A method for enabling a sidelink positioning between a first wireless device and a second wireless device, a related controller node and a related wireless device

Abstract

A method is disclosed, performed by a controller node, for enabling a sidelink positioning between a first WD and a second WD. The method comprises obtaining positioning information indicative of an antenna configuration of one or more of the first WD and the second WD. The method comprises initiating a sidelink positioning procedure between the first WD and the second WD based on the positioning information.

Description

[0001] A METHOD FOR ENABLING A SIDELINK POSITIONING BETWEEN A FIRST WIRELESS DEVICE AND A SECOND WIRELESS DEVICE, A RELATED CONTROLLER NODE AND A RELATED WIRELESS DEVICE

[0002] The present disclosure pertains to the field of wireless communications. The present disclosure relates to methods for enabling sidelink positioning between a first wireless device (WD) and a second WD, such as for positioning of an object associated with one of the WDs, a related wireless device and a related controller node.

[0003] BACKGROUND

[0004] In 3rdGeneration Partnership Project (3GPP) based positioning, a location of a wireless device (WD) to be positioned is estimated based on a location of an antenna, such as an antenna panel, of the WD. Different methods are defined for 3GPP-based positioning, where most legacy methods are based upon a traditional approach of utilizing fixed transmission points (TRPs) and their locations as references. It has recently been decided that 3GPP sidelink (SL) communication will also have a positioning feature. Sidelink communication has been used as part of 3GPP New Radio (NR) Vehicle to Everything (V2X). In the NR V2X context, a radio network node communicates directly with the WD using the Uu interface. The WD in V2X can be a roadside unit (RSU) (such as a traffic light or a signpost with a communication module attached to it), a car having a communication module, a WD associated with a pedestrian and / or cyclist (a so-called vulnerable road user (VRU)), etc. The WDs can communicate with each other via a sidelink, such as using a PC5 interface. Communication between WDs uses radio resources. If the WDs are within cell coverage of the radio network node, the radio network node allocates the radio resources. For example, the radio network node can define the radio resources to be used for SL communication. This may be referred to as Mode 1 . In one or more examples, one of the WDs in the sidelink, such as a master WD, may allocate resources for the sidelink communication. This may be referred to as Mode 2 sidelink communication.

[0005] For SL positioning, the WD may be configured to transmit sidelink positioning reference signals (SL-PRSs) in a PC5 link, similarly to downlink positioning reference signals (DL-PRS) and uplink sounding reference signals (UL-SRS) over a Uu link between the WD and a radio network node. The WD to be positioned, which may also be referred to as a target WD, may receive the SL- PRSs and may perform positioning measurements on the SL-PRSs. SL positioning will have a feature of absolute positioning, but also a feature of ranging, where relative distances or directions between WDs are measured. Previously, the standard physical size of a WD has been the size of a smartphone. However, in recent years, the form factor of a WD has changed with the introduction of Internet of Things (loT). By the incorporation of WDs into other objects, the WD may be associated with a small or even tiny object, such as a mobile phone or an RFID tag, but also an object larger than a mobile phone, such as home appliances, vehicles, etc. Simultaneously, the accuracy for 3GPP-based positioning has also gradually improved over the years or, more specifically, over 3GPP releases and types of wireless devices. The positioning accuracy has, during the last couple of years, improved from several tens of meters for LTE-based loT device types down to tens of centimeters for the latest 3GPP Rel. 17 NR specification supporting commercial requirements.

[0006] However, the increase of positioning accuracy in combination with the increase in WD size, such as the size of the object associated with the WD, may lead to the positioning of the WD being narrower than the actual size of the object WD. This may lead to an inaccurate determination of a position of the target WD. This is especially problematic during, for example, a SL V2X scenario, where an inaccurate determination of a position of an object to which a WD is attached in relation to other WDs, such as during ranging of the WD, can lead to collisions.

[0007] SUMMARY

[0008] Accordingly, there is a need for devices and methods for positioning of the WD, which may mitigate, alleviate, or address the shortcomings existing and may provide a more accurate determination of the position of the WD.

[0009] A method is disclosed, performed by a controller node, for enabling a sidelink positioning between a first WD and a second WD. The method comprises obtaining positioning information, such as positioning capability information, indicative of an antenna configuration of one or more of the first WD and the second WD. The method comprises initiating a sidelink positioning procedure between the first WD and the second WD based on the positioning information. Further, a controller node is provided, the controller node comprising memory circuitry, processor circuitry, and a wireless interface, wherein the controller node is configured to perform any of the methods disclosed herein and relating to the controller node.

[0010] It is an advantage of the present disclosure that the controller node, based on the positioning information, can determine one or more antenna panels to be used by the first and / or the second WD during a sidelink positioning procedure. The controller node can then configure the first WD and / or the second WD to use the determined one or more antenna panels during the sidelink positioning procedure. By configuring the first WD and / or the second WD to use only antenna panels required to be involved in a positioning procedure, latency can be minimized by reducing the number of transmissions required for positioning the target WD or by simultaneously transmitting reference signals using multiple antenna panels. This may also reduce power consumption of the first WD and / or the second WD. In other words, the controller node can enable a more accurate determination of a target WDs position, orientation and / or direction of movement, a reduced latency, and / or a reduced power consumption of the first and / or second WDs.

[0011] A method is disclosed, performed by a first WD comprising a plurality of distributed antenna panels, for performing a sidelink positioning between the first WD and a second WD. The method comprises providing, to a controller node, positioning information indicative of an antenna configuration of the first WD. The method comprises performing a sidelink positioning procedure with the second WD based on the positioning capability.

[0012] Further, a wireless device is provided, the wireless device comprising memory circuitry, processor circuitry, and a wireless interface, wherein the wireless device is configured to perform any of the methods disclosed herein and relating to the first WD.

[0013] It is an advantage of the present disclosure that the first WD may inform the controller node about its positioning information, such as positioning capability information, which enables the controller node to determine one or more antenna panels to be used by the first WD during a sidelink positioning procedure with a second WD. The first WD can then be configured by the controller node to use one or more of the first WD’s antenna panels during the sidelink positioning procedure. By the first WD being configured to use only antenna panels required to be involved in a positioning procedure, latency can be minimized by reducing the number of transmissions required for positioning the target WD or by simultaneously transmitting reference signals using multiple antenna panels. This may also reduce power consumption of the first WD during the sidelink positioning procedure. In other words, the first WD can provide a more accurate determination of a target WDs position, such as of its own position when the first WD is the target WD orientation and / or direction of movement, a reduced latency, and / or a reduced power consumption of the first WD.

[0014] BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other features and advantages of the present disclosure will become readily apparent to those skilled in the art by the following detailed description of examples thereof with reference to the attached drawings, in which:

[0016] Fig. 1 is a diagram illustrating an example wireless communication system comprising an example network node and an example wireless device according to this disclosure, Fig. 2 illustrates an example scenario for sidelink positioning between two WDs following each other and having a plurality of antenna panels,

[0017] Fig. 3 illustrates an example scenario for sidelink positioning between two WDs approaching each other and having a plurality of antenna panels,

[0018] Fig. 4 is a flow-chart illustrating an example method, performed in a controller node, for for enabling a sidelink positioning between a first WD and a second WD according to this disclosure,

[0019] Fig. 5 illustrates an example scenario for estimating an orientation of a target WD based on positioning measurement reports from more than one antenna panel according to this disclosure,

[0020] Fig. 6 illustrates an example scenario for estimating a velocity vector, such as a direction of travel, of a target WD based on positioning measurement reports from more than one antenna panel according to this disclosure,

[0021] Fig. 7 is a flow-chart illustrating an example method, performed in a wireless device of a wireless communication system, for performing a sidelink positioning between the first WD and a second WD according to this disclosure,

[0022] Fig. 8 is a block diagram illustrating an example controller node according to this disclosure,

[0023] Fig. 9 is a block diagram illustrating an example wireless device according to this disclosure,

[0024] Fig. 10 is a signaling diagram illustrating an example message exchange between a first WD and a controller node during positioning information signaling according to the current disclosure,

[0025] Fig. 11 is a signaling diagram illustrating an example message exchange between a first WD, one or more second WDs and a controller node during a sidelink positioning procedure according to the current disclosure, and

[0026] Fig. 12 is a signaling diagram illustrating an example message exchange between a first WD, one or more second WDs and a controller node for a combined positioning capability exchange and a sidelink positioning procedure according to the current disclosure. DETAILED DESCRIPTION

[0027] Various examples and details are described hereinafter, with reference to the figures when relevant. It should be noted that the figures may or may not be drawn to scale and that elements of similar structures or functions are represented by like reference numerals throughout the figures. It should also be noted that the figures are only intended to facilitate the description of the examples. They are not intended as an exhaustive description of the disclosure or as a limitation on the scope of the disclosure. In addition, an illustrated example needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular example is not necessarily limited to that example and can be practiced in any other examples even if not so illustrated, or if not so explicitly described.

[0028] The figures are schematic and simplified for clarity, and they merely show details which aid understanding the disclosure, while other details have been left out. Throughout, the same reference numerals are used for identical or corresponding parts.

[0029] Fig. 1 is a diagram illustrating an example wireless communication system 1 comprising an example core network (CN) node 600, an example radio network node 400 and one or more example wireless devices 300, 300A according to this disclosure.

[0030] As discussed in detail herein, the present disclosure relates to a wireless communication system 1 comprising a cellular system, for example, a 3GPP wireless communication system. The wireless communication system 1 comprises one or more wireless devices 300A, 300B, 300C and / or a network node 400 and / or a CN node 600.

[0031] A radio network node disclosed herein refers to a radio access network (RAN) node operating in the radio access network, such as a base station, an evolved Node B, eNB in 3GPP Long Term Evolution (LTE), gNB in 3GPP New Radio (NR). A gNB may have one or more Transmission and Reception Points (TRPs). In one or more examples, the RAN node is a functional unit which may be distributed in several physical units.

[0032] A CN node 600 disclosed herein refers to a network node operating in the core network, such as in the Evolved Packet Core Network, EPC, and / or a 5G Core Network, 5GC. Examples of CN nodes in EPC include a Mobility Management Entity (MME), Access & Mobility Management Function (AMF), a Session Management Function (SMF), and a Location Management Function (LMF).

[0033] A wireless device may refer to a mobile device and / or a user equipment, UE. In one or more examples herein, a wireless device may refer to a communication equipment comprising one or more antennas and being arranged to an object, such as to a vehicle, a drone, a traffic light, a home appliance etc.

[0034] The wireless communication system 1 described herein may comprise one or more wireless devices 300, 300A, and / or one or more radio network nodes 400, such as one or more of: a base station, an eNB, a gNB and / or an access point.

[0035] The wireless devices 300, 300A may be configured to communicate with the radio network node 400 via a wireless link (or radio access link) 10, such as an air interface (Uu interface). The wireless devices 300, 300A may be configured to communicate directly with each other via a sidelink 20, such as via a PC5 interface. The sidelink 20 is a wireless link. In one or more example methods, a positioning of a WD may be performed using Uplink (UL) and / or Downlink (DL) procedures via the Uu interface, in which the position of the WD is determined in relation to the radio network node 400. In one or more example methods, a positioning of a WD may be performed using SL positioning procedures via the PC5 interface, where the position of the WD is determined in relation to a second WD having a known position.

[0036] The core network node 600 may be configured to communicate with the radio network node 400 via a link 12, such as a wired and / or wireless link, and / or with the one or more wireless devices 300, 300A via the radio network node 400.

[0037] Sidelink communication may be used as part of NR-V2X. The WDs 300, 300A in V2X may be non-stationary WDs, such as WDs associated with objects such as vehicles having a communication module. The WDs 300, 300A, can communicate with each other over the sidelink 20, such as via the PC5 interface. The communication between the WDs 300, 300A uses radio resources. In case the WDs 300, 300A are within cell coverage of the radio network node 400, the radio resources may be allocated by the radio network node 400. For example, the radio network node 400 may define the radio resources to be used for the sidelink communication between the WDs 300, 300A. The radio network node 400 may grant the sidelink resources to a sidelink transmitting (Tx) WD via a downlink control channel. The Tx WD may be the WD that initiates the sidelink communication with a receiving (Rx) WD. Prior to the transmission of sidelink communication, the Tx WD may transmit a sidelink control information (SCI) through a sidelink control channel so that the sidelink Rx WD is aware of the upcoming sidelink transmission and is able to receive and decode it. The sidelink positioning procedure may be used to perform ranging between one or more of the WDs 300, 300A where relative distances or directions between the WDs are measured. The operation of sidelink resource allocation can be in two modes. In a first resource allocation mode, which may be referred to as Mode 1 resource allocation, the radio network node 400 performs the scheduling for the sidelink communications. This is typically the case when the sidelink WDs 300, 300A are operated in-coverage of the radio network node 400. In a second resource allocation mode, which may be referred to as Mode 2 resource allocation, one of the WDs 300, 300A participating in sidelink communication, autonomously selects the resources after performing a carrier-sensing operation. The resource allocation for Mode 2 may be performed by a master WD which may act as a controller node for controlling the sidelink communication. The second resource allocation mode, such as Mode 2, may operate both when the WDs are in coverage of a radio network node, as well as when they are out of coverage of the radio network node.

[0038] The network node controlling the sidelink positioning procedure, such as a location network node, a radio network node, and / or a master WD, may herein collectively be referred to as controller node(s) or master node(s).

[0039] Fig. 2 illustrates two WDs 300, 300A according to the current disclosure, in the current example the WDs 300 and 300A are vehicles, such as cars. The WDs 300, 300A may respectively comprise a plurality of antenna panels 3000, such as antenna panels 3000A, 3000B, 3000C, 3000D, 3000E. In the example shown in Fig. 2 and 3, the WD 300 is the target WD, such as the WD for which a sidelink positioning estimation is to be performed. When a sidelink positioning estimation of the WD 300 is performed, the estimated position of the WD 300 depends on the placement, such as the location and / or orientation of the antenna panels at the WD 300 and / or WD 300A transmitting or receiving the positioning signals, such as sidelink reference signals for positioning. This is due to the position of the WD being determined based on, for example, a propagation time and / or an RTT of the positioning signals to or from the antenna panel of the first WD 300 from or to a respective antenna panel of a positioning node, such as to a radio network node and / or the second WD 300A, participating in the positioning procedure. Acquiring the exact antenna panel location becomes even more essential given modern WDs’ higher accuracy capabilities and / or larger form factors of the objects associated with the WDs, such as the vehicles of Fig. 2. In the example shown in Fig. 2, the vehicles have different mounting points and / or positions for the antenna panels 3000A, 3000B, 3000C, 3000D, and 3000E. These mounting points may herein be referred to as antenna reference points (ARPs). The ARPs may be reference points within a global coordinate system (GCS) or a local coordinate system (LCS), such as a coordinate system of the vehicle. Using for example antenna panel 3000D of the first vehicle, such as of the first WD 300, to measure the distance to the second vehicle, such as the second WD 300A, in front of the first vehicle could lead to a significant static error in case the WD 300A is assumed to be for example a mobile phone, since a boundary of the vehicle extends far beyond the size of the mobile phone. This could lead to a static error of several meters which could be the difference between causing or avoiding a collision between the vehicle associated with WD 300A and the vehicle associated with the WD 300A. If the 3GPP accuracy requirement for positioning is 30 cm, a two meter static error introduced by panel 300AD to the front boundary of the vehicle could thus mean a difference between colliding and avoiding collision between the first vehicle associated with WD 300 and the second vehicle associated with WD 300A. In the example shown in Fig. 2, for the WDs 300, 300A, such as the first and second vehicles, the antenna panels 3000A may be mounted at a front bumper of the respective vehicle, antenna panels 3000E may be mounted at a rear bumper of the respective vehicle, antenna panels 3000D may be mounted at a rooftop of the respective vehicles, antenna panels 3000B may be mounted at a windshield of the respective vehicle, and antenna panels 3000C may be mounted at one of the front doors of the respective vehicle.

[0040] The use cases considered for SL-based positioning may include collision avoidance of autonomous vehicles or, at least, collision detection warnings issued to vehicle drivers. For that, point estimates by an antenna panel located at one point related to the vehicle are insufficient for determining the vehicle position are insufficient because the vehicle's dimensions (a few meters) are typically much larger than the accuracy requirements (a few decimeters). There is thus a need for estimating the position of a first vehicle's boundary with respect to another object, such as the second vehicle or a VRU.

[0041] The distance between the two vehicles shown in Fig. 2 may be measured using a sidelink positioning procedure. The sidelink positioning procedure may be operated in Mode 1 and Mode 2. In Mode 1 , a base station (gNB) is involved in the resource allocation for sidelink positioning reference signal (SL-PRS) transmission and resource allocation for the positioning measurement report. Furthermore, by operating in Mode 1 , the vehicles (WDs 300, 300A) can maintain communication with the Location Management Function (LMF) at the core network. The vehicles may receive the configuration or transmit the measurement result to the LMF transparently via a radio network node, such as radio network node 400 of Fig. 1. In Mode 2, the vehicles communicate autonomously without the involvement of the radio network node. This may be done by a master WD or a transmitting WD that controls the resources used for transmission of reference signals.

[0042] Fig. 2 further illustrates the problem with treating a vehicle as a point object, such as an object located in only one point in space, during positioning. In Fig. 2, the first WD 300 may wish to range the second WD 300A, for example to establish the distance between the two WDs 300, 300A. The first WD 300 comprises a plurality of antenna panels 3000A, 3000B, 3000C, 3000D, 3000E, wherein one of the antenna panels, such as antenna panel 3000D, is mounted on the rooftop of the first vehicle and another antenna panel, such as the antenna panel 3000A, is mounted on the front of the first vehicle. On the other hand, the second WD 300A comprises a plurality of antenna elements 3000A’, 3000B’, 3000C’, 3000D’, 3000E’, wherein one of the antenna panels, such as antenna panel 3000E’, is mounted on the rear of the second vehicle and another antenna panel, such as the antenna panel 3000A’, is mounted to the front of the second vehicle. Clearly, it is vital to WD 300 and / or WD 300A to know whether it is its front bumper or rooftop located closest from the rear bumper of WD 300A, since the latter would suggest an imminent collision.

[0043] A relative orientation of the two vehicles may also affect the positioning. For example, in the scenario shown in Fig. 3, where the two vehicles are approaching each other, rather than travelling in the same direction as in the example shown in Fig. 2, the shortest distance between two cars is obtained when the first vehicle, such as WD 300, uses antenna panel 3000A and the second vehicle, such as WD 300A, uses antenna panel 3000A.

[0044] Legacy positioning procedures do not allow fine control over the antenna panels used by the WDs participating in sidelink positioning procedures for receiving or transmitting reference signals. A vehicle may be equipped with multiple antenna panels placed on various sides, such as surfaces, of the vehicle. Furthermore, if two vehicles are involved in the positioning procedure, each vehicle may have multiple antenna panels. Legacy positioning procedures do not allow a controlling of the multiple antenna panels to use for positioning in each vehicle, which makes it difficult to obtain a correct distance to between the vehicles. In one or more legacy positioning procedures this problem may be solved by performing sequential multiple transmissions using a plurality of the antenna panels of the WDs. From the multiple positioning measurement results, the nearest distance represents the actual distance between two objects, such as the two vehicles. However, sequential multiple transmissions increase latency, and some WDs may not support simultaneous multiple transmissions. Multiple transmission and reception may also increase power consumption of the WDs.

[0045] The current disclosure thus proposes a mechanism for controlling the use of the antenna panels during sidelink positioning procedures to improve the operation of the antenna panels to obtain, such as determine, and report one or more of an intended distance, direction, orientation, and velocity of a target WD. Thereby, the positioning procedure may be performed in an optimal manner to obtain a desired distance between the WD's antenna panels. In an optimal manner can herein be seen as which antenna panel should be used for the transmission and / or reception, depending on which parameters of the target WD are desired, such as distance, direction, orientation, or velocity.

[0046] Fig. 4 shows a flow diagram of an example method 100, performed by a controller node according to the disclosure, for enabling a sidelink positioning between a first WD and a second WD. The controller node is the controller node disclosed herein, such as the location network node 600 or a master WD for the WDs 300, 300A participating in sidelink communication of Fig. 1 , Fig. 2, Fig. 3, Fig. 8, and Figs. 10-12. In one or more example methods, such as when the first WD and the second WD are operating in Mode 1 , the controller node is the location network node, such as an LMF. In one or more example methods, such as when the first WD and the second WD are operating in Mode 2, the controller node is a master WD controlling the sidelink positioning procedure. The master WD may be one of the first WD 300 and the second WD 300A.

[0047] The method 100 may comprise obtaining S102 positioning information, such as positioning capability information, indicative of an antenna configuration of one or more of the first WD, such as the target WD, and the second WD. The antenna configuration may comprise information about one or more of a number of antenna panels associated with the WD, a respective location and / or orientation of each of the antenna panels in relation to the WD. In one or more example methods, the positioning information may be obtained during initial registration of the first WD and / or the second WD to the network, and / or during sidelink discovery of the WD. In one or more example methods, the positioning information may be obtained using capability signaling. Obtaining S102 corresponds to S202 of method 200 of Fig. 7, and is similar to 1001-1004 of Fig. 10, and 1201 , 1202, and 1205 of Fig. 12.

[0048] In one or more example methods, one or more of the first WD and the second WD, such as one or more of the reference signal transmitting WD and the reference signal receiving WD, respectively indicate that it is a large (or extended) WD. The WD being a large (or extended) WD can herein be seen as the WD comprising more than one antenna panel, such as more than one ARP. This may for example be indicated by the positioning information being indicative of the WD comprising one or more, such as a plurality of antenna panels. An antenna panel can herein be seen as an antenna array, such as a plurality of antenna elements being arranged in a linear, square, or rectangular manner.

[0049] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a respective ARP of the one or more antenna panel(s) of the respective WD(s). The respective ARP may be indicative of a location, such as a physical location, of each antenna panel on the WD, such as on an object associated with the WD, such as on a vehicle. The ARPs may be reference points within a LCS, such as a coordinate system of the vehicle, such as a cartesian coordinate system.

[0050] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a respective antenna panel identifier for the one or more antenna panel(s) of the respective WD(s). In one or more example methods, the WD may provide a respective antenna panel identifier, such as an antenna panel ID, for the one or more antenna panels. In one or more example methods, the antenna panel identifier is associated with a respective ARP of the antenna panel.

[0051] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a respective orientation of the one or more antenna panel(s) of the respective WD(s). The orientation may be indicative the antenna panel’s angular orientation, such as tilt, in three dimensions, such as in an X-, Y-, and Z-plane. In other words, the positioning information may be indicative of the antenna panels pose, such as location and orientation on the WD, such as on the object associated with the WD, such as the vehicle.

[0052] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of one or more of a coverage area, a number of beams, and a beam type of the one or more antenna panel(s) of the respective WD(s). The coverage area of the antenna panel can herein be seen as a field of view, such as a beamwidth or an angular coverage of the antenna's radiation pattern. The coverage area may thus define a range within which the antenna panel can transmit or receive signals.

[0053] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a subset of antenna panels of the respective WD(s) that are configured for simultaneous, such as parallel, receiving and / or transmitting. The subset of antenna panels may be a subset of the plurality of antenna panels available to the WD. In other words, the WD positioning information indicative of the antenna configuration may be indicative of which sets of antenna panels can be used for simultaneously receiving and / or transmitting. In other words, the positioning information may be indicative of a capability related to parallel and / or serial operation of the one or more antenna panel(s) respectively.

[0054] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a range and / or size of the one or more antenna panel(s) of the WD.

[0055] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a number of beams of an antenna panel and / or whether the beams are narrow or wide. In one or more example methods, the positioning information indicative of the antenna configuration is indicative of the one or more antenna panel(s) capability of performing a specific operation for transmission and / or reception. Typically, for round-trip-time measurements the same antenna panels are used for reception and transmission at the WDs. However, in one or more example methods according to the current disclosure, the transmit (Tx) antenna panels and the receive (Rx) antenna panels for the round-trip-time measurement at the same WD may be different.

[0056] In one or more example methods, obtaining S102 comprises sending S102A, to one or more of the first WD and the second WD, such as to the target WD, a request for positioning information associated with an antenna configuration of the one or more of the first WD and the second WD. Sending S102A corresponds to receiving S202A of method 200 of Fig. 7, 1001 of Fig. 10, and 1202 of Fig. 12.

[0057] In one or more example methods, obtaining S102 comprises receiving S102B, from one or more of the first WD and the second WD, such as from the target WD, a positioning capability information comprising information indicative of an antenna configuration of the one or more of the first WD and the second WD. Receiving S102B corresponds to sending S202B of method 200 of Fig. 7, 1001 of Fig. 10, and 1202 of Fig. 12.

[0058] The method 100 comprises initiating S104 a sidelink positioning procedure between the first WD and the second WD based on the positioning information. Initiating S104 is similar to S204 of method 200 of Fig. 7, signaling 1101 of Fig. 11 , and signaling 1206 and 1207 of Fig. 12.

[0059] In one or more example methods, initiating S104 comprises initiating the sidelink positioning procedure using a plurality of antenna panels, such as at least two antenna panels, at one or more of the first WD and the second WD, such as at a target WD of the first WD and the second WD. The plurality of antenna panels may have different ARPs, such as may be arranged at different locations on the WD. By using a plurality of antenna panels, an orientation, a direction, and / or a velocity vector of the target WD may be determined.

[0060] In one or more example methods, initiating S104 comprises sending S104A, to the first WD and / or the second WD, a message comprising antenna panel information, such as information indicative of one or more antenna panel(s) to be used at the first WD and / or the second WD, such as at the reference signal transmitting WD and / or the reference signal receiving WD. One of the reference signal transmitting WD and the reference signal receiving WD is the target WD, such as the WD that is to be positioned. In one or more example methods, the message comprising antenna panel information may be a positioning request, such as a location request. The positioning request may comprise a positioning configuration. The positioning configuration may comprise information indicative of one or more antenna panels to be used by the first WD and / or the second WD when performing the positioning procedure. The positioning configuration may comprise one or more antenna panel IDs, such as ARP IDs, associated with the antenna panels to be used. The positioning configuration may further comprise information being indicative of the positioning method to be used and / or resources, such as time and / or frequency resources to be used for the positioning procedure. The resources may be resources for sending and / or receiving reference signals. Sending S104A corresponds to S204 performed by the WD in method 200 of Fig. 7, signaling 1101 in Fig. 11 and signaling 1207 in Fig. 12.

[0061] In one or more example methods, the indicated one or more antenna panel(s) can be one or more antenna panel(s) of a reference signal transmitting WD and / or one or more antenna panel(s) of a reference signal receiving WD of the first WD and the second WD.

[0062] In one or more example methods, the controller node, such as the location network node in Mode 1 operation or the master WD in Mode 2 operation, may indicate the one or more antenna panel(s) to be used by the reference signal transmitting WD and / or the reference signal receiving WD of the first and the second WDs.

[0063] In one or more example methods, such as when the one or more antenna panel(s) to be used are a plurality of antenna panels the information indicative of the one or more antenna panel(s) to be used may comprise a priority order of the plurality of antenna panels. For example, if the reference signal receiving WD is expected to perform Rx sweeping with multiple antenna panel(s), such as performing a respective sweep using each of the multiple antenna panels, the information indicative of the one or more antenna panel(s) to be used may be comprised the order of the antenna panels to be used for the Rx sweeping. The order may be an order of respective antenna panel(s) and / or a group of antenna panel(s).

[0064] In one or more example methods, the antenna panel information comprises information indicative of an antenna panel placed at a certain location of the WD. The antenna panel information may comprise an antenna panel identity (such as a number, such as an ARP ID) of the one or more antenna panel(s). For example, an antenna ID no.1 may be indicative of a physical antenna panel located in a front bumper of a vehicle.

[0065] In one or more example methods, the antenna panel identity may be indicative of a group of antenna panel(s). For example, an example antenna panel ID 1-1 may represent a first antenna panel of a first group, such as an antenna panel arranged on a left side of a front bumper (group 1 ) of a vehicle, whereas an example antenna panel ID 1-2 represents a second antenna of the first group, such as an antenna panel arranged on a right side of a front bumper (group 1) of the vehicle.

[0066] In one or more example methods, the antenna panel information is associated with a WD direction. In one or more example methods, the antenna panel associated with a main direction of a vehicle can be numbered as antenna panel number 1 with the antenna panels having a higher number the further towards the rear of the vehicle they are placed. In one or more example methods, instead of the antenna panels being associated with numbers 1-n, they may be associated with a letter A-Z, where A corresponds to the front of the vehicle. In one or more example methods, the antenna panel identifier may be the actual location of the antenna panel on the vehicle, such as front, back, right door, left door, etc. In one or more example methods, the numbering of the antenna panels may be in a sequential order related to the distance from a reference antenna. The reference antenna may for example be the frontmost antenna panel in the direction of travel of the WD, such as of the vehicle. The reference antenna may be located in a reference point of the WD. The ARPs of the other antennas may be indicated in relation to the reference point of the reference antenna. For example, an example ARP #1 may be the antenna reference point of the reference antenna. A distance of ARP #1 may be zero because it is collocated with the reference point. An example ARP #2 for a second antenna may have coordinates being 4m horizontal and 1 meter vertical relative to the reference point, such as ARP #1.

[0067] In one or more example methods, the antenna panel information is associated with a multiple antenna arrangement having a predefined pattern.

[0068] In one or more example methods, initiating S104 comprises sending S104B a location request to one or more of the first WD and the second WD, such as to the target WD. The location request may comprise a request for one or more of a location, an orientation, and a direction of movement, such as a velocity vector, of the target WD. In one or more example methods, such as when the WDs participating in sidelink are operating in Mode 1 , the controller node may be a location network node and may send the location request to one or more of the first and the second WD, such as to the target WD. In one or more example methods, the location request comprises the information indicative of the one or more antenna panel(s) to be used. In other words, the location request may be the message indicative of the antenna panel information, such as of the antenna panels to be used.

[0069] In one or more example methods, such as when the WDs participating in sidelink are operating in Mode 2, initiating S104 comprises sending S104C, to the second WD, a sidelink reference signal configuration to be used for sidelink positioning, wherein the sidelink reference signal configuration comprises information indicative of antenna panels to be used by the second WD. The information indicative of the antenna panels to be used may comprise information indicative of ARPs associated with the antenna panels to be used for transmission or reception of the sidelink reference signal by the second WD. In Mode 2, the controller node may be a master WD controlling the sidelink communication between the first WD and the second WD. In one or more example methods, the master WD is one of the first WD and the second WD.

[0070] In one or more example methods, the method 100 comprises receiving S106, from one or more of the first WD and the second WD, such as from the target WD, a sidelink positioning measurement report. The WD out of the first WD and second WD reporting the sidelink positioning measurement report may be the WD that receives the reference signal during the sidelink positioning procedure. S106 corresponds to S208 of method 200 of Fig. 7, 1105 of Fig. 11 , and 1212 of Fig. 12.

[0071] In one or more example methods, the sidelink positioning measurement report comprises information indicative of a sidelink measurement result between the first WD and the second WD and antenna panel information indicative of the antenna configuration used for the sidelink measurement.

[0072] In one or more example methods, the sidelink positioning measurement report comprises information indicative of one or more of a location, an orientation, a direction of movement of the target WD and / or the target WDs velocity vector. The velocity vector may be indicative of the WDs direction of movement and its speed in the direction of movement. The direction of movement may be indicated by providing positioning measurement results for a plurality of repeated SL positioning measurements, from which the direction of movement can be determined.

[0073] The WD reporting the sidelink positioning measurement report may, in one or more example methods, also report its direction of movement, such as forward or backward. Thereby, the controller node can estimate a direction of movement of the target WD without repeated SL positioning measurements.

[0074] In one or more example methods, the sidelink positioning measurement report may comprise information indicative of measurements performed using a plurality of antenna panels, such as two or more antenna panels, at the target WD. This information may be used by the controlling node to estimate a position of each of the plurality of antenna panels of the target WD. By estimating the position of the plurality of antenna panels, the controller node can estimate the orientation of the target WD, as illustrated in Fig. 5. In one or more example methods, the method 100 comprises determining S108, based on the sidelink positioning measurement report, one or more of a location, an orientation, and a direction of movement of the target WD.

[0075] Fig. 5 illustrates an example of an estimation of a WD orientation based on positioning measurement reports from more than one antenna panel. The WD may have a cartesian coordinate system where an X-axis (Xc) extends in a longitudinal direction of the WD 300, 300A, such as in a forward direction of the vehicle, a Y-axis (Yc) extends to the left of the vehicle, as viewed when facing forwards, and a Z-axis (Zc) extends upwards. Each antenna panel 3000 may have its respective local coordinate system having an X-axis (XL), a Y-axis (YL), and a Z- axis (Xz). The orientation of the antenna panels can herein be seen as the antenna panel’s local coordinate system’s orientation in relation to the cartesian coordinate system of the respective WD 300, 300A. The coordinate systems shown in Fig. 5 also apply to Figs. 2, 3, and 6. The orientation may be obtained by performing measurements using a plurality of different antenna panels, thus being able to estimate not only a range and / or a distance but also a relative position of the different antennas. With information about the antenna panels’ respective location in relation to the WD, such as to a chassis of a vehicle, the orientation of the WD can be obtained. The orientation information may be obtained in a plurality of ways. In one or more example methods, a reference signal receiving WD performs positioning measurements based on different combinations of a transmit (Tx) antenna and a receive (Rx) antenna. In the example shown in Fig. 5, the combinations may be between antenna panels 3000D’-3000D, 3000A’- 3000D, 3000D’-3000A, and 3000A’-3000A. In other words, the sidelink reference signal receiving WD may measure on one or more of sidelink reference signal SL PRS 4 transmitted between antenna panels 3000D’-3000D, sidelink reference signal SL PRS 3 transmitted between antenna panels 3000A’-3000D, sidelink reference signal SL PRS 2 transmitted between antenna panels 3000A’-3000A, and sidelink reference signal SL PRS 1 transmitted between antenna panels 3000D’-3000A. The sidelink reference signal receiving WD may report the positioning measurements, such as a relative distance, associated with these combinations to the controller node. The controller node, such as the location network node or the master WD, may determine, such as compute, the orientation of the target WD based on these measurements. In one or more example methods, the sidelink reference signal receiving WD performs positioning measurements based on the combination of the Tx antennas and Rx antennas. The sidelink reference signal receiving WD may determine, such as compute, the orientation of the target WD based on these measurements. The sidelink reference signal receiving WD may then send orientation information, such as information indicative of the orientation of the target WD, to the controller node, such as the location network node or the master WD. However, in the example shown in Fig. 5, the first vehicle, such as WD 300, does not know the direction of movement of the second vehicle, such as WD 300A’. In other words, the first vehicle does not know whether the second vehicle is moving forward or backward. In one or more example methods according to the current disclosure, signaling is provided for allowing an estimation of the target WDs velocity vector. In one or more example methods, the reference signal receiving WD, such as WD 300A reports to the controller node, such as in the measurement report, its direction of movement. The direction of movement may for example be reported by adding information indicative of whether the reference signal receiving WD, such as WD 300A, is moving forwards or backwards. This may for example be indicated by adding one of the values {forward, backward} to the measurement report. In one or more example methods, such as when the reference signal receiving WD is a vehicle, the reference signal receiving WD may report which gear is engaged, such as the forward gear or reverse gear. With the additional information indicative of the position of the reference signal receiving WD, the controller node can estimate the direction of the velocity vector of the WD 300A, as illustrated in Fig. 6.

[0076] For example, if the WD 300A is using forward gear and the WDs orientation is known, the direction of movement would be that in which the front of the vehicle moves forward. Information regarding which antenna panel, such as which ARP, is arranged at the front of the WD, such as of the vehicle, may be comprised in the positioning information. In one or more example methods, the measurement report may comprise the speed of the WD, such as of the vehicle. In this case, a full velocity vector (and not just the direction of movement) may be computed by the controller node. The full velocity vector is indicative of the WDs speed and direction of movement. In the examples shown in Figs. 5 and 6, it is assumed that the direction of movement of WD is parallel with the orientation of the WD, i.e., the WD does not travel obliquely.

[0077] In one or more example methods, information on the speed and direction of movement (which together form the velocity vector) may also be obtained from multiple measurement samples. In this case, the orientation of the WD and its velocity vector might be different, indicating that the WD is traveling obliquely, which may suggest a potentially dangerous situation, such as for example a vehicle sliding on the road.

[0078] Fig. 7 shows a flow diagram of an example method 200, performed by a first WD according to the disclosure, for performing a sidelink positioning between the first WD and a second WD. The first WD may be a target WD, such as the WD to be positioned, of the WDs 300, 300A participating in sidelink communication of Fig. 1 , Fig. 2, Fig. 3, Fig. 9, and Figs. 10-12. The first WD may comprise a plurality of distributed antenna panels. In one or more example methods, the first WD may be a reference signal transmitting WD during the sidelink positioning procedure. In one or more example methods, the first WD is a reference signal receiving WD during the sidelink positioning procedure.

[0079] The method 200 may comprise providing S202, to a controller node, such as to a location network node or a master WD, positioning information indicative of an antenna configuration of the first WD. Providing S202 corresponds to S102 of method 100 of Fig. 4, and is similar to 1001-1004 of Fig. 10, and 1202-1205 of Fig. 12.

[0080] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of the WD comprising a plurality of antenna panels.

[0081] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a respective antenna reference point, ARP, of one or more antenna panel(s) of the respective WD(s).

[0082] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a respective antenna panel identifier for the one or more antenna panel(s) of the respective WD(s).

[0083] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a respective orientation of the one or more antenna panel(s) of the respective WD(s).

[0084] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of one or more of a coverage area, a number of beams, and a beam type of the one or more antenna panel(s) of the respective WD(s).

[0085] In one or more example methods, the positioning information indicative of the antenna configuration is indicative of a subset of antenna panels of the one or more antenna panel(s) of the respective WD(s) that are configured for simultaneous receiving and / or transmitting.

[0086] In one or more example methods 200, providing S202 comprises receiving S202A, from the controller node, a request for positioning capabilities associated with an antenna configuration of the first WD. Receiving S202A corresponds to sending S102A of method 100 of Fig. 4, 1001 of Fig. 10, and 1202 of Fig. 12.

[0087] In one or more example methods 200, providing S202 comprises transmitting S202B, to the controller node, a positioning information report, such as a positioning capability report, comprising information indicative of an antenna configuration of the first WD, such as of the WDs capability to perform positioning procedures using its antenna configuration. The positioning information report may be transmitted during an initial registration of the first WD to the network and / or during a sidelink discovery of the first WD. Transmitting S202B corresponds to receiving S202B of method 100 of Fig. 4, 1003 of Fig. 10, and 1202 of Fig. 12.

[0088] In one or more example methods, the method 200 comprises receiving S204, from the controller node, a positioning configuration. The positioning configuration may comprise information indicative of one or more antenna panels to be used by the first WD 300 when performing the positioning procedure. The positioning configuration may comprise one or more antenna panel IDs, such as ARP IDs, associated with the antenna panels to be used. The positioning configuration may further comprise information being indicative of the positioning method to be used and / or resources, such as time and / or frequency resources to be used for the positioning procedure. The resources may be resources for sending and / or receiving reference signals.

[0089] The method 200 comprises performing S206 a sidelink positioning procedure with the second WD based on the positioning information, such as the positioning capability.

[0090] In one or more example methods, the sidelink positioning procedure is performed using a plurality of antenna panels having different ARPs at the first WD, such as the target WD. The plurality of antenna panels may be the antenna panels indicated in the positioning configuration.

[0091] In one or more example methods, performing S206 comprises receiving S206A a location request from the controller node, such as location measurement request or location estimation request. The location request may comprise a request for one or more of an orientation and a direction of the first WD, such as the target WD. S206A corresponds to S104A of method 100 of Fig. 4, 1101 of Fig. 11 , and 1207 of Fig. 12.

[0092] In one or more example methods, such as when the first WD is the reference signal receiving WD during the sidelink positioning procedure, performing S206 comprises transmitting S206B, to a second WD, a sidelink reference signal configuration for positioning, wherein the sidelink reference signal configuration for positioning comprises information is indicative of one or more antenna panels to be used for performing the sidelink positioning procedure. This may be the case when the first WD, such as the target WD, is the reference signal receiving WD during the sidelink positioning procedure. The reference signal receiving WD is configured to receive reference signals, such as sidelink reference signals for positioning, from one or more second WDs, and to perform positioning measurement based on the received reference signals. S206B corresponds to 1102 of Fig. 11 , and 1208 of Fig. 12. In one or more example methods, such as when the first WD is the reference signal receiving WD during the sidelink positioning procedure, performing S206 comprises measuring S206C on a sidelink reference signal for positioning received from the second WD, using one or more antenna panels of the first WD. S206C corresponds to 1211 of Fig. 12.

[0093] In one or more example methods, such as when the first WD is the reference signal transmitting WD during the sidelink positioning procedure, performing S206 comprises transmitting S206D, to the second WD, a sidelink reference signal for positioning using one or more antenna panels of the first WD. S206B corresponds to 1103 of Fig. 11.

[0094] In one or more example methods, such as when the first WD is the reference signal receiving WD during the sidelink positioning procedure, the method comprises transmitting S208, to the controller node, a sidelink positioning measurement report. The sidelink positioning report transmitted by the first WD in S208 corresponds to the sidelink positioning report received by the controller node in S106 of Fig. 4. S208 corresponds to S106 of method 100 of Fig. 4, 1105 of Fig. 11 , and 1212 of Fig. 12.

[0095] In one or more example methods, the sidelink positioning measurement report comprises information indicative of a sidelink measurement result between the first WD and the second WD and antenna panel information indicative of the antenna configuration used for the sidelink measurement.

[0096] Fig. 8 shows a block diagram of an example controller node 800 according to the disclosure. The controller node 800 may be a location network node 600 during Mode 1 sidelink operation, or a master WD 300 during Mode 2 sidelink operation. The controller node 800 comprises memory circuitry 801 , processor circuitry 802, and a wireless interface 803. The controller node 800 may be configured to perform any of the methods disclosed in Fig. 4. In other words, the controller node 800 may be configured for enabling a sidelink positioning between a first WD and a second WD.

[0097] The controller node 800 is configured to communicate with a WD, such as the WD disclosed herein, using a wireless communication system.

[0098] The wireless interface 803 is configured for wireless communications via a wireless communication system, such as a 3GPP system, such as a 3GPP system supporting one or more of: New Radio (NR) and beyond, Long Term Evolution, LTE, Narrow-band loT, NB-loT, and Long Term Evolution - enhanced Machine Type Communication, LTE-M, and 3GPP system operated in licensed bands or unlicensed bands. The controller node 800 is configured to obtain, for example, via the wireless interface 803, positioning information indicative of an antenna configuration of one or more of the first WD and the second WD.

[0099] The controller node 800 is configured to initiate, for example, via the processor circuitry 802 and / or the wireless interface 803, a sidelink positioning procedure between the first WD and the second WD based on the positioning information.

[0100] Processor circuitry 802 is optionally configured to perform any of the operations disclosed in Fig. 4 (such as any one or more of S102, S102A, S102B, S104, S104A, S104B, S104C, S106, S108). The operations of the controller node 800 may be embodied in the form of executable logic routines (for example, lines of code, software programs, etc.) that are stored on a non- transitory computer readable medium (for example, memory circuitry 801) and are executed by processor circuitry 802).

[0101] Furthermore, the operations of the network node 800 may be considered a method that the network node 800 is configured to carry out. Also, while the described functions and operations may be implemented in software, such functionality may also be carried out via dedicated hardware or firmware, or some combination of hardware, firmware and / or software.

[0102] Memory circuitry 801 may be one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, a random access memory (RAM), or other suitable device. In a typical arrangement, memory circuitry 801 may include a nonvolatile memory for long term data storage and a volatile memory that functions as system memory for processor circuitry 802. Memory circuitry 801 may exchange data with processor circuitry 402 over a data bus. Control lines and an address bus between memory circuitry 801 and processor circuitry 802 also may be present (not shown in Fig. 8). Memory circuitry 801 is considered a non-transitory computer readable medium.

[0103] Memory circuitry 801 may be configured to store information, such as positioning information, information indicative of an antenna configuration of the one or more of the first WD and the second WD, and / or sidelink positioning measurement information, in a part of the memory.

[0104] Fig. 9 shows a block diagram of an example first wireless device 300A according to the disclosure. The wireless device may be one or more of a reference signal transmitting WD and a reference signal receiving WD. The wireless device 300 comprises memory circuitry 301 , processor circuitry 302, and a wireless interface 303. The wireless device 300 may be configured to perform any of the methods disclosed in Fig. 7. In other words, the wireless device 300 may be configured for performing a sidelink positioning between the first WD and a second WD.

[0105] The wireless device 300 is configured to communicate with a network node, such as the wireless device disclosed herein, using a wireless communication system.

[0106] The wireless device 300 is configured to provide (such as via the wireless interface 303), to a controller node, positioning information indicative of an antenna configuration of the first WD.

[0107] The wireless device 300 is configured to perform (such as via the wireless interface 303 and / or the processor circuitry 302), a sidelink positioning procedure with the second WD based on the positioning information, such as the positioning capability.

[0108] The wireless interface 303 is configured for wireless communications via a wireless communication system, such as a 3GPP system, such as a 3GPP system supporting one or more of: New Radio (and beyond), NR, Long Term Evolution, LTE, Narrow-band loT, NB-loT, and Long Term Evolution - enhanced Machine Type Communication, LTE-M, and 3GPP system operated in licensed bands or unlicensed bands.

[0109] The wireless device 300 is optionally configured to perform any of the operations disclosed in Fig. 7 (such as any one or more of S202, S202A, S202B, S206, S206A, S206B, S206C, S206D). The operations of the wireless device 300 may be embodied in the form of executable logic routines (for example, lines of code, software programs, etc.) that are stored on a non- transitory computer readable medium (for example, memory circuitry 301 ) and are executed by processor circuitry 302).

[0110] Furthermore, the operations of the wireless device 300 may be considered a method that the wireless device 300 is configured to carry out. Also, while the described functions and operations may be implemented in software, such functionality may also be carried out via dedicated hardware or firmware, or some combination of hardware, firmware and / or software.

[0111] Memory circuitry 301 may be one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, a random access memory (RAM), or other suitable device. In a typical arrangement, memory circuitry 301 may include a nonvolatile memory for long term data storage and a volatile memory that functions as system memory for processor circuitry 302. Memory circuitry 301 may exchange data with processor circuitry 302 over a data bus. Control lines and an address bus between memory circuitry 301 and processor circuitry 302 also may be present (not shown in Fig. 9). Memory circuitry 301 is considered a non-transitory computer readable medium. Memory circuitry 301 may be configured to store information, such as positioning information, information indicative of an antenna configuration of the first WD and a second WD, and / or sidelink positioning measurement information, in a part of the memory.

[0112] Fig. 10 is a signaling diagram illustrating an example message exchange 1000 between a first WD 300 and a controller node 800 during positioning information signaling according to the current disclosure. In the example message exchange shown in Fig. 10 the controller node is the location network node 600. In the example message exchange according to Fig. 10, the signaling is transparent to the radio network node. In other words, the signaling is transmitted via the radio network node without the radio network node being aware of the information signaled.

[0113] The first WD sends positioning information 1001 to the controller node 800, the positioning information being indicative of the first WD being a geometrically large device and that it has multiple antenna panels, associated with respective ARPs, defined.

[0114] The network, such as the controller node 800, may confirm the indication and may request additional information 1002 about the antenna panels, such as ARPs, of the WD 300. The additional information may be the specific information of all available antenna panels, such as ARPs, or selected antenna panel(s), such as ARP(s).

[0115] In response to the request 1002 the WD 300 sends its antenna panel configuration 1003 to the controller node. The antenna panel configuration may comprise information indicative of the antenna panels’ location in relation to a reference point. The information indicative of the antenna panels’ location may comprise the respective ARP of the antenna panels. The location may be provided in any coordinate system, such as in a cartesian coordinate system. The information comprised in the antenna panel configuration may be tailored based on the required information by the controller node 800. The antenna panel configuration 1003 may comprise respective antenna panel IDs for the antenna panels provided in the antenna panel configuration 1003. In one or more example methods, the antenna panel configuration may be comprised in, such as embedded into, the positioning information 1001. The antenna panel configuration 1003 may comprise information indicative of the respective antenna panels that may be used as Tx antenna panels and / or Rx antenna panels.

[0116] From the antenna panels, such as ARPs, reported by the WD 300, the network, such as the controller node 800, may assign identifiers (ID) to each antenna panel, such as ARP. This ID may by a unique identifier in a defined set, such as for the WD or for a plurality of WDs in a predetermined geographical area. The set may have the size varying from the WD 300 itself to all WDs in a network.

[0117] In one or more example methods, a radio network node (not shown in Fig. 10) may be involved in the positioning information transfer procedure of Fig. 10. The radio network node may request the WD 300 to provide the antenna panel configuration. The WD 300 may provide the antenna panel configuration to the radio network node. Upon request from the controller node 800, such as the location network node 600, the radio network node may provide the antenna panel configuration of the WD to the controller node 800.

[0118] Fig. 11 is a signaling diagram illustrating an example message exchange 1100 between a first WD 300, one or more second WDs 300A, and the controller node 800 during a sidelink positioning procedure according to the current disclosure. In the example message exchange shown in Fig. 11 , the controller node 800 is the location network node 600, and the first WD 300 is the reference signal transmitting WD and target WD during the sidelink positioning procedure. The first WD 300 may be positioned by having a plurality of second WDs receive reference signals, such as sidelink reference signals for positioning, and report measurements from multiple Rx antenna panels of the plurality of second WDs. In the example method shown in Fig. 11., the controller node 800 may be indicating the roles of the WDs, such as which WD(s) are reference signal receiving WDs and which WD(s) are reference signal transmitting WDs. The example message exchange 1100 may follow on the example message exchange 1000 of Fig. 10.

[0119] The controller node sends a positioning configuration 1101 to the first WD 300 and the plurality of second WDs 300A. In addition to the legacy positioning setup comprising information indicative of the positioning method to use and a resource allocation to be used for the positioning procedure, the positioning configuration may comprise information indicative of the antenna panels to be respectively used by the first WD 300 and the second WD 300A for the positioning procedure. The information may comprise antenna panel information comprising the antenna panel ID, such as the ARP ID, of the antenna panels to be used. In one or more example methods, the information may comprise antenna information for a larger set of WDs in the vicinity. In this case the antenna panel ID, such as the ARP ID, has to be made unique in that area or also contain a unique ID of the WD. In one or more example methods, the positioning configuration may comprise information indicating to the WD 300, 300A whether it will transmit or receive reference signals for positioning. In this example the first WD 300, which is the target WD is configured to transmit the reference signals.

[0120] In one or more example methods, the first WD 300, such as the target WD, may send its antenna panel information 1102 to the plurality of second WDs 300A in the vicinity of the first WD 300A. This may for example be the case when the positioning configuration does not comprise a larger database of antenna panel IDs, such as ARP IDs, with antenna information. Thereby, the plurality of second WDs 300A may receive the antenna panel IDs configured for the first WD 300 with the antenna panel information. In one or more example methods, the antenna panel information may be sent together with an indication that a reference signal transmission will take place in case of a non-network based scheduling of the physical resources for reference signal transmission, such as when the WDs 300, 300A are operating in Mode 2. The indication that a reference signal transmission will take place may in one or more example methods comprise an indication of a direction of travel of the first WD 300.

[0121] The first WD 300 transmits reference signals 1103 to the plurality of second WDs 300A. The transmission and reception of the reference signals may be done according to what the positioning configuration and the pre-communicated positioning capabilities, such as antenna panels that can be used for Rx / Tx, and / or antenna panels that can be used for parallel and / or serial Tx / Rx. In other words, the transmission and / or reception of the reference signals may be performed using the antenna panels respectively configured to be used by the first WD 300 and / or the plurality of second WDs 300A during the positioning procedure.

[0122] The plurality of second WDs 300A perform positioning measurements on the reference signals using their configured antenna panels and send a positioning measurement report 104 with the positioning result to the first WD 300. The configured antenna panel IDs, such as ARP IDs, may be used for performing the positioning measurement and the positioning measurement report can be split based on the antenna panel IDs. The positioning measurement report may be sent to the first WD 300A, such as the target WD, and or to a network node, such as to the controller node 800.

[0123] The first WD 300, such as the target WD may share its positioning results 1105 with the plurality of second WDs or with the controller node 800, such as the location network node 600.

[0124] An alternative message exchange 1200 combining the message exchanges 1000 of Fig. 10 and 1100 of Fig. 11 above, comprising some additional signaling steps is shown in Fig. 12. In the example message exchange 1200, the configuration exchange for configuring the reference signal transmission is handled at WD level.

[0125] The controller node 800, such as the location network node, may be triggered to initiate 1201 positioning of the first WD 300. The controller node 800 requests positioning information 1202 from the first WD 300 about potential options for sidelink based positioning with the first WD 300 as target WD using multiple antenna panels.

[0126] The first WD 300 initiates discovery 1203 of potential second WDs 300A available in sidelink.

[0127] The first WD 300 requests sidelink positioning capabilities 1203 from one or more discovered WDs 300A in sidelink. The request for sidelink positioning capabilities may comprise a request for antenna panel information.

[0128] The one or more second WDs 300A may send a response 1204 to the first WD 300 comprising their sidelink positioning capabilities, such as their antenna panel information.

[0129] The first WD 300 sends a positioning information response 1205 to the controller node 800. The positioning information response may comprise the sidelink positioning capabilities of the one or more second WDs 300A and / or the first WD 300.

[0130] The controller node 800 activates 1206 the sidelink positioning procedure with the first WD 300 as target WD.

[0131] The controller node 800 sends a positioning request 1207 to the first WD 300 to perform a positioning procedure with the first WD 300 as target WD and reference signal receiving WD. The positioning request may comprise a positioning configuration. The positioning configuration may comprise information indicative of one or more antenna panels to be used by the first WD 300 and / or the second WD 300A when performing the positioning procedure. The positioning configuration may comprise one or more antenna panel IDs, such as ARP IDs, associated with the antenna panels to be used. The positioning configuration may further comprise information being indicative of the positioning method to be used and / or resources, such as time and / or frequency resources to be used for the positioning procedure. The resources may be resources for sending and / or receiving reference signals.

[0132] The first WD 300 provides the one or more second WDs 300A with a reference signal configuration 1208 and antenna panel configuration to be used for sidelink positioning, such as for transmission of reference signals.

[0133] The one or more second WDs 300A may acknowledge receipt of the reference signal configuration 1208 by sending an ACK 1209 to the first WD 300. The one or more second WDs 300A start to transmit reference signals 1210 based on the reference signal configuration 1208 and antenna panel configuration.

[0134] The first WD 300 performs positioning measurements 1211 on the reference signals 1210, such as the reference signals transmitted by the one or more second WDs 300A.

[0135] When the positioning measurement are done, the first WD 300 reports the positioning measurement result, including antenna panel information of the antenna panels used, to the controller node 800.

[0136] Examples of methods and products (controller node and wireless device) according to the disclosure are set out in the following items:

[0137] Item 1. A method, performed by a controller node, for enabling a sidelink positioning between a first WD and a second WD, the method comprising:

[0138] - obtaining (S102) positioning information indicative of an antenna configuration of one or more of the first WD and the second WD, and initiating (S104) a sidelink positioning procedure between the first WD and the second WD based on the positioning information.

[0139] Item 2. The method according to Item 1 , wherein obtaining (S102) comprises:

[0140] - sending (S102A), to one or more of the first WD and the second WD, a request for positioning information associated with an antenna configuration of the one or more of the first WD and the second WD, and receiving (S102B), from one or more of the first WD and the second WD, a positioning information report comprising information indicative of the antenna configuration of the one or more of the first WD and the second WD.

[0141] Item 3. The method according to Item 1 or 2, wherein the positioning information indicative of the antenna configuration is indicative of the WD comprising a plurality of antenna panels.

[0142] Item 4. The method according to any one of the Items 1 to 3, wherein the positioning information indicative of the antenna configuration is indicative of a respective antenna reference point, ARP, of one or more antenna panel(s) of the respective WD(s). Item 5. The method according to any one of the Items 1 to 4, wherein the positioning information indicative of the antenna configuration is indicative of a respective antenna panel identifier for the one or more antenna panel(s) of the respective WD(s).

[0143] Item 6. The method according to any one of the Items 1 to 5, wherein the positioning information indicative of the antenna configuration is indicative of a respective orientation of the one or more antenna panel(s) of the respective WD(s).

[0144] Item 7. The method according to any one of the Items 1 to 6, wherein the positioning information indicative of the antenna configuration is indicative of one or more of a coverage area, a number of beams, and a beam type of the one or more antenna panel(s) of the respective WD(s).

[0145] Item 8. The method according to any one of the Items 1 to 7, wherein the positioning information indicative of the antenna configuration is indicative of a subset of antenna panels of the one or more antenna panel(s) of the respective WD(s) that are configured for simultaneous receiving and / or transmitting.

[0146] Item 9. The method according to any of the previous Items, wherein initiating (S104) comprises initiating the sidelink positioning procedure using a plurality of antenna panels at a target WD.

[0147] Item 10. The method according to any one of the previous Items, wherein initiating (S104) comprises sending (S104B) a location request to the target WD, wherein the location request comprises a request for one or more of an orientation and a direction of movement of the target WD.

[0148] Item 11 . The method according to any one of the Items 1 to 8, wherein initiating (S104) comprises sending (S104C), to the second WD, a sidelink reference signal configuration to be used for sidelink positioning, wherein the sidelink reference signal configuration comprises information indicative of the ARPs associated with antenna panels to be used for transmission or reception of the sidelink reference signal by the second WD.

[0149] Item 12. The method according to any of the previous Items, wherein the method comprises receiving (S106), from one or more of the first WD and the second WD, a sidelink positioning measurement report.

[0150] Item 13. The method according to Item 12, wherein the sidelink positioning measurement report comprises information indicative of a sidelink measurement result between the first WD and the second WD and antenna panel information indicative of the antenna configuration used for the sidelink measurement.

[0151] Item 14. The method according to any one of the previous Items, wherein the controller node is a location network node or a master WD controlling the sidelink positioning procedure.

[0152] Item 15. A method, performed by a first wireless device, WD, comprising a plurality of distributed antenna panels, for performing a sidelink positioning between the first WD and a second WD, the method comprising: providing (S202), to a controller node, positioning information indicative of an antenna configuration of the first WD, and performing (S206) a sidelink positioning procedure with the second WD based on the positioning capability.

[0153] Item 16. The method according to Item 15, wherein providing (S202) comprises: receiving (S202A), from the controller node, a request for positioning capabilities associated with an antenna configuration of the first WD, and

[0154] - transmitting (S202B), to the controller node, a positioning information report comprising information indicative of an antenna configuration of the first WD.

[0155] Item 17. The method according to Item 15 or 16, wherein the positioning information indicative of the antenna configuration is indicative of the WD comprising a plurality of antenna panels.

[0156] Item 18. The method according to any one of the Items 15 to 17, wherein the positioning information indicative of the antenna configuration is indicative of a respective antenna reference point, ARP, of one or more antenna panel(s) of the respective WD(s).

[0157] Item 19. The method according to any one of the Items 15 to 18, wherein the positioning information indicative of the antenna configuration is indicative of a respective antenna panel identifier for the one or more antenna panel(s) of the respective WD(s).

[0158] Item 20. The method according to any one of the Items 15 to 19, wherein the positioning information indicative of the antenna configuration is indicative of a respective orientation of the one or more antenna panel(s) of the respective WD(s). Item 21 . The method according to any one of the Items 15 to 20, wherein the positioning information indicative of the antenna configuration is indicative of one or more of a coverage area, a number of beams, and a beam type of the one or more antenna panel(s) of the respective WD(s).

[0159] Item 22. The method according to any one of the Items 15 to 21 , wherein the positioning information indicative of the antenna configuration is indicative of a subset of antenna panels of the one or more antenna panel(s) of the respective WD(s) that are configured for simultaneous receiving and / or transmitting.

[0160] Item 23. The method according to any of the Items 15 to 22, wherein the sidelink positioning procedure is performed using a plurality of antenna panels having different ARPs at a target WD.

[0161] Item 24. The method according to any one of the Items 15 to 23, wherein performing (S206) comprises receiving (S206A) a location request from the controller node, wherein the location request comprises a request for one or more of an orientation and a direction of the target WD.

[0162] Item 25. The method according to any one of the Items 15 to 24, wherein performing (S206) comprises transmitting (S206B), to a second WD, a sidelink reference signal configuration for positioning, wherein the sidelink reference signal configuration for positioning comprises information is indicative of one or more antenna panels to be used for performing the sidelink positioning procedure.

[0163] Item 26. The method according to any one of the Items 15 to 25, wherein performing (S206) comprises measuring (S206C) on a sidelink reference signal for positioning received from the second WD, using one or more antenna panels of the first WD.

[0164] Item 27. The method according to any of the Items 15 to 26, wherein the method comprises transmitting (S208), to the controller node, a sidelink positioning measurement report.

[0165] Item 28. The method according to Item 27, wherein the sidelink positioning measurement report comprises information indicative of a sidelink measurement result between the first WD and the second WD and antenna panel information indicative of the antenna configuration used for the sidelink measurement.

[0166] Item 29. The method according to any one of the Items 15 to 25, wherein performing (S206) comprises transmitting (S206D), to the second WD, a sidelink reference signal for positioning using one or more antenna panels of the first WD. Item 30. A controller node comprising memory circuitry, processor circuitry, and a wireless interface, wherein the controller node is configured to perform any of the methods according to any of Items 1-14.

[0167] Item 31 . A wireless device comprising memory circuitry, processor circuitry, and a wireless interface, wherein the wireless device is configured to perform any of the methods according to any of Items 15-29.

[0168] The use of the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. does not imply any particular order, but are included to identify individual elements. Moreover, the use of the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. does not denote any order or importance, but rather the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. are used to distinguish one element from another. Note that the words “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. are used here and elsewhere for labelling purposes only and are not intended to denote any specific spatial or temporal ordering. Furthermore, the labelling of a first element does not imply the presence of a second element and vice versa.

[0169] It may be appreciated that Figures 1-12 comprise some circuitries or operations which are illustrated with a solid line and some circuitries, components, features, or operations which are illustrated with a dashed line. Circuitries or operations which are comprised in a solid line are circuitries, components, features or operations which are comprised in the broadest example. Circuitries, components, features, or operations which are comprised in a dashed line are examples which may be comprised in, or a part of, or are further circuitries, components, features, or operations which may be taken in addition to circuitries, components, features, or operations of the solid line examples. It should be appreciated that these operations need not be performed in order presented. Furthermore, it should be appreciated that not all of the operations need to be performed. The example operations may be performed in any order and in any combination. It should be appreciated that these operations need not be performed in order presented. Circuitries, components, features, or operations which are comprised in a dashed line may be considered optional.

[0170] Other operations that are not described herein can be incorporated in the example operations. For example, one or more additional operations can be performed before, after, simultaneously, or between any of the described operations.

[0171] Certain features discussed above as separate implementations can also be implemented in combination as a single implementation. Conversely, features described as a single implementation can also be implemented in multiple implementations separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination can, in some cases, be excised from the combination, and the combination may be claimed as any sub-combination or variation of any sub-combination.

[0172] It is to be noted that the word "comprising" does not necessarily exclude the presence of other elements or steps than those listed.

[0173] It is to be noted that the words "a" or "an" preceding an element do not exclude the presence of a plurality of such elements.

[0174] It is to be noted that the term "indicative of" may be seen as “associated with”, “related to”, “descriptive of”, “characterizing”, and / or “defining”. The terms “indicative of’, “associated with”, “related to”, “descriptive of”, “characterizing”, and “defining” can be used interchangeably. The term “indicative of” can be seen as indicating a relation. For example, weight data indicative of weight may comprise one or more weight parameters.

[0175] It is to be noted that the word "based on" may be seen as “as a function of’ and / or “derived from”. The terms “based on” and “as a function of” can be used interchangeably. For example, a parameter determined “based on” a data set can be seen as a parameter determined “as a function of’ the data set. In other words, the parameter may be an output of one or more functions with the data set as an input.

[0176] A function may be characterizing a relation between an input and an output, such as mathematical relation, a database relation, a hardware relation, logical relation, and / or other suitable relations.

[0177] It should further be noted that any reference signs do not limit the scope of the claims, that the examples may be implemented at least in part by means of both hardware and software, and that several "means", "units" or "devices" may be represented by the same item of hardware.

[0178] The various example methods, devices, nodes and systems described herein are described in the general context of method steps or processes, which may be implemented in one aspect by a computer program product, embodied in a computer-readable medium, including computerexecutable instructions, such as program code, executed by computers in networked environments. A computer-readable medium may include removable and non-removable storage devices including, but not limited to, Read Only Memory (ROM), Random Access Memory (RAM), compact discs (CDs), digital versatile discs (DVD), etc. Generally, program circuitries may include routines, programs, objects, components, data structures, etc. that perform specified tasks or implement specific abstract data types. Computer-executable instructions, associated data structures, and program circuitries represent examples of program code for executing steps of the methods disclosed herein. The particular sequence of such executable instructions or associated data structures represents examples of corresponding acts for implementing the functions described in such steps or processes.

[0179] Although features have been shown and described, it will be understood that they are not intended to limit the claimed disclosure, and it will be made obvious to those skilled in the art that various changes and modifications may be made without departing from the scope of the claimed disclosure. The specification and drawings are, accordingly, to be regarded in an illustrative rather than restrictive sense. The claimed disclosure is intended to cover all alternatives, modifications, and equivalents.

Claims

CLAIMS1 . A method, performed by a controller node, for enabling a sidelink positioning between a first WD and a second WD, the method comprising:- obtaining (S102) positioning information indicative of an antenna configuration of one or more of the first WD and the second WD, and initiating (S104) a sidelink positioning procedure between the first WD and the second WD based on the positioning information.

2. The method according to claim 1 , wherein obtaining (S102) comprises:- sending (S102A), to one or more of the first WD and the second WD, a request for positioning information associated with an antenna configuration of the one or more of the first WD and the second WD, and receiving (S102B), from one or more of the first WD and the second WD, a positioning information report comprising information indicative of the antenna configuration of the one or more of the first WD and the second WD.

3. The method according to claim 1 or 2, wherein the positioning information indicative of the antenna configuration is indicative of the WD comprising a plurality of antenna panels.

4. The method according to any one of the claims 1 to 3, wherein the positioning information indicative of the antenna configuration is indicative of one or more of:- a respective antenna reference point, ARP, of one or more antenna panel(s) of the respective WD(s),- a respective antenna panel identifier for the one or more antenna panel(s) of the respective WD(s),- a respective orientation of the one or more antenna panel(s) of the respective WD(s),- one or more of a coverage area, a number of beams, and a beam type of the one or more antenna panel(s) of the respective WD(s), and- a subset of antenna panels of the one or more antenna panel(s) of the respective WD(s) that are configured for simultaneous receiving and / or transmitting.

5. The method according to any of the previous claims, wherein initiating (S104) comprises initiating the sidelink positioning procedure using a plurality of antenna panels at a target WD.

6. The method according to any one of the previous claims, wherein initiating (S104) comprises sending (S104B) a location request to the target WD, wherein the location request comprises a request for one or more of an orientation and a direction of movement of the target WD.

7. The method according to any one of the claims 1 to 4, wherein initiating (S104) comprises sending (S104C), to the second WD, a sidelink reference signal configuration to be used for sidelink positioning, wherein the sidelink reference signal configuration comprises information indicative of the ARPs associated with antenna panels to be used for transmission or reception of the sidelink reference signal by the second WD.

8. The method according to any of the previous claims, wherein the method comprises receiving (S106), from one or more of the first WD and the second WD, a sidelink positioning measurement report.

9. The method according to claim 8, wherein the sidelink positioning measurement report comprises information indicative of a sidelink measurement result between the first WD and the second WD and antenna panel information indicative of the antenna configuration used for the sidelink measurement.

10. The method according to any one of the previous claims, wherein the controller node is a location network node or a master WD controlling the sidelink positioning procedure.

11. A method, performed by a first wireless device, WD, comprising a plurality of distributed antenna panels, for performing a sidelink positioning between the first WD and a second WD, the method comprising: providing (S202), to a controller node, positioning information indicative of an antenna configuration of the first WD, and performing (S206) a sidelink positioning procedure with the second WD based on the positioning capability.

12. The method according to claim 11 , wherein providing (S202) comprises: receiving (S202A), from the controller node, a request for positioning capabilities associated with an antenna configuration of the first WD, and- transmitting (S202B), to the controller node, a positioning information report comprising information indicative of an antenna configuration of the first WD.

13. The method according to claim 11 or 12, wherein the positioning information indicative of the antenna configuration is indicative of the WD comprising a plurality of antenna panels.

14. The method according to any one of the claims 11 to 13, wherein the positioning information indicative of the antenna configuration is indicative of a respective antenna reference point, ARP, of one or more antenna panel(s) of the respective WD(s).

15. The method according to any one of the claims 11 to 14, wherein the positioning information indicative of the antenna configuration is indicative of a respective antenna panel identifier for the one or more antenna panel(s) of the respective WD(s).

16. The method according to any one of the claims 11 to 15, wherein the positioning information indicative of the antenna configuration is indicative of a respective orientation of the one or more antenna panel(s) of the respective WD(s).

17. The method according to any one of the claims 11 to 16, wherein the positioning information indicative of the antenna configuration is indicative of one or more of a coverage area, a number of beams, and a beam type of the one or more antenna panel(s) of the respective WD(s).

18. The method according to any one of the claims 11 to 17, wherein the positioning information indicative of the antenna configuration is indicative of a subset of antenna panels of the one or more antenna panel(s) of the respective WD(s) that are configured for simultaneous receiving and / or transmitting.

19. The method according to any of the claims 11 to 18, wherein the sidelink positioning procedure is performed using a plurality of antenna panels having different ARPs at a target WD.

20. The method according to any one of the claims 11 to 19, wherein performing (S206) comprises receiving (S206A) a location request from the controller node, wherein thelocation request comprises a request for one or more of an orientation and a direction of the target WD.21 . The method according to any one of the claims 11 to 20, wherein performing (S206) comprises transmitting (S206B), to a second WD, a sidelink reference signal configuration for positioning, wherein the sidelink reference signal configuration for positioning comprises information is indicative of one or more antenna panels to be used for performing the sidelink positioning procedure.

22. The method according to any one of the claims 11 to 21 , wherein performing (S206) comprises measuring (S206C) on a sidelink reference signal for positioning received from the second WD, using one or more antenna panels of the first WD.

23. The method according to any of the claims 11 to 22, wherein the method comprises transmitting (S208), to the controller node, a sidelink positioning measurement report.

24. The method according to claim 23, wherein the sidelink positioning measurement report comprises information indicative of a sidelink measurement result between the first WD and the second WD and antenna panel information indicative of the antenna configuration used for the sidelink measurement.

25. The method according to any one of the claims 11 to 24, wherein performing (S206) comprises transmitting (S206D), to the second WD, a sidelink reference signal for positioning using one or more antenna panels of the first WD.

26. A controller node comprising memory circuitry, processor circuitry, and a wireless interface, wherein the controller node is configured to perform any of the methods according to any of claims 1-10.

27. A wireless device comprising memory circuitry, processor circuitry, and a wireless interface, wherein the wireless device is configured to perform any of the methods according to any of claims 11 -25.

Images