g., server WTRUs). The ability to report measurements to the network and WTRUs (e.g., server WTRUs). o Sensing duration (e.g., start time, duration, stop time) o The temporal resolution threshold required for time-related localization methods (e.g., RTT, TDoA) The required angular resolution threshold for angle-dependent localization methods (e.g., AoD, AoA). o The velocity resolution threshold required for velocity-dependent localization methods, and / or o The minimum energy threshold required.

[0447] In one example, the WTRU may (for example, also) receive a request to send auxiliary information to the network, which includes either anchor WTRU information and / or anchor WTRU capability information.

[0448] In some representative embodiments, the WTRU can respond to a discovery message.

[0449] In one example, WTRU may determine the response discovery message based on (for example, at least) any of the following conditions: The distance between the oWTRU and the obstacle is less than the (pre)configured distance threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold. The obstacle's speed exceeds a (pre-)configured threshold. The uncertainty of the obstacle's velocity exceeds the (pre)configured threshold. The transmission power of the target WTRU exceeds the (pre)configured threshold. The distance between the target WTRU and the obstacle is less than the (pre)configured threshold. During the sensing duration, its priority relative to other RSs (e.g., PDSCH) is lower than a (pre)configured threshold. Clock synchronization offset between oWTRU and the known target WTRU. o Known clock synchronization source (e.g., GNSS, network, peer WTRU). oWTRU supports the indicated sensing frequency range of the target WTRU. o The energy requirement for sensing exceeds the (pre-)configured threshold. oWTRU supports the required measurement capabilities (e.g., self-positioning capability, ability to perform configuration measurements (e.g., RTT), and ability to meet time / angle / velocity resolution requirements). oWTRU supports the required processing power (e.g., the ability to perform FFT calculations on samples of the required time and / or frequency), and / or oWTRU supports the required reporting capabilities (e.g., the ability to report the location / measurement of obstacles to the indicated entity, such as a network).

[0450] In one example, WTRU can determine whether to include an acceptance (e.g., "yes" or ACK) or a rejection (e.g., "no" or NACK) of the request in the discovery message in its response.

[0451] In one example, the WTRU can (and may also) determine whether to send auxiliary information to the target WTRU in response to a discovery message. The WTRU can send (at least) any of the following: Anchor point WTRU information: o Anchor point WTRU ID (e.g., RNTI) o Anchor point WTRU location and / or its uncertainty range o Anchor point WTRU velocity and / or its uncertainty range o Anchor point WTRU coverage information (e.g., within coverage, outside coverage, cell ID), and / or o Anchor point WTRU duplex information (e.g., full-duplex WTRU); and / or Anchor point WTRU capability information: o (maximum) transmission power, o Supported sensing methods (e.g., RTT) o Supported measurements (e.g., ToA, RSTD, AoA) o The maximum number of obstacles supported o Available sensing start time and duration, and / or o Available WTRU energy.

[0452] Bistatic Sensing Request In some representative embodiments, the WTRU can receive bistatic sensing requests from the target WTRU.

[0453] In one example, the WTRU may receive bistatic sensing requests from the target WTRU and / or the network, such as via a side link signal and / or a Uu-specific signal (e.g., SCI, SL-MAC-CE, PC5-RRC message, DCI, MAC-CE, RRC, and / or LPP).

[0454] In one example, the request may include an indication of the amount of resources that can be sent. WTRU can receive (at least) any of the following: Bipolar RTT thresholds (e.g., threshold_min and threshold_max). Measurement window configuration: The start or end time of the o window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time with respect to a reference point). The duration of the o window (e.g., expressed in the number of symbols, time slots, frames, subframes, or seconds), and / or The periodicity of the o window (e.g., expressed in the number of symbols, time slots, frames, subframes, and seconds); Sensing window configuration: The start or end time of the o window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time with respect to a reference point). The duration of the o window (e.g., expressed in the number of symbols, time slots, frames, subframes, or seconds), and / or For example, the sensing window can indicate that the anchor point WTRU may need to reserve time for sensing; QoS requirements for obstacle locations (e.g., accuracy, latency, reliability); SL-PRS transmission bandwidth (e.g., expressed in RB, Hz); Total energy used for sensing (e.g., expressed in joules); and / or Transmission power rating (e.g., an indication of path loss RS used to determine power, a relative power difference relative to path loss RS, or transmission power).

[0455] In some representative embodiments, the WTRU can receive bistatic RTT threshold information from the target WTRU and / or the network.

[0456] In one example, the WTRU can receive bipolar RTT thresholds (e.g., threshold_max, threshold_min) from the network.

[0457] In another example, the WTRU can receive bibase RTT thresholds (e.g., threshold_max, threshold_min) from the target WTRU.

[0458] In some representative embodiments, the WTRU can autonomously determine the bistatic RTT threshold.

[0459] In some representative embodiments, the WTRU can implicitly determine the bibase threshold based on auxiliary information. For example, the WTRU can determine the threshold_max (e.g., Y1 ms) based on (e.g., at least) any of the following conditions: The target WTRU's maximum transmit power exceeds the (pre)configured threshold. QoS accuracy requirements are lower than the (pre)configured threshold. QoS reliability requirements are lower than the (pre)configured threshold. The obstacle's speed is less than the (pre-)configured threshold. The uncertainty of the WTRU location is below the (pre)configured threshold. The uncertainty of the target WTRU location is lower than the (pre)configured threshold, and / or The distance between the WTRU and the target WTRU is greater than the (pre)configured threshold. For example, otherwise WTRU could determine another threshold_max (e.g., Y2 ms).

[0460] For example, if the configured bandwidth is less than the (pre)configured threshold, WTRU can determine threshold_min (e.g., Z1ms), otherwise determine another threshold (e.g., Z2ms).

[0461] In another example, the WTRU can (e.g., it can also) be configured with one or more sets of bibase thresholds for threshold_max and threshold_min (e.g., via tables and / or formulas), which depend on various values ​​of the parameters mentioned above. The WTRU can then select appropriate threshold_min and threshold_max from the (pre)configured set of thresholds based on determined values ​​of one or more parameters.

[0462] In some representative embodiments, the WTRU can receive a single-base RTT threshold from the network.

[0463] In one example, a monostatic threshold can determine the coverage area, and the WTRU can determine where monostatic sensing is performed (e.g., independently of bistatic sensing or in addition to bistatic sensing).

[0464] In some representative embodiments, the WTRU can autonomously determine the monobase RTT threshold.

[0465] In some representative embodiments, the WTRU can autonomously determine a single-base RTT threshold (e.g., X ms) based on any of the following conditions (e.g., at least one condition): WTRU speed exceeds (pre)configured threshold. For example, a WTRU with a speed of X m / s can approach an obstacle much faster than one that exceeds a threshold coverage area, and therefore can benefit from sensing obstacles. The uncertainty of the WTRU location exceeds the (pre)configured threshold. For example, an uncertainty in the location of the WTRU exceeding a threshold could mean that obstacles within the threshold distance of the WTRU could not be detected. The WTRU's transmission power exceeds the (pre)configured threshold. For example, transmit power determines the absolute maximum monopolar sensing coverage area. Therefore, a large available transmit power can be associated with a large monopolar RTT threshold, and / or For example, the transmission power X dBm can be associated with the monobase RTT threshold Y ms. WTRU energy availability exceeds the (pre)configured threshold. For example, the energy availability of the target WTRU can determine the transmission power, and therefore can be correlated with the single-base RTT threshold, and / or For example, the amount of energy available, X joules, can be correlated with the monobase RTT threshold, Y ms. The QoS accuracy requirement for locating obstacles is lower than the (pre)configured threshold. For example, due to signal attenuation, channel fading, and congestion, locating obstacles at a distance from the WTRU can lead to lower accuracy. Therefore, if the accuracy requirement is below a threshold, the WTRU can determine a large sensing coverage area, and / or For example, accuracy requirements (e.g., horizontal accuracy X m, vertical accuracy Y m) can be associated with an RTT threshold Z ms. The QoS reliability requirements for locating obstacles are lower than the (pre)configured threshold. For example, locating obstacles that are far from the WTRU can lead to reduced reliability due to signal attenuation, channel fading, and congestion. The target WTRU's transmission power is less than the (pre)configured threshold. For example, if the transmission power of the target WTRU (and the possible bistatic coverage area) is less than a threshold, the WTRU can determine the monostatic RTT threshold. This determination can allow the WTRU to locate obstacles that might be missed by bistatic sensing, and / or For example, the target WTRU transmission power X dBm can be associated with the RTT threshold Y ms. The uncertainty of the target WTRU location exceeds the (pre)configured threshold. For example, uncertainty in the target WTRU location can increase the error of bistatic sensing. Therefore, the WTRU can determine the monostatic sensing coverage area to improve the accuracy of obstacle localization. The obstacle's speed exceeds the (pre)configured threshold. For example, high-speed obstacles can rapidly approach the WTRU and pose a potential safety risk. Therefore, the WTRU can determine a large monobase RTT threshold for obstacles with speeds exceeding a threshold, and / or For example, the obstacle velocity X m / s can be correlated with the monostatic RTT threshold Y ms. Obstacles have a higher priority than the (pre)configured threshold. For example, if it is determined that an obstacle has a higher priority than a threshold for the WTRU, the WTRU can determine to increase the sensing coverage area, and / or For example, a high-priority obstacle can be associated with a monobase RTT threshold X ms, and a low-priority obstacle can be associated with a monobase RTT threshold Y ms, where X can be greater than Y, and / or The uncertainty of the obstacle's location exceeds the (pre)configured threshold. For example, if the uncertainty of an obstacle's location exceeds a threshold, the WTRU may be unable to accurately determine whether the obstacle is within the coverage area. Therefore, the WTRU may, for example, determine a monobase RTT threshold that exceeds the threshold for security reasons.

[0466] In one example, if the above conditions are not met, WTRU can determine another single-base RTT threshold (e.g., Y ms).

[0467] In another example, the WTRU can also be configured with one or more sets of single-base RTT thresholds (e.g., via tables and / or formulas), which can depend on various values ​​of one or more of the parameters mentioned above. The WTRU can then select an appropriate single-base RTT threshold from the (pre)configured sets based on the determined parameter values.

[0468] Sensing mode selection In some representative embodiments, the WTRU can determine to begin sensing to estimate the obstacle location.

[0469] In one example, the WTRU may determine to perform sensing for obstacle location estimation. The triggering condition for this determination may be (for example, at least) any of the following: The WTRU receives detection messages for sensing from other entities (e.g., the target WTRU). The WTRU receives sensing requests from other entities (e.g., the target WTRU). WTRU meets the obstacle detection requirements. The distance between the WTRU and the obstacle is less than the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The WTRU receives configurations from the network (e.g., LMF, gNB) or peer WTRUs (e.g., WTRUs with LMF capability) for both monostatic sensing (e.g., SRSp configuration) and bistatic sensing (e.g., SL-PRS, PRS, or SRSp), and / or The identified obstacles have a higher priority than the (pre)configured threshold.

[0470] FIG. 21This is a system diagram illustrating the sensing mode selection process for monostatic and bistatic sensing. At 2102, WTRU 102 can receive SRSp configuration and SL-PRS configuration from the network. At 2104, WTRU 102 can send a discovery message containing information indicating the location of an obstacle. At 2106, WTRU 102 can receive a discovery response and determine whether the distance to the obstacle is less than a threshold. If not, WTRU 102 can determine at 2108 not to perform sensing. If the distance to the obstacle is less than the threshold, WTRU 102 can determine at 2110 whether the expected monostatic RTT is less than the threshold. If the expected monostatic RTT is less than the threshold, WTRU 102 can determine at 2112 to perform monostatic sensing. If not, WTRU 102 can determine at 2114 whether the expected bistatic RTT is within the threshold. If the expected bistatic RTT is not within the threshold, WTRU can determine at 2108 not to perform sensing. If the expected bistatic RTT is within the threshold, WTRU 102 can determine to perform bistatic sensing at 2116.

[0471] In some representative embodiments, the WTRU can determine whether to perform bistatic sensing.

[0472] In one example, the WTRU can determine to perform bistatic sensing and assist the target WTRU based on (for example, at least) any of the following conditions: The expected bistatic RTT associated with the WTRU and the target WTRU is less than the (pre)configured bistatic threshold_max. The expected bistatic RTT associated with the WTRU and the target WTRU is greater than the (pre)configured bistatic threshold_min. The expected single-base RTT associated with WTRU is greater than the (pre-)configured single-base threshold. Instructions received from the network or peer WTRU indicate the need to perform bistatic sensing. The WTRU is not configured with parameters for monostatic sensing (e.g., SRSp), or the WTRU is not configured with a monostatic sensing method via a network or peer WTRU. Monostatic sensing is configured as the default sensing method, and WTRU falls back to monostatic sensing when the conditions for performing bistatic sensing are not met. The uncertainty of the target WTRU location is lower than the (pre)configured threshold. The target WTRU speed is less than the (pre)configured threshold. The relative speed between the WTRU and the target WTRU is less than the (pre)configured threshold. Clock synchronization offset between the WTRU and the target WTRU known to the WTRU. The available sensing duration is less than the (pre)configured threshold (e.g., defined by the sensing window configuration). For example, if the WTRU has a lower priority than other RSs relative to a (pre)configured threshold during a specified sensing window, it can determine to perform bibase sensing, and / or For example, if the WTRU prioritizes sensing obstacles above a (pre)configured threshold, it can determine to perform bistatic sensing. The QoS accuracy requirement for sensing is lower than the (pre)configured threshold. For example, if the QoS accuracy requirement (e.g., indicated by the target WTRU) is lower than a (pre)configured threshold, the WTRU can determine to perform sensing, and / or For example, the WTRU can also determine this threshold based on location, obstacle location, and its capabilities (e.g., sensing time / angle and / or velocity resolution). The total bandwidth of the target WTRU exceeds the (pre)configured threshold. For example, bandwidth less than a threshold can reduce resolution, thus affecting the accuracy of time-based sensing methods, and / or The total available energy for sensing of the target WTRU exceeds the (pre)configured threshold. For example, the energy of the target WTRU can determine the transmission power, which can affect sensing accuracy. If the available energy of the target WTRU exceeds a threshold, the WTRU can receive SRSp resources with high SNR / RSRP.

[0473] In one example, if the above conditions are not met, the WTRU can determine that it will not accept the bistatic sensing request.

[0474] In some representative embodiments, the WTRU can determine to perform monobase sensing.

[0475] In one example, the WTRU may determine to perform single-base sensing based on (for example, at least) any of the following conditions: The expected single-base RTT is less than the (pre-)configured single-base RTT threshold. WTRU can perform full-duplex transmission and reception. The uncertainty of the WTRU location is below the (pre)configured threshold. For example, if the uncertainty of the WTRU location exceeds a threshold, it can reduce the accuracy of obstacle location estimation. The obstacle's speed exceeds the (pre)configured threshold. Instructions received from the network or peer WTRU indicate the execution of monobase sensing. The WTRU is not configured with parameters for bistatic sensing (e.g., PRS), or the network or peer WTRU is not configured with a bistatic sensing method for the WTRU. Bistatic sensing is configured as the default sensing method, and WTRU falls back to bistatic sensing when the conditions for performing monostatic sensing are not met. The uncertainty of the target WTRU location exceeds the (pre)configured threshold. The target WTRU's transmission power is less than the (pre)configured threshold. The available energy of the target WTRU is less than the (pre)configured threshold. The available sensing duration of the WTRU exceeds the (pre)configured threshold. The QoS latency requirement for obstacle sensing exceeds the (pre)configured threshold. For example, in monostatic sensing, the WTRU can transmit, measure, and estimate the location of obstacles. It can avoid the additional signaling between multiple entities (e.g., measurement data collection, measurement reporting) that might be required in bistatic sensing, thus avoiding the resulting delays, and / or... The available bandwidth for sensing of the WTRU exceeds the (pre)configured threshold. In one example, if the above conditions are not met, WTRU can determine not to perform monobase sensing.

[0476] In some representative embodiments, the WTRU can determine whether to perform bistatic or monostatic sensing.

[0477] In one example, the WTRU can determine whether to perform monostatic or bistatic sensing based on (at least) any of the following conditions: The expected bistatic RTT associated with the WTRU and the target WTRU is greater than the (pre)configured bistatic threshold_max. The expected bistatic RTT associated with the WTRU and the target WTRU is less than the (pre)configured bistatic threshold_min. The expected single-base RTT associated with WTRU is greater than the (pre-)configured single-base threshold. The distance between the WTRU and the obstacle is greater than the (pre)configured threshold. The distance between the target WTRU and the obstacle is greater than the (pre)configured threshold. The distance between the WTRU and the target WTRU is greater than the (pre)configured threshold. The WTRU's transmission power is less than the (pre)configured threshold. The target WTRU's transmission power is less than the (pre)configured threshold. The available duration of the WTRU for sensing is less than the (pre)configured threshold. The available duration for sensing of the target WTRU is less than the (pre)configured threshold. The available bandwidth for sensing of the WTRU is less than the (pre)configured threshold. The target WTRU has less than the (pre)configured bandwidth available for sensing. Obstacles with a priority lower than the (pre)configured threshold The available energy for sensing by the WTRU is less than the (pre)configured threshold. The target WTRU has less than a (pre-)configured threshold available energy for sensing. The uncertainty of the WTRU's location exceeds the (pre)configured threshold. The uncertainty of the target WTRU's location exceeds the (pre)configured threshold, and / or Clock synchronization offset between the WTRU and the target WTRU known to the WTRU.

[0478] In some representative embodiments, the WTRU can respond to a bistatic sensing request.

[0479] In one example, the WTRU can respond to bistatic sensing requests, such as via side link-specific signals (e.g., SCI, SL-MAC-CE, and / or PC5-RRC messages).

[0480] In one example, the WTRU can accept a bistatic sensing request and respond to accept the bistatic sensing request (e.g., "yes" or ACK).

[0481] In one example, the WTRU can determine to perform monostatic sensing for obstacle location and can respond to bistatic sensing requests by rejecting the request (e.g., "No" or NACK).

[0482] In one example, the WTRU can determine not to perform any sensing and can respond by rejecting the bibase sensing request (e.g., "No" or NACK).

[0483] SL-PRS / SRSp configuration In some representative embodiments, if it is determined that bistatic or monostatic sensing is to be performed, the WTRU can be configured with resources for transmitting and / or receiving.

[0484] In some representative embodiments, the WTRU can receive configuration for bistatic sensing.

[0485] In one example, if the WTRU determines and responds to a request to perform bistatic sensing, the WTRU can receive (at least) any of the following from the target WTRU: Measurement window indication / configuration: In one example, the WTRU can receive an indication to activate a measurement window, which may have been (pre-)configured to the WTRU or indicated during a bistatic sensing request. In another example, the WTRU can receive configuration for a new measurement window from the target WTRU, and / or In another example, if the WTRU can be (pre-)configured with an SL-PRS resource pool, the WTRU can receive an indication of the resource pool that may contain the measurement window to be activated. Auxiliary measurement information that can assist WTRU: For example, the WTRU can receive the configured SL-PRS resource ID and SL-PRS resource group ID, which may be reflected from obstacles. For example, WTRU can receive any combination of symbol / slot number, bandwidth, comb value, and periodicity. For example, the WTRU can receive the expected RTT range (e.g., expressed as symbol index, slot index, frame index, absolute time, relative time with respect to a reference point (e.g., the start time of the measurement window)) when it can receive reflections from obstacles. For example, the WTRU can receive the expected AoA range (e.g., relative to absolute orientation (e.g., geographic north), target WTRU orientation, anchor point WTRU orientation) associated with the (rough) location of the obstacle, and / or For example, the WTRU can receive the transmission type (e.g., periodic, semi-persistent, aperiodic), and can also indicate the periodicity of the transmission (if relevant); and / or Supporting reporting information that characterizes one of the following parameters: For example, the WTRU can receive report times (e.g., based on symbol index, slot index, frame index, absolute time, or relative time relative to a reference point (e.g., the end of the measurement window)). For example, the WTRU may receive a reporting frequency (e.g., periodicity) and / or its periodicity along with report triggering, and / or For example, WTRU can receive priorities associated with reported measurements and / or estimates.

[0486] In some representative embodiments, the WTRU can activate the measurement window and / or be configured for bistatic sensing.

[0487] In one example, the WTRU can receive an instruction from the target WTRU (e.g., via SCI, SL-MAC CE) to activate the measurement window configuration.

[0488] In one example, the WTRU can receive the sent SL-PRS resources and perform the configured measurements.

[0489] In one example, WTRU can determine the location and / or velocity of an obstacle based on measurements and other auxiliary information.

[0490] In one example, the WTRU can report at least one of the following to the target WTRU: The location of the obstacle and / or the associated range of uncertainty. The range of uncertainty regarding the obstacle's velocity and / or associated uncertainty. Measurements associated with obstacles (e.g., RTT, AoA, RSRP). Uncertainty of measurements associated with obstacles, and / or Timestamps associated with obstacle position and / or velocity measurements.

[0491] In some representative embodiments, the WTRU can determine the SRSp configuration for monobase sensing.

[0492] In one example, if the WTRU determines to perform single-base sensing, it can determine the SRSp configuration, which includes (for example, at least) any of the following: Time configuration: For example, WTRU can choose a configuration with different numbers of symbols (e.g., 2 symbols per resource, 12 symbols per resource). For example, WTRU can select / determine the configuration of each resource having N1 OFDM symbols under at least one of the following conditions: The distance between the WTRU and the obstacle is less than the (pre)configured threshold. The single-base RTT threshold is less than the (pre)configured threshold. The QoS accuracy requirements based on time-based location estimation exceed the (pre)configured threshold. The available energy of the WTRU exceeds the (pre)configured threshold. The available sensing duration of the WTRU is less than the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The uncertainty of the obstacle's location exceeds the (pre)configured threshold. The uncertainty of the WTRU location exceeds the (pre)configured threshold, and / or Obstacles have a higher priority than the (pre)configured threshold for WTRU. Alternatively, WTRU can choose a configuration of N2 OFDM symbols. In one example, N1 can be greater than N2; Frequency configuration: For example, WTRU can be configured with varying allocated bandwidth (e.g., 100 RB, 60 RB). For example, WTRU can be configured with different comb shapes (e.g., comb 2, comb 12). o Under any of the following conditions (e.g., at least), the WTRU can select / determine a set of frequency configurations (e.g., with bandwidth allocation M1 (e.g., 100 MHz), Comb-N1 configuration): The distance between the WTRU and the obstacle is less than the (pre)configured threshold. The single-base RTT threshold is less than the (pre)configured threshold. The QoS accuracy requirements based on time-based location estimation exceed the (pre)configured threshold. QoS latency requirements exceeding the (pre)configured threshold The available energy of the WTRU exceeds the (pre)configured threshold. The available sensing duration of the WTRU is less than the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. Obstacles have a higher priority than the (pre)configured threshold for WTRU. The uncertainty of the obstacle's location exceeds a (pre)configured threshold, and / or The uncertainty of the WTRU location exceeds the (pre)configured threshold. Alternatively, the WTRU can select another set of frequency configurations (e.g., with bandwidth allocation M2 (e.g., 50 MHz), Comb-N2 configuration); Periodic configuration: For example, WTRU can select a configuration corresponding to different SRSp resource periodicities (e.g., 1 time slot, 5 time slots). WTRU can choose a periodicity configuration of P1 under at least one of the following conditions: The distance between the WTRU and the obstacle is less than the (pre)configured threshold. The single-base RTT threshold is less than the (pre)configured threshold. The obstacle's speed exceeds the (pre)configured threshold. The assigned sensing duration is less than the (pre)configured threshold. QoS latency requirements exceeding the (pre)configured threshold Available sensing energy exceeds a (pre)configured threshold, and / or Obstacles have a higher priority than the (pre)configured threshold for WTRU. Otherwise, WTRU can be configured with a periodicity of P2; and / or Space configuration: For example, WTRU can select spatial configurations (e.g., AoD of SRSp resources, beamwidth, spatial coverage). For example, WTRU can determine the priority of SRSp resources, making The difference between the AoD of the selected SRSp resource and the expected AoD / AoA of the obstacle is less than the (pre)configured threshold. For example, the WTRU can determine the preferred SRSp resource with a beamwidth of X1 degrees based on (at least) any of the following conditions: The distance between the WTRU and the obstacle is less than the (pre)configured threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold, and / or The uncertainty of the WTRU location exceeds the (pre)configured threshold. If the above conditions are not met, WTRU can determine to prioritize another resource with a beamwidth of X2 degrees. For example, the WTRU can select / determine a (sub)group of SRSp resources such that the coverage angle is C1 degrees (e.g., 60 degrees) under at least one of the following conditions: The distance between the WTRU and the obstacle is less than the (pre)configured threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold, and / or The uncertainty of the WTRU location exceeds the (pre)configured threshold. Alternatively, WTRU can determine another coverage angle C2 degrees (e.g., 15 degrees).

[0493] In another example, WTRU can determine SRSp resources from a set of (pre)configured SRSp resources based on any of the above conditions.

[0494] In another example, the WTRU can (e.g., explicitly) request and receive one or more SRSp configurations for monobase sensing from the network.

[0495] In some representative embodiments, the WTRU can send, receive, and measure SRSp resources configured for monobase sensing.

[0496] In one example, the WTRU can transmit configured SRSp resources at indicated time and frequency resources, and can receive resources reflected back from obstacles. The WTRU can measure any of the following from the received resources: monostatic RTT, RSRP, Doppler frequency, etc. The WTRU can use these measurements to locate obstacles.

[0497] In one example, WTRU can report at least one of the following to the network: The location of the obstacle and / or the associated range of uncertainty. The range of uncertainty regarding the obstacle's velocity and / or associated uncertainty. Measurements associated with obstacles (e.g., RTT, AoA, RSRP). Uncertainty of measurements associated with obstacles, and / or Timestamps associated with obstacle position and / or velocity measurements.

[0498] WTRUs can send measurement reports to network and / or peer WTRUs via lower-level or higher-level signals, such as UCI, MAC CE, RRC, LPP, and / or SLPP.

[0499] In a representative embodiment, the WTRU (e.g., an anchor point) can receive DL-PRS and SRSp configuration information (e.g., for sensing) from the network. The DL-PRS configuration and / or SRSp configuration may include any of the following: obstacle location, TRP location, bistatic time thresholds (e.g., threshold_min, threshold_max), and / or monostatic thresholds. The WTRU can receive bistatic sensing requests (e.g., carrying a measurement window) from the network. For example, the WTRU may determine to perform bistatic sensing and accept a bistatic sensing request (e.g., respond "yes") based on any of the following: the expected bistatic RTT is greater than threshold_min (e.g., outside the fuzzy range) and / or less than threshold_max (e.g., below the maximum range), and / or the expected monostatic RTT is greater than the monostatic RTT threshold. For example, the WTRU may determine to perform monostatic sensing and reject a bistatic sensing request (e.g., respond "no") based on the expected monostatic RTT being less than the monostatic threshold. For example, the WTRU can determine not to perform any (e.g., bistatic and monostatic) sensing based on the expected bistatic RTT and monostatic RTT exceeding the threshold_max and monostatic threshold, respectively, and reject the bistatic sensing request (e.g., respond "No"). The WTRU can configure resources for transmission and / or reception. If the WTRU responds "Yes," the WTRU can activate the measurement window and receive DL-PRS for bistatic sensing in the DL-PRS resource. If the WTRU responds "No," and it determines to perform monostatic sensing, the WTRU can configure SRSp resources for monostatic sensing and transmit and receive SRSp in the SRSp resource.

[0500] Bistatic obstacle prioritization for multiple bistatic sensing requests In some representative embodiments, the WTRU may be pre-configured with one or more SL-PRS configurations.

[0501] FIG. 22 This is a system diagram showing requests for bistatic sensing and priority assignment from multiple target WTRUs.

[0502] In one example, WTRU 102 (e.g., anchor WTRU 904, FIG. 22 ) can send SL-PRS configuration requests (e.g., for sensing) to the network (e.g., LMF, gNB, another WTRU, or an entity that configures reference signals for the WTRU) via higher-layer signaling (e.g., MAC-CE and / or RRC) or via LPP messages in uplink physical channels (e.g., PUSCH and / or PUCCH).

[0503] In one example, the WTRU may receive one or more sets of SL-PRS configurations from a network (e.g., LMF, gNB), which may include any of the time, frequency, periodicity, and / or spatial configurations. In one example, in the case of multiple configuration groups, the target WTRU may also receive an index (e.g., SL-PRS configuration ID) associated with each configuration or configuration group.

[0504] Discovery process In some representative embodiments, the WTRU can receive discovery messages from one or more target WTRUs.

[0505] In one example, the network can pre-configure one or more resource pools for WTRUs, which contain resources for receiving data from other nearby WTRUs (e.g., FIG. 21 The discovery message of the target WTRU (e.g., SCI, data).

[0506] In another example, the WTRU may receive a resource pool that includes resources for (e.g., in an SIB message) receiving discovery messages from the network.

[0507] In one example, if the WTRU is pre-configured with a resource pool for discovery messages, the WTRU can monitor and receive discovery messages from multiple nearby target WTRUs.

[0508] In another example, a WTRU can receive discovery messages from multiple nearby target WTRUs, such as via the PC5 interface or any other interface that allows connections between WTRUs.

[0509] In some representative embodiments, the WTRU can receive auxiliary information and conditions in the discovery message.

[0510] In one example, the WTRU may receive any of the following: target WTRU information, obstacle information, and / or requests, such as (for example, at least) any of the following: Target WTRU information: o Target WTRU ID (e.g., RNTI) or any other ID used to identify the target WTRU, o Target WTRU location and / or associated uncertainty range, o Target WTRU coverage information (e.g., within the coverage area, cell ID). o Target WTRU sensing area (e.g., maximum monobase RTT threshold). o (maximum) transmission power, o Synchronization source information (e.g., time / frequency / phase synchronization), and / or o Supported frequency ranges (e.g., FR1, FR2) and / or the (maximum) bandwidth of SCS and / or SL-PRS; Obstacle information: o Obstacle location and / or uncertainty range, o Obstacle velocity and / or uncertainty range, o QoS requirements for obstacle locations (e.g., accuracy, latency, reliability requirements), and / or o Methods for determining the location of obstacles (e.g., via a network, via monostatic sensing); and / or Required WTRU capacity: o The ability to estimate its location, o The ability to perform side link measurements (e.g., time, angle, frequency, frequency shift), The ability to execute specific positioning methods (e.g., RTT). o The ability to obtain the location coordinates of obstacles from measurements o The ability to report its location to the network, WTRU (e.g., server WTRU), The ability to report the location of obstacles to the network and WTRUs (e.g., server WTRUs). The ability to report measurements to the network and WTRUs (e.g., server WTRUs). o Sensing duration (e.g., start time, duration, stop time) o The temporal resolution threshold required for time-related localization methods (e.g., RTT, TDoA) The required angular resolution threshold for angle-dependent localization methods (e.g., AoD, AoA). o The velocity resolution threshold required for velocity-dependent localization methods, and / or o The minimum energy threshold required.

[0511] In one example, the WTRU can also receive requests to send auxiliary information to the network, such as either anchor WTRU information and / or anchor WTRU capability information.

[0512] In some representative embodiments, the WTRU can respond to a discovery message.

[0513] In one example, WTRU may determine the response discovery message based on (for example, at least) any of the following conditions: The distance between the oWTRU and the obstacle is less than the (pre)configured distance threshold. The uncertainty of the obstacle's location exceeds a (pre)configured threshold. The obstacle's speed exceeds a (pre-)configured threshold. The uncertainty of the obstacle's velocity exceeds the (pre)configured threshold. The transmission power of the target WTRU exceeds the (pre)configured threshold. The distance between the target WTRU and the obstacle is less than the (pre)configured threshold. During the sensing duration, its priority relative to other RSs (e.g., PDSCH) is lower than a (pre)configured threshold. Clock synchronization offset between oWTRU and the known target WTRU. o Known clock synchronization source (e.g., GNSS, network, peer-to-peer WTRU) oWTRU supports the indicated sensing frequency range of the target WTRU. o The energy requirement for sensing exceeds the (pre-)configured threshold. oWTRU supports the required measurement capabilities (e.g., self-positioning capability, ability to perform configuration measurements (e.g., RTT), and ability to meet time / angle / velocity resolution requirements). oWTRU supports the required processing power (e.g., the ability to perform FFT calculations on the required time samples and / or frequency samples), and / or oWTRU supports the required reporting capabilities (e.g., the ability to report the location / measurement of obstacles to the indicated entity, such as a network).

[0514] In one example, WTRU can determine whether to include an acceptance (e.g., "yes" or ACK) or a rejection (e.g., "no" or NACK) of the request in the discovery message in its response.

[0515] In one example, the WTRU can (and may also) determine whether to send auxiliary information to the target WTRU in response to a discovery message. The WTRU can send (at least) any of the following: Anchor point WTRU information: o Anchor WTRU ID (e.g., RNTI) or any other ID used to identify the anchor WTRU. o Anchor point WTRU location and / or its uncertainty range o Anchor point WTRU velocity and / or its uncertainty range o Anchor point WTRU coverage information (e.g., within coverage, outside coverage, cell ID), and / or o Anchor point WTRU duplex information (e.g., full-duplex WTRU); and / or Anchor point WTRU capability information: o (maximum) transmission power, o Supported sensing methods (e.g., RTT) o Supported measurements (e.g., ToA, RSTD, AoA) o The maximum number of obstacles supported o can sense the start time and duration, and / or Available WTRU energy.

[0516] Bistatic Sensing Request In some representative embodiments, the WTRU can receive bistatic sensing requests from one or more target WTRUs.

[0517] In one example, the WTRU can receive bistatic sensing requests from multiple target WTRUs, such as via one of the side link-specific signals (e.g., SCI, SL-MAC-CE, and / or PC5-RRC messages).

[0518] In one example, a request from a target WTRU may include an indication of the amount of resources each target WTRU can send. For example, a WTRU may receive (at least) any of the following: Bipolar RTT thresholds (e.g., threshold_min and threshold_max). Measurement window configuration: The start or end time of the o window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time with respect to a reference point). The duration of the o window (e.g., expressed in the number of symbols, time slots, frames, subframes, or seconds), and / or The periodicity of the o window (e.g., expressed in the number of symbols, time slots, frames, subframes, and seconds); Sensing window configuration: The start or end time of the o window (e.g., expressed as symbol index, slot index, frame index, absolute time, or relative time with respect to a reference point). The duration of the o window (e.g., expressed in the number of symbols, time slots, frames, subframes, or seconds), and / or For example, the sensing window can indicate that the anchor point WTRU may need to reserve time for sensing; QoS requirements for obstacle locations (e.g., accuracy, latency, reliability); SL-PRS transmission bandwidth (e.g., expressed in RB, Hz); The total allocated energy (e.g., in Joules) of the target WTRU used for sensing; and / or Transmission power rating (e.g., an indication of path loss RS used to determine power, a relative power difference relative to path loss RS, or transmission power).

[0519] In some representative embodiments, the WTRU can receive a bipolar RTT threshold from the network.

[0520] In one example, the WTRU can receive bipolar RTT thresholds (e.g., threshold_max, threshold_min) from the network. For example, each threshold can be specific (e.g., unique) to each target WTRU.

[0521] In another example, the WTRU can receive bibase RTT thresholds (e.g., threshold_max, threshold_min) from multiple target WTRUs. For example, each threshold can be specific (e.g., unique) to each target WTRU.

[0522] In some representative embodiments, the WTRU can autonomously determine the bistatic RTT threshold from the network.

[0523] In another example, WTRU can implicitly determine the bibase threshold based on auxiliary information. For instance, WTRU can determine threshold_max (e.g., Y1 ms) based on (at least) any of the following conditions: The target WTRU's maximum transmit power exceeds the (pre)configured threshold. QoS accuracy requirements are lower than the (pre)configured threshold. QoS reliability requirements are lower than the (pre)configured threshold. The obstacle's speed is less than the (pre-)configured threshold. The uncertainty of the WTRU location is below the (pre)configured threshold. The uncertainty of the target WTRU location is lower than the (pre)configured threshold, and / or The distance between the WTRU and the target WTRU is greater than the (pre)configured threshold.

[0524] For example, otherwise WTRU could determine another threshold_max (e.g., Y2 ms).

[0525] For example, if the configured bandwidth is less than the (pre)configured threshold, WTRU can determine threshold_min (e.g., Z1ms), otherwise determine another threshold (e.g., Z2ms).

[0526] In another example, the WTRU can also be configured with one or more sets of bibase thresholds, threshold_max and threshold_min (e.g., via tables and / or formulas), which depend on various values ​​of the parameters mentioned above. The WTRU can then select appropriate threshold_min and threshold_max from the (pre)configured threshold set based on determined values ​​of one or more parameters.

[0527] Obstacle / Target WTRU Selection In some representative embodiments, the WTRU can determine the priority of obstacles. For example, in FIG. 22 In the process, obstacle 1202a can be identified as high priority, and obstacle 2202b can be identified as medium priority.

[0528] In one example, WTRU can determine obstacle priority based on obstacle information and / or target WTRU information.

[0529] In one example, the WTRU can determine its priority for obstacles based on (at least) any of the following conditions: UE location and / or associated uncertainty range, UE speed and / or associated uncertainty range, The location of the obstacle and / or the associated range of uncertainty, and / or The range of uncertainty related to the obstacle's velocity and / or associated uncertainty.

[0530] In one example, the WTRU can determine the priority of each target WTRU for obstacles based on (for example, at least) any of the following: The target WTRU location and / or associated uncertainty range, The target WTRU speed and / or the associated uncertainty range, The location of the obstacle and / or the associated range of uncertainty, and / or The range of uncertainty related to the obstacle's velocity and / or associated uncertainty.

[0531] For example, in FIG. 22 In this context, target WTRU 102c can be identified as low priority, target WTRU 102b can be identified as high priority, and target WTRU 102a can be identified as high priority.

[0532] In another example, the WTRU can receive its priority and / or the priority of one or more target WTRUs from the network based on the parameters described above.

[0533] In another example, the WTRU can receive the priority of one or more obstacles from the corresponding target WTRU.

[0534] In some representative embodiments, the WTRU can select an obstacle-target WTRU pair for bistatic sensing.

[0535] In one example, the WTRU can determine to select one or more obstacles and associated target WTRUs as a bistatic sensing pair.

[0536] In one example, the WTRU can determine a subgroup of obstacle-target WTRU pairs that can be applied to bistatic sensing based on (e.g., at least) any of the following conditions: WTRU determines that the obstacle is within the bistatic sensing range: The expected bibase RTT associated with the target WTRU is less than the (pre)configured threshold_max. o The expected bipolar RTT associated with the target WTRU is greater than the (pre)configured threshold_min, and / or The speed of the oWTRU is less than the (pre)configured threshold; The obstacle priority of WTRU is higher than the (pre)configured threshold: The distance between the oWTRU and the obstacle is less than the (pre)configured threshold. oWTRU's speed exceeds the (pre)configured threshold. The relative speed between the oWTRU and the obstacle exceeds the (pre)configured threshold. The uncertainty of the oWTRU location exceeds the (pre)configured threshold, and / or The uncertainty of the oWTRU speed exceeds the (pre)configured threshold; The obstacle priority of the target WTRU is higher than the (pre)configured threshold: The distance between the target WTRU and the obstacle is less than the (pre)configured threshold. The target WTRU's speed exceeds the (pre)configured threshold. The relative speed between the target WTRU and the obstacle exceeds a (pre)configured threshold. The uncertainty of the target WTRU location exceeds the (pre)configured threshold, and / or The uncertainty of the target WTRU speed exceeds the (pre)configured threshold. The target WTRU indicates a sensing duration less than a (pre)configured threshold; and / or The overlap between the sensing window indicated by the target WTRU and the sensing window of the WTRU exceeds the (pre)configured threshold.

[0537] In one example, WTRU can be configured via the network with conditional thresholds and / or weights for each of the conditions mentioned above.

[0538] For example, such as FIG. 22 As shown, the WTRU can determine the priority of obstacle 1 202a and obstacle 2 202b from its own perspective and / or from the perspective of the target WTRU. For example, the priority can be determined from the perspective of each WTRU. Subsequently, the WTRU can select the target WTRU based on the thresholds listed above.

[0539] In some representative embodiments, the WTRU can determine the total number of (e.g., unique) obstacles used for bistatic sensing.

[0540] In one example, since the WTRU can select multiple target WTRU-obstacle pairs associated with different target WTRUs but the same obstacle, the WTRU can determine the total number of individual (e.g., unique) obstacles selected.

[0541] In one example, WTRU can determine whether two requests correspond to the same obstacle based on (for example, at least) any of the following conditions: The distance between the two obstacles is less than the (pre)configured threshold. In one example, this threshold could also depend on the uncertainty of the obstacle's location. For instance, if the uncertainty of the obstacle's location, indicated by at least one requesting target WTRU, exceeds a (pre)configured threshold, the WTRU could determine a large threshold. The speed difference between obstacles is less than a (pre-)configured threshold; and / or The difference in expected AoA for bistatic sensing of two obstacles is less than the (pre)configured threshold.

[0542] In some representative embodiments, the WTRU can select a target WTRU for bistatic sensing for each obstacle.

[0543] In one example, the WTRU can determine the maximum number of target WTRUs supporting bistatic sensing for each obstacle. The WTRU can determine this value based on (at least) any of the following conditions: WTRU's QoS requirements for sensing each obstacle: For example, WTRUs can associate the total number of target WTRUs for each obstacle with the QoS requirements of the WTRUs, and / or For example, if the QoS accuracy and / or reliability requirements exceed the (pre)configured threshold, the WTRU can be associated with one target total number of WTRUs for each obstacle (e.g., 3), otherwise associated with another target total number of WTRUs (e.g., 1). Remaining sensing duration of WTRU: For example, the WTRU can correlate the total number of target WTRUs for each obstacle with the remaining sensing duration of the WTRU, and / or For example, if the remaining sensing duration exceeds a (pre)configured threshold, the WTRU can be associated with one target WTRU total for each obstacle (e.g., 3), otherwise associated with another target WTRU total (e.g., 1); and / or Remaining sensing energy of the WTRU: For example, the WTRU can correlate the total number of target WTRUs for each obstacle with the remaining sensing energy of the WTRU, and / or For example, if the sensed energy exceeds a (pre)configured threshold, the WTRU can be associated with one target WTRU total for each obstacle (e.g., 3), otherwise it can be associated with another target WTRU total (e.g., 1).

[0544] In another example, the network can be (pre-)configured for WTRUs to support the maximu...

Claims

1. A method implemented by a wireless transmit / receive unit (WTRU), the method comprising: Receive information indicating the following: (i) a configuration of multiple Detection Reference Signals (SRSp) for positioning; (ii) A first time threshold and a second time threshold associated with the plurality of SRSp configurations; And (iii) auxiliary information indicating the locations of multiple Transmit / Receive Points (TRPs); Detect the location of obstacles; A first group of TRPs is selected from the plurality of TRPs, wherein each TRP in the first group is associated with the round-trip time (RTT) between the obstacle location and the TRP location of the corresponding TRP, the RTT being greater than a first time threshold and less than a second time threshold; Send an uplink bistatic sensing request to the network, the uplink bistatic sensing request including information indicating the following: (i) the first group; (ii) the location of the obstacle; and (iii) the WTRU location of the WTRU; Receive uplink bistatic sensing confirmation from the network, the uplink bistatic sensing confirmation including information indicating a second set of TRPs; Based on the first time threshold, the second time threshold, and the TRP location of the second group of TRPs, select one or more SRSp configurations from the plurality of SRSp configurations; as well as Use one or more SRSp resources from the selected one or more SRSp configurations to send one or more SRSps.

2. The method of claim 1, wherein the RTT between the obstacle location and the TRP location of the corresponding TRP is a bistatic RTT.

3. The method according to any one of claims 1 to 2, further comprising: The RTT is estimated between the location of the obstacle and the location of the corresponding TRP.

4. The method of any one of claims 1 to 3, wherein the selection of one or more SRSp configurations from the plurality of SRSp configurations is based on the first time threshold, the second time threshold, and the sensing coverage area associated with the location of the TRP of the second group of TRPs.

5. The method according to any one of claims 1 to 4, further comprising: Select one or more SRSp resources as a subgroup of resources to be included in the selected one or more SRSp configurations.

6. The method of any one of claims 1 to 5, wherein the departure angle (AoD) associated with the one or more SRSp resources is within the sensing coverage area associated with the location of the TRP of the second set of TRPs.

7. The method according to any one of claims 1 to 6, further comprising: Before sending the one or more SRSps, information indicating the one or more SRSp resources is sent to the network.

8. The method of any one of claims 1 to 7, wherein the obstacle position of the obstacle is detected using monobase sensing of the obstacle position.

9. The method of any one of claims 1 to 8, wherein the first group of TRPs is the same as the second group of TRPs.

10. The method of any one of claims 1 to 9, wherein at least one TRP differs between the first TRP and the second set of TRPs.

11. The method according to any one of claims 1 to 10, further comprising: Location information associated with the obstacle is received by one or more SRSps based on the transmitted data, which are received by the second group of TRPs.

12. A wireless transmit / receive unit (WTRU), comprising: A processor, a memory, and a transceiver, wherein the processor, the memory, and the transceiver are configured as follows: The system receives information indicating the following: (i) multiple probe reference signals (SRSp) configurations for positioning; (ii) a first time threshold and a second time threshold associated with the multiple SSRSp configurations; and (iii) auxiliary information indicating the locations of multiple transmit / receive points (TRPs). Detecting the location of obstacles. A first group of TRPs is selected from the plurality of TRPs, wherein each TRP in the first group is associated with the obstacle location and the round-trip time (RTT) between the TRP location and the corresponding TRP location, the RTT being greater than a first time threshold and less than a second time threshold. Send an uplink bistatic sensing request to the network, the uplink bistatic sensing request including information indicating the following: (i) the first group; (ii) the location of the obstacle; and (iii) the WTRU location of the WTRU, Receive uplink bistatic sensing confirmation from the network, the uplink bistatic sensing confirmation including information indicating a second set of TRPs. Based on the first time threshold, the second time threshold, and the TRP location of the second group of TRPs, one or more SRSp configurations are selected from the plurality of SRSp configurations, and Use one or more SRSp resources from the selected one or more SRSp configurations to send one or more SRSps.

13. The WTRU of claim 12, wherein the RTT between the obstacle location and the TRP location of the corresponding TRP is a bistatic RTT.

14. The WTRU of any one of claims 12 to 13, wherein the processor, the memory, and the transceiver are configured as follows: The RTT is estimated between the location of the obstacle and the location of the corresponding TRP.

15. The WTRU of any one of claims 12 to 14, wherein the selection of one or more SRSp configurations from the plurality of SRSp configurations is based on the first time threshold, the second time threshold, and the sensing coverage area associated with the location of the TRP of the second group of TRPs.

16. The WTRU of any one of claims 12 to 15, wherein the processor, the memory, and the transceiver are configured as follows: Select one or more SRSp resources as a subgroup of resources to be included in the selected one or more SRSp configurations.

17. The WTRU of any one of claims 12 to 16, wherein the departure angle (AoD) associated with the one or more SRSp resources is within the sensing coverage area associated with the location of the TRP of the second set of TRPs.

18. The WTRU of any one of claims 12 to 17, wherein the processor, the memory, and the transceiver are configured as follows: Before sending the one or more SRSps, information indicating the one or more SRSp resources is sent to the network.

19. The WTRU of any one of claims 12 to 18, wherein the processor, the memory, and the transceiver are configured to detect the obstacle position of the obstacle using monopolar sensing of the obstacle position.

20. The WTRU of any one of claims 12 to 19, wherein the first group of TRPs is the same as the second group of TRPs.

21. The WTRU of any one of claims 12 to 20, wherein at least one TRP differs between the first group of TRPs and the second group of TRPs.

22. The WTRU of any one of claims 12 to 21, wherein the processor, the memory, and the transceiver are configured to receive location information associated with the obstacle based on one or more SRSps transmitted and received by the second group of TRPs.

23. A network entity, comprising: A processor, a memory, and a transceiver, wherein the processor, the memory, and the transceiver are configured as follows: Send information to the wireless transmit / receive unit (WTRU) indicating the following: (i) multiple detection reference signals (SRSp) configurations for positioning; (ii) a first time threshold and a second time threshold associated with the multiple SRSP configurations; And (iii) auxiliary information indicating the locations of multiple Transmitter / Receiver Points (TRPs), The uplink bistatic sensing request is received from the WTRU, the uplink bistatic sensing request including information indicating the following: (i) a first WTRU preferred group TRP from the plurality of TRPs; (ii) a first obstacle location of the obstacle; and (iii) the WTRU location of the WTRU, wherein each TRP in the first group is associated with the obstacle location and the round-trip time (RTT) between the TRP location and the TRP location of the corresponding TRP, the RTT being greater than the first time threshold and less than the second time threshold. Send an uplink bistatic sensing acknowledgment to the WTRU, the uplink bistatic sensing acknowledgment including information indicating the selected group TRP of the second network, and Send information indicating the location of a second obstacle to the WTRU, wherein the location of the second obstacle is based on the second network selected group TRP receiving one or more SRSps using one or more SRSp resources in one or more of the plurality of SRSp configurations.

24. The network entity of claim 23, wherein the processor, the memory, and the transceiver are configured to select the second group of TRPs from the plurality of TRPs based on the first WTRU preferred group of TRPs.

25. The network entity of any one of claims 23 to 24, wherein the processor, the memory, and the transceiver are configured to receive one or more SRSps using one or more SRSp resources in the one or more SRSp configurations based on the second network selected group TRP, to determine the location of the second obstacle.

26. The network entity of any one of claims 23 to 24, wherein the processor, the memory, and the transceiver are configured as follows: Based on the second network selected group TRP, one or more SRSp resources in the one or more SRSp configurations are received to receive one or more SRSps, and location information is received from the second network selected group TRP. The location of the second obstacle is determined based on the received location information.

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