Pedestrian User Device Location Estimation

Abstract

In one aspect, a UE (e.g., a PUE or a VUE) performs one or more sidelink positioning measurements on a first sidelink positioning signal between the PUE and the VUE. The UE transmits measurement data based on the one or more sidelink positioning measurements to an RSU. The RSU receives the measurement data and determines a positioning estimate for the PUE. The RSU transmits the positioning estimate to the PUE, at least one VUE, or a combination thereof.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This patent application claims the benefit of U.S. Provisional Application No. 63 / 035,383, entitled "POSITION ESTIMATION OF A PEDESTRIAN USER EQUIPMENT," filed June 5, 2020, and U.S. Non-Provisional Application No. 17 / 145,624, entitled "POSITION ESTIMATION OF A PEDESTRIAN USER EQUIPMENT," filed January 11, 2021, both of which are assigned to the assignee of the present application and are expressly incorporated by reference in their entireties herein.

[0002] Aspects of the present disclosure relate generally to wireless communications, and more particularly to position estimation of pedestrian user equipment (PUE). [Background technology]

[0003] Many vehicles manufactured today are equipped with numerous sensors, including cameras, radar, light detection and ranging (LIDAR), and ultrasonic sensors. These sensors are used to detect the environment around the vehicle, including other vehicles, obstacles, and vulnerable road users (VRUs), such as pedestrians and cyclists. To address cases where vehicle sensors are blocked or objects are outside the range of the vehicle's sensors, standards bodies, including SAE, ETSI-ETS, and CSAE, are defining application layer standards for vehicle-to-everything (V2X) sensor sharing or propagation of detected vehicles and / or objects. These standards are applicable to any V2X entity, including vehicles and infrastructure roadside units (RSUs). Summary of the Invention

[0004]

[0004] The following presents a simplified summary related to one or more aspects disclosed herein. As such, the following summary should not be considered an extensive overview related to all contemplated aspects, nor should it be considered to identify key or critical elements related to all contemplated aspects or to delineate the scope related to particular aspects. As such, the following summary has the sole purpose of presenting, in a simplified form, some concepts related to one or more aspects related to the mechanisms disclosed herein as a prelude to the detailed description presented below.

[0005]

[0005] One embodiment is directed to a method of operating a wireless node, the method comprising receiving measurement data relating to one or more sidelink positioning measurements between a pedestrian user equipment (PUE) and one or more vehicle user equipment (VUE), determining a positioning estimate for the PUE based at least in part on the received measurement data, and transmitting the positioning estimate to the PUE, at least one VUE, or a combination thereof.

[0006]

[0006] Another embodiment is directed to a method of operating a user equipment (UE), comprising: performing one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (UE); transmitting measurement data based on the one or more sidelink positioning measurements to a wireless node; and receiving a positioning estimate for the PUE from the wireless node that is based in part on the transmitted measurement data.

[0007]

[0007] Another embodiment is directed to a wireless node comprising: means for receiving measurement data relating to one or more sidelink positioning measurements between a pedestrian user equipment (PUE) and one or more vehicular user equipments (VUE); means for determining a positioning estimate for the PUE based at least in part on the received measurement data; and means for transmitting the positioning estimate to the PUE, at least one VUE, or a combination thereof.

[0008]

[0008] Another embodiment is directed to a user equipment (UE) comprising: means for performing one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (UE); means for transmitting measurement data based on the one or more sidelink positioning measurements to a wireless node; and means for receiving a positioning estimate for the PUE from the wireless node based in part on the transmitted measurement data.

[0009]

[0009] Another embodiment is directed to a wireless node comprising: a memory; at least one communication interface; and at least one processor communicatively coupled to the memory and the at least one communication interface, wherein the at least one processor is configured to receive measurement data associated with one or more sidelink positioning measurements between a pedestrian user equipment (PUE) and one or more vehicular user equipments (VUEs); determine a positioning estimate for the PUE based at least in part on the received measurement data; and transmit the positioning estimate to the PUE, the at least one VUE, or a combination thereof.

[0010]

[0010] Another embodiment is directed to a user equipment (UE) comprising: a memory; at least one communication interface; and at least one processor communicatively coupled to the memory and the at least one communication interface, wherein the at least one processor is configured to: perform one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (UE); transmit measurement data based on the one or more sidelink positioning measurements to a wireless node; and receive a positioning estimate for the PUE from the wireless node based in part on the transmitted measurement data.

[0011]

[0011] Another embodiment is directed to a non-transitory computer-readable medium including instructions stored thereon that, when executed by a wireless node, cause the wireless node to perform operations, the instructions comprising at least one instruction for causing the wireless node to receive measurement data associated with one or more sidelink positioning measurements between a pedestrian user equipment (PUE) and one or more vehicular user equipments (VUE), at least one instruction for causing the wireless node to determine a positioning estimate for the PUE based at least in part on the received measurement data, and at least one instruction for causing the wireless node to transmit the positioning estimate to the PUE, at least one VUE, or a combination thereof.

[0012]

[0012] Another embodiment is directed to a non-transitory computer-readable medium including instructions stored thereon that, when executed by a user equipment (UE), cause the UE to perform an operation, the instructions comprising at least one instruction for causing the UE to perform one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (UE), at least one instruction for causing the UE to transmit measurement data based on the one or more sidelink positioning measurements to a wireless node, and at least one instruction for causing the UE to receive a positioning estimate for the PUE from the wireless node based in part on the transmitted measurement data.

[0013]

[0013] Other objects and advantages associated with the embodiments disclosed herein will become apparent to those skilled in the art based on the accompanying drawings and detailed description.

[0014]

[0014] The accompanying drawings are presented to aid in the explanation of various aspects of the present disclosure and are provided merely to illustrate the aspects, not to limit the aspects. [Brief explanation of the drawings]

[0015] [Figure 1A]

[0015] FIG. 1 illustrates an exemplary wireless communication system, in accordance with various aspects. [Figure 1B]

[0016] FIG. 1 is a top view of a vehicle employing an integrated radar camera sensor behind the windshield, in accordance with various aspects of the present disclosure. [Figure 2]

[0017] FIG. 1 illustrates an on-board unit (OBU) computer architecture in accordance with various aspects of the present disclosure. [Figure 3]

[0018] FIG. 1 illustrates components of a roadside unit (RSU), in accordance with various aspects. [Figure 4]

[0019] FIG. 1 illustrates several example components (represented by corresponding blocks) that may be incorporated into a pedestrian user equipment (PUE), according to one embodiment of the present disclosure. [Figure 5]

[0020] FIG. 1 illustrates a traffic scenario, according to one embodiment of the present disclosure. [Figure 6]

[0021] 1 is a flow diagram illustrating an exemplary process of communication according to one aspect of the present disclosure. [Figure 7]

[0022] 10 is a flow diagram illustrating an exemplary process of communication according to another aspect of the present disclosure. [Figure 8]

[0023] FIG. 8 illustrates an exemplary implementation of the process of FIGS. 6-7, according to one embodiment of the present disclosure. [Figure 9A]

[0024] FIG. 8 illustrates an example implementation of a portion of the process of FIGS. 6-7, according to an embodiment of the present disclosure. [Figure 9B]

[0025] FIG. 8 illustrates an example implementation of a portion of the process of FIGS. 6-7, according to an embodiment of the present disclosure. [Figure 10]

[0026] 7 illustrates an example RSU for implementing the process of FIG. 6, represented as a series of interrelated functional modules, in accordance with one aspect of the present disclosure. [Figure 11]

[0027] 8 illustrates an example UE for implementing the process of FIG. 7, represented as a series of interrelated functional modules, in accordance with one aspect of the disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0016]

[0028] Aspects of the present disclosure generally relate to methods and apparatus related to a vehicle request for sensor data accompanied by at least one sensor data filtering condition. In one aspect, a vehicle device monitors a field of view (FOV) of the vehicle device via a set of sensors communicatively coupled to the vehicle device. Based on the monitoring, the vehicle device transmits a first message requesting sensor data from one or more neighboring communication devices and indicating at least one sensor data filtering condition for the requested sensor data. In a further aspect, at least one of the neighboring communication devices receives the first message and determines whether sensor data is available that satisfies the at least one sensor data filtering condition for the requested sensor data. If the sensor data is available, a second message including some or all of the requested sensor data is transmitted back to the vehicle device. In a particular example, the at least one sensor data filtering condition may comprise an indication of one or more blocked areas in the FOV of the vehicle device.

[0017]

[0029] Aspects of the present disclosure are provided in the following description and related drawings, directed to various examples provided for purposes of illustration. Alternative aspects may be devised without departing from the scope of the present disclosure. Additionally, well-known aspects of the present disclosure may not be described in detail or may be omitted so as not to obscure more relevant details.

[0018]

[0030] Those skilled in the art will appreciate that the information and signals described below may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the following description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof, depending in part on the particular application, in part on the desired design, in part on the corresponding technology, etc.

[0019]

[0031] Further, many aspects are described in terms of sequences of actions to be performed by, for example, elements of a computing device. It will be appreciated that various actions described herein may be performed by particular circuitry (e.g., an application-specific integrated circuit (ASIC)), by program instructions executed by one or more processors, or a combination of both. Furthermore, for each of the aspects described herein, the corresponding form of any such aspect may be implemented, for example, as "logic configured to" perform the described actions.

[0020]

[0032] 1A illustrates an exemplary wireless communication system 100A. The wireless communication system 100A (sometimes referred to as a wireless wide area network (WWAN)) may include various base stations 102A and various UEs 104A. The base stations 102A may include macrocells (high-power cellular base stations) and / or small cells (low-power cellular base stations), where the macrocells may include evolved Node Bs (eNBs) where the wireless communication system 100A corresponds to an LTE network, or gNode Bs (gNBs) where the wireless communication system 100A corresponds to a 5G network, or a combination of both, and the small cells may include femtocells, picocells, microcells, etc.

[0021]

[0033] The base stations 102A collectively form a radio access network (RAN) and may interface with an evolved packet core (EPC) or next generation core (NGC) through backhaul links. In addition to other functions, the base stations 102A may perform functions related to one or more of: forwarding user data, radio channel encryption and decryption, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection setup and release, load balancing, distribution for non-access stratum (NAS) messages, NAS node selection, synchronization, RAN sharing, multimedia broadcast multicast services (MBMS), subscriber and equipment tracing, RAN information management (RIM), paging, positioning, and delivery of alert messages. The base stations 102A may communicate with each other directly or indirectly (e.g., through the EPC / NGC) via backhaul links 134A, which may be wired or wireless.

[0022]

[0034] The base stations 102A may communicate wirelessly with the UE 104A. Each of the base stations 102A may provide communication coverage for a respective geographic coverage area 110A. In one aspect, although not shown in FIG. 1A , the geographic coverage area 110A may be subdivided into multiple cells (e.g., three), or sectors, with each cell corresponding to a single antenna or array of antennas of the base station 102A. As used herein, the term “cell” or “sector” may correspond to one of the multiple cells of the base station 102A or to the base station 102A itself, depending on the context.

[0023]

[0035] Neighboring macrocell geographic coverage areas 110A may partially overlap (e.g., in handover regions), but some of the geographic coverage areas 110A may be significantly overlapped by larger geographic coverage areas 110A. For example, a small cell base station 102A′ may have a geographic coverage area 110A′ that significantly overlaps with the geographic coverage area 110A of one or more macrocell base stations 102A. A network including both small cells and macrocells may be known as a heterogeneous network. A heterogeneous network may also include a Home eNB (HeNB) that may serve a restricted group known as a Closed Subscriber Group (CSG). The communication link 120A between the base station 102A and the UE 104A may include uplink (UL) transmissions (also called reverse link) from the UE 104A to the base station 102A and / or downlink (DL) transmissions (also called forward link) from the base station 102A to the UE 104A. The communication link 120A may use MIMO antenna techniques, including spatial multiplexing, beamforming, and / or transmit diversity. The communication link may be over one or more carriers. The allocation of carriers may be asymmetric with respect to DL and UL (e.g., more or fewer carriers may be allocated for DL ​​than for UL).

[0024]

[0036] The wireless communication system 100A may further include a wireless local area network (WLAN) access point (WLAN) 150A communicating with a WLAN station (WLAN) 152A via a communication link 154A in an unlicensed frequency spectrum (e.g., 5 GHz). When communicating in the unlicensed frequency spectrum, the WLAN STA 152A and / or the WLAN AP 150A may perform clear channel assessment (CCA) prior to communicating to determine whether a channel is available.

[0025]

[0037] The small cell base station 102A' may operate in licensed and / or unlicensed frequency spectrum. When operating in the unlicensed frequency spectrum, the small cell base station 102A' may employ LTE or 5G technology and use the same 5 GHz unlicensed frequency spectrum used by the WLAN AP 150A. A small cell base station 102A' employing LTE / 5G in the unlicensed frequency spectrum may boost coverage to and / or increase capacity of the access network. LTE in the unlicensed spectrum is sometimes referred to as LTE-unlicensed (LTE-U), licensed assisted access (LAA), or MultiFire.

[0026]

[0038] The wireless communication system 100A may further include a mmW base station 180A, which may operate in mmW and / or near-mmW frequencies, in communication with the UE 182A. Extremely high frequency (EHF) is the RF portion of the electromagnetic spectrum. EHF has a range of 30 GHz to 300 GHz and a wavelength between 1 millimeter and 10 millimeters. Radio waves in this band are sometimes referred to as millimeter waves (mmW). Near-mmW may extend down to frequencies of 3 GHz with wavelengths of 100 millimeters. The very high frequency (SHF) band, also referred to as centimeter waves, extends between 3 GHz and 30 GHz. Communications using the mmW / near-mmW radio frequency bands have high path loss and relatively short range. The mmW base station 180A may utilize beamforming 184A with the UE 182A to compensate for the extremely high path loss and short range. Furthermore, it will be appreciated that in alternative configurations, one or more base stations 102A may also transmit using mmW or near mmW and beamforming. Accordingly, it will be appreciated that the above description is by way of example only and should not be construed as limiting various aspects disclosed herein.

[0027]

[0039] The wireless communication system 100A may further include one or more UEs, such as a UE 190A, that indirectly connect to one or more communication networks via one or more device-to-device (D2D) peer-to-peer (P2P) links. In the embodiment of FIG. 1A, the UE 190A has a D2D P2P link 192A with one of the UEs 104A connected to one of the base stations 102A (e.g., through which the UE 190A may indirectly obtain cellular connectivity) and a D2D P2P link 194A with a WLAN STA 152A connected to a WLAN AP 150A (through which the UE 190A may indirectly obtain WLAN-based Internet connectivity). In one example, the D2D P2P links 192A-194A may be supported using any well-known D2D radio access technology (RAT), such as LTE Direct (LTE-D), WiFi Direct® (WiFi-D), BLUETOOTH®, etc.

[0028]

[0040] There are six levels defined for achieving full automation in some systems. At Level 0, the human driver performs all driving. At Level 1, the on-vehicle Advanced Driver Assistance System (ADAS) can occasionally assist the human driver with either steering or braking / acceleration, but not both simultaneously. At Level 2, the on-vehicle ADAS can, in some circumstances, actually control both steering and braking / acceleration simultaneously. The human driver must always maintain full attention and continue to perform the remainder of the driving task. At Level 3, the on-vehicle ADS can, in some circumstances, perform all aspects of the driving task. In those circumstances, the human driver must be ready to hand control back to the human driver whenever the ADS requests. In all other circumstances, the human driver performs the driving task. At Level 4, the on-vehicle ADS can, in some circumstances, perform all driving tasks and monitor the driving environment, essentially performing all of the driving. The human occupant does not need to pay attention in those circumstances. At Level 5, the ADS on the vehicle can handle all driving in all situations, with the human occupants merely being passengers and not needing to be involved in the driving at all.

[0029]

[0041] These and other safety technologies use a combination of hardware (sensors, cameras, and radar) and software to help vehicles identify certain safety risks so they can either alert the driver to action (in the case of ADAS) or act on their own (in the case of ADS) to avoid a crash. Vehicles equipped with ADAS or ADS include one or more camera sensors mounted on the vehicle that capture images of the scene in front of the vehicle and, in some cases, the scene behind and to the sides of the vehicle. Radar systems may also be used to detect objects along the roadway and, in some cases, objects behind and to the sides of the vehicle. Radar systems utilize radio frequency (RF) waves to determine the range, direction, speed, and / or altitude of objects along the road. More specifically, a transmitter transmits pulses of RF waves, which bounce off any object(s) in their path. The pulses reflected from the object(s) return a small portion of the RF wave's energy to a receiver, which is generally co-located with the transmitter. The camera and radar are generally oriented to capture their respective versions of the same scene.

[0030]

[0042] A processor, such as a digital signal processor (DSP) in the vehicle, analyzes captured camera images and radar frames and attempts to identify objects in the captured scene. Such objects may be other vehicles, pedestrians, road signs, objects in the roadway, etc. Radar systems provide reasonably accurate measurements of object distance and speed in a variety of weather conditions. However, radar systems generally have insufficient resolution to identify the features of detected objects. However, camera sensors generally provide sufficient resolution to identify object features. Object shape and appearance cues extracted from the captured images may provide sufficient characteristics for classification of different objects. Given the complementary nature of the two sensors, data from the two sensors may be combined in a single system (called "fusion") for improved performance.

[0031]

[0043] To further improve ADAS and ADS systems, especially at Level 3 and beyond, autonomous and semi-autonomous vehicles may utilize high-definition (HD) map datasets, which contain significantly more detail and true-ground-absolute accuracy than can be found in current conventional resources. Such HD maps may provide accuracy in the 7-10 cm absolute range and an extremely detailed inventory of all fixed physical assets associated with the road, such as road lanes, road edges, shoulders, dividers, traffic signals, signs, paint markings, poles, and other data useful for safe navigation of roads and intersections by autonomous and semi-autonomous vehicles. HD maps may also provide electronic horizon predictive awareness, enabling autonomous and semi-autonomous vehicles to know what lies ahead.

[0032]

[0044] 1B, vehicle 100B is shown including a radar camera sensor module 120B located in an interior compartment of vehicle 100B behind windshield 112B. Radar camera sensor module 120B includes a radar sensor component configured to transmit radar signals through windshield 112B in a horizontal coverage zone 150B (shown by the dashed line) and receive reflected radar signals reflected from any objects within coverage zone 150B. Radar camera sensor module 120B further includes a camera component for capturing images based on light waves seen and captured through windshield 112B in a horizontal coverage zone 160B (shown by the dashed line). Each coverage zone 150B and 160B forms a portion of the field of view (FOV) of vehicle 100B. In some cases, each sensor communicatively coupled to (e.g., mounted on) a respective vehicle may be characterized as having its own FOV, each of which constitutes an example of an FOV for vehicle 100B. In this case, vehicle 100B may be characterized as having multiple FOVs (e.g., one for each sensor). Alternatively, sensors may be organized in groups (e.g., one or more sensor groups), with each sensor group characterized as having its own FOV, each of which constitutes an example of an FOV for vehicle 100B. Alternatively, the FOVs of individual sensors and / or sensor groups may be aggregated (e.g., such that an occluded area in one sensor's FOV may be patched by another sensor's FOV via aggregation). Thus, as used herein, the FOV of vehicle 100B may refer to either a sensor-specific or sensor group-specific FOV, or alternatively, an aggregation of FOVs from various sensors and / or sensor groups.

[0033]

[0045] Although FIG. 1B shows an example in which the radar sensor component and the camera component are co-located components in a shared housing, it will be appreciated that they may be stored separately in different locations within vehicle 100B. For example, the camera portion of radar camera sensor module 120B may be located as shown in FIG. 1B, and the radar sensor portion of radar camera sensor module 120B may be located in the grille or front bumper of vehicle 100B. Furthermore, while FIG. 1B shows radar camera sensor module 120B located behind windshield 112B, it may instead be located in a rooftop sensor array or elsewhere. Furthermore, while FIG. 1B shows only a single radar camera sensor module 120B, it will be appreciated that vehicle 100B may have multiple radar camera sensor modules 120B oriented in different directions (relative to the side, front, rear, etc.). The various radar camera sensor modules 120B may be located under the "skin" of the vehicle (e.g., behind the windshield 112B, door panels, bumpers, grille, etc.) or in a rooftop sensor array.

[0034]

[0046] Radar camera sensor module 120B may detect one or more objects (or no objects) relative to vehicle 100B. In the example of FIG. 1B , there are two objects, vehicles 130B and 140B, within horizontal coverage zones 150B and 160B that radar camera sensor module 120B can detect. Radar camera sensor module 120B may estimate parameters of the detected object(s), such as position, range, direction, speed, size, classification (e.g., vehicle, pedestrian, road sign, etc.). Radar camera sensor module 120B may be employed onboard vehicle 100B for automotive safety applications, such as adaptive cruise control (ACC), forward collision warning (FCW), collision mitigation or avoidance via autonomous braking, lane departure warning (LDW), etc. More specifically, the radar camera sensor module 120 may be part of an on-board unit (OBU) (alternatively referred to as an on-board computer (OBC)), which is described in more detail below with respect to FIG.

[0035]

[0047] In one or more aspects, co-locating the camera and radar sensor allows these components to share electronics and signal processing, particularly enabling early radar camera data fusion. For example, the radar sensor and camera may be integrated onto a single board. Joint radar camera alignment techniques may be employed to align both the radar sensor and the camera. However, co-location of the radar sensor and camera is not required to practice the techniques described herein.

[0036]

[0048] In the embodiment of FIG. 1B , vehicles 100B, 130B, and 140B are traveling in the same direction along a road proximate to roadside unit (RSU) 170B, such that vehicle 140B is in a first lane (“Lane 1”) and vehicles 100B and 130B are in a second lane (“Lane 2”). RSU 170B may correspond to one of multiple fixed reference nodes deployed along various roads. The RSU may form part of vehicular ad-hoc networks (VANETs) and may be configured for direct communication with vehicles via a vehicle-to-vehicle (V2V) or vehicle-to-everything (V2X) communication protocol, and further connected to one or more communication networks (e.g., wireless communication system 100A of FIG. 1A ) via a wired or wireless backhaul connection. In one example, RSU 170B may correspond to a small cell or access point described above with respect to wireless communication system 100A of FIG. 1A . In some aspects, the RSU 170B may be implemented as a vehicle management entity that manages (or coordinates actions) between neighboring vehicles 100B, 130B, and 140B. The RSU 170B may be equipped with various functions including, but not limited to, short-range communications (e.g., 5.9 GHz Direct Short Range Communications (DSRC), non-DSRC technologies as a means of facilitating communications for vehicle-to-vehicle (V2V) and / or vehicle-to-infrastructure (V2I) applications, etc.), location detection (e.g., GPS, etc.), communications support functions (e.g., WiFi hotspots, etc.), navigation support functions (e.g., local map data, signal phase and timing (SPaT) information for intersection-based applications and local road warnings, etc.), etc.

[0037]

[0049] 1B , in one aspect, vehicles 130B and 140B may similarly be provided with respective radar camera sensor modules 120B and may be capable of direct vehicle-to-vehicle (V2V) communication via their respective communication interfaces. However, it is possible that only one, or even neither, of vehicles 130B and 140B is equipped with such “smart” vehicle technology.

[0038]

[0050] 1B, a vulnerability road user (VRU) is shown, designated as VRU1. VRU1 may correspond to either an individual not on a motorized vehicle (e.g., a person walking or biking on a sidewalk or bike lane, etc.) or an individual on a motorized vehicle with limited maneuverability (e.g., a scooter, a motorcycle that is not turned on, etc.). VRU1 is assumed to be operating user equipment (e.g., a phone, tablet computer, smart watch, smart glasses or head-mounted display, smart clothing, a wearable device such as a headset, etc.), referred to herein as pedestrian user equipment (PUE) 185B.

[0039]

[0051] FIG. 2 illustrates an on-board unit (OBU) 200 of the vehicle 100B of FIG. 1B in accordance with various aspects. In one aspect, the OBU 200 may be referred to herein as a vehicle device and may be part of an ADAS or ADS. The OBU 200 includes a non-transitory computer-readable storage medium, i.e., a memory 204, and one or more processors 206 in communication with the memory 204 via a data bus 208. The memory 204 includes one or more storage modules that store computer-readable instructions executable by the processor(s) 206 to implement the functions of the OBU 200 described herein. As used herein, the vehicle 100B and its respective OBU 200 may be referred to herein as vehicle user equipment (VUE) 100B. While shown in some embodiments as a road vehicle, the VUE 100B may, in other implementations, relate to any type of vehicle (e.g., a bicycle, a robot, a drone, etc.).

[0040]

[0052] One or more radar camera sensor modules 120B are coupled to OBU 200 (only one is shown in FIG. 2 for simplicity). In some embodiments, radar camera sensor module 120B includes at least one camera 212 (e.g., a forward-facing camera shown through coverage zone 160B in FIG. 1B ), at least one radar sensor 214, and an optional Light Detection and Ranging (LIDAR) sensor 216. Although not explicitly shown, radar camera sensor module 120B may further optionally include an Acoustic Navigation and Ranging (SONAR) detector, a Radio Detection and Ranging (RADAR) detector, and / or an infrared detector. The OBU 200 also includes one or more communication interfaces 220 that connect the processor(s) 206 via a data bus 208 to the radar camera sensor module 120B, other vehicle subsystems (not shown), and, in some cases, to a wireless communication network (not shown), such as a wireless local area network (WLAN), a global positioning system (GPS) network, a cellular telecommunications network, etc. In one example, the one or more communication interfaces 220 may include a network interface (e.g., wireless LTE, 5G NR, wired backhaul connection to core network components, etc.) for connecting to one or more network access points or base stations (e.g., cellular base stations, RSUs, etc.) and a second interface (e.g., V2X, 5.9 GHz DSRC, etc.) for connecting directly to nearby (or neighboring) vehicles. In one example, the V2X connection may be implemented via a unicast, multicast, or broadcast protocol. The various V2X connections described below may be implemented according to any one of these protocols.

[0041]

[0053] In one aspect, OBU 200 may utilize communication interface 220 to download one or more maps 202, which may then be stored in memory 204 and used for vehicle navigation. The map(s) 202 may be one or more high-definition (HD) maps, which may provide accuracy in the 7-10 cm absolute range and a highly detailed inventory of all fixed physical assets associated with the road, such as road lanes, road edges, shoulders, dividers, traffic signals, signs, paint markings, poles, and other data useful for safe navigation of roads and intersections by vehicle 100B. The map(s) 202 may also provide electronic horizon predictive awareness, enabling vehicle 100B to know what lies ahead.

[0042]

[0054] In one aspect, camera 212 may capture image frames of a scene within its observation area (shown in FIG. 1B as horizontal coverage zone 160B) at a periodic rate. Similarly, radar sensor 214 may capture radar frames of a scene within its observation area (shown in FIG. 1B as horizontal coverage zone 150B) at a periodic rate. The periodic rates at which camera 212 and radar sensor 214 capture their respective frames may be the same or different. In one aspect, each camera and radar frame may be time-stamped. Thus, if the periodic rates are different, the timestamp may be used to select camera and radar frames captured at or near the same time for further processing (e.g., fusion).

[0043]

[0055] 3 illustrates components of the RSU 170B of FIG. 1B in accordance with various aspects. In one aspect, the RSU 170B is configured with a memory 304 and one or more processors 306 in communication with the memory 304 via a data bus 308. The RSU 170B further includes one or more network communication interfaces 330, which may be used to communicatively couple the RSU 170B to a communication network (e.g., a macro base station, another RSU, a core network component, etc.) via a wired or wireless backhaul connection. The RSU 170B is further configured with an RSU-to-UE communication interface 340 for direct RSU-to-UE communication (e.g., an RSU-to-VUE interface, such as V2X, 5.9 GHz DSRC, or a more general RSU-to-UE interface, such as a WWAN or WLAN interface, e.g., LTE, 5G NR, 802.11ac, etc.). RSU 170B is also optionally configured with a sensor module 350, which may be configured with any combination of camera(s), radar, LIDAR, GPS, etc. As described in more detail below, in some aspects, sensor module 350 may be used to scan the locations of a set of neighboring vehicles to obtain sensor data that replaces and / or supplements sensor data measured or derived by one or more of the neighboring vehicles.

[0044]

[0056] 4 illustrates some example components (represented by corresponding blocks) that may be incorporated into a PUE 185B in accordance with one embodiment of the present disclosure. It will be appreciated that these components may be implemented in different types of devices (e.g., in an ASIC, in a system-on-chip (SoC), etc.) in different implementations. The illustrated components may also be incorporated into other devices in a communications system. For example, other devices in the system may include similar components to those described to provide similar functionality. Also, a given device may include one or more of the components. For example, a device may include multiple transceiver components that enable the device to operate on multiple carriers and / or communicate via different technologies.

[0045]

[0057] The PUE 185B includes a wireless wide area network (WWAN) transceiver 410 configured to communicate via one or more wireless communications networks (not shown), such as an NR network, an LTE network, a GSM network, etc. The WWAN transceiver 410 may be connected to one or more antennas 416 for communicating with other network nodes, such as other UEs, VUEs, RSUs, access points, base stations (e.g., eNBs, gNBs), etc., via at least one designated RAT (e.g., NR, LTE, GSM, etc.) over a wireless communications medium of interest (e.g., some set of time / frequency resources in a particular frequency spectrum). The WWAN transceiver 410 may be variously configured to transmit and encode, respectively, signals 418 (e.g., messages, instructions, information, etc.), and conversely, to receive and decode, respectively, signals 418 (e.g., messages, instructions, information, pilots, etc.) in accordance with the designated RAT. In particular, the transceiver 410 includes one or more transmitters 414 for transmitting and encoding signals 418 and includes one or more receivers 412 for receiving and decoding the signals 418 .

[0046]

[0058] The PUE 185B also, in at least some cases, includes a wireless local area network (WLAN) transceiver 420. The WLAN transceiver 420 may be connected to one or more antennas 426 for communicating with other network nodes, such as other UEs, VUEs, RSUs, access points, base stations, etc., via at least one designated RAT (e.g., WiFi, LTE-D, Bluetooth, etc.) over a wireless communication medium of interest. The WLAN transceiver 420 may be variously configured to transmit and encode signals 428 (e.g., messages, instructions, information, etc.) and conversely, to receive and decode signals 428 (e.g., messages, instructions, information, pilots, etc.) in accordance with the designated RAT. In particular, the transceiver 420 includes one or more transmitters 424 for transmitting and encoding the signals 428 and one or more receivers 422 for receiving and decoding the signals 428.

[0047]

[0059] The transceiver circuitry including the transmitter and receiver may in some implementations comprise an integrated device (e.g., implemented as transmitter and receiver circuitry in a single communications device), in some implementations comprise separate transmitter and receiver devices, or in other implementations may be implemented in other manners. In one aspect, the transmitter may include or be coupled to multiple antennas (e.g., antennas 416), such as an antenna array, that enable each device to perform transmit “beamforming” as described herein. Similarly, the receiver may include or be coupled to multiple antennas (e.g., antennas 416), such as an antenna array, that enable each device to perform receive beamforming as described herein. In one aspect, the transmitter and receiver may share the same multiple antennas (e.g., antennas 416), so that each device can only receive or transmit at a given time, rather than both receive and transmit simultaneously. The wireless communication device of the PUE 185B (eg, one or both of the transceivers 410 and 420) may also include a network listen module (NLM) or the like for performing various measurements.

[0048]

[0060] The PUE 185B may also, in at least some cases, include a satellite positioning system (SPS) receiver 430. The SPS receiver 430 may be connected to one or more antennas 436 for receiving SPS signals 438, such as Global Positioning System (GPS) signals, Global Navigation Satellite System (GLONASS) signals, Galileo signals, BeiDou signals, Indian Regional Navigation Satellite System (NAVIC), Quasi-Zenith Satellite System (QZSS), etc. The SPS receiver 430 may comprise any suitable hardware and / or software for receiving and processing the SPS signals 438. The SPS receiver 430 may request information and actions from other systems as appropriate and perform the calculations necessary to determine the position of the PUE 185B using measurements obtained by any suitable SPS algorithms.

[0049]

[0061] The PUE 185B may also include other components that may be used in conjunction with the operations disclosed herein. The PUE 185B includes processor circuitry that implements a processing system 432, for example, for providing functionality related to false base station (FBS) detection as disclosed herein and for providing other processing functions. In one aspect, the processing system 432 may include, for example, one or more general-purpose processors, multi-core processors, ASICs, digital signal processors (DSPs), field programmable gate arrays (FPGAs), or other programmable logic devices or processing circuits.

[0050]

[0062] The PUE 185B may include a memory circuit implementing a memory component 440 for maintaining information (e.g., information indicative of reserved resources, thresholds, parameters, etc.). The PUE 185B may include one or more sensors 444 coupled to the processing system 432 to provide movement and / or orientation information that is independent of movement data derived from signals received by the WWAN transceiver 410, the WLAN transceiver 420, and / or the GPS receiver 430. By way of example, the sensor(s) 444 may include an accelerometer (e.g., a microelectromechanical system (MEMS) device), a gyroscope, a geomagnetic sensor (e.g., a compass), an altimeter (e.g., a barometric altimeter), and / or any other type of movement detection sensor. Moreover, the sensor(s) 444 may include multiple different types of devices and combine their outputs to provide movement information. For example, the sensor(s) 444 may use a combination of a multi-axis accelerometer and an orientation sensor to provide the ability to calculate position in a 2D and / or 4D coordinate system.

[0051]

[0063] Additionally, the PUE 185B includes a user interface 446 for providing instructions (e.g., audible and / or visual instructions) to a user and / or for receiving user input (e.g., upon user actuation of a sensing device such as a keypad, touch screen, microphone, etc.).

[0052]

[0064] In the PUE 185B, the receiver 412 receives signals through its respective antenna(s) 416. The receiver 412 recovers the information modulated onto the RF carrier and provides the information to the processing system 432. The transmitter 414 and receiver 412 implement Layer 1 functions related to various signal processing functions. The receiver 412 may perform spatial processing on the information to recover the spatial streams destined for the PUE 185B. If multiple spatial streams are destined for the PUE 185B, they may be combined into a single OFDM symbol stream by the receiver 412. The receiver 412 then converts the OFDM symbol stream from the time domain to the frequency domain using a fast Fourier transform (FFT). The frequency domain signal comprises a separate OFDM symbol stream for each subcarrier of the OFDM signal. The symbols on each subcarrier and the reference signal are recovered and demodulated by determining the most likely signal constellation point transmitted by the base station (e.g., RSU 170B). These soft decisions may be based on channel estimates calculated by a channel estimator. The soft decisions are then decoded and deinterleaved to recover the data and control signals originally transmitted by the base station (e.g., RSU 170B) on the physical channel. The data and control signals are then provided to a processing system 432 that implements Layer 3 and Layer 2 functions.

[0053]

[0065] In the UL, the processing system 432 provides demultiplexing between transport and logical channels, packet reassembly, decryption, header recovery, and control signal processing to recover IP packets from the core network. The processing system 432 is also responsible for error detection.

[0054]

[0066] Similar to the functionality described with respect to DL transmission by a base station (e.g., RSU 170B), the processing system 432 provides RRC layer functions related to system information (e.g., MIB, SIB) acquisition, RRC connection, and measurement reporting; PDCP layer functions related to header compression / decompression and security (encryption, decryption, integrity protection, integrity verification); RLC layer functions related to transfer of upper layer PDUs, error correction via ARQ, concatenation, segmentation, and reassembly of RLC SDUs, re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functions related to mapping between logical channels and transport channels, multiplexing of MAC SDUs onto transport blocks (TBs), demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction via HARQ, priority handling, and logical channel prioritization.

[0055]

[0067] Channel estimates derived by the channel estimator from a reference signal or feedback transmitted by the base station may be used by the transmitter 414 to select an appropriate coding and modulation scheme and to enable spatial processing. The spatial streams generated by the transmitter 414 may be provided to different antenna(s) 416. The transmitter 414 may modulate an RF carrier with each spatial stream for transmission.

[0056]

[0068] For convenience, PUE 185B is illustrated in Figure 4 as including various components that may be configured in accordance with various examples described herein, although it will be appreciated that the illustrated blocks may have different functions in different designs.

[0057]

[0069] The various components of the PUE 185B may communicate with one another over data bus(es) 434. The components of FIG. 4 may be implemented in various ways. In some implementations, the components of FIG. 4 may be implemented in one or more circuits, such as, for example, one or more processors and / or one or more ASICs (which may include one or more processors), where each circuit may use and / or incorporate at least one memory component for storing information or executable code used by the circuit to provide its functionality. For example, some or all of the functionality represented by blocks 410-446 may be implemented by the processor(s) and / or memory component(s) of the PUE 185B (e.g., by execution of appropriate code and / or by appropriate configuration of the processor components). For simplicity, various operations, acts, and / or functions are described herein as being performed “by a UE,” “by a base station,” “by a positioning entity,” etc. However, it will be appreciated that such operations, acts, and / or functions may actually be performed by a particular component or combination of components, such as a UE, a base station, a positioning entity, etc., including processing system 432, transceivers 410 and 420, memory component 440, etc. In some designs, VUE 100B may be configured similarly to PUE 185B shown in FIG.

[0058]

[0070] V2X positioning involves a VUE or PUE positioning itself using RSU(s) and / or other VUEs or PUEs that have accurate information of their own positioning. In a vehicle-to-pedestrian (V2P) system, it is important for the VUE to know the location of the VUE as well as the location of the PUE to avoid potential collisions. In some designs, the VUE may be able to know its location more accurately than each PUE due to higher quality sensors that the VUE may be equipped with. Alternatively, the VUE can obtain assistance from nearby RSU(s) to obtain the VUE's accurate location. However, it may be relatively difficult for the VUE to obtain an accurate positioning of the PUE (e.g., because location information provided by the PUE, such as GPS-based location data, may be prone to errors in some environments, such as heavy urban environments).

[0059]

[0071] Alternatively, the ranging measurements that a VUE obtains from a PUE may be inaccurate due to minimal angular variation (e.g., when the VUE is far away from the PUE), as shown in FIG. 5. FIG. 5 illustrates a traffic scenario 500 according to one embodiment of the present disclosure. In FIG. 5, VUEs 1...3 (e.g., each of which may be configured as VUE 100B in FIG. 2) are driving on a road in close proximity to RSU 170B and PUEs 1...4 (e.g., each of which may be configured as PUE 185B in FIG. 4). As shown in FIG. 5, VUE 1 is farther from PUE 4 than either VUE 2 or VUE 3, resulting in a ranging path 505 to PUE 4 that has a relatively narrower angle relative to ranging path 510 from VUE 3 to PUE 4. Thus, the ranging-based positioning estimate for PUE 4 is less accurate for VUE 1 compared to VUE 3.

[0060]

[0072] Embodiments of the present disclosure are directed to a base positioning for PUEs that is based at least in part on measurement data (e.g., time-of-arrival (ToA) measurement data, angle of arrival (AoA) measurement data, angle of departure (AoD) measurement data, clock bias error, etc.) related to a sidelink positioning procedure that is relayed to a respective wireless node (e.g., an RSU or a lead UE, such as a lead VUE or lead PUE). In some designs, the wireless nodes may leverage the relayed measurement data to perform more accurate positioning estimates for a particular VUE than may be possible on their own. Such an approach may provide the technical advantage of more accurate PUE positioning, which may improve road safety (e.g., particularly in urban environments with a high density of PUEs).

[0061]

[0073] FIG. 6 is a flow diagram illustrating an example process 600 of communication according to one aspect of the present disclosure. Process 600 may be performed by the RSU 170B or, alternatively, by a lead UE, such as the lead PUE 185B or the lead VUE 100B. For example, if a nearby RSU is unavailable (e.g., not present or busy), a lead UE, rather than an infrastructure node such as an RSU, may be designated to perform the process of FIG. 6. In some designs, the wireless node performing process 600 of FIG. 6 may correspond to the fixed infrastructure component shown in FIG. 1B. However, in other designs, the RSU functionality may be integrated into the VUE. Thus, any device (e.g., an infrastructure RSU, a VUE, a PUE, etc.) may perform the PUE location coordination functionality described below with respect to FIG. 6 in various aspects.

[0062]

[0074] 6 , at block 610, a wireless node (e.g., communication interface(s) 220, RSU-to-UE communication interface 340, receiver 412 or 422, etc.) receives measurement data (e.g., ToA measurement data, AoA measurement data, AoD measurement data, clock bias error, etc.) related to one or more sidelink positioning measurements between a PUE and one or more VUEs. In some designs, the measurement data may comprise measurement data based on sidelink positioning measurement(s) performed by the PUE on sidelink positioning signal(s) transmitted from the VUE(s), or the measurement data may comprise measurement data based on sidelink positioning measurement(s) performed by the VUE(s) on sidelink positioning signal(s) transmitted from the PUE(s), or a combination thereof. In some designs, if the wireless node corresponds to a UE performing sidelink positioning measurement(s), the receiving at block 610 may correspond to an internal transfer of data over a respective data bus.

[0063]

[0075] 6 , at block 620, the wireless node (e.g., processor(s) 306) determines a positioning estimate for the PUE based at least in part on the received measurement data. In some designs, the wireless node (e.g., RSU 170B, etc.) may further perform its own positioning (or ranging) procedure with the PUE to improve the positioning estimate determined at 620. For example, the wireless node (e.g., RSU 170B, etc.) may transmit a positioning signal (e.g., a positioning reference signal or PRS) to the PUE, whereby the measurement data from the PUE further includes measurement information related to one or more measurements of the positioning signal by the PUE. Alternatively, in another example, the wireless node (e.g., RSU 170B, etc.) may perform one or more positioning measurements on a positioning signal (e.g., a sounding reference signal for positioning, or SRS-P) from the PUE, whereby the positioning estimate is further based on the one or more positioning measurements on the positioning signal. For example, the positioning estimation of block 620 may be implemented as joint pedestrian localization using ranging and / or other measurements from multiple VUEs and / or PUEs (e.g., ranging and / or other measurements from a PUE and one or more VUEs are used by RSU 170B to jointly estimate the location of the PUE). In some designs, the positioning estimation determination in block 620 may be based at least in part on one or more previous positioning estimates of the PUE (e.g., the previous positioning estimate may indicate the trajectory of the PUE that affects the candidate location probability associated with the current positioning estimate, etc.). In some designs, the positioning estimation for the PUE may be based on additional measurement data (e.g., local sensor measurements at RSU 170B, such as RADAR, LIDAR, etc.).

[0064]

[0076] Referring to FIG. 6 , at block 630, a wireless node (e.g., communication interface(s) 220, RSU-to-vehicle communication interface 340, transmitter 414 or 424, etc.) may transmit a positioning estimate to a PUE, at least one VUE, or a combination thereof. As described in more detail below, various triggering mechanisms for the transmission of 630 may be used. In some designs, the at least one VUE for which the positioning estimate is transmitted in block 630 may correspond to some or all of the one or more VUEs for which measurement data is received in block 610. In other designs, the at least one VUE may comprise VUE(s) that do not provide such measurement data (e.g., if such VUE(s) may have disabled ranging equipment, or if the PUE is out of range of such ranging equipment and therefore not yet within its respective FOV, etc.). In some designs, if the wireless node corresponds to the respective UE for which the positioning estimate is transmitted, the transmission in block 630 may correspond to an internal transfer of data over a respective data bus.

[0065]

[0077] 7 is a flow diagram illustrating an example process 700 of communication according to one aspect of the present disclosure. The process 700 is performed by a UE, which may correspond to either a VUE, such as VUE 100B, or a PUE, such as PUE 185B.

[0066]

[0078] 7, at block 710, a UE (e.g., communication interface(s) 220, receiver 412, receiver 422, etc.) may perform one or more sidelink positioning measurements on a first sidelink positioning signal between a PUE and a VUE. For example, if the UE corresponds to a PUE, the PUE may perform one or more sidelink positioning measurements on the first sidelink positioning signal transmitted from the VUE at block 710, and if the UE corresponds to a VUE, the VUE may perform one or more sidelink positioning measurements on the first sidelink positioning signal transmitted from the PUE at block 710. In some designs, the UE may also transmit a second sidelink positioning signal between the PUE and the VUE. In this case, the sidelink positioning procedure comprises a two-way ranging procedure.

[0067]

[0079] 7 , at block 720, a UE (e.g., communication interface(s) 220, transmitter 414, transmitter 424, etc.) may transmit measurement data (e.g., ToA measurement data, AoA measurement data, AoD measurement data, clock bias error, etc.) based on one or more sidelink positioning measurements to a wireless node (e.g., an RSU, a lead PUE, a lead VUE, etc.). In some designs, if the wireless node corresponds to a UE performing the sidelink positioning measurement(s), the transmission at block 720 may correspond to an internal transfer of data over a respective data bus.

[0068]

[0080] 7, the UE (e.g., communication interface(s) 220, receiver 412, receiver 422, etc.) may receive a positioning estimate for the PUE based in part on the transmitted measurement data from the RSU at block 730. In some designs, if the UE performing the process of FIG. 7 is a lead UE (e.g., a wireless node), the receiving at block 730 may correspond to an internal forwarding of data over a respective data bus (e.g., one logical portion of the UE calculates the positioning estimate, which then logically forwards the positioning estimate to another logical portion of the UE).

[0069]

[0081] 6-7 , in some designs, the positioning estimate may be transported via one or more unicast messages to the PUE, one or more VUEs, or a combination thereof in block 630 or 730. In other designs, the positioning estimate may be broadcast to the PUE and one or more VUEs in block 630 or 730. In still other designs, the positioning estimate may be multicast to a particular group of PUEs and / or VUEs (e.g., UEs in a particular location area, such as VUEs and / or PUEs proximate to a sidewalk or crosswalk where potential vehicle-pedestrian collisions are expected).

[0070]

[0082] 6-7, in some designs, the wireless node may receive an on-demand request for a positioning estimate for at least a PUE from a given VUE of one or more VUEs, and the transmission of block 630 (or the reception of block 730) may be triggered in an on-demand manner based on the on-demand request.

[0071]

[0083] 6-7, in some designs, the wireless node may receive a request from a given VUE of one or more VUEs for a series of positioning estimates for at least a PUE to be transmitted at a given periodicity, and the transmission of block 630 (or the reception of block 730) may correspond to one instance of the requested series of positioning estimates.

[0072]

[0084] 6-7 , in some designs, the wireless node may detect a triggering event, and the sending of block 630 (or the receiving of block 730) may occur in response to the detected triggering event. In some designs, the triggering event may be configured by the PUE or VUE(s) to which a positioning estimate is transmitted. In some designs, different targets among the PUE and VUE(s) may be associated with different triggering events. In some designs, the triggering event may comprise a variance in newer measurement data relative to older measurement data exceeding a variance threshold (e.g., PUE ranging for the PUE or VUE(s) is unstable, and therefore the wireless node (e.g., RSU) is asked to provide a more reliable PUE location estimate, or the RS alone detects the variance and triggers a PUE location report). In some designs, the triggering event may comprise detection of measurement data from one or more VUEs related to the PUE for a first time (e.g., a new PUE detected by the VUE, which may occur when the PUE is just entering the FOV of the VUE, such that the wireless node (e.g., an RSU) preemptively provides the VUE with a high-precision PUE positioning estimate of it). In some designs, the triggering event may be configured via RRC signaling (e.g., an RRC configuration message).

[0073]

[0085] 6-7 , in some designs, the sending of block 630 (or the receiving of block 730) may be performed at a given frequency, whereby the PUE positioning estimate is continually refreshed. In some designs, the respective frequencies at which the PUE positioning estimate is refreshed may be based in part on a set of criteria. For example, PUEs in high-risk or danger zones associated with a higher likelihood of vehicle-pedestrian collisions (e.g., PUEs located in the center of a street, on a crosswalk, on a sidewalk, etc.) may trigger a higher frequency of PUE positioning estimate reporting so that their respective locations may be more accurately tracked to reduce the likelihood of such collisions. Another criterion may comprise PUE trajectory (e.g., PUEs moving toward high-risk areas may increase their frequency, while PUEs moving away from high-risk areas, such as into buildings, may decrease their frequency, etc.).

[0074]

[0086] 6-7 , in some designs, the transmission of block 630 (or the reception of block 730) may be optional or at least delayed from the operations in blocks 610-620 and 710-720. For example, blocks 610-620 and 710-720 may be performed continuously, while blocks 630 and 730 are performed less frequently and / or on an event-triggered basis, as described above. In other words, the PUE positioning estimate need not be reported at the same rate at which it is refreshed or tracked at the wireless node (e.g., RSU). In certain examples, a PUE positioning estimate that places the PUE in a safety zone (e.g., more than 10 meters away from a street) does not need to be reported, but a PUE positioning estimate that places the PUE in a high-risk zone (e.g., within 3 meters away from a street, or within 5 meters away from a street while moving toward the street at a rate of 1 meter per second) or that places a PUE moving toward a high-risk zone may trigger reporting in blocks 630 and 730.

[0075]

[0087] 6-7 , in some designs, the transmission of block 630 (or the reception of block 730) may trigger an alert to the operator of the respective VUE(s) and / or PUE(s). In some designs, the alert may serve as a right-of-way coordination function (e.g., instructing the VUE operator to stop the vehicle and instructing the PUE that crosswalk access is enabled, or instructing the VUE operator to drive through the crosswalk and instructing the PUE that crosswalk access is prohibited, etc.). In some designs, the PUE may be queried regarding its movement intent before the alert is delivered. For example, the PUE may be queried by a wireless node (e.g., an RSU) to determine whether the PUE operator intends to cross the street and then take appropriate action. If the PUE operator does not intend to cross a particular crosswalk, the alert to the VUE regarding the PUE collision risk at the crosswalk may be skipped.

[0076]

[0088] 6-7 , in some designs, a PUE may be part of a PUE group comprising multiple PUEs, whereby a positioning estimate for each PUE in the PUE group may be determined and then transmitted to the PUE and / or VUE(s). In some designs, the PUE group corresponds to PUEs in the FOV of a given VUE of the one or more VUEs.

[0077]

[0089] 8-9B are described below, whereby the wireless node in FIGS. 6-7 corresponds to RSU 170B. However, as mentioned above, in other designs, the wireless node may instead correspond to a lead UE, such as a lead PUE or a lead VUE (e.g., in a scenario where no nearby RSU exists, or where a nearby RSU exists but is unavailable to provide positioning assistance).

[0078]

[0090] FIG. 8 illustrates an example implementation 800 of the processes 600-700 of FIGS. 6-7, according to one embodiment of the present disclosure.

[0079]

[0091] At 802, VUE1 and PUE1 perform sidelink (SL) positioning setup, whereby either VUE1 or PUE1 initiates a positioning request in which the positioning capabilities of both entities are exchanged. At 804, actual SL positioning signals are exchanged. At 806, VUE1 performs measurement(s) (e.g., ToA, AoA, AoD, click bias error, etc.) on the SL positioning signal from PUE1. At 808, PUE1 performs measurement(s) (e.g., ToA, AoA, AoD, click bias error, etc.) on the SL positioning signal from VUE1. At 810, VUE1 reports measurement data (e.g., ranging measurement data, etc.) based on the measurements from 806 to RSU 170B. At 812, PUE1 reports measurement data (e.g., ranging measurement data, etc.) based on the measurements from 808 to RSU 170B.

[0080]

[0092] At 814, VUE2 and PUE1 perform SL positioning setup, whereby either VUE2 or PUE1 initiates a positioning request in which the positioning capabilities of both entities are exchanged. At 816, actual SL positioning signals are exchanged. At 818, VUE2 performs measurement(s) (e.g., ToA, AoA, AoD, click bias error, etc.) on the SL positioning signal from PUE1. At 820, PUE1 performs measurement(s) (e.g., ToA, AoA, AoD, click bias error, etc.) on the SL positioning signal from VUE2. At 822, VUE2 reports measurement data (e.g., ranging measurement data, etc.) based on the measurements from 818 to RSU 170B. At 824, PUE1 reports measurement data (e.g., ranging measurement data, etc.) based on the measurements from 820 to RSU 170B.

[0081]

[0093] At 826, RSU 185B and PUE1 perform positioning setup, whereby either RSU 185B or PUE1 initiates a positioning request, in which the positioning capabilities of both entities are exchanged. At 828, actual positioning signals (e.g., PRS, SRS-P, etc.) are exchanged. At 830, PUE1 performs measurement(s) (e.g., ToA, AoA, AoD, click bias error, etc.) on the positioning signal from PUE1. At 832, RSU 170B performs measurement(s) (e.g., ToA, AoA, AoD, click bias error, etc.) on the positioning signal from PUE 185B. At 834, PUE 185B reports measurement data (e.g., ranging measurement data, etc.) based on the measurements from 830 to RSU 170B. In some designs, 826-834 are optional. Also, although 826-832 partially relate to measurement data obtained at RSU 170B in cooperation with PUE1, in other embodiments, RSU 170B may also use its own sensors to detect the location of PUE1 in a manner that does not require such cooperation. For example, RSU 170B may be capable of performing sensor measurements (e.g., RADAR, LIDAR, etc.) to track PUE location and may use this information (at least in part) to determine a positioning estimate for PUE1. At 836, RSU 170B determines a positioning estimate for PUE1 based on various measurement data received from VUE1-2 and PUE1 and / or measured by RSU 170B itself at 832. Based on various triggering criteria (e.g., on-demand request, event detection, periodic reporting, etc.), RSU 170B transmits a positioning estimate for PUE1 to VUE1 at 838, to VUE2 at 840, and to PUE1 at 842.

[0082]

[0094] FIG. 9A shows an example implementation 900A of a portion of processes 600-700 of FIGS. 6-7 according to an embodiment of the present disclosure. At 902A, a UE (e.g., a PUE or a VUE) sends an on-demand request for the location of a target PUE along with a PUE identifier (PUE-ID) of the target PUE. At 904A, RSU 170B sends a positioning estimate for the PUE identified by PUE-ID1 to a requesting UE. Thus, FIG. 9A shows an example of an on-demand PUE location request for a single PUE. In some designs, PUE-ID may correspond to an L1 PUE-ID, an L2 PUE-ID, or an L3 PUE-ID. In some designs, 902A is triggered in a scenario where the UE is unable to obtain an accurate location of PUE1 (e.g., high variance between ranging measurements indicates low accuracy of PUE1 location, etc.). In some designs, the request at 902A is sent via RRC signaling.

[0083]

[0095] 9B shows an example implementation 900B of a portion of processes 600-700 of FIGS. 6-7 according to another embodiment of the present disclosure. At 902A, a UE (e.g., a PUE or a VUE) transmits a request for periodic transmission of locations of PUEs in PUE Group 1 (e.g., identified by an individual PUE-ID or a PUE group identifier). At 904B, RSU 170B transmits positioning estimates for PUEs in PUE Group 1 to the requesting UE 1...N times according to a given periodicity (e.g., which may be specified in the location request in 902B or dynamically determined at RSU 170B) for a given duration (e.g., which may be configurable, e.g., longer if the VUE is moving at a speed less than a speed threshold and shorter if the VUE is moving faster than the speed threshold). At 906B, the UE transmits a reconfiguration request (e.g., to change PUE membership in PUE group 1, which converts PUE group 1 to PUE group 2, and optionally, to change the periodicity of transmissions). At 908B, RSU 170B transmits positioning estimates for PUEs in PUE group 2 to the requesting UE 1...N times according to a given periodicity (e.g., the same as or different from the periodicity for transmissions in 904B) for a given duration (e.g., which may be configurable, e.g., longer if the VUE is moving at a speed less than a speed threshold, and shorter if the VUE is moving faster than the speed threshold). In some designs, in a scenario where the requesting UE is a VUE, the PUE group may track with the PUE in the VUE's FOV (e.g., if the VUE has already driven past the PUE, the VUE no longer needs to know the PUE's location because the PUE is outside the VUE's path). In some designs, the PUE group may be populated based on the PUEs detected at the UE (e.g., based on detection or overhearing of a P2V message). In some designs, the configuration messages at 902B and / or 906B may be sent via RRC signaling.

[0084]

[0096] 10 illustrates an exemplary wireless node 1000 for implementing process 600 of FIG. 6, represented as a series of interrelated functional modules, in accordance with one aspect of the disclosure. In the illustrated example, wireless node 1000 includes a module 1002 for receiving, a module 1004 for determining, and a module 1006 for transmitting.

[0085]

[0097] The module for receiving 1002 may be configured to receive measurement data related to one or more sidelink positioning measurements between the PUE and one or more VUEs (e.g., 610 of FIG. 6). The module for determining 1004 may be configured to determine a positioning estimate for the PUE based at least in part on the received measurement data (e.g., 620 of FIG. 6). The module for transmitting 1006 may be configured to transmit the positioning estimate to the PUE, at least one VUE, or a combination thereof (e.g., 630 of FIG. 6).

[0086]

[0098] 11 illustrates an example UE 1100 (e.g., a VUE, a PUE, etc.) for implementing process 700 of FIG. 7, represented as a series of interrelated functional modules, in accordance with one aspect of the present disclosure. In the illustrated example, UE 1100 includes a module 1102 for performing, a module 1104 for transmitting, and a module 1106 for receiving.

[0087]

[0099] The module for performing 1102 may be configured to perform one or more sidelink positioning measurements on a first sidelink positioning signal between the PUE and the VUE (e.g., 710 of FIG. 7). The means for transmitting 1104 may be configured to transmit measurement data based on the one or more sidelink positioning measurements to the wireless node (e.g., 720 of FIG. 7). The means for receiving 1106 may be configured to receive a positioning estimate for the PUE based in part on the transmitted measurement data from the wireless node (e.g., 730 of FIG. 7).

[0088]

[0100] The functionality of the modules in FIGS. 10-11 may be implemented in various ways consistent with the teachings herein. In some designs, the functionality of these modules may be implemented as one or more electrical components. In some designs, the functionality of these blocks may be implemented as a processing system including one or more processor components. In some designs, the functionality of these modules may be implemented, for example, using at least a portion of one or more integrated circuits (e.g., ASICs). As described herein, an integrated circuit may include a processor, software, other related components, or some combination thereof. Thus, the functionality of different modules may be implemented, for example, as different subsets of an integrated circuit, as different subsets of a set of software modules, or a combination thereof. It will also be appreciated that a given subset (e.g., of an integrated circuit and / or a set of software modules) may provide at least a portion of functionality to more than one module.

[0089]

[0101] Furthermore, the components and functions represented by FIGS. 10-11 , as well as other components and functions described herein, may be implemented using any suitable means. Such means may also be implemented, at least in part, using corresponding structure taught herein. For example, the components described above in connection with “modules for” components in FIGS. 10-11 may also correspond to “means for” similarly designated functions. Thus, in some aspects, one or more of such means may be implemented using one or more of the processor components, integrated circuits, or other suitable structures taught herein, including as algorithms. Those skilled in the art will recognize algorithms represented in the text described above, as well as in sequences of actions that may be represented by pseudocode, in this disclosure. For example, the components and functions represented by FIGS. 10-11 may include code for implementing a LOAD operation, a COMPARE operation, a RETURN operation, an IF-THEN-ELSE loop, etc.

[0090]

[0102] Process 600 may include additional implementations, such as any single implementation or any combination of implementations, for one or more other processes described below and / or elsewhere herein.

[0091]

[0103] In a first implementation, the transmission transmits the positioning estimate via one or more unicast messages to the PUE, one or more VUEs, or a combination thereof, or the transmission broadcasts the positioning estimate to the PUE and one or more VUEs.

[0092]

[0104] In a second implementation, alone or in combination with the first implementation, the process 600 includes receiving an on-demand request for a positioning estimate for at least a PUE from a given VUE of one or more VUEs, wherein transmission is triggered in response to the on-demand request.

[0093]

[0105] In a third implementation, alone or in combination with one or more of the first and second implementations, the process 600 includes receiving a request from a given VUE of one or more VUEs for a set of positioning estimates for at least a PUE to be transmitted at a given periodicity, wherein the transmission transmits the positioning estimate as part of the requested set of positioning estimates.

[0094]

[0106] In a fourth implementation, alone or in combination with one or more of the first to third implementations, the process 600 includes detecting a triggering event, wherein the transmitting transmits a positioning estimate in response to the detected triggering event.

[0095]

[0107] In a fifth implementation, alone or in combination with one or more of the first to fourth implementations, the triggering event comprises a variance in newer measurement data relative to older measurement data exceeding a variance threshold, or the triggering event comprises measurement data from one or more VUEs relating to a PUE for a first time.

[0096]

[0108] In a sixth implementation, alone or in combination with one or more of the first to fifth implementations, the PUE is part of a PUE group comprising a plurality of PUEs, wherein the receiving, determining, and transmitting are performed for each PUE in the PUE group.

[0097]

[0109] In a seventh implementation, alone or in combination with one or more of the first to sixth implementations, a PUE group corresponds to PUEs in a field of view (FOV) of a given VUE among one or more VUEs.

[0098]

[0110] In an eighth implementation, alone or in combination with one or more of the first to seventh implementations, the process 600 includes transmitting a positioning signal to the PUE, wherein the measurement data further includes measurement information related to one or more measurements of the positioning signal by the PUE.

[0099]

[0111] In a ninth implementation, alone or in combination with one or more of the first to eighth implementations, the process 600 includes performing one or more positioning measurements on a positioning signal from the PUE, wherein the positioning estimation is further based on the one or more positioning measurements on the positioning signal.

[0100]

[0112] 6 illustrates example blocks of process 600, in some implementations, process 600 may include additional, fewer, different, or differently configured blocks than those shown in FIG 6. Additionally or alternatively, two or more of the blocks of process 600 may be performed in parallel.

[0101]

[0113] In a first implementation, the UE corresponds to a PUE, and the first sidelink positioning signal is received at the PUE from a VUE.

[0102]

[0114] In a second implementation, alone or in combination with the first implementation, the process 700 includes transmitting a second sidelink positioning signal to the VUE, wherein the positioning estimation is further based on one or more second measurements performed by the VUE on the second sidelink positioning signal.

[0103]

[0115] In a third implementation, alone or in combination with one or more of the first and second implementations, the UE corresponds to a VUE, and the first sidelink positioning signal is received at the VUE from the PUE.

[0104]

[0116] In a fourth implementation, alone or in combination with one or more of the first to third implementations, the process 700 includes transmitting a second sidelink positioning signal to the PUE, wherein the positioning estimation is further based on one or more second measurements performed on the second sidelink positioning signal by the PUE.

[0105]

[0117] 7 illustrates example blocks of process 700, in some implementations process 700 may include additional, fewer, different, or differently configured blocks than those shown in FIG 7. Additionally or alternatively, two or more of the blocks of process 700 may be performed in parallel.

[0106]

[0118] It should be understood that references to elements using designations such as "first," "second," etc. herein generally do not limit the quantity or order of those elements. Rather, these designations may be used herein as a convenient method of distinguishing between two or more elements or instances of an element. Thus, references to a first element and a second element do not imply that only two elements may be employed therein, or that the first element must precede the second element in some way. Also, unless otherwise stated, a set of elements may comprise one or more elements. Furthermore, as used in the specification or claims, terms of the form "at least one of A, B, or C" or "one or more of A, B, or C" or "at least one of the group consisting of A, B, and C" mean "A or B or C, or any combination of these elements." For example, the terms may include A, or B, or C, or A and B, or A and C, or A and B and C, or 2A, or 2B, or 2C, etc.

[0107]

[0119] In light of the above description and explanations, those skilled in the art will appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the aspects disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the particular application and design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in various ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0108]

[0120] Thus, for example, it will be appreciated that a device or device component may be configured (or enabled or adapted to) provide the functionality taught herein. This may be accomplished, for example, by manufacturing (e.g., fabricating) the device or component to provide the functionality, by programming the device or component to provide the functionality, or by using some other suitable implementation technique. As one example, an integrated circuit may be fabricated to provide the requisite functionality. As another example, an integrated circuit may be fabricated to support the requisite functionality and then configured (e.g., by programming) to provide the requisite functionality. As yet another example, a processor circuit may execute code to provide the requisite functionality.

[0109]

[0121] Furthermore, the methods, sequences, and / or algorithms described in connection with the aspects disclosed herein may be embodied directly in hardware, in software modules executed by a processor, or in a combination of the two. The software modules may reside in random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral to the processor (e.g., cache memory).

[0110]

[0122] Thus, for example, it will be appreciated that some aspects of the disclosure may include computer-readable media that implement the methods described herein.

[0111]

[0123] While the above disclosure sets forth various exemplary aspects, it should be noted that various changes and modifications can be made to the illustrated examples without departing from the scope defined by the appended claims. The present disclosure is not limited to only the specifically illustrated examples. For example, unless otherwise stated, the functions, steps and / or actions of method claims in accordance with aspects of the present disclosure described herein need not be performed in any particular order. Furthermore, while some aspects may be described or claimed in the singular, the plural is contemplated unless limitation to the singular is explicitly stated. The inventions described in the claims of the present application as originally filed are set forth below. [C1] A method of operating a wireless node, comprising: receiving measurement data related to one or more sidelink positioning measurements between a pedestrian user equipment (PUE) and one or more vehicular user equipments (VUE); determining a positioning estimate for the PUE based at least in part on the received measurement data; transmitting the positioning estimate to the PUE, at least one VUE, or a combination thereof; A method comprising: [C2] the positioning estimate is transmitted to the PUE, the one or more VUEs, or a combination thereof via one or more unicast messages; or the positioning estimate is broadcast to the PUE and the one or more VUEs; The method described in C1. [C3] receiving an on-demand request for the positioning estimate for at least the PUE from a given VUE of the one or more VUEs. Furthermore, wherein the transmission is triggered in response to the on-demand request. The method described in C1. [C4] further comprising receiving, from a given VUE of the one or more VUEs, a request for a series of positioning estimates for at least the PUE to be transmitted at a given periodicity; wherein the positioning estimate is transmitted as part of the requested set of positioning estimates. The method described in C1. [C5] Detecting triggering events Furthermore, wherein the positioning estimate is transmitted in response to the detected triggering event. The method described in C1. [C6] the triggering event comprises a variance in more recent measurement data relative to older measurement data exceeding a variance threshold; or the triggering event comprises the measurement data from the one or more VUEs relating to the PUE for a first time. The method described in C5. [C7] The PUE is part of a PUE group comprising a plurality of PUEs; a respective positioning estimate is determined for each PUE in the PUE group based on the one or more sidelink positioning measurements. The method described in C1. [C8] The method of C7, wherein the PUE group corresponds to PUEs in a field of view (FOV) of a given VUE of the one or more VUEs. [C9] transmitting a positioning signal to the PUE; Furthermore, wherein the measurement data further includes measurement information related to one or more measurements of the positioning signals by the PUE. The method described in C1. [C10] performing one or more positioning measurements on the positioning signals from said PUE. Furthermore, wherein the positioning estimate is further based on the one or more positioning measurements on the positioning signal. The method described in C1. [C11] The method of C1, wherein the wireless node corresponds to a roadside unit (RSU), a lead PUE, or a lead VUE. [C12] A method of operating a user equipment (UE), comprising: performing one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (UE); transmitting, to a wireless node, measurement data based on the one or more sidelink positioning measurements; and receiving, from the wireless node, a positioning estimate for the PUE based in part on the transmitted measurement data; A method comprising: [C13] The UE corresponds to the PUE, the first sidelink positioning signal is received at the PUE from a VUE; The method described in C12. [C14] transmitting a second sidelink positioning signal to the VUE. Furthermore, wherein the positioning estimate is further based on one or more second measurements performed by the VUE on the second sidelink positioning signal. The method described in C13. [C15] The UE corresponds to the VUE, 13. The method of claim 12, wherein the first sidelink positioning signal is received at the VUE from the PUE. [C16] transmitting a second sidelink positioning signal to the PUE. Furthermore, wherein the positioning estimate is further based on one or more second measurements performed by the PUE on the second sidelink positioning signal. Method according to C15. [C17] The method of C12, wherein the wireless node corresponds to a roadside unit (RSU), a lead PUE, or a lead VUE. [C18] A non-transitory computer-readable medium storing a set of instructions, the set of instructions comprising one or more instructions that, when executed by one or more processors of a wireless node, cause the wireless node to: receiving measurement data related to one or more sidelink positioning measurements between a pedestrian user equipment (PUE) and one or more vehicular user equipments (VUE); determining a positioning estimate for the PUE based at least in part on the received measurement data; transmitting the positioning estimate to the PUE, at least one VUE, or a combination thereof; A non-transitory computer-readable medium for causing [C19] the positioning estimate is transmitted to the PUE, the one or more VUEs, or a combination thereof via one or more unicast messages; or the positioning estimate is broadcast to the PUE and the one or more VUEs; A non-transitory computer-readable medium as described in C18. [C20] The one or more instructions cause the wireless node to: receiving an on-demand request for the positioning estimate for at least the PUE from a given VUE of the one or more VUEs; Let them do this further, wherein the transmission is triggered in response to the on-demand request. A non-transitory computer-readable medium as described in C18. [C21] The one or more instructions cause the wireless node to: receiving, from a given VUE of the one or more VUEs, a request for a series of positioning estimates for at least the PUE to be transmitted at a given periodicity; wherein the positioning estimate is transmitted as part of the requested set of positioning estimates. A non-transitory computer-readable medium as described in C18. [C22] The one or more instructions cause the wireless node to: Detecting a triggering event Let them do this further, wherein the positioning estimate is transmitted in response to the detected triggering event. A non-transitory computer-readable medium as described in C18. [C23] the triggering event comprises a variance in newer measurement data relative to older measurement data exceeding a variance threshold; or the triggering event comprises the measurement data from the one or more VUEs relating to the PUE for a first time. A non-transitory computer-readable medium as described in C22. [C24] The PUE is part of a PUE group comprising a plurality of PUEs; a respective positioning estimate is determined for each PUE in the PUE group based on the one or more sidelink positioning measurements. A non-transitory computer-readable medium as described in C18. [C25] The non-transitory computer-readable medium of C24, wherein the PUE group corresponds to PUEs in a field of view (FOV) of a given VUE of the one or more VUEs. [C26] The one or more instructions cause the wireless node to: transmitting a positioning signal to the PUE; Let them do this further, wherein the measurement data further includes measurement information related to one or more measurements of the positioning signals by the PUE. A non-transitory computer-readable medium as described in C18. [C27] The one or more instructions cause the wireless node to: performing one or more positioning measurements on the positioning signals from the PUE; Let them do this further, wherein the positioning estimate is further based on the one or more positioning measurements on the positioning signal. A non-transitory computer-readable medium as described in C18. [C28] The non-transitory computer-readable medium of C18, wherein the wireless node corresponds to a roadside unit (RSU), a lead PUE, or a lead VUE. [C29] A non-transitory computer-readable medium storing a set of instructions, the set of instructions comprising one or more instructions, which when executed by one or more processors of a user equipment (UE), cause the UE to: performing one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (UE); transmitting, to a wireless node, measurement data based on the one or more sidelink positioning measurements; and receiving, from the wireless node, a positioning estimate for the PUE based in part on the transmitted measurement data; A non-transitory computer-readable medium for causing [C30] The UE corresponds to the PUE, the first sidelink positioning signal is received at the PUE from a VUE; A non-transitory computer-readable medium as described in C29. [C31] The one or more instructions may be to the UE: transmitting a second sidelink positioning signal to the VUE. Let them do this further, wherein the positioning estimate is further based on one or more second measurements performed by the VUE on the second sidelink positioning signal. 2. A non-transitory computer-readable medium as described in C30. [C32] The UE corresponds to the VUE, 30. The non-transitory computer-readable medium of claim 29, wherein the first sidelink positioning signal is received at the VUE from the PUE. [C33] The one or more instructions may be to the UE: transmitting a second sidelink positioning signal to the PUE. Let them do this further, wherein the positioning estimate is further based on one or more second measurements performed by the PUE on the second sidelink positioning signal. 2. A non-transitory computer-readable medium as described in claim 1. [C34] The non-transitory computer-readable medium of C29, wherein the wireless node corresponds to a roadside unit (RSU), a lead PUE, or a lead VUE. [C35] A wireless node, comprising: one or more memories; one or more processors communicatively coupled to the one or more memories, the one or more processors: receiving measurement data related to one or more sidelink positioning measurements between a pedestrian user equipment (PUE) and one or more vehicular user equipments (VUE); determining a positioning estimate for the PUE based at least in part on the received measurement data; transmitting the positioning estimate to the PUE, at least one VUE, or a combination thereof; A wireless node configured to: [C36] the positioning estimate is transmitted to the PUE, the one or more VUEs, or a combination thereof via one or more unicast messages; or the positioning estimate is broadcast to the PUE and the one or more VUEs; 3. The wireless node according to claim 2, wherein the wireless node is a wireless node according to claim 2. [C37] wherein the one or more processors: receiving an on-demand request for the positioning estimate for at least the PUE from a given VUE of the one or more VUEs; further configured to: wherein the transmission is triggered in response to the on-demand request. 3. The wireless node according to claim 2, wherein the wireless node is a wireless node according to claim 2. [C38] The one or more processors: further configured to receive, from a given VUE of the one or more VUEs, a request for a series of positioning estimates for at least the PUE to be transmitted at a given periodicity; wherein the positioning estimate is transmitted as part of the requested set of positioning estimates. 3. The wireless node according to claim 2, wherein the wireless node is a wireless node according to claim 2. [C39] The one or more processors: Detecting a triggering event further configured to: wherein the positioning estimate is transmitted in response to the detected triggering event. 3. The wireless node according to claim 2, wherein the wireless node is a wireless node according to claim 2. [C40] The triggering event comprises a variance in newer measurement data relative to older measurement data exceeding a variance threshold; or the triggering event comprises the measurement data from the one or more VUEs relating to the PUE for a first time. 3. The wireless node according to claim 2, wherein said node is a wireless node according to claim 1. [C41] The PUE is part of a PUE group comprising a plurality of PUEs; a respective positioning estimate is determined for each PUE in the PUE group based on the one or more sidelink positioning measurements. 3. The wireless node according to claim 2, wherein the wireless node is a wireless node according to claim 2. [C42] The wireless node of C41, wherein the PUE group corresponds to PUEs in a field of view (FOV) of a given VUE of the one or more VUEs. [C43] The one or more processors: transmitting a positioning signal to the PUE; further configured to: wherein the measurement data further includes measurement information related to one or more measurements of the positioning signals by the PUE. 3. The wireless node according to claim 2, wherein the wireless node is a wireless node according to claim 2. [C44] The one or more processors: performing one or more positioning measurements on the positioning signals from the PUE; further configured to: wherein the positioning estimate is further based on the one or more positioning measurements on the positioning signal. 3. The wireless node according to claim 2, wherein the wireless node is a wireless node according to claim 2. [C45] The wireless node of C35, wherein the wireless node corresponds to a roadside unit (RSU), a lead PUE, or a lead VUE. [C46] A user equipment (UE), comprising: one or more memories; one or more processors communicatively coupled to the one or more memories, the one or more processors: performing one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (UE); transmitting, to a wireless node, measurement data based on the one or more sidelink positioning measurements; and receiving, from the wireless node, a positioning estimate for the PUE based in part on the transmitted measurement data; A user equipment (UE) configured to perform the following: [C47] The UE corresponds to the PUE, the first sidelink positioning signal is received at the PUE from a VUE; UE described in C46. [C48] The one or more processors: transmitting a second sidelink positioning signal to the VUE. further configured to: wherein the positioning estimate is further based on one or more second measurements performed by the VUE on the second sidelink positioning signal. UE described in C47. [C49] The UE corresponds to the VUE, The UE of C46, ​​wherein the first sidelink positioning signal is received at the VUE from the PUE. [C50] The one or more processors: transmitting a second sidelink positioning signal to the PUE. further configured to: wherein the positioning estimate is further based on one or more second measurements performed by the PUE on the second sidelink positioning signal. UE described in C49. [C51] The UE of C46, ​​wherein the wireless node corresponds to a roadside unit (RSU), a lead PUE, or a lead VUE. [C52] A wireless node, comprising: means for receiving measurement data relating to one or more sidelink positioning measurements between a pedestrian user equipment (PUE) and one or more vehicular user equipments (VUE); and means for determining a positioning estimate for the PUE based at least in part on the received measurement data. means for transmitting the positioning estimate to the PUE, at least one VUE, or a combination thereof; A wireless node comprising: [C53] the positioning estimate is transmitted to the PUE, the one or more VUEs, or a combination thereof via one or more unicast messages; or the positioning estimate is broadcast to the PUE and the one or more VUEs; 3. The wireless node according to claim 2, wherein: [C54] means for receiving, from a given VUE of said one or more VUEs, an on-demand request for said positioning estimate for at least said PUE; Furthermore, wherein the transmission is triggered in response to the on-demand request. 3. The wireless node according to claim 2, wherein: [C55] means for receiving, from a given VUE of said one or more VUEs, a request for a series of positioning estimates for at least said PUE to be transmitted at a given periodicity; Furthermore, wherein the positioning estimate is transmitted as part of the requested set of positioning estimates. 3. The wireless node according to claim 2, wherein: [C56] Means for detecting triggering events Furthermore, wherein the positioning estimate is transmitted in response to the detected triggering event. 3. The wireless node according to claim 2, wherein: [C57] the triggering event comprises a variance in newer measurement data relative to older measurement data exceeding a variance threshold; or the triggering event comprises the measurement data from the one or more VUEs relating to the PUE for a first time. 5. The wireless node according to claim 4, wherein said wireless node is a wireless node according to claim 4. [C58] The PUE is part of a PUE group comprising a plurality of PUEs; a respective positioning estimate is determined for each PUE in the PUE group based on the one or more sidelink positioning measurements. 3. The wireless node according to claim 2, wherein: [C59] The wireless node of C58, wherein the PUE group corresponds to PUEs in a field of view (FOV) of a given VUE of the one or more VUEs. [C60] means for transmitting a positioning signal to said PUE Furthermore, wherein the measurement data further includes measurement information related to one or more measurements of the positioning signals by the PUE. 3. The wireless node according to claim 2, wherein: [C61] means for performing one or more positioning measurements on positioning signals from said PUE; Furthermore, wherein the positioning estimate is further based on the one or more positioning measurements on the positioning signal. 3. The wireless node according to claim 2, wherein: [C62] The wireless node of C52, wherein the wireless node corresponds to a roadside unit (RSU), a lead PUE, or a lead VUE. [C63] A user equipment (UE), comprising: means for performing one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (UE); means for transmitting, to a wireless node, measurement data based on the one or more sidelink positioning measurements; means for receiving, from the wireless node, a positioning estimate for the PUE based in part on the transmitted measurement data; A user equipment (UE) comprising: [C64] The UE corresponds to the PUE, the first sidelink positioning signal is received at the PUE from a VUE; UE described in C63. [C65] means for transmitting a second sidelink positioning signal to said VUE. Furthermore, wherein the positioning estimate is further based on one or more second measurements performed by the VUE on the second sidelink positioning signal. UE described in C64. [C66] The UE corresponds to the VUE, The UE of C63, wherein the first sidelink positioning signal is received at the VUE from the PUE. [C67] means for transmitting a second sidelink positioning signal to said PUE. Furthermore, wherein the positioning estimate is further based on one or more second measurements performed by the PUE on the second sidelink positioning signal. UE described in C66. [C68] The wireless node of C63, wherein the wireless node corresponds to a roadside unit (RSU), a lead PUE, or a lead VUE.

Claims

1. 1. A method of operating a wireless node, comprising: receiving one or more measurement reports comprising measurement data based on one or more sidelink positioning measurements between a pedestrian user equipment (PUE), one or more vehicular user equipments (VUEs), or both, measured by the PUE and the one or more VUEs; determining a positioning estimate for the PUE based on the received measurement data; transmitting the determined positioning estimate for the PUE to the PUE, the one or more VUEs, or a combination thereof; A method comprising:

2. the positioning estimate is transmitted to the PUE, the one or more VUEs, or a combination thereof via one or more unicast messages; or the positioning estimate is broadcast to the PUE and the one or more VUEs; The method of claim 1.

3. receiving an on-demand request for the positioning estimate for at least the PUE from a given VUE of the one or more VUEs, wherein the transmission is triggered in response to the on-demand request; or receiving a request from a given VUE of the one or more VUEs for a set of positioning estimates for at least the PUE to be transmitted at a given periodicity, wherein the positioning estimate is transmitted as part of the requested set of positioning estimates; The method of claim 1 further comprising:

4. detecting a triggering event; wherein the triggering event comprises a variance in more recent measurement data relative to older measurement data exceeding a variance threshold; or the triggering event comprises the measurement data from the one or more VUEs relating to the PUE for a first time; the positioning estimate is transmitted in response to the detected triggering event. The method of claim 1.

5. the PUE is part of a PUE group comprising a plurality of PUEs, the PUE group corresponding to PUEs in a field of view (FOV) of a given VUE of the one or more VUEs; a respective positioning estimate is determined for each PUE in the group of PUEs based on the one or more sidelink positioning measurements. The method of claim 1.

6. transmitting a positioning signal to the PUE; Furthermore, wherein the measurement data further comprises measurement information relating to one or more measurements of the positioning signals by the PUE. The method of claim 1.

7. performing one or more positioning measurements on the positioning signals from the PUE; Furthermore, wherein the positioning estimate is further based on the one or more positioning measurements on the positioning signal. The method of claim 1.

8. The method of claim 1 , wherein the wireless node corresponds to a roadside unit (RSU), a lead PUE, or a lead VUE.

9. 1. A method of operating a user equipment (UE), comprising: performing one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (VUE); and transmitting, to a wireless node, one or more measurement reports comprising measurement data based on the one or more sidelink positioning measurements; and receiving, from the wireless node, a positioning estimate for the PUE based on the transmitted measurement data; A method comprising:

10. The UE corresponds to the PUE; the first sidelink positioning signal is received at the PUE from the VUE; The method further comprises transmitting a second sidelink positioning signal to the VUE; wherein the positioning estimation is further based on one or more second measurements performed by the VUE on the second sidelink positioning signal.

10. The method of claim 9.

11. The UE corresponds to the VUE; the first sidelink positioning signal is received at the VUE from the PUE; The method further comprises transmitting a second sidelink positioning signal to the PUE; wherein the positioning estimation is further based on one or more second measurements performed by the PUE on the second sidelink positioning signal.

10. The method of claim 9.

12. 1. A wireless node, comprising: means for receiving one or more measurement reports comprising measurement data related to one or more sidelink positioning measurements between a pedestrian user equipment (PUE), one or more vehicular user equipments (VUEs), or both, measured by the PUE and the one or more VUEs; means for determining a positioning estimate for the PUE based on the received measurement data; means for transmitting the determined positioning estimate for the PUE to the PUE, the one or more VUEs, or a combination thereof; A wireless node comprising:

13. a memory, at least one processor, and a transceiver communicatively operable by various means, said memory and processor being further configured to perform the method of any one of claims 1 to 8; 13. The wireless node of claim 12.

14. A user equipment (UE), means for performing one or more sidelink positioning measurements on a first sidelink positioning signal between a pedestrian user equipment (PUE) and a vehicular user equipment (UE); means for transmitting, to a wireless node, one or more measurement reports comprising measurement data based on the one or more sidelink positioning measurements; and means for receiving, from the wireless node, a positioning estimate for the PUE based on the transmitted measurement data; A user equipment (UE) comprising:

15. The memory, at least one processor, and transceiver communicatively operating by various means and further cooperating to perform the method of any one of claims 9 to 12.

15. The UE of claim 14.

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