Sidelink positioning, switching between round-trip and single-trip time positioning

Abstract

Systems, methods, and devices for sidelink positioning determination and communication can employ techniques that include acquiring, at a first sidelink-enabled device, data from one or more data sources indicating one or more criteria for using either round-trip-time (RTT)-based positioning of the target node or single-sided (SS)-based positioning of the target node. These techniques also include selecting, using the first sidelink-enabled device, a positioning type from the group consisting of RTT-based positioning and SS-based positioning based on the data. These techniques also include sending a message from the first sidelink-enabled device to a second sidelink-enabled device, where the message includes information indicating the selected positioning type.

Description

Background Art

[0001] SideLink is an adaptation form of cellular standards (e.g., the Long-Term Evolution (LTE) standard and the 5th Generation (5G) New Radio (NR) standard developed and defined by the 3rd Generation Partnership Project (3GPP (registered trademark))), which enables direct communication between two cellular devices instead of transmitting information between two cellular devices via an intervening cellular infrastructure (e.g., a cellular base station). In particular, the SideLink function can be used for vehicle-to-everything (V2X) capable communication. V2X using cellular technology is sometimes called cellular V2X (CV2X).

[0002] V2X communication enabled by SideLink can transmit information from vehicles capable of communicating via V2X (or "V2X-capable vehicles") to other V2X-capable vehicles, infrastructure (e.g., roadside units (RSUs)), pedestrians, etc., which can help enhance the safety and efficiency of autonomous and semi-autonomous driving V2X-capable vehicles. For example, route and operation plans for V2X-capable vehicles depend on knowing accurate distances and relative locations. The capabilities and behaviors of surrounding vehicles help, for example, determine safe vehicle-to-vehicle distances and lane change operations. Location and location-related measurements are regularly communicated between V2X-capable vehicles, for example, through Intelligent Transport System (ITS) messages.

Summary of the Invention

Means for Solving the Problems

[0003] The techniques described herein enable source nodes and / or target nodes to identify “switching” criteria to consider when deciding whether to switch between round-trip time (RTT) based positioning and single-sided (SS) based positioning. Furthermore, this decision may be made by the source node using existing message formats such as ITS. In some embodiments, this instruction may be included in a pre-PRS message.

[0004] An exemplary method for sidelink positioning determination and communication provided in this disclosure includes the step of obtaining data from one or more data sources that indicate one or more criteria for using either round-trip time (RTT) based positioning or single-side (SS) based positioning of a target node in a first sidelink-enabled device. The method also includes the step of using the first sidelink-enabled device to select a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data. The method also includes the step of sending a message from the first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

[0005] An exemplary first sidelink-enabled device for sidelink positioning determination and communication as disclosed herein comprises a transceiver, memory, and one or more processing units communicatively coupled to the transceiver and memory. The one or more processing units are configured to acquire data from one or more data sources indicating one or more criteria for using either round-trip time (RTT) based positioning or single-side (SS) based positioning of a target node. The one or more processing units are also configured to select a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data. The one or more processing units are also configured to send a message via the transceiver to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

[0006] An exemplary device for sidelink positioning determination and communication provided in this disclosure comprises means for acquiring data from one or more data sources indicating one or more criteria for using either round-trip time (RTT) based positioning or single-side (SS) based positioning of a target node. The device also comprises means for selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data. The device also comprises means for sending a message from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type.

[0007] An exemplary non-transient computer-readable medium provided in this disclosure stores instructions for sidelink positioning determination and communication. The instructions include code for retrieving data from one or more data sources indicating one or more criteria for using either round-trip time (RTT) based positioning or single-side (SS) based positioning of a target node. The instructions also include code for selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data. The instructions also include code for sending a message from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view of a traffic scenario in which sidelink communication can enable V2X communication between various V2X-enabled entities. [Figure 2] This is a timing diagram of messages exchanged during RTT-based positioning. [Figure 3] This is a timing diagram of messages exchanged during SS-based positioning. [Figure 4] This is a flowchart of a method for obtaining positioning measurements of a target node according to one embodiment. [Figure 5] This is a flowchart of a method for obtaining positioning measurements of a target node according to another embodiment. [Figure 6] This is a flowchart illustrating a method for determining sidelink positioning and communication according to one embodiment. [Figure 7] This is a diagram of a system according to one embodiment, in which a vehicle can communicate over various networks and with various devices, vehicles, and servers. [Figure 8] This is a functional block diagram of a vehicle according to one embodiment. [Figure 9]This is a block diagram of various hardware and software components of a side-link compatible device according to one embodiment. [Figure 10] This is a perspective view of an exemplary vehicle according to one embodiment. [Modes for carrying out the invention]

[0009] According to several exemplary implementations, similar reference numerals in various drawings refer to similar elements. In addition, multiple instances of an element can be indicated by following a letter or hyphen and a second numeral after a first numeral for that element. For example, multiple instances of element 110 may be indicated as 110-1, 110-2, 110-3, etc., or as 110a, 110b, 110c, etc. When referring to such an element using only the first numeral, any instance of that element should be understood (for example, element 110 in the previous example would refer to elements 110-1, 110-2, and 110-3 or elements 110a, 110b, and 110c).

[0010] Next, several exemplary embodiments will be described with reference to the accompanying drawings that form part of this specification. Specific embodiments in which one or more aspects of this disclosure may be implemented will be described below, but other embodiments may be used, and various modifications may be made without departing from the scope of this disclosure or the spirit of the accompanying claims.

[0011] The embodiments described herein describe the use of sidelink positioning in relation to vehicle-related communications, such as V2X. However, it will be understood that the embodiments are not limited in this way. Embodiments may utilize the techniques described herein for sidelink positioning between two non-vehicle devices, such as two mobile phones, a mobile phone and an RSU, for example.

[0012] Figure 1 is a perspective view of a traffic scenario in which sidelink communication can enable V2X communication between various V2X-enabled entities. Here, road 100 is shared by vehicles 110-1 and 110-2 (collectively and generically referred to as vehicle 110), as well as pedestrians 120 (or vulnerable road users (VRUs)). In addition, an RSU 130 (in this case, a streetlamp with a V2X-enabled transceiver) is located near road 100.

[0013] Modern vehicles 110 often feature highly accurate positioning systems based on sensors such as inertial measurement units (IMUs), global navigation satellite system (GNSS) receivers, and wireless transceivers. In particular, these sensors can enable the vehicle 110 to accurately determine its position in a preferred global frame of reference. Furthermore, the vehicle 110 may also be equipped with numerous perception sensors (e.g., cameras, LiDAR, radar, etc.). These additional sensors can also be used in conjunction with map information to determine the location of the vehicle 110 (e.g., by comparing the position of an observed object with its position on a map), and / or these additional sensors can be used for situational awareness purposes to identify other vehicles 110, objects, VRUs, etc.

[0014] As an example, the first vehicle 110-1 may be equipped with autonomous or semi-autonomous driving capabilities. To ensure that the first vehicle 110-1 remains within its lane on the road 100, the first vehicle 110-1 may utilize information from one or more positioning systems (e.g., based on GNSS, IMU, and / or wireless transceiver positioning). Additionally, the first vehicle 110-1 may use additional information from on-board sensors (cameras, LIDAR, radar, etc.) and V2X communications received from other V2X-enabled entities (e.g., CV2X, and potentially other forms of V2X communications) to determine the location of the second vehicle 110-2, pedestrians 120, etc., relative to the first vehicle 110-1. This additional information can ensure that the first vehicle 110-1 safely navigates the road 100 in light of current traffic conditions.

[0015] V2X (Sidelink) communication-based positioning can be a form of positioning that uses a wireless transceiver, which is used by a vehicle 110 and / or other devices to determine its location. That is, distance determination between two V2X-enabled devices can be performed using V2X communication to make RTT and / or SS measurements. Referring again to Figure 1, these types of measurements can be performed, for example, to measure the distance 140-1 between a first vehicle 110-1 and a pedestrian 120 (in which case the pedestrian is carrying a V2X-enabled device such as a mobile phone), and / or the distance 140-2 between a second vehicle 110-2 and an RSU 130. Ultimately, distance determination can be performed between any two V2X-enabled devices, and this information can be used together with other information (e.g., map information, GNSS information, other distance determinations, etc.) to help estimate the precise location of one or both of those V2X-enabled devices.

[0016] Figures 2 and 3 are timing diagrams of messages exchanged between RTT-based positioning 200-A and SS-based positioning 200-B, respectively. (For simplicity, these terms will also be referred to herein simply as “RTT positioning” and “SS positioning,” respectively.) Here, the “source node” is referred to as the V2X-enabled device initiating the RTT-based or SS-based positioning, and is typically a node with a known location. Additionally, the “target node” is typically a V2X-enabled device with an unknown location. Referring again to Figure 1, distance determination for distance 140-2 may be performed to determine the location of the second vehicle 110-2 based on the known location of RSU 130. Thus, RSU 130 may be the source node, and vehicle 110-2 may be the target node.

[0017] On the other hand, distance determination for distance 140-1 may be performed to determine the position of pedestrian 120 based on the known location of the first vehicle 110-1. In this case, the first vehicle 110-1 may be the source node, and pedestrian 120 (or, more specifically, a V2X-enabled mobile device carried by pedestrian 120) may be the target node.

[0018] Returning to Figure 2, RTT-based positioning 200-A generally proceeds in three stages defined with respect to the transmission of a position reference signal (PRS) by the source node. The first stage of RTT-based positioning 200-A involves sending a “pre-PRS” message in preparation for the subsequent transmission of the PRS signal. The first pre-PRS message 210 is transmitted from the source node and received by the target node. This allows the source node to transmit information about the PRS message (e.g., PRS ID, resource ID, etc.) to the target node. A second pre-PRS message 220, sent from the target node to the source node, may include an acknowledgment by the target node of the reception of the pre-PRS message 210. Pre-PRS messages 210 and 220 may be transmitted over the radio frequency (RF) spectrum authorized for ITS communication.

[0019] The second stage of RTT-based positioning 200-A involves sending a PRS signal, which is used as a timing signal to determine the time of flight (between transmission and reception) and, ultimately, the distance between the source node and the target node. Specifically, the source node sends a message with source PRS 230 at time t1, which is received by the target node at time t2. The target node then responds by sending a message with target PRS 240 at time t3, which is received by the source node at time t4. The RTT can then be calculated from the difference between t4 and t1 - the difference between t3 and t2. From the RTT, the time of flight (TOF) (RTT / 2) and the distance (TOF*C) can then be calculated. PRS 230 and 240 can be transmitted via licensed or unlicensed RF spectrum.

[0020] The third stage of the RTT-based positioning 200-A involves the source node sending a "post-PRS" message 250 to the target node. The post-PRS message 250 may include measurement information derived from the PRS signals 230 and 240 for use by the target node. That is, using the post-PRS message 250, the source node can provide the target node with information that the target node can use to determine its distance from the source node (e.g., by calculating the RTT and / or TOF), and / or other information for positioning (e.g., the location of the target node). This information can then be used, for example, by a Kalman filter in the positioning engine of the target node for clock calibration and ultimately to accurately estimate the position of the target node. Similar to the signals in the first stage of the RTT-based positioning 200-A, the post-PRS message 250 can be communicated using the RF spectrum approved for ITS communication. In some embodiments, the post-PRS message can be sent from the target node to the source node (e.g., in the case where the source node calculates the RTT).

[0021] Regarding the SS-based positioning 200-B of FIG. 3, the process involves a much simpler two-stage exchange of messages between the source node and the target node. Here, the first stage comprises a pre-PRS message 310 from the source node to the target node. Similar to the pre-PRS message 210 of the RTT-based positioning 200-A, this pre-PRS message 310 may include information regarding the timing and content of the source PRS 320, where the source PRS 320 is sent by the second node in the second stage. However, in the SS-based positioning {200-B}, a confirmation response from the target node may not be sent.

[0022] It may be noted that there can be a variant form of the SS-based positioning 200-B shown in FIG. 3. For example, the first stage may not necessarily come before the second stage. That is, the source node may send the source PRS 320 before sending a message with the information (e.g., timing, content) provided in the pre-PRS message 310. Additionally or alternatively, the pre-PRS message 310 (or an equivalent) may be sent via the RF spectrum authorized for ITS communication and / or the source PRS 320 may be sent via an unlicensed spectrum. Other alternative embodiments may include other variant forms.

[0023] Since the SS-based positioning 200-B transmits less information, the estimated position of the target node using the SS-based positioning 200-B may not be as accurate as the estimated position using the RTT-based positioning 200-A. Specifically, the Kalman filter of the positioning engine of the target node has to estimate more variables (e.g., location, clock bias, and clock drift) in the case of the SS-based positioning 200-B and thus may be more likely to result in a larger positioning error. Nevertheless, due to its lower overhead, the use of the SS-based positioning 200-B may be desirable to have lower power consumption at the target node and / or may have an advantage over the RTT-based positioning 200-A when there is insufficient available bandwidth for the RTT-based positioning 200-A. (Additionally or alternatively, since the SS-based positioning 200-B has a lower signaling overhead, it may be possible to enable additional PRS signaling and / or more frequent positioning of the target node using the same amount of bandwidth that would be required in the case of the RTT-based positioning.)

[0024] The embodiments provided herein can address these and other issues by enabling source nodes and / or target nodes to identify “switching” criteria to consider when deciding whether to switch from SS-based positioning to RTT-based positioning, or vice versa. Furthermore, this determination may be made by the source node using existing ITS message formats. In some embodiments, this instruction may be included in pre-PRS messages (e.g., 210 and 310 in Figures 2 and 3, respectively). Additional details are provided below with respect to the accompanying figures.

[0025] Figure 4 is a flowchart of a method 400 for acquiring positioning measurements of a target node according to one embodiment. The functions shown in each block in Figure 4 may be performed by a source node. As described above, the source node may include a V2X-enabled or other sidelink-enabled device capable of communicating directly with the target node (via sidelink communication). Means for performing these methods may include one or more hardware and / or software components of a sidelink-enabled device, such as those shown in Figure 9, which are described below.

[0026] It should be noted that the method shown in Figure 4, and the method shown in Figure 5 described below, also use SS positioning by default and switch to RTT positioning when one or more “switching” conditions are met. (This is because, as previously shown, SS positioning can offer advantages in power saving and bandwidth usage where possible.) However, alternative embodiments may use alternative methods, such as using RTT positioning by default and switching to assess positioning when the switching conditions are met, or evaluating different parameters to decide whether to use RTT positioning or SS positioning. Those skilled in the art will recognize that such modifications can be made to the methods shown in Figures 4 and 5.

[0027] The function in block 410 includes acquiring switching criterion information. As stated, the switching criterion may include data indicating conditions under which it may be preferable to use RTT positioning. Therefore, acquiring switching criterion information may include acquiring data from various data sources to determine whether one or more switching conditions are met. These data sources may include one or more sensors of the source node and / or other devices communicably coupled to the source node. The target node may, for example, include the data source for the switching criterion.

[0028] One such switching criterion may include determining whether there is a lack of sufficient angular change between the source node and the target node. That is, multiple distance determinations between the source node and the target node over time may result in an angle between the alignment of the source node and the target node in a previous time and the alignment of the source node and the target node in a subsequent time. This can provide the Kalman filter of the target node with an additional data point, along with which the current position of the target node can be determined. As mentioned above, RTT positioning yields fewer estimates from the Kalman filter than SS positioning. And therefore, without this additional data point regarding angular change, the accuracy of position determination based on SS positioning may be worse than the accuracy of position determination based on RTT positioning. Thus, according to some embodiments, the function in block 410 for acquiring switching criterion information may include acquiring information on whether the relative position between the source node and the target node over time fails to indicate an angular change of a threshold amount. This may be determined, for example, based on position information regarding the target node and the source node. In some embodiments, the source node may receive position information regarding the target node directly from the target node.

[0029] Another switching criterion may include determining whether the speed sensor of the source node or target node is inaccurate. In embodiments where the source node and / or target node are mobile devices (e.g., vehicle 110 or pedestrian 120), a faulty speed sensor may reduce the number of data points, thereby enabling the Kalman filter to reliably determine a position estimate for each source node or target node. In this case as well, when using fewer data points to determine the position estimate, the Kalman filter may be able to provide a more accurate position estimate using RTT positioning data. Thus, according to some embodiments, the function in block 410 for acquiring switching criterion information may include acquiring information on whether the speed sensors of the source node and / or target node are determined to have a difference greater than a threshold.

[0030] Similar switching criteria may include determining whether the source node or target node is stationary. In such cases, the obtained position determination of the target node may have higher accuracy when using RTT positioning than when using SS positioning. Accordingly, according to some embodiments, the function in block 410 for acquiring switching criterion information may include acquiring information on whether the source node or target node has moved by a threshold amount within a threshold time period. Additionally or alternatively, the function in block 410 for acquiring switching criterion information may include acquiring information on whether the relative distance between the source node and the target node has changed by a threshold amount within a threshold time period.

[0031] Another switching criterion may include determining whether the local oscillators of the source or target node have recently been synchronized or initialized. In this context, synchronization or initialization of the local oscillator may result in time periods during which positioning, which relies on the local oscillator, may be less accurate compared to Ground Truth Time or Universal Time. For example, estimating the local clock bias and clock drift to accurately determine times t1 and t2 for SS positioning (Figure 3) can be more difficult because each is based on a separate local oscillator. That is, the oscillator time value T can be expressed as a function of time, T = t + a + bt, where a is the bias coefficient and b is the drift coefficient. These coefficients are device-specific, and a can change whenever the clock is synchronized or initialized. However, RTT-based positioning may be less inaccurate because times t1 and t4 are both determined on the source node's local oscillator, and times t2 and t3 are both determined on the target node's local oscillator. The relative time differences between them (i.e., t4-t1 and t3-t2) are used to determine the TOF, and there is no problem of inaccuracy that may arise if the relative frequency and / or phase offset between the respective local oscillators of the source node or target node has not been determined for the recent synchronization or initialization of one or both of those local oscillators. Accordingly, according to some embodiments, the function in block 410 for acquiring switching reference information may include acquiring information on whether the respective local oscillators of the source node or target node were synchronized or initialized within a threshold time amount before RTT positioning or SS positioning would be performed.

[0032] In block 420, the function includes determining whether one or more switching conditions have been met. Although switching criteria have been given above, the switching conditions can still vary depending on the desired function. For example, for each of these switching criteria, the respective threshold can be set or modified to provide a certain function for the source node and / or target node. These values ​​may be selected, for example, to provide a desired balance of bandwidth usage, power saving, and / or location accuracy. In some embodiments, these values ​​may be selected to optimize one benefit (e.g., location accuracy) at the expense of other benefits (e.g., power saving and bandwidth usage). In some embodiments, these values ​​may be changed from one mode (e.g., location accuracy optimization) to another mode (e.g., balance of benefits) depending on environmental factors or other factors relating to the source node and / or target node. In some embodiments, communications sent to the source node and / or target node may trigger this change from one mode to another. In addition to, or as an alternative to, modifying the thresholds, some embodiments may evaluate different switching criterion information differently to emphasize and / or not emphasize different criteria. In this case as well, this may depend on a specific operating mode or desired function.

[0033] With this in mind, the function shown in block 420 for determining whether one or more switching conditions are met may include determining whether each of the thresholds for any of the switching criteria has been exceeded. In some embodiments and / or functional modes, this may be sufficient to determine that the switching condition has been met. In some embodiments and / or functional modes, determining whether the switching condition has been met may include combining information from multiple switching criteria to determine whether the switching condition has been met, taking all into consideration. For example, in block 420, if no single threshold has been exceeded for a given switching criterion, but the values ​​for multiple criteria are approaching their respective thresholds, it may be determined differently that the switching condition has been met. Furthermore, as mentioned, some values ​​may be given greater weight than others, depending on the desired function.

[0034] If the switching condition is not met in block 420, method 400 may then proceed to block 430, where a message indicating that SS positioning should be performed is sent by the source node to the target node. As described above, this may include a pre-PRS message 310 (Figure 3) for the first stage of SS-based positioning, which may include an ITS message. Method 400 may then proceed to block 440, where the function includes sending a PRS in accordance with SS positioning (for example, performing the second stage of SS-based positioning shown in Figure 3).

[0035] Alternatively, if the switching condition is met in block 420, method 400 may then proceed to block 450, where a message indicating that RTT positioning should be performed is sent by the source node to the target node. This may include a pre-PRS message 210 (Figure 2) for the first stage of RTT-based positioning, which may also include an ITS message. Method 400 may then proceed to block 460, where the function includes sending a PRS in accordance with RTT positioning (for example, performing the second and third stages of RTT-based positioning shown in Figure 2).

[0036] According to some embodiments, when a message indicates that RTT positioning should be used (as indicated by the functionality of block 450, for example) or SS positioning should be used (as indicated by the functionality of block 430, for example), the message may be sent using an existing format for containing the message. These formats may include, for example, a media access control-control element (MAC-CE) or second stage control. Additionally or alternatively, one or more additional bits in an existing message format (e.g., an ITS message) may be used to indicate whether SS positioning or RTT positioning should be used. An example of a two-bit indication in a message sent from a source node to a target node is shown in Table 1.

[0037] [Table 1]

[0038] The embodiments described above provide a source node that sends an instruction to use RTT positioning or SS positioning, but the embodiments are not limited thereto. As stated above, the function in block 410 that acquires switching criterion information, performed at the source node, may involve receiving information from the target node. Thus, in some embodiments, the target node may perform a method similar to method 400 in Figure 4 to determine whether to use RTT positioning or SS positioning and provide an instruction to the source node. Furthermore, this function may be coupled to the function in Figure 4 so that both the target node and the source node can determine whether one or more switching conditions are met. An example of this is shown in Figure 5.

[0039] Figure 5 is a flowchart of a method 500 for acquiring positioning measurements of a target node according to another embodiment. Here, the functions shown in each block shown in Figure 5 may be performed by either the target node or the source node, as illustrated. In this case as well, the source node and / or target node may be equipped with a V2X-enabled or other sidelink-enabled device capable of communicating directly with the target node (via sidelink communication). Thus, the means for performing these methods may include one or more hardware and / or software components of a sidelink-enabled device, such as those shown in Figure 9, which will be described below.

[0040] The functions in blocks 505 and 510 may be very similar to those in blocks 410 and 420 in Figure 4, respectively. Therefore, the functions and considerations for obtaining switching criteria information and determining whether one or more switching conditions are met may be the same as those previously described for blocks 410 and 420. (However, since the source node can perform similar functions (as described below with respect to the functions in blocks 530 and 535), the target node may not receive information from the source node when obtaining switching criteria information in some embodiments. However, in alternative embodiments, the target node may receive information from the source node.)

[0041] If the switching conditions are met, method 500 can proceed to the function shown in block 515, which includes sending a message from the target node to the source node instructing RTT positioning. In some embodiments, this message may include an ITS message. In this case, the source node can then perform RTT positioning in a similar manner to that shown in Figure 2 by sending a pre-PRS message, a PRS message, and a post-PRS message to the target node (as shown by block 520) (the target node may also send a response message, as shown in Figure 2, but is omitted in Figure 5).

[0042] In block 510, if the switching condition is not met, the target node may perform any of the functions shown in block 525, which involves sending a message to the source node instructing it to perform SS positioning. (In this case as well, in embodiments, this message may include an ITS message.) That is, in some embodiments and / or under some conditions, the target node may send a message indicating that the switching condition was not met. However, in other embodiments and / or under other conditions, the source node may proceed to perform the functions shown in block 530 without having received a message from the target node in block 525.

[0043] The functions of blocks 530-555 executed by the source node can be directly repeated from the corresponding functions shown in Figure 4 described above. Therefore, Method 500 presents an embodiment in which both the target node and the source node can determine whether or not the switching condition is met. Ultimately, if either node determines that the switching condition is met, RTT positioning is performed. Otherwise, SS positioning is performed.

[0044] As previously shown, the embodiments described herein may have specific applications to V2X communication, but the embodiments are not limited thereto. That is, the embodiments may extend to positioning of other types of sidelink-enabled devices. An example of one embodiment applicable to all sidelink-enabled devices is provided in Figure 6. It should be noted that the functionality of Figure 6 may encompass some or all of the functionality described with respect to Figures 4 and / or 5.

[0045] Figure 6 is a flowchart of a sidelink positioning determination and communication method 600 according to one embodiment. One or more of the functions of method 600 may be performed by sidelink-enabled devices (e.g., target node and / or source node). Furthermore, as stated above, the functions of the sidelink-enabled devices (e.g., V2X-enabled devices) may be implemented by hardware and / or software components such as those shown in Figure 9 and described below. Thus, in some embodiments, the means for performing one or more of the functions shown in the blocks of Figure 6 may comprise one or more of the hardware and / or software components shown in Figure 9. Furthermore, alternative embodiments may modify the functions shown in the blocks of Figure 6 by separating or combining blocks to perform functions in a different order, simultaneously, etc. Those skilled in the art will readily recognize such variations in view of the description herein.

[0046] The function of block 610 includes acquiring data from one or more data sources that indicate one or more criteria for using either RTT-based positioning or SS-based positioning of the target node in the first sidelink-enabled device. As stated above, one or more criteria may include whether the relative position over time between the first sidelink-enabled device and the second sidelink-enabled device fails to indicate an angular change of a threshold amount; whether the speed sensors of the first sidelink-enabled device, the second sidelink-enabled device, or both are determined to have a difference greater than a threshold; whether the first sidelink-enabled device, the second sidelink-enabled device, or both have moved by a first threshold distance within a threshold time quantity; whether the relative distance between the first sidelink-enabled device and the second sidelink-enabled device has not changed by a second threshold distance within a threshold time quantity; or whether the local oscillators of the first sidelink-enabled device, the second sidelink-enabled device, or both were synchronized or initialized within a threshold time quantity before positioning of the selected positioning type was performed, or any combination thereof. The determination of any of these criteria may be made by the first sidelink-enabled device and / or from one or more data sources (e.g., another device, sensor, etc.) from which data is acquired. In some embodiments and / or scenarios, the first sidelink-enabled device may comprise a target node, and the second sidelink-enabled device may comprise a source node (as described in more detail below with respect to the functionality of block 630). Alternatively, the first sidelink-enabled device may comprise a source node, and the second sidelink-enabled device may comprise a target node. If the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises a target node, one of the data sources from which data regarding one or more criteria is acquired may comprise the second sidelink-enabled device.

[0047] Means for performing the functions in block 610 may include one or more software and / or hardware components of the vehicle, such as the bus 901 of the sidelink-enabled device 900 shown in Figure 9, the processor 910, the memory 960, the wireless transceiver 930, the GNSS receiver 970, and / or other software and / or hardware components, which will be described in more detail below.

[0048] The functionality in block 620 includes, using a first sidelink-enabled device, selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on data. As stated, this may include taking into account criteria for deciding whether to use RTT-based or SS-based positioning. In some cases, for example, a single criterion may be sufficient to select RTT-based positioning (or SS-based positioning). In other cases, multiple criteria may be balanced / evaluated to determine the selection.

[0049] Means for performing the functions in block 620 may include one or more software and / or hardware components of the vehicle, such as the bus 901 of the side-link compatible device 900, as shown in Figure 9, the processor 910, the memory 960, and / or other software and / or hardware components, which will be described in more detail below.

[0050] The function of block 630 is to send a message from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating a selected positioning type. As stated above, this indication may include using one or more bits to indicate the selected positioning type. In some embodiments, for example, the information indicating the selected positioning type included in the message consists of two bits in the message (for example, as shown in Table 1). Additionally or alternatively, the message may be sent using MAC-CE or a second stage control format. According to some embodiments, the message may comprise an ITS message.

[0051] Means for performing the functions in block 630 may include one or more software and / or hardware components of the vehicle, such as the bus 901 of the sidelink-enabled device 900 shown in Figure 9, the processor 910, the memory 960, the wireless transceiver 930, the GNSS receiver 970, and / or other software and / or hardware components, which will be described in more detail below.

[0052] As shown in the embodiments described above, alternative embodiments may include additional functionality. For example, if the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises a target node, an embodiment of Method 600 may further include sending a PRS from the first sidelink-enabled device according to a selected positioning type. Additional or alternative, obtaining data from one or more data sources may include obtaining information from the target node. Furthermore, in some embodiments, the information from the target node may include instructions for selecting a positioning type from the target node. In such cases, selecting a positioning type (e.g., the function in block 620) may further depend on selecting a positioning type from the target node, as shown in Method 500 shown in Figure 5.

[0053] Figures 7–10 illustrate systems, structural devices, vehicle components, and other devices, components, and systems that may be used to implement the techniques provided herein for side-link positioning when relating to V2X (although, as stated, embodiments are not necessarily limited to V2X applications). In the following description, references to V2X systems and devices may include systems and devices employing side-link communication. Thus, in the following description, vehicles, mobile devices, and RSUs may each comprise side-link-enabled (or more specifically, V2X-enabled / CV2X-enabled) devices.

[0054] Figure 7 is a diagram of a system according to one embodiment in which a vehicle can communicate with various devices, vehicles, and servers over various networks. In one embodiment, a V2X vehicle A780 communicates with a V2X or other wireless communication transceiver-enabled vehicle B790 using a V2X or other wireless communication transceiver on link 723 to, for example, perform negotiations for relative positioning between vehicles, lane changes, or passing through intersections, exchange V2X data elements such as GNSS measurements, vehicle status, vehicle location and vehicle capability, measurement data, and / or calculated status, and exchange other V2X vehicle status steps that may not be covered in the V2X capability data elements. In one embodiment, vehicle A780 may also communicate with vehicle B790 over a network, for example, via wireless signals 722 / 724 to base station 720 and / or via wireless signal 732 to access point 730, or via one or more communication-enabled RSUs 725, any of which may relay communications, information, and / or convert protocols for use by other vehicles, such as vehicle B790, in particular, when vehicle B790 is not able to communicate directly with vehicle A780 in a common protocol. In one embodiment, the RSU may comprise various types of roadside beacons, traffic and / or vehicle monitors, traffic control devices, and location beacons.

[0055] In one embodiment, the RSU725 may have a processor 725A configured to operate a wireless transceiver 725E to send and receive wireless messages, such as Basic Safety Messages (BSMs), Cooperative Recognition Messages (CAMs), or other V2X messages, between a base station 720 and / or an access point 730 and vehicles A780 and / or B790. For example, the wireless transceiver 725E may send and / or receive wireless messages in various protocols, such as V2X communication with vehicles (e.g., using side-link communication), and / or using various wide area network (WAN), wireless local area network (WLAN), and / or personal area network (PAN) protocols for communication over a wireless communication network. In one embodiment, the RSU 725 may include one or more processors 725A communicatively coupled to a wireless transceiver 725E and memory, and may include instructions and / or hardware to run as a traffic control unit 725C, and / or to provide and / or process environmental and roadside sensor information 725D, or to act as a location reference for GNSS relative locations between it and a vehicle. In one embodiment, the RSU 725 may include a network interface 725B (and / or wireless transceiver 725E), which in one embodiment may communicate with external servers such as a traffic optimization server 765, a vehicle information server 755, and / or an environmental data server 740. In one embodiment, the wireless transceiver 725E may communicate on a wireless communication network by transmitting or receiving wireless signals from a wireless base transceiver subsystem (BTS), node B, or advanced node B (e-node B), or next-generation node B (g-node B) over a wireless communication link. In one embodiment, the Wireless Transceiver 725E may comprise various combinations of WAN transceivers, WLAN transceivers, and / or PAN transceivers.In one embodiment, the local transceiver may also be a Bluetooth® transceiver, a ZigBee transceiver, or another PAN transceiver. The local transceiver, WAN wireless transceiver, and / or mobile wireless transceiver may comprise a WAN transceiver, access point (AP), femtocell, home base station, small cell base station, home node B (HNB), home e-node B (HeNB), or next-generation node B (g-node B), and may provide access to a WLAN (e.g., an IEEE 802.11 network), a wireless personal area network (PAN, e.g., a Bluetooth network), or a cellular network (e.g., an LTE network, or other wireless wide area networks such as those described in the following paragraphs). These are merely examples of networks that may communicate with the RSU725 over a wireless link, and it should be understood that the subject matter claimed is not limited thereto.

[0056] The RSU725 may receive location, status, GNSS and other sensor measurements, and capability information from vehicle A780 and / or vehicle B790, including GNSS measurements, sensor measurements, speed, heading, location, stopping distance, priority or emergency status, and / or other vehicle-related information. In one embodiment, environmental information such as road surface information / status, weather status, and camera information may be collected and shared with the vehicle via either point-to-point or broadcast messaging. The RSU725 may use information received from vehicle A780 and / or vehicle B790 via the wireless transceiver 725E, environmental and roadside sensors 725D, and network information and control messages from, for example, a traffic control and optimization server 765, to adjust and guide traffic flow and provide environmental, vehicle, safety, and notification messages to vehicle A780 and vehicle B790.

[0057] The processor 725A may be configured to operate a network interface 725B, which in one embodiment may be connected to a network 770 via backhaul, and in one embodiment may be used to communicate with and coordinate with various centralized servers, such as a centralized traffic control and optimization server 765, which monitors and optimizes traffic flow in an area, such as within a city or section of a city, or in a region. The network interface 725B may also be used for remote access to the RSU 725 for crowdsourcing of vehicle data, maintenance of the RSU 725, and / or coordination with other RSU 725 or other users. The RSU 725 may have a processor 725A configured to operate a traffic control unit 725C, which may be configured to process data received from vehicles such as vehicle A780 and vehicle B790, such as location data, stopping distance data, road condition data, identification data, and other information regarding the status and location of nearby vehicles and the environment. The RSU725 may have a processor 725A configured to acquire data from environmental and roadside sensors 725D, which may include temperature, weather, camera, pressure sensor, road sensor (for example, vehicle detection), accident detection, movement detection, speed detection, and other vehicle and environmental monitoring sensors.

[0058] In one embodiment, vehicle A780 may also communicate with mobile device 700 using short-range communication and personal networks such as Bluetooth, Wi-Fi, or Zigbee, or via V2X (e.g., CV2X / sidelink communication) or other vehicle-related communication protocols, for example, in one embodiment, access a WAN and / or Wi-Fi network, and / or, in one embodiment, acquire sensor and / or location measurements from mobile device 700. In one embodiment, vehicle A780 may communicate with mobile device 700 using WAN-related protocols through a WAN network, such as via a WAN base station 720, or using Wi-Fi, either directly peer-to-peer or via a Wi-Fi access point. Vehicles A780 and / or B790 may communicate using a variety of communication protocols. In one embodiment, vehicle A780 and / or vehicle B790 may support various modes of wireless communication, such as using V2X, Global System for Mobile Communications (GSM), Wideband Code Division Multiple Access (WCDMA®), Code Division Multiple Access (CDMA), High-Speed ​​Packet Data (HRPD), Wi-Fi, Bluetooth, WiMAX, LTE, and 5G New Radio Access Technology (NR) communication protocols.

[0059] In one embodiment, vehicle A may communicate with a wireless LAN access point 730 via a base station 720 using a WAN protocol over a WAN network, or using a wireless LAN protocol such as Wi-Fi. The vehicle may also support wireless communication using, for example, WLAN, PAN (such as Bluetooth or ZigBee), digital subscriber line (DSL), or packet cable.

[0060] Vehicle A780 and / or Vehicle B790 may include one or more GNSS receivers, such as a GNSS receiver 970 for receiving GNSS signals 712 from GNSS satellite 710 for location determination, time acquisition, and time maintenance, in one embodiment. Various GNSS systems may be supported, alone or in combination, using the GNSS receiver 970 or other receivers to receive signals from Beidou, Galileo, the Global Navigation Satellite System (GLONASS), and / or the Global Positioning System (GPS), as well as various regional navigation systems such as the Quasi-Zenith Satellite System (QZSS) and NavIC or the Indian Regional Navigation Satellite System (IRNSS). In one example, other wireless systems may be utilized, such as beacon-dependent systems, such as one or more RSUs 725, one or more wireless LAN access points 730, or one or more base stations 720. Various GNSS signals 712 can be used in conjunction with vehicle sensors to determine location, speed, and proximity to other vehicles, such as between vehicle A780 and vehicle B790.

[0061] In one embodiment, vehicle A and / or vehicle B may have access to GNSS measurements and / or locations determined at least partially using GNSS, such as provided by mobile device 700, and mobile device 700 may also, in one embodiment, have GNSS, WAN, Wi-Fi, and other communication receivers and / or transceivers. In one embodiment, vehicle A780 and / or vehicle B790 may, as a fallback, have access to GNSS measurements (such as pseudodistance measurements, Doppler measurements, and satellite IDs) and / or locations determined at least partially using GNSS, such as provided by mobile device 700, if GNSS receiver 970 fails or provides location accuracy below a threshold level.

[0062] Vehicle A780 and / or vehicle B790 may access various servers on the network, including the vehicle information server 755, route server 745, location server 760, map server 750, and environment data server 740.

[0063] The vehicle information server 755 may provide various vehicle-representing information, such as antenna location, vehicle size, and vehicle capabilities, which can be used to make decisions regarding operations on nearby vehicles, such as whether nearby vehicles are capable of stopping or accelerating in a timely manner, whether nearby vehicles are operating autonomously, whether they are autonomous driving compatible, and whether they are communication compatible. In one embodiment, the vehicle information server 755 may also provide information regarding vehicle size, shape, capabilities, identification information, ownership, possession, and / or a determined location point (e.g., the location of a GNSS receiver), as well as the location of the vehicle boundary relative to the determined location point.

[0064] Route server 745 receives current location and destination information and may provide routing information, map data, alternative route data, and / or traffic and street condition data for the vehicle.

[0065] In one embodiment, the location server 760 may provide location determination capabilities, transmitter signal acquisition support (such as GNSS satellite orbit prediction information, time information, approximate location information, and / or approximate time information), a transceiver almanac including Wi-Fi access point and base station identification information and its location, and in some embodiments, additional route-related information such as speed limits, traffic, and road status / construction status. The map server 750 may provide map data such as road locations, points of interest along roads, address locations along roads, road size, road speed limits, traffic conditions, and / or road conditions (such as wet, slippery, snow-covered / frozen), and road status (such as passable, under construction, accident). In one embodiment, the environmental data server 740 may provide weather and / or road-related information, traffic information, terrain information, and / or road quality and speed information, and / or other related environmental data.

[0066] In one embodiment, vehicles 780 and 790, as well as the mobile device 700 in Figure 7, may communicate over network 770 via various network access points, such as a wireless LAN access point 730 or a wireless WAN base station 720. Vehicles 780 and 790, as well as the mobile device 700, may also communicate directly between devices, between vehicles, and between devices and vehicles, and between vehicles and devices, in some embodiments, using various short-range communication mechanisms for direct communication without going over network 770, such as via Bluetooth, Zigbee, and new 5G radio standards.

[0067] Figure 8 provides a functional block diagram of vehicle 800 according to one embodiment. As mentioned above, vehicle 800 may be equipped with a certain type of side-link compatible device. Accordingly, exemplary hardware and / or software components for performing the block shown in Figure 8 are shown in Figure 9 and described in more detail below.

[0068] As shown in Figure 8, the vehicle 800 may receive vehicle and environmental information from external vehicle sensors 802, internal vehicle sensors 804, vehicle capabilities 806, external wireless information 808 such as the location and GNSS measurement information of other vehicles (from the environment, from other vehicles, from RSU, from a system server), and / or vehicle motion status 810 (representing current and / or future motion status). In one embodiment, the received vehicle, sensor, and environmental information may be processed in one or more processors 910, DSPs 920, and memory 960 (shown in Figure 9), which are connected and configured to provide external object detection and classification, prediction and planning, and operation execution, and to determine and update V2X or other wireless data element values, including GNSS data element values, and to transmit messaging containing the determined data elements via one or more wireless transceivers 930. Messaging and data elements can be sent and received via a variety of means, protocols, and standards, including via SAE or ETS CV2X messages and / or other wireless V2X protocols supported by the Wireless Transceiver 930.

[0069] The inter-vehicle relative location determination block 828 may be used to determine the relative location of a vehicle in an area of ​​interest. In one embodiment, GNSS data is exchanged with a vehicle or other device such as an RSU to determine and / or verify and / or improve the accuracy of the relative location associated with the other vehicle or device. In one embodiment, determining a vehicle (or other device) in an area of ​​interest may utilize broadcast location information, such as broadcast latitude and longitude received in messages from the other vehicle or other device, and location information about vehicle 800 to determine the approximate relative location and / or approximate range between vehicles.

[0070] In one embodiment, other vehicle-related input sources, such as servers 755, 745, 760, 750, and 740, may provide information such as vehicle information, routing, location assistance, map data, and environmental data, and may provide inputs for other inputs, such as road location data, map data, driving condition data, and other vehicle-related data inputs, and / or complement and / or be used with those other inputs, which are used together with the inter-vehicle operation coordination 824 to determine operation execution 826. In one embodiment, map data may include the location of roadside units relative to road locations, where a vehicle may utilize relative positioning with the RSU in combination with map data to determine positioning relative to the road surface, particularly in situations where other systems may fail due to poor visibility weather conditions (snow, rain, sandstorm, etc.). In one embodiment, map data from map server 750 may be used together with relative and / or absolute data from nearby vehicles and / or RSU 725 to determine highly reliable absolute locations and relative locations relative to roads / maps for multiple vehicles. For example, if vehicle A780 has a more accurate / reliable location than other vehicles communicating with vehicle A780, such as vehicle B790, then even if vehicle B790's system is otherwise unable to calculate an accurate location in a particular situation or environment, other vehicles can use the accurate relative location and GNSS information for the accurate location sent from vehicle A780 to vehicle B790 to determine an accurate location for vehicle B790. In this situation, the presence of vehicle A with an accurate location determination system benefits all surrounding vehicles by sharing one or more accurate locations along with the relative location information in progress. Furthermore, assuming the map data from map server 750 is accurate, the ability to propagate accurate location data from vehicle A780 to surrounding vehicles such as vehicle B790 enables surrounding vehicles to determine their relative locations with equal accuracy to the map data, even in otherwise problematic signal / location environments. The vehicle information server 755 may provide vehicle information such as size, shape, and antenna location, which can be used, for example, by vehicle A or other vehicles to determine not only the relative location between the GNSS receiver on vehicle A780 and, for example, vehicle B790, but also the distance between the nearest points of vehicle A780 and vehicle B790. In one embodiment, traffic information from the traffic control and optimization server 765 may be used (in one embodiment) together with the route server 745 to determine overall route selection and rerouting. In one embodiment, the environmental data server 740 may provide input about road conditions, thin ice, snow, water on the road, and other environmental conditions which may also affect the decisions and decision criteria in the inter-vehicle operation coordination block 824 and the operation execution block 826. For example, in icy or rainy conditions, vehicle 800 may perform and / or request an increase in the inter-vehicle distance from adjacent vehicles, or choose a route option that avoids road hazard conditions such as thin ice and still water.

[0071] Block 828 may be implemented using a variety of dedicated or general-purpose hardware and software, such as using a processor 910 and / or DSP 920 (as shown again in Figure 9), and memory 960, or in one embodiment, in a dedicated hardware block such as a dedicated sensor processing and / or vehicle messaging core. According to some embodiments, the location of a nearby vehicle may be determined through a variety of means, based on signal-based timing measurements such as the RTT and SS of the broadcast signal for the vehicle (as described in the embodiments above), and / or time to arrive (TOA), signal strength, and the distance determined based on the broadcast latitude and longitude from the nearby vehicle, and the vehicle's current location. Additionally or alternatively, the location of a nearby vehicle may be determined from sensor measurements such as light detection and ranging (LIDAR), radio detection and ranging (RADAR), SONAR, and camera measurements. In one embodiment, some or all of blocks 802, 804, 806, 808, and / or 810 may have a dedicated processing core, for example, to improve performance and reduce measurement latency. In one embodiment, some or all of blocks 802, 804, 806, 808, and / or 810 may share processing with block 828.

[0072] In some embodiments, the vehicle external sensor 802 may include a camera, LIDAR, RADAR, proximity sensor, rain sensor, weather sensor, GNSS receiver 970, and received data used with those sensors, such as map data, environmental data, location, route, and / or other vehicle information, which may be received from other vehicles, devices, and, in one embodiment, from servers such as a map server 750, a route server 745, a vehicle information server 755, an environmental data server 740, a location server 760, and / or from associated devices such as a mobile device 700 that may be located inside or near a vehicle such as vehicle A780. For example, in one embodiment, the mobile device 700 may provide an additional source of GNSS measurements, an additional source of motion sensor measurements, or provide network access as a communication portal to a WAN, Wi-Fi, or other network, and as a gateway to various information servers such as servers 740, 745, 750, 755, 760, and / or 765.

[0073] It should be understood that the vehicle 800 may include one or more cameras. In one embodiment, the cameras may be adjustable (e.g., rotatable cameras) in terms of front, side, rear, or field of view. As shown in Figure 10, for example, there may be multiple cameras 1006 facing the same plane. For example, the bumper-mounted cameras in cameras 1006 and 1008 may comprise two front cameras, i.e., one focused on lower objects and / or a lower viewpoint (e.g., the one mounted on the bumper) for parking, and another focused on a higher viewpoint, such as for tracking traffic, other vehicles, pedestrians, and more distant objects. In one embodiment, various fields of view may be stitched together and / or correlated with other inputs, such as V2X inputs from other vehicles, in order to optimize tracking of other vehicles and external entities and objects, and / or to calibrate the sensor systems against each other. The LIDAR 1004 may be roof-mounted and may be rotating or focused on a specific viewpoint (front, rear, side, etc.). The LIDAR1004 may be solid-state or mechanical. Proximity sensors may be ultrasonic, radar-based, optical (based on infrared distance measurement, etc.), and / or capacitive (surface touch oriented, or capacitive detection of metal bodies). Rain and weather sensors may include a variety of detection capabilities and technologies, such as barometric pressure sensors, moisture detectors, rain sensors, and / or optical sensors, and / or may utilize other existing sensor systems. GNSS receivers may be mounted on the roof, such as in a fin antenna assembly at the rear of the car roof, or on the hood or dashboard, or otherwise located inside the exterior or interior of the vehicle.

[0074] In one embodiment, the vehicle internal sensor 804 may include wheel sensors 1012 such as tire pressure sensors, brake pad sensors, brake status sensors, speedometers, and other speed sensors; heading sensors and / or orientation sensors such as magnetometers and geomagnetic compasses; distance sensors such as odometers and wheel tick sensors; inertial sensors such as accelerometers and gyroscopes; and inertial positioning results using the aforementioned sensors, which may be determined individually or using other sensor systems such as accelerometers, gyroscopes, and / or tilt sensors, as well as yaw sensors, pitch sensors, and / or roll sensors.

[0075] Both the vehicle internal sensor 804 and the vehicle external sensor 802 may have shared or dedicated processing capabilities. For example, a sensor system or subsystem may have one or more sensor processing cores that determine vehicle status values ​​such as yaw, pitch, roll, heading, speed, acceleration ability and / or distance, and / or stopping distance, based on measurements from accelerometers, gyroscopes, magnetometers, and / or other sensing systems and other inputs. Different sensing systems may communicate with each other to determine measurements or send values ​​to block 828 to determine vehicle location. Vehicle status values ​​derived from measurements from internal and external sensors may be further combined with vehicle status values ​​and / or measurements from other sensor systems using a general-purpose or application processor. For example, blocks 828 and / or 824 may be implemented on a dedicated or centralized processor to determine data element values ​​for V2X messaging, which may be sent using the wireless transceiver 930 or via other communication transceivers. In one embodiment, the sensor may be separated into related systems, such as LIDAR, RADAR, motion, wheel systems, etc., which are operated by a dedicated processing core for raw results, which outputs vehicle status values ​​from each core, which are combined and interpreted to derive a combined vehicle status value including capability data elements and status data elements, which may be used as a messaging step to control or otherwise influence vehicle operation, and / or to be shared with other vehicles and / or systems via V2X or other messaging capabilities. These messaging capabilities may be based on various wireless, optical, or other communication standards, such as those supported by a wireless transceiver 930 and antenna 932 in one embodiment.

[0076] In one embodiment, vehicle capabilities 806 may include performance estimates for stopping, braking, acceleration, and turning radius, as well as for autonomous and / or non-autonomous driving status and / or capability. In one embodiment, capability estimates may be based on stored estimates that can be loaded into memory. These estimates may be based on empirical performance numbers and / or models for a given performance figure, either for a specific vehicle or for an average value across one or more vehicles. If performance estimates for multiple models are averaged or otherwise combined, those performance estimates may be selected based on similar or common characteristics. For example, vehicles with similar or identical weight and the same or similar drivetrains may share performance estimates for driving performance-related estimates, such as braking / stopping distance, turning radius, and acceleration performance. Vehicle performance estimates may also be obtained, for example, from a vehicle data server on a network, over a wireless network, using an external V2X input 808. This is particularly useful for obtaining information about vehicles that are not wireless-enabled and cannot directly provide vehicle information. In one embodiment, vehicle performance 806 may also be influenced by the status of vehicle components, such as tire wear, tire brand performance, brake pad wear, brake brand and performance, and engine status. In one embodiment, vehicle performance 806 may also be influenced by overall vehicle status, such as speed and heading, and by external factors such as road surface, road conditions (wet, dry, slippery / traction, etc.), and weather (windy, rainy, snowy, thin ice, slippery road, etc.). Often, wear or other system degradation, and external factors such as weather, road surface, and road conditions may be used to reduce, verify, or improve performance estimates. In some embodiments, actual measured vehicle performance may be measured and / or estimated based on actual vehicle driving-related performance, such as measuring vehicle stopping distance and / or acceleration time per distance. In one embodiment, If the measurements are inconsistent, more recently measured performance may be weighted more heavily or preferred over older measurements. Similarly, in one embodiment, measurements taken during similar conditions, such as in the same type of weather or on the same type of road surface as currently detected by the vehicle, such as via the external vehicle sensor 802 and / or the internal vehicle sensor 804, may be weighted more heavily and / or preferred when determining capability.

[0077] The V2X vehicle detection, prediction, and planning execution 812 handles the reception and processing of information from blocks 802, 804, 806, 808, and 810 via the external object detection and classification block 814, partially utilizing the sensor fusion and object classification block 816 to correlate, confirm, and / or combine data from input blocks 802, 804, 806, 808, and 810. Block 814 external object detection and classification determines the presence of an object and the type of object (e.g., car, truck, bicycle, motorcycle, pedestrian, animal), as well as the object status relative to the vehicle, size, threat level, and vulnerability priority (a pedestrian, for example, will have a higher vulnerability priority to road litter), including movement status, proximity, heading, and / or position relative to the vehicle. In one embodiment, block 814 may utilize GNSS measurement messages from other vehicles to determine relative positioning relative to other vehicles. This output from block 814 may be provided to prediction and planning block 818, which, via block 820, determines the detected objects and vehicles, as well as their associated trajectories, and in block 822, determines vehicle operation and route planning, the output of which is used either directly in vehicle operation execution in block 826 or via V2X vehicle-to-vehicle negotiation block 824, which integrates and considers operation plans, locations, and statuses received from other vehicles. V2X vehicle-to-vehicle negotiation takes into account the status of neighboring vehicles and enables negotiation and coordination between neighboring or other affected vehicles based on vehicle priority, vehicle capabilities (such as the ability to stop, slow down, or accelerate to avoid a collision), and, in some embodiments, various conditions such as weather conditions (rain, fog, snow, wind), road conditions (dry, wet, icy, slippery). These include, for example, negotiations between vehicles approaching an intersection regarding the timing and order of passing through the intersection, negotiations between adjacent vehicles regarding lane changes, negotiations regarding parking spaces, and single-lane traffic. This includes negotiations regarding access for traveling in one direction on a road or for overtaking another vehicle. Vehicle-to-vehicle negotiations may also include time-based and / or distance-based factors such as the time of the appointment, the distance to the destination, and the estimated route time to arrive at the destination, as well as, in some embodiments, the type of appointment and the importance of the appointment.

[0078] Figure 9 is a block diagram of various hardware and software components of a side-link compatible device 900 according to one embodiment. In this case as well, a vehicle (e.g., vehicle A780, vehicle B790), a mobile device (e.g., mobile device 700), and / or RSU (e.g., RSU725) may include the side-link compatible device 900. Since the side-link compatible device 900 may be incorporated into a vehicle, the various components shown in Figure 9 are intended for vehicle applications. Therefore, in embodiments in which the side-link compatible device 900 is incorporated into a mobile device or RSU, the side-link compatible device 900 may not include such components.

[0079] In embodiments in which the sidelink-enabled device 900 is incorporated into a vehicle, the vehicle may comprise, for example, a car, truck, motorcycle, and / or other motorized vehicle, which may, for example, transmit radio signals to and receive radio signals from other sidelink-enabled devices via V2X inter-vehicle communication (for example, using one of the CV2X inter-vehicle communication protocols), and / or, in one embodiment, receive radio signals from a wireless communication network 770 via a WAN, base station 720, and / or wireless access point 730, and / or from RSU 725. In one example, a sidelink-enabled device 900 (e.g., vehicle 780) may communicate with other vehicles (e.g., vehicle 790) and / or a wireless communication network via a wireless transceiver 930 and a wireless antenna 932 by communicating using wireless signals over a wireless communication link with a remote wireless transceiver, the remote wireless transceiver may be integrated into another vehicle 790, RSU 725, mobile device 700, base station 720 (e.g., node B, e node B, or g node B), or wireless access point 730.

[0080] According to several embodiments, the sidelink-enabled device 900 may transmit wireless signals to and receive wireless signals from a local transceiver over a wireless communication link by using a WAN, WLAN, and / or PAN wireless transceiver (which may be capable of sidelink communication), represented here by, for example, one of a wireless transceiver 930 and a wireless antenna 932. In one embodiment, the wireless transceiver 930 may comprise various combinations of a WAN transceiver, a WLAN transceiver, and / or a PAN transceiver. In one embodiment, the wireless transceiver 930 may also comprise a Bluetooth transceiver, a ZigBee transceiver, or another PAN transceiver. In one embodiment, the sidelink-enabled device 900 may transmit wireless signals to and receive wireless signals from the wireless transceiver 930 over a wireless communication link 934. Local transceivers, WAN wireless transceivers, and / or mobile wireless transceivers may comprise WAN transceivers, access points (APs), femtocells, home base stations, small cell base stations, HNBs, HeNBs, or gnode Bs, and may provide access to WLANs (e.g., IEEE 802.11 networks), wireless personal area networks (PANs, e.g., Bluetooth networks), cellular networks (e.g., LTE networks, or other wireless wide area networks as described in the following paragraphs), and / or sidelink-enabled devices (e.g., cellular devices that can communicate directly over the WAN transceiver using sidelink communication). Of course, these are merely examples of networks that can communicate with a vehicle over a wireless link, and it should be understood that the subject matter claimed is not limited to this. In one embodiment, GNSS signals 974 from a GNSS satellite are utilized by a sidelink-enabled device 900 for location determination and / or for determining GNSS signal parameters and demodulated data.In one embodiment, signals 934 from a WAN transceiver, WLAN, and / or PAN local transceiver are used for location determination, either alone or in combination with GNSS signals 974.

[0081] Examples of network technologies that can support the Wireless Transceiver 930 include GSM, CDMA, WCDMA®, LTE, 5G or New Radio Access Technology (NR), HRPD, and V2X vehicle-to-vehicle communication. As mentioned, V2X communication protocols can be defined in various standards, such as SAE standards and ETS-ITS standards. GSM, WCDMA®, and LTE are technologies defined by 3GPP®. CDMA and HRPD are technologies defined by the Third Generation Partnership Project II (3GPP® II). WCDMA® is also part of the Universal Mobile Telecommunications System (UMTS) and may be supported by HNB.

[0082] The wireless transceiver 930 may communicate with a communications network via a WAN wireless base station, which may comprise a deployment of equipment that provides subscriber access to the wireless telecommunications network for service (for example, under a service contract). Here, the WAN wireless base station may perform the functions of a WAN or cell base station when serving subscriber devices in a cell determined at least partially on the extent to which the WAN wireless base station is capable of providing access services. Examples of WAN base stations include GSM base stations, WCDMA® base stations, LTE base stations, CDMA base stations, HRPD base stations, Wi-Fi base stations, Bluetooth base stations, WiMAX base stations, and 5G NR base stations. In one embodiment, a further wireless base station may comprise a WLAN and / or PAN transceiver.

[0083] In one embodiment, the side-link compatible device 900 may include one or more cameras 935. In one embodiment, the camera may comprise a camera sensor and a mounting assembly. Different mounting assemblies may be used for different cameras on the side-link compatible device 900. For example, a front camera may be mounted in the front bumper of the side-link compatible device 900, in the stem of a rearview mirror assembly, or in other front areas. A rear camera may be mounted in the rear bumper / fender of the vehicle, on the rear window, on the trunk, or in other rear areas. A side camera may be mounted on the side of the vehicle, such as being integrated into a mirror assembly or door assembly. The cameras may provide object detection and distance estimation, in particular for objects of known size and / or shape (e.g., stop signs and license plates, both of which have standardized size and shape), and may also provide information about rotational motion of the vehicle relative to its axis, such as during curves. When used in cooperation with other sensors, the cameras may both be calibrated through the use of other systems, such as by using LIDAR, wheel tick / distance sensors, and / or GNSS, to verify the distance traveled and angular orientation. Cameras can also be used to verify and calibrate other systems, for example, to verify that distance measurements are correct by calibrating them against known distances between known objects (landmarks, roadside markers, road mile markers, etc.), and to verify that object detection is performed accurately so that objects are mapped to the correct location relative to the vehicle by LIDAR and other systems accordingly.Similarly, for example, when combined with an accelerometer, the time of collision with a road hazard can be estimated (e.g., elapsed time before hitting a pothole), the collision time can be validated against the actual time of the collision and / or against a stopping model (e.g., against an estimated stopping distance if attempting to stop before hitting an object), and / or against a maneuvering model (verifying whether the current estimate of the turning radius at the current speed and / or a measure of maneuverability at the current speed are accurate under current conditions, and accordingly modifying the estimated parameters to update them based on camera and other sensor measurements).

[0084] In one embodiment, the accelerometer, gyroscope, and magnetometer 940 may be used to provide and / or verify motion and directional information. The accelerometer and gyroscope may be used to monitor wheel and drivetrain performance. In one embodiment, the accelerometer may also be used to verify the actual time of collision with road hazards such as potholes against a predicted time, based on existing stopping and acceleration models, as well as a steering model. In one embodiment, the gyroscope and magnetometer may be used, respectively, to measure the rotational status and orientation relative to magnetic north of the vehicle, and, in particular, to measure and calibrate estimates and / or models for measures of turning radius and maneuverability at current speed, when used in cooperation with measurements from other external and internal sensors such as other sensors 945, such as speed sensor measurements, wheel tick sensor measurements, and / or odometer measurements.

[0085] The LIDAR950 uses pulsed laser light to measure the range to an object. While cameras can be used for object detection, the LIDAR950 provides a means to more reliably detect the distance (and orientation) of an object, especially for objects of unknown size and shape. LIDAR950 measurements can also be used to estimate the rate of travel, vector direction, relative position, and stopping distance by providing accurate distance and delta distance measurements.

[0086] Memory 960 may be used with the processor 910 and / or DSP 920, and memory 960 may comprise random access memory (RAM), read-only memory (ROM), disk drives, flash memory, or other memory devices, or various combinations thereof. In one embodiment, memory 960 may include instructions for implementing various methods described throughout this specification, including, for example, a process for implementing the use of relative positioning between vehicles and between a vehicle and an external reference object such as a roadside unit. In one embodiment, memory may include instructions for operating and calibrating sensors, and instructions for receiving map, weather, vehicle (both side-link compatible device 900 and surrounding vehicles), and other data, and for determining driving parameters such as relative position, absolute position, stopping distance, acceleration, and turning radius and / or maneuverability, inter-vehicle distance, turning initiation / timing and performance, and driving operation initiation / timing, at current speed.

[0087] In one embodiment, the power and drive system (generator, battery, transmission, engine) and associated systems 975, as well as the systems (brakes, actuators, throttle control devices, steering, and electrical) 955, may be controlled by a processor and / or hardware or software, by a vehicle operator, or by any combination thereof. The systems (brakes, actuators, throttle control devices, steering, and electrical, etc.) 955, as well as the power and drive or other systems 975, may be used together with performance and operating parameters to enable the side-link compatible device 900 to be driven and operated autonomously (and manually for alerts and emergency overrides / braking / stopping), for example, to safely, effectively, and efficiently merge into traffic, stop, accelerate, and otherwise operate. In one embodiment, inputs from various sensor systems such as camera 935, accelerometer, gyroscope, and magnetometer 940, LiDAR 950, GNSS receiver 970, RADAR 953, inputs, messaging, and / or measurements from wireless transceiver 930 and / or other sensors 945, or various combinations thereof, may be used by processor 910 and / or DSP 920 or other processing systems to control power and drive systems 975, as well as systems (such as brake actuators, throttle control devices, steering, and electrical systems) 955.

[0088] The GNSS receiver 970 may be used to determine its position relative to the Earth (absolute position), and when used in conjunction with other information such as measurements and / or mapping data from other objects, it may be used to determine its position relative to other vehicles and / or the road surface, etc. To determine its position, the GNSS receiver 970 may receive RF signals 974 from GNSS satellites (for example, RF signals 712 from GNSS satellite 710) using one or more antennas 972 (which may be the same as antenna 932, depending on functional requirements). The GNSS receiver 970 may support one or more GNSS constellations, as well as other satellite-based navigation systems. For example, in one embodiment, the GNSS receiver 970 may support global navigation satellite systems such as GPS, GLONASS, Galileo, and / or BeiDou, or any combination thereof. In one embodiment, the GNSS receiver 970 may support regional navigation satellite systems such as NavIC, QZSS, or a combination thereof, as well as various augmentation systems (e.g., satellite-based augmentation systems (SBAS) or ground-based augmentation systems (GBAS)), such as Doppler Orbitography and Radio-positioning Integrated by Satellite (DORIS), wide-area augmentation systems (WAAS), European Geostationary Navigation Overlay Service (EGNOS), multifunction satellite augmentation systems (MSAS), or local area augmentation systems (LAAS). In one embodiment, the wireless receiver 930 and antenna 932 may support multiple bands and subbands, such as GPS L1, L2, and L5 bands, Galileo E1, E5, and E6 bands, Compass (BeiDou) B1, B3, and B2 bands, GLONASS G1, G2, and G3 bands, and QZSS L1C, L2C, and L5-Q bands.

[0089] The GNSS receiver 970 may be used to determine location, location and relative location which can be used for navigation, and, when appropriate, to determine the distance between two points in time under clear conditions and to calibrate other sensors, such as an odometer and / or LiDAR, using that distance data. In one embodiment, for example, GNSS-based relative location based on shared Doppler and / or pseudodistance measurements between vehicles may be used to determine a highly accurate distance between two vehicles and, when combined with vehicle information such as shape and model information, as well as GNSS antenna location, may be used to calibrate, verify, and / or influence the confidence level associated with information from LiDAR, cameras, RADAR, SONAR, and other distance estimation techniques. GNSS Doppler measurements may also be used to determine the linear and rotational motion of a vehicle, or a vehicle relative to another vehicle, and these motions may be used, along with gyroscopes and / or magnetometers and other sensor systems, to maintain the calibration of those systems based on the measured location data. Relative GNSS position data can also be combined with highly reliable absolute location data from the RSU to determine the vehicle's highly reliable absolute location. Furthermore, relative GNSS position data can be used during adverse weather conditions that obscure LIDAR and / or camera-based data sources to avoid other vehicles and to stay within lanes or other allocated road areas. For example, using an RSU with a GNSS receiver and V2X capabilities, GNSS measurement data may be provided to a vehicle, and if the RSU's absolute location is provided, this GNSS measurement data can be used to navigate the vehicle against a map and keep the vehicle within lanes and / or on the road despite lack of visibility.

[0090] RADAR953 uses transmitted radio waves reflected from objects. The reflected radio waves are analyzed based on the time it took for the reflection to arrive and other signal characteristics of the reflected radio waves to determine the location of nearby objects. RADAR953 can be used to detect the location of nearby cars, roadside objects (signs, other vehicles, pedestrians, etc.), and generally enables object detection even in obscuring weather conditions such as snow, rain, or hail. Therefore, RADAR953 can be used to complement LIDAR950 and camera935 systems in providing ranging information to other objects by providing ranging and distance measurements when vision-based systems typically fail. Furthermore, RADAR953 can be used to calibrate and / or perform sanity checks on other systems such as LIDAR950 and camera935. Distance measurements from the RADAR953 can be used to determine / measure stopping distance, acceleration, and maneuverability at current speed (e.g., turning radius at current speed, and / or other measures of maneuverability). In some systems, ground-penetrating radar can also be used to track the road surface, for example, via radar reflective markers on the road surface or on ground features such as ditches.

[0091] Figure 10 is a perspective view of an exemplary vehicle 1000 according to one embodiment, capable of communicating using sidelink / V2X communication in the manner of the embodiments described earlier. Some of the components described in relation to Figure 9 and the previous embodiments are shown here. As shown in the figure and as described earlier, the vehicle 1000 may have cameras such as a camera 1006 mounted on the rearview mirror, a camera mounted on the front fender (not shown), a camera mounted on the side mirror (not shown), and a rear camera (not shown, but typically on the trunk, hatch, or rear bumper). The vehicle 1000 may also have a LIDAR 1004 for detecting objects and measuring the distance to those objects, the LIDAR 1004 is often mounted on the roof, but if there are multiple LIDAR units 1004, the LIDAR units 1004 may be oriented around the front, rear, and sides of the vehicle. Vehicle 1000 may have various other location-related systems, such as a GNSS receiver 970 (typically located on the shark fin unit at the rear of the roof, as shown in the figure), various wireless transceivers (WAN, WLAN, V2X, etc., but not typically located on the shark fin) 1002, a RADAR 1008 (typically located on the front bumper), and a SONAR 1010 (if present, typically located on both sides of the vehicle). Various wheel 1012 and drivetrain sensors may also be present, such as tire pressure sensors, accelerometers, gyroscopes, and wheel rotation detection and / or counters. In one embodiment, distance measurements and relative locations determined via various sensors such as LIDAR, RADAR, cameras, GNSS, and SONAR may be combined with information on the size and shape of the vehicle, as well as information on the location of the sensors, to determine the distance and relative location between different vehicle surfaces, so that the distance or vector from one sensor to another vehicle, or between two different sensors (such as two GNSS receivers), is gradually increased to take into account the position of the sensors on each vehicle.Therefore, the precise GNSS distance and vector between the two GNSS receivers need to be corrected based on the relative locations of various vehicle surfaces with respect to the GNSS receivers. For example, when determining the distance between the front bumper of the following car and the rear bumper of the lead car, that distance needs to be adjusted based on the distance between the GNSS receiver and the front bumper of the following car, and the distance between the GNSS receiver of the car in front and the rear bumper of the car in front. For example, the distance between the rear bumper of the car in front and the front bumper of the following car is obtained by subtracting the distance from the GNSS receiver of the following car to the front bumper, and then subtracting the distance from the GNSS receiver of the car in front to the rear bumper, from the relative distance between the two GNSS receivers. This list is not limiting, and it should be understood that Figure 10 provides exemplary locations of various sensors in one embodiment of a vehicle equipped with a side-link enabled device 900.

[0092] It will be apparent to those skilled in the art that substantial modifications may be made in accordance with specific requirements. For example, customized hardware may be used, and / or certain elements may be implemented in hardware, software (including portable software such as applets), or both. Furthermore, connections to other computing devices, such as network input / output devices, may be employed.

[0093] Referring to the attached diagram, components that may include memory (for example, memory 960 in Figure 9) may include non-temporary machine-readable media. As used herein, the terms “machine-readable media” and “computer-readable media” refer to any storage medium involved in providing data to a machine to operate in a particular manner. In the embodiments provided above, various machine-readable media may be included when providing instructions / code to processing units and / or other devices for execution. In addition or alternative, machine-readable media may be used to store and / or carry such instructions / code. In many implementations, computer-readable media are physical and / or tangible storage media. Such media can take many forms, including, but are not limited to, non-volatile media, volatile media, and transmission media. Typical forms of computer-readable media include, for example, magnetic media and / or optical media, any other physical media having a pattern of holes, RAM, PROM, EPROM, FLASH®-EPROM, any other memory chip or cartridge, carrier waves as described below, or any other media from which a computer can read instructions and / or code.

[0094] The methods, systems, and devices described herein are examples. Various embodiments may omit, substitute, or add various procedures or components as appropriate. For example, features described in relation to some embodiments can be combined in various other embodiments. Different aspects and elements of embodiments can be combined in the same way. Various components of the figures provided herein can be embodied in hardware and / or software. Furthermore, technology evolves, and therefore many of the elements are examples that do not limit the scope of this disclosure to their specific examples.

[0095] It has been found that, primarily due to common usage, it is sometimes convenient to refer to such signals as bits, information, values, elements, symbols, characters, variables, terms, digits, numerical values, etc. However, it should be understood that all of these terms, or similar terms, should be associated with appropriate physical quantities and are merely convenient designations. Unless otherwise specified, as is evident from the above explanation, it is understood that throughout this specification, explanations using terms such as “process,” “calculate,” “compute,” “determine,” “confirm,” “identify,” “associate,” “measure,” and “execute” refer to actions or processes of a particular device, such as a dedicated computer or similar dedicated electronic computing device. Therefore, in the context of this specification, a dedicated computer or similar dedicated electronic computing device is capable of manipulating or converting signals that are generally represented as physical electronic quantities, electrical quantities, or magnetic quantities within the memory, registers, or other information storage devices, transmitting devices, or display devices of the dedicated computer or similar dedicated electronic computing device.

[0096] As used herein, the terms “and” and “or” may have a variety of meanings, which are also expected to depend, at least in part, on the context in which such terms are used. Generally, when “or” is used to relate a list such as A, B, or C, it shall mean A, B, and C as used herein in an inclusive sense, and also as A, B, or C as used herein in an exclusive sense. In addition, as used herein, the term “one or more” may be used to describe any singular feature, structure, or property, or any combination of features, structures, or properties. However, it should be noted that these are merely illustrative examples, and the claimed subject matter is not limited to these examples. Furthermore, when the term “at least one of” is used to relate a list such as A, B, or C, it may be interpreted to mean any combination of A, B, and / or C, such as A, AB, AA, AAB, AABBCCC, etc.

[0097] While several embodiments have been described, various modifications, alternative configurations, and equivalents may be used without departing from the spirit of this disclosure. For example, the elements described above may simply be components of a larger system, where other rules may take precedence over the applications of the various embodiments, or the applications of the various embodiments may be modified in a different way. Also, several steps may be taken before, during, or after the consideration of the elements described above. Therefore, the above description does not limit the scope of this disclosure.

[0098] In light of this description, embodiments may include combinations of different features. Examples of implementations are described in the following numbered clauses. Clause 1: A method for determining and communicating sidelink positioning, comprising the steps of: obtaining data from one or more data sources in a first sidelink-enabled device that indicates one or more criteria for using either round-trip time (RTT) based positioning or single-side (SS) based positioning of a target node; using the first sidelink-enabled device, selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data; and sending a message from the first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type. Clause 2: The method of Clause 1, wherein the message comprises an Intelligent Transport System (ITS) message. Clause 3: Any method of Clauses 1 to 2, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises a target node. Clause 4: The method of Clause 3, further comprising the step of sending a position reference signal (PRS) from a first sidelink-enabled device according to the selected positioning type. Clause 5: Any method of Clauses 3-4, wherein the step of obtaining data from one or more data sources includes the step of obtaining information from a target node. Clause 6: The method of Clause 5, wherein the information from the target node includes instructions for selecting a positioning type from the target node, and the step of selecting a positioning type is further based on the selection of a positioning type from the target node. Clause 7: Any method of Clauses 1 to 2, wherein the first sidelink-enabled device comprises the target node and the second sidelink-enabled device comprises the source node. Clause 8: Information indicating the selected positioning type included in the message, consisting of 2 bits in the message, in any of the methods described in Clauses 1 to 7. Clause 9: The message is sent using any of the methods in Clauses 1-8, either using a media access control-control element (MAC-CE) or a second stage control format. Clause 10: The message comprises a pre-PRS message, in any manner described in Clauses 1 through 9. Clause 11: Any method of Clauses 1 to 10, comprising one or more criteria: whether the relative position over time between a first sidelink-enabled device and a second sidelink-enabled device fails to indicate an angular change of a threshold amount; whether the speed sensors of the first sidelink-enabled device, the second sidelink-enabled device, or both are determined to have a difference greater than a threshold; whether the first sidelink-enabled device, the second sidelink-enabled device, or both have moved by a first threshold distance within a threshold time period; whether the relative distance between the first sidelink-enabled device and the second sidelink-enabled device has not changed by a second threshold distance within a threshold time period; or whether the local oscillators of the first sidelink-enabled device, the second sidelink-enabled device, or both were synchronized or initialized within a threshold time period before positioning of the selected type of positioning was performed; or any combination thereof. Clause 12: A first sidelink-enabled device for sidelink positioning determination and communication, comprising a transceiver, memory, and one or more processing units communicatively coupled to the transceiver and memory, wherein the one or more processing units are configured to: acquire data from one or more data sources indicating one or more criteria for using either round-trip time (RTT) based positioning or single-side (SS) based positioning of a target node; select a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data; and send a message to a second sidelink-enabled device via the transceiver, the message including information indicating the selected positioning type. Clause 13: The first sidelink-enabled device of Clause 12, wherein one or more processing units are configured to include Intelligent Transport System (ITS) messages in a message. Clause 14: A first sidelink-enabled device according to any of Clauses 12-13, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises a target node. Clause 15: The first sidelink-enabled device of Clause 14, further configured to transmit a position reference signal (PRS) via a transceiver according to a selected positioning type, comprising one or more processing units. Clause 16: A first sidelink-enabled device according to any of Clauses 14-15, wherein one or more processing units are configured to obtain information from a target node in order to obtain data from one or more data sources. Clause 17: The first sidelink-enabled device of Clause 16, comprising instructions for positioning type selection from a target node, configured to select a positioning type in response to information from a target node, further based on the positioning type selection from the target node. Clause 18: A first sidelink-enabled device according to any of Clauses 12-13, wherein the first sidelink-enabled device comprises a target node and the second sidelink-enabled device comprises a source node. Clause 19: A first sidelink-enabled device according to any of Clauses 12-18, further configured to include 2 bits in the message as information indicating the selected positioning type, with one or more processing units. Clause 20: A first sidelink-enabled device according to any of Clauses 12-19, further configured to send messages using a media access control-control element (MAC-CE) or a second stage control format, with one or more processing units. Clause 21: A first sidelink-enabled device of any of Clauses 12-20, which has a pre-PRS message. Clause 22: A first sidelink device according to any of Clauses 12 to 21, comprising one or more criteria: whether the relative position over time between the first sidelink device and the second sidelink device fails to indicate an angular change of a threshold amount; whether the speed sensors of the first sidelink device, the second sidelink device, or both are determined to have a difference greater than a threshold; whether the first sidelink device, the second sidelink device, or both have moved by a first threshold distance within a threshold time period; whether the relative distance between the first sidelink device and the second sidelink device has not changed by a second threshold distance within a threshold time period; or whether the local oscillators of the first sidelink device, the second sidelink device, or both were synchronized or initialized within a threshold time period before positioning of the selected type of positioning was performed; or any combination thereof. Clause 23: A device for sidelink positioning determination and communication, comprising: means for acquiring data from one or more data sources indicating one or more criteria for using either round-trip time (RTT) based positioning or single-side (SS) based positioning of a target node; means for selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data; and means for sending a message from a first sidelink-enabled device to a second sidelink-enabled device, wherein the message includes information indicating the selected positioning type. Clause 24: A device of Clause 23, wherein the means for sending a message includes means for sending an Intelligent Transport System (ITS) message. Clause 25: Any device according to Clauses 23-24, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises a target node. Clause 26: The device of Clause 25, further comprising means for sending a position reference signal (PRS) from a first sidelink-enabled device according to the selected positioning type. Clause 27: Any device according to Clauses 25-26, wherein the means for obtaining data from one or more data sources includes means for obtaining information from a target node. Clause 28: Any device according to Clauses 23-24, wherein the first sidelink-enabled device comprises a target node and the second sidelink-enabled device comprises a source node. Clause 29: Any device under Clauses 23-28, in which the information indicating the selected positioning type included in the message consists of 2 bits in the message. Clause 30: A non-temporary computer-readable medium for storing instructions for sidelink positioning determination and communication, the medium comprising: a code for obtaining data from one or more data sources, the instructions indicating one or more criteria for using either round-trip time (RTT) based positioning or single-side (SS) based positioning of a target node; a code for selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data; and a code for sending a message from a first sidelink-enabled device to a second sidelink-enabled device, the message including information indicating the selected positioning type. [Explanation of Symbols]

[0099] 100 roads 110, 800, 1000 vehicles 110-1 Vehicle, First Vehicle 110-2 Vehicle, second vehicle 120 pedestrians 130 RSU 140-1, 140-2 distance 200-A RTT-based positioning 200-B SS-based positioning 210 First pre-PRS message, pre-PRS message 220 Second pre-PRS message, pre-PRS message 230 Source PRS, PRS, PRS signal 240 Target PRS, PRS, PRS signal 250 "Post-PRS" Messages, Post-PRS Messages 310 Pre-PRS Message 320 Source PRS 700 mobile devices 710 GNSS satellites 712, 974 GNSS signal, RF signal 720 base stations, WAN base stations, wireless WAN base stations 722, 724, 732 wireless signals 723 links 725 Communication-enabled RSU, RSU 725A, 910 processors 725B Network Interface 725C Traffic Control Unit 725D Environmental and roadside sensor information, environmental and roadside sensors 725E Wire Restaurant Seaba 730 Access points, wireless LAN access points, wireless access points 740 Environmental data server, server 745 Root Server, Server 750 map servers, servers 755 Vehicle information server, server 760 Location Server, Server 765 Traffic Optimization Server, Traffic Control and Optimization Server, Centralized Traffic Control and Optimization Server, Server 770 Network, Wireless Communication Network 780 V2X Vehicle A, Vehicle A, Vehicle Vehicle B, Vehicle B, Vehicle 790 V2X or other communication transceiver compatible 802 Vehicle external sensors, blocks, input blocks 804 Vehicle internal sensors, blocks, input blocks 806 Vehicle capabilities, blocks, input blocks 808 External wireless information such as the location and GNSS measurement information of other vehicles, block, external V2X input, input block 810 Vehicle movement state, block, input block 812 V2X Vehicle Detection, Prediction, and Planning Execution 814 External object detection and classification block, block 816 Sensor Fusion and Object Classification Block 818 Prediction and Planning Block Blocks 820 and 822 824 Inter-vehicle operation coordination, Inter-vehicle operation coordination block, Block, V2X inter-vehicle negotiation block 826 Operation execution, Operation execution block, Block 828 Inter-vehicle relative location determination block, block 900 Sidelink-compatible devices 901 Bus 920 DSP 930 Wireless Receiver 932 Antenna, Wireless Antenna 934 Wireless communication link, signal 935 Camera 940 accelerometers, gyroscopes, and magnetometers 945 Other sensors 950 LIDAR 953 RADAR 955 Systems (brakes, actuators, throttle control devices, steering, and electrical systems), Systems (brakes, actuators, throttle control devices, steering, electrical systems, etc.), Systems (brake actuators, throttle control devices, steering, electrical systems, etc.) 960 memory 970 GNSS receiver 972 Antenna 975 Power and drive systems (generators, batteries, transmissions, engines) and related systems, power and drive or other systems, power and drive systems 1002 Various Wire Restaurant Sheba 1004 LIDAR, LIDAR unit 1006 Camera, camera mounted on the rearview mirror 1008 Camera mounted on the bumper, RADAR 1010 SONAR 1012 Wheel Sensor, Wheel

Claims

1. 1. A method for sidelink positioning and communications, comprising: obtaining, at a first sidelink enabled device, data from one or more data sources indicating one or more criteria for using either a round trip time (RTT) based positioning of a target node or a single sided (SS) based positioning of the target node, the one or more criteria comprising: whether the relative position over time between the first Sidelink enabled device and a second Sidelink enabled device fails to exhibit a threshold amount of angular change; whether the respective speed sensors of the first Sidelink enabled device, the second Sidelink enabled device, or both are determined to have a difference greater than a threshold; whether the first sidelink enabled device, the second sidelink enabled device, or both, have experienced a threshold amount of movement within a threshold amount of time; whether the relative distance between the first sidelink enabled device and the second sidelink enabled device has undergone less than a threshold amount of change within a threshold amount of time; or whether a local oscillator of the first sidelink enabled device, the second sidelink enabled device, or both, respectively, was synchronized or initialized within a threshold amount of time before a positioning fix of the selected positioning type was to be performed; or Any combination of them and selecting, with the first sidelink enabled device, a positioning type from a group consisting of an RTT-based positioning and an SS-based positioning based on the one or more criteria; sending a message from the first sidelink enabled device to the second sidelink enabled device, the message including information indicating the selected positioning type; The method includes:

2. The method of claim 1 , wherein the message comprises an Intelligent Transport System (ITS) message.

3. the first sidelink enabled device comprises a source node; 2. The method of claim 1, wherein the second sidelink enabled device comprises the target node.

4. 4. The method of claim 3, further comprising sending a Position Reference Signal (PRS) from the first sidelink enabled device in accordance with the selected positioning type.

5. The method of claim 3 , wherein obtaining the data from the one or more data sources comprises obtaining information from the target node.

6. the information from the target node comprises an indication of a positioning type selection from the target node; The method of claim 5 , wherein the step of selecting a positioning type is further based on the positioning type selection from the target node.

7. the first sidelink enabled device comprises the target node; 2. The method of claim 1, wherein the second sidelink enabled device comprises a source node.

8. The method of claim 1 , wherein the information included in the message indicating the selected positioning type consists of two bits in the message.

9. 2. The method of claim 1, wherein the message is sent using a medium access control-control element (MAC-CE) or second stage control format.

10. The method of claim 1 , wherein the message comprises a pre-PRS message.

11. A first sidelink enabled device for sidelink positioning and communications, comprising: A transceiver; Memory, one or more processing units communicatively coupled to the transceiver and the memory; wherein the one or more processing units: obtaining data from one or more data sources indicating one or more criteria for using either a round-trip-time (RTT)-based positioning of a target node or a single-sided (SS)-based positioning of the target node, the one or more criteria comprising: whether the relative position over time between the first Sidelink enabled device and a second Sidelink enabled device fails to exhibit a threshold amount of angular change; whether the respective speed sensors of the first Sidelink enabled device, the second Sidelink enabled device, or both are determined to have a difference greater than a threshold; whether the first sidelink enabled device, the second sidelink enabled device, or both, have experienced a threshold amount of movement within a threshold amount of time; whether the relative distance between the first sidelink enabled device and the second sidelink enabled device has undergone less than a threshold amount of change within a threshold amount of time; or whether a local oscillator of the first sidelink enabled device, the second sidelink enabled device, or both, respectively, was synchronized or initialized within a threshold amount of time before a positioning fix of the selected positioning type was to be performed; or Any combination of them To have or obtain; selecting a positioning type from the group consisting of RTT-based positioning and SS-based positioning based on the one or more criteria; and sending a message to the second sidelink enabled device via the transceiver, the message including information indicating the selected positioning type. A first sidelink-enabled device configured to:

12. 12. The first sidelink-enabled device of claim 11, wherein the one or more processing units are configured to include an Intelligent Transport System (ITS) message in the message.

13. the first sidelink enabled device comprises a source node; The first sidelink enabled device of claim 11, wherein the second sidelink enabled device comprises the target node.

14. 14. The first sidelink enabled device of claim 13, wherein the one or more processing units are further configured to send, via the transceiver, a position reference signal (PRS) in accordance with the selected positioning type.

15. 14. The first sidelink enabled device of claim 13, wherein the one or more processing units are configured to obtain information from the target node to obtain the data from the one or more data sources.

16. 16. The first sidelink enabled device of claim 15, wherein in response to the information from the target node comprising an indication of a positioning type selection from the target node, the one or more processing units are configured to select the positioning type further based on the positioning type selection from the target node.

17. the first sidelink enabled device comprises the target node; 12. The first sidelink enabled device of claim 11, wherein the second sidelink enabled device comprises a source node.

18. 12. The first sidelink enabled device of claim 11, wherein the one or more processing units are further configured to include two bits in the message as the information indicative of the selected positioning type.

19. 12. The first sidelink-enabled device of claim 11, wherein the one or more processing units are further configured to send the message using a medium access control-control element (MAC-CE) or second stage control format.

20. The first sidelink enabled device of claim 11, wherein the message comprises a pre-PRS message.

21. 1. A device for sidelink positioning and communications, comprising: A means for obtaining data from one or more data sources indicating one or more criteria for using either a round-trip-time (RTT)-based positioning of a target node or a single-sided (SS)-based positioning of the target node, the one or more criteria comprising: whether the relative position over time between the first Sidelink enabled device and the second Sidelink enabled device fails to exhibit a threshold amount of angular change; whether the respective speed sensors of the first Sidelink enabled device, the second Sidelink enabled device, or both are determined to have a difference greater than a threshold; whether the first sidelink enabled device, the second sidelink enabled device, or both, have experienced a threshold amount of movement within a threshold amount of time; whether the relative distance between the first sidelink enabled device and the second sidelink enabled device has undergone less than a threshold amount of change within a threshold amount of time; or whether a local oscillator of the first sidelink enabled device, the second sidelink enabled device, or both, respectively, was synchronized or initialized within a threshold amount of time before a positioning fix of the selected positioning type was to be performed; or Any combination of them A means for means for selecting a positioning type from a group consisting of an RTT-based positioning and an SS-based positioning based on the one or more criteria; means for sending a message from the first sidelink enabled device to the second sidelink enabled device, the message including information indicating the selected positioning type; A device comprising:

22. 22. The device of claim 21, wherein the means for sending the message comprises means for sending an Intelligent Transport System (ITS) message.

23. the first sidelink enabled device comprises a source node; The device of claim 21 , wherein the second sidelink enabled device comprises the target node.

24. 24. The device of claim 23, further comprising means for sending a Position Reference Signal (PRS) from the first sidelink enabled device in accordance with the selected positioning type.

25. 24. The device of claim 23, wherein the means for obtaining the data from the one or more data sources comprises means for obtaining information from the target node.

26. the first sidelink enabled device comprises the target node; The device of claim 21 , wherein the second sidelink enabled device comprises a source node.

27. The device of claim 21 , wherein the information included in the message indicating the selected positioning type consists of two bits in the message.

28. A non-transitory computer-readable recording medium storing instructions for sidelink positioning determination and communications, the instructions comprising:

11. A code for obtaining data from one or more data sources indicating one or more criteria for using either a round-trip-time (RTT) based positioning of a target node or a single-sided (SS) based positioning of the target node, the one or more criteria comprising: whether the relative position over time between the first Sidelink enabled device and the second Sidelink enabled device fails to exhibit a threshold amount of angular change; whether the respective speed sensors of the first Sidelink enabled device, the second Sidelink enabled device, or both are determined to have a difference greater than a threshold; whether the first sidelink enabled device, the second sidelink enabled device, or both, have experienced a threshold amount of movement within a threshold amount of time; whether the relative distance between the first sidelink enabled device and the second sidelink enabled device has undergone less than a threshold amount of change within a threshold amount of time; or whether a local oscillator of the first sidelink enabled device, the second sidelink enabled device, or both, respectively, was synchronized or initialized within a threshold amount of time before a positioning fix of the selected positioning type was to be performed; or Any combination of them A code comprising: code for selecting a positioning type from a group consisting of an RTT-based positioning and an SS-based positioning based on the one or more criteria; code for sending a message from the first sidelink enabled device to the second sidelink enabled device, the message including information indicating the selected positioning type; A non-transitory computer-readable recording medium comprising:

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