Dynamic road-map with lane-status updates

Abstract

Aspects presented herein may enable a UE to report information associated with one or more lanes to assist a network with lane-status updates for a lane-level map. In one aspect, a UE receives an indication of a set of recommended lanes for a destination. The UE detects a deviation from at least one lane in the set of recommended lanes. The UE obtains, via at least one sensor, information associated with the at least one lane. The UE transmits the obtained information to a network entity. In one example, the information associated with the at least one lane includes one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance / exit associated with the set of recommended lanes, or a description of the incident.

Description

DYNAMIC ROAD-MAP WITH LANE-STATUS UPDATESCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of Greece Patent Application Serial No. 20230101008, entitled “DYNAMIC ROAD-MAP WITH LANE-STATUS UPDATES” and filed on December 7, 2023, which is expressly incorporated by reference herein in its entirety.TECHNICAL FIELD

[0002] The present disclosure relates generally to communication systems, and more particularly, to wireless communication involving map data updating.INTRODUCTION

[0003] Wireless communication systems are widely deployed to provide various telecommunication services such as telephony, video, data, messaging, and broadcasts. Typical wireless communication systems may employ multiple-access technologies capable of supporting communication with multiple users by sharing available system resources. Examples of such multiple-access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single-carrier frequency division multiple access (SC-FDMA) systems, and time division synchronous code division multiple access (TD-SCDMA) systems.

[0004] These multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different wireless devices to communicate on a municipal, national, regional, and even global level. An example telecommunication standard is 5G New Radio (NR). 5G NR is part of a continuous mobile broadband evolution promulgated by Third Generation Partnership Project (3 GPP) to meet new requirements associated with latency, reliability, security, scalability (e.g., with Internet of Things (IoT)), and other requirements. 5G NR includes services associated with enhanced mobile broadband (eMBB), massive machine type communications (mMTC), and ultra-reliable low latency communications (URLLC). Some aspects of 5G NR may be based on the 4G LongTerm Evolution (LTE) standard. There exists a need for further improvements in 5G NR technology. These improvements may also be applicable to other multi-access technologies and the telecommunication standards that employ these technologies.BRIEF SUMMARY

[0005] The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects. This summary neither identifies key or critical elements of all aspects nor delineates the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

[0006] In an aspect of the disclosure, a method, a computer-readable medium, and an apparatus are provided. The apparatus receives an indication of a set of recommended lanes for a destination. The apparatus detects a deviation from at least one lane in the set of recommended lanes. The apparatus obtains, via at least one sensor, information associated with the at least one lane. The apparatus transmits the obtained information to a network entity.

[0007] In an aspect of the disclosure, a method, a computer-readable medium, and an apparatus are provided. The apparatus transmits, to a first user equipment (UE), an indication of a set of recommended lanes for a destination. The apparatus receives, from the first UE, information associated with at least one lane in the set of recommended lanes. The apparatus updates a lane status in map data based on the received information. The apparatus transmits at least one of a portion of the information, a second indication of a set of recommended altemativelanes, orthemap data with the updated lane status.

[0008] To the accomplishment of the foregoing and related ends, the one or more aspects may include the features hereinafter fully described and particularly pointed out in the claims. The following description and the drawings set forth in detail certain illustrative features of the one or more aspects. These features are indicative, however, of but a few of the various ways in which the principles of various aspects may be employed.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] FIG. l is a diagram illustrating an example of a wireless communications system and an access network.

[0010] FIG. 2A is a diagram illustrating an example of a first frame, in accordance with various aspects of the present disclosure.

[0011] FIG. 2B is a diagram illustrating an example of downlink (DL) channels within a subframe, in accordance with various aspects of the present disclosure.

[0012] FIG. 2C is a diagram illustrating an example of a second frame, in accordance with various aspects of the present disclosure.

[0013] FIG. 2D is a diagram illustrating an example of uplink (UL) channels within a subframe, in accordance with various aspects of the present disclosure.

[0014] FIG. 3 is a diagram illustrating an example of a base station and user equipment (UE) in an access network.

[0015] FIG. 4 is a diagram illustrating an example of a UE positioning based on reference signal measurements.

[0016] FIG. 5 is a diagram illustrating an example of camera-aidedpositioningin accordance with various aspects of the present disclosure.

[0017] FIG. 6 is a diagram illustrating an example of a navigation application in accordance with various aspects of the present disclosure.

[0018] FIG. 7 is a diagram illustrating an example of a vehicle performing map over the air in accordance with various aspects of the present disclosure.

[0019] FIG. 8 is a diagram illustrating an example of a UE / vehicle providing (real-time) lane status to a network in accordance with various aspects of the present disclosure.

[0020] FIG. 9 is a communication flow illustrating an example signaling between UEs and a network for performing a dynamic lane-status update for a lane-level map in accordance with various aspects of the present disclosure.

[0021] FIG. 10 is a flowchart of a method of wireless communication.

[0022] FIG. 11 is a flowchart of a method of wireless communication.

[0023] FIG. 12 is a diagram illustrating an example of a hardware implementation for an example apparatus and / or network entity.

[0024] FIG. 13 is a flowchart of a method of wireless communication.

[0025] FIG. 14 is a flowchart of a method of wireless communication.

[0026] FIG. 15 is a diagram illustrating an example of a hardware implementation for an example network entity.DETAILED DESCRIPTION

[0027] Aspects presented herein may improve the overall performance of applications that use lane-level maps by enablinguser equipments (UEs) (e.g., vehicles, vehicle UEs, on-board units (OBUs), advanced driver assistance systems (ADAS) systems, navigation systems, autonomous driving systems, etc.) to obtain real-time or latest information of lane status from a network (e.g., a server, a map server, a location server, etc.), and enabling the network to dynamically update the current / latest status / state of the lane-level map and provide an accurate and real-time / latest lanelevel map forthe UEs. For example, in one aspect of the present disclosure, a network may dynamically update a current status / state of lanes in lane-level road maps by using (real-time) data received from one or more UEs (e.g., based on crowdsourcing). Such mechanism may provide real-time accurate lane-level maps which both increase the reliability of autonomous driving systems and help ADAS system to provide a more accurate lane guidance to the driver.

[0028] Aspects presented herein are directed to techniques / protocols for dynamic lane-level map updates based on crowdsourced information. Aspects presented herein include at least the following aspects / features: (1) vehicles identify and report incidents, (2) network updates lane-status information and provides the updated information to vehicles that may be impacted by the changes: a) initial update without changing baseline map b) update the baseline map, (3) time-dependent lane-status update, (4) targeted report request, (5) jammer avoidance, and (6) overhead reduction.

[0029] The detailed description set forth below in connection with the drawings describes various configurations and does not represent the only configurations in which the concepts described herein may be practiced. The detailed description includes specific details for the purpose of providing a thorough understanding of various concepts. However, these concepts may be practiced without these specific details. In some instances, well known structures and components are shown in block diagram form in order to avoid obscuring such concepts.

[0030] Several aspects of telecommunication systems are presented with referenceto various apparatus and methods. These apparatus and methods are described in the followingdetailed description and illustrated in the accompanying drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as “elements”). These elements may be implemented using electronic hardware, computer software, or any combination thereof. Whether such elements are implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system.

[0031] By way of example, an element, or any portion of an element, or any combination of elements may be implemented as a “processing system” that includes one or more processors. When multiple processors are implemented, the multiple processors may perform the functions individually or in combination. Examples of processors include microprocessors, microcontrollers, graphics processing units (GPUs), central processing units (CPUs), application processors, digital signal processors (DSPs), reduced instruction set computing (RISC) processors, systems on a chip (SoC), baseband processors, field programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functionality described throughout this disclosure. One or more processors in the processing system may execute software. Software, whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise, shall be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software components, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, or any combination thereof.

[0032] Accordingly, in one or more example aspects, implementations, and / or use cases, the functions described may be implemented in hardware, software, or any combination thereof. If implemented in software, the functions may be stored on or encoded as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer storage media. Storage media may be any available media that can be accessed by a computer. By way of example, such computer-readable media can include a random-access memory (RAM), a read-only memory (ROM), an electrically erasable programmable ROM (EEPROM), optical disk storage, magnetic disk storage, other magnetic storage devices, combinations of the types of computer-readable media, or any other medium that can be used to store computer executable code in the form of instructions or data structures that can be accessed by a computer.

[0033] While aspects, implementations, and / or use cases are describedin this application by illustration to some examples, additional or different aspects, implementations and / or use cases may come about in many different arrangements and scenarios. Aspects, implementations, and / oruse cases described herein may be implemented across many differingplatform types, devices, systems, shapes, sizes, and packaging arrangements. For example, aspects, implementations, and / or use cases may come about via integrated chip implementations and other non-module-component based devices (e.g., end-user devices, vehicles, communication devices, computing devices, industrial equipment, retail / purchasing devices, medical devices, artificial intelligence (Al)-enabled devices, etc.). While some examples may or may not be specifically directed to use cases or applications, a wide assortment of applicability of described examples may occur. Aspects, implementations, and / oruse cases may range a spectrum from chip-level or modular components to non-modular, non-chip- level implementations and further to aggregate, distributed, or original equipment manufacturer (OEM) devices or systems incorporating one or more techniques herein. In some practical settings, devices incorporating described aspects and features may also include additional components and features for implementation and practice of claimed and described aspect. For example, transmission and reception of wireless signals necessarily includes a number of components for analog and digital purposes (e.g., hardware components including antenna, RF-chains, power amplifiers, modulators, buffer, processor(s), interleaver, adders / summers, etc.). Techniques described herein may be practiced in a wide variety of devices, chip-level components, systems, distributed arrangements, aggregated or disaggregated components, end-user devices, etc. of varying sizes, shapes, and constitution.

[0034] Deployment of communication systems, such as 5GNR systems, may be arranged in multiple manners with various components or constituent parts. In a 5G NR system, or network, a network node, a network entity, a mobility element of a network, a radio access network (RAN) node, a core network node, a network element, or a network equipment, such as a base station (BS), or one or more units (or one or more components) performing base station functionality, may be implemented in an aggregated or disaggregated architecture. For example, a BS (such as a Node B (NB),evolved NB (eNB), NR BS, 5GNB, access point (AP), a transmission reception point (TRP), or a cell, etc.) may be implemented as an aggregated base station (also known as a standalone BS or a monolithic BS) or a disaggregated base station.

[0035] An aggregated base station may be configured to utilize a radio protocol stack that is physically or logically integrated within a single RAN node. A disaggregated base station may be configured to utilize a protocol stack that is physically or logically distributed among two or more units (such as one or more central or centralized units (CUs), one or more distributed units (DUs), or one or more radio units (RUs)). In some aspects, a CU may be implemented within a RAN node, and one or more DUs may be co-located with the CU, or alternatively, may be geographically or virtually distributed throughout one or multiple other RAN nodes. The DUs may be implemented to communicate with one or more RUs. Each of the CU, DU and RU can be implemented as virtual units, i.e., a virtual central unit (VCU), a virtual distributed unit (VDU), or a virtual radio unit (VRU).

[0036] Base station operation or network design may consider aggregation characteristics of base station functionality. For example, disaggregated base stations may be utilized in an integrated access backhaul (IAB) network, an open radio access network (O- RAN (such as the network configuration sponsored by the O-RAN Alliance)), or a virtualized radio access network (vRAN, also known as a cloud radio access network (C-RAN)). Disaggregation may include distributing functionality across two or more units at various physical locations, as well as distributing functionality for at least one unit virtually, which can enable flexibility in network design. The various units of the disaggregated base station, or disaggregated RAN architecture, can be configured for wired or wireless communication with at least one other unit.

[0037] FIG. 1 is a diagram 100 illustrating an example of a wireless communications system and an access network. The illustrated wireless communications system includes a disaggregated base station architecture. The disaggregated base station architecture may include one or more CUs 110 that can communicate directly with a core network 120 via a backhaul link, or indirectly with the core network 120 through one or more disaggregated base station units (such as a Near-Real Time (Near-RT) RAN Intelligent Controller (RIC) 125 via an E2 link, or a Non-Real Time (Non-RT) RIC 115 associated with a Service Management and Orchestration (SMO) Framework 105, or both). A CU 110 may communicate with one or more DUs 130 via respectivemidhaul links, such as an Fl interface. The DUs 130 may communicate with one or more RUs 140 via respective fronthaul links. The RUs 140 may communicate with respective UEs 104 via one or more radio frequency (RF) access links. In some implementations, the UE 104 may be simultaneously served by multiple RUs 140.

[0038] Each of the units, i.e., the CUs 110, the DUs 130, the RUs 140, as well as the Near- RT RICs 125, the Non-RT RICs 115, and the SMO Framework 105, may include one or more interfaces or be coupled to one or more interfaces configured to receive or to transmit signals, data, or information (collectively, signals) via a wired or wireless transmission medium. Each of the units, or an associated processor or controller providing instructions to the communication interfaces of the units, can be configured to communicate with one or more of the other units via the transmission medium. For example, the units can include a wired interface configured to receive or to transmit signals over a wired transmission medium to one or more of the other units. Additionally, the units can include a wireless interface, which may include a receiver, a transmitter, or a transceiver (such as an RF transceiver), configured to receive or to transmit signals, or both, over a wireless transmission medium to one or more of the other units.

[0039] In some aspects, the CU 110 may host one or more higher layer control functions. Such control functions can include radio resource control (RRC), packet data convergence protocol (PDCP), service data adaptation protocol (SDAP), or the like. Each control function can be implemented with an interface configured to communicate signals with other control functions hosted by the CU 110. The CU 110 may be configured to handle user plane functionality (i.e., Central Unit - User Plane (CU-UP)), control plane functionality (i.e., Central Unit - Control Plane (CU-CP)), or a combination thereof. In some implementations, the CU 110 can be logically split into one or more CU-UP units and one or more CU-CP units. The CU-UP unit can communicate bidirectionally with the CU-CP unit via an interface, such as an El interface when implemented in an O-RAN configuration. The CU 110 can be implemented to communicate with the DU 130, as necessary, for network control and signaling.

[0040] The DU 130 may correspond to a logical unit that includes one or more base station functions to control the operation of one or more RUs 140. In some aspects, the DU 130 may host one or more of a radio link control (RLC) layer, a medium access control(MAC) layer, and one or more high physical (PHY) layers (such as modules for forward error correction (FEC) encoding and decoding, scrambling, modulation, demodulation, or the like) depending, at least in part, on a functional split, such as those defined by 3 GPP. In some aspects, the DU 130 may further host one or more low PHY layers. Each layer (or module) can be implemented with an interface configured to communicate signals with other layers (and modules) hosted by the DU 130, or with the control functions hosted by the CU 110.

[0041] Lower-layer functionality can be implemented by one or more RUs 140. In some deployments, an RU 140, controlled by a DU 130, may correspond to a logical node that hosts RF processing functions, or low-PHY layer functions (such as performing fast Fourier transform (FFT), inverse FFT (iFFT), digital beamforming, physical random access channel (PRACH) extraction and filtering, or the like), or both, based at least in part on the functional split, such as a lower layer functional split. In such an architecture, the RU(s) 140 can be implemented to handle over the air (OTA) communication with one or more UEs 104. In some implementations, real-time and non-real-time aspects of control and user plane communication with the RU(s) 140 can be controlled by the corresponding DU 130. In some scenarios, this configuration can enable the DU(s) 130 and the CU 110 to be implemented in a cloud-based RAN architecture, such as a vRAN architecture.

[0042] The SMO Framework 105 may be configured to support RAN deployment and provisioning of non-virtualizedandvirtualizednetwork elements. Fornon-virtualized network elements, the SMO Framework 105 may be configured to support the deployment of dedicated physical resources for RAN coverage requirements that may be managed via an operations and maintenance interface (such as an 01 interface). For virtualized network elements, the SMO Framework 105 may be configured to interact with a cloud computing platform (such as an open cloud (O-Cloud) 190) to perform network element life cycle management (such as to instantiate virtualized network elements) via a cloud computing platform interface (such as an 02 interface). Such virtualized network elements can include, but are not limited to, CUs 110, DUs 130, RUs 140 andNear-RTRICs 125. In some implementations, the SMO Framework 105 can communicate with a hardware aspect of a 4G RAN, such as an open eNB (O- eNB) 111, via an 01 interface. Additionally, in some implementations, the SMO Framework 105 can communicate directly with one or more RUs 140 via an 01interface. The SMO Framework 105 also may include aNon-RT RIC 115 configured to support functionality of the SMO Framework 105.

[0043] The Non-RT RIC 115 may be configured to include a logical function that enables non-real-time control and optimization of RAN elements and resources, artificial intelligence (Al) / machine learning (ML) (AI / ML) workflows including model training and updates, or policy-based guidance of applications / features in the Near- RT RIC 125. The Non-RT RIC 115 may be coupled to or communicate with (such as via an Al interface) the Near-RT RIC 125. The Near-RT RIC 125 may be configured to include a logical function that enables near-real-time control and optimization of RAN elements and resources via data collection and actions over an interface (such as via an E2 interface) connecting one or more CUs 110, one or more DUs 130, or both, as well as an O-eNB, with the Near-RT RIC 125.

[0044] In some implementations, to generate AI / ML models to be deployed in the Near-RT RIC 125, the Non-RT RIC 115 may receive parameters or external enrichment information from external servers. Such information may be utilized by the Near-RT RIC 125 and may be received at the SMO Framework 105 or the Non-RT RIC 115 from non-network data sources or from network functions. In some examples, the Non-RT RIC 115 or the Near-RT RIC 125 may be configured to tune RANbehavior or performance. For example, the Non-RT RIC 115 may monitor long-term trends and patterns for performanceand employ AI / ML models to perform corrective actions through the SMO Framework 105 (such as reconfiguration via 01) or via creation of RAN management policies (such as Al policies).

[0045] At least one of the CU 110, the DU 130, and the RU 140 maybe referred to as a base station 102. Accordingly, a base station 102 may include one or more of the CU 110, the DU 130, and the RU 140 (each component indicated with dotted lines to signify that each component may or may not be included in the base station 102). The base station 102 provides an access point to the core network 120 for a UE 104. The base station 102 may include macrocells (high power cellular base station) and / or small cells (low power cellular base station). The small cells include femtocells, picocells, and microcells. Anetwork thatincludes both small cell and macrocells may be known as a heterogeneous network. A heterogeneous network may also include Home Evolved Node Bs (eNBs) (HeNBs), which may provide service to a restricted group known as a closed subscriber group (CSG). The communication links between theRUs 140 and the UEs 104 may include uplink (UL) (also referred to as reverse link) transmissions from a UE 104 to an RU 140 and / or downlink (DL) (also referred to as forward link) transmissions from an RU 140 to a UE 104. The communication links may use multiple-input and multiple-output (MIMO) antenna technology, including spatial multiplexing, beamforming, and / or transmit diversity. The communication links may be through one or more carriers. The base station 102 / UEs 104 may use spectrum up to FMHz (e.g., 5, 10, 15, 20, 100, 400, etc. MHz) bandwidth per carrier allocated in a carrier aggregation of up to a total of Ex MHz (x component carriers) used for transmission in each direction. The carriers may or may not be adjacent to each other. Allocation of carriers may be asymmetric with respecttoDL andUL (e.g., more or fewer carriers may be allocated for DL than for UL). The component carriers may include a primary component carrier and one or more secondary component carriers. A primary component carrier may be referred to as a primary cell (PCell) and a secondary component carrier may be referred to as a secondary cell (SCell).

[0046] Certain UEs 104 may communicate with each other using device-to-device (D2D) communication link 158. The D2D communication link 158 may use the DL / UL wireless wide area network (WWAN) spectrum. The D2D communication link 158 may use one or more sidelink channels, such as a physical sidelink broadcast channel (PSBCH), a physical sidelink discovery channel (PSDCH), a physical sidelink shared channel (PSSCH), and a physical sidelink control channel (PSCCH). D2D communication may be through a variety of wireless D2D communications systems, such as for example, Bluetooth™ (Bluetooth is a trademark of the Bluetooth Special Interest Group (SIG)), Wi-Fi™ (is a trademark of the Wi-Fi Alliance) based on the Institute of Electrical and Electronics Engineers (IEEE) 802.11 standard, LTE, orNR.

[0047] The wireless communications system may further include a Wi-Fi AP 150 in communication with UEs 104 (also referred to as Wi-Fi stations (STAs)) via communication link 154, e.g., in a 5 GHz unlicensed frequency spectrum orthe like. When communicating in an unlicensed frequency spectrum, the UEs 104 / AP 150 may perform a clear channel assessment (CCA) prior to communicating in order to determine whether the channel is available.

[0048] The electromagnetic spectrum is often subdivided, based on frequency / wavelength, into various classes, bands, channels, etc. In 5GNR, two initial operating bands have been identified as frequency range designations FR1 (410 MHz - 7.125 GHz) andFR2 (24.25 GHz - 52.6 GHz). Although a portion of FR1 is greater than 6 GHz, FR1 is often referred to (interchangeably) as a “sub-6 GHz” band in various documents and articles. A similar nomenclature issue sometimes occurs with regard to FR2, which is often referred to (interchangeably) as a “millimeter wave” bandin documents and articles, despite being different from the extremely high frequency (EHF) band (30 GHz - 300 GHz) which is identified by the International Telecommunications Union (ITU) as a “millimeter wave” band.

[0049] The frequencies between FR1 andFR2 are often referred to as mid-band frequencies. Recent 5G NR studies have identified an operating band for these mid-band frequencies as frequency range designation FR3 (7.125 GHz - 24.25 GHz). Frequency bands falling within FR3 may inherit FR1 characteristics and / or FR2 characteristics, and thus may effectively extend features of FR1 and / or FR2 into midband frequencies. In addition, higher frequency bands are currently being explored to extend 5GNRoperationbeyond 52.6GHz. For example, three higher op erating bands have been identified as frequency range designations FR2-2 (52.6 GHz - 71 GHz), FR4 (71 GHz- 114.25 GHz), andFR5 (114.25 GHz- 300 GHz). Each of these hi^ier frequency bands falls within the EHF band.

[0050] With the above aspects in mind, unless specifically stated otherwise, the term “sub-6 GHz” or the like if used herein may broadly represent frequencies that may be less than 6 GHz, may be within FR1 , or may include mid-band frequencies. Further, unless specifically stated otherwise, the term “millimeter wave” or the like if used herein may broadly represent frequencies that may include mid-band frequencies, may be within FR2, FR4, FR2-2, and / or FR5, or may be within the EHF band.

[0051] The base station 102 and the UE 104 may each include a plurality of antennas, such as antenna elements, antenna panels, and / or antenna arrays to facilitate beamforming The base station 102 may transmit a beamformed signal 182 to the UE 104 in one or more transmit directions. The UE 104 may receive the beamformed signal from the base station 102 in one or more receive directions. The UE 104 may also transmit a beamformed signal 184 to the base station 102 in one or more transmit directions. The base station 102 may receive the beamformed signal from the UE 104 in one or more receive directions. The base station 102 / UE 104 may perform beam training to determine the best receive and transmit directions for each of the base station 102 / UE 104. The transmit and receive directions for the base station 102 may or may notbe the same. The transmit and receive directions for the UE 104 may or may not be the same.

[0052] The base station 102 may include and / or be referred to as a gNB, Node B, eNB, an access point, a base transceiver station, a radio base station, a radio transceiver, a transceiver function, a basic service set (BSS), an extended service set (ESS), a TRP, network node, network entity, network equipment, or some other suitable terminology. The base station 102 can be implemented as an integrated access and backhaul (IAB) node, a relay node, a sidelink node, an aggregated (monolithic) base station with a baseband unit (BBU) (including a CU and a DU) and an RU, or as a disaggregated base station including one or more of a CU, a DU, and / or an RU. The set of base stations, which may include disaggregated base stations and / or aggregated base stations, may be referred to as next generation (NG) RAN (NG-RAN).

[0053] The core network 120 may include an Access and Mobility Management Function (AMF) 161, a Session Management Function (SMF) 162, a User Plane Function (UPF) 163, a Unified Data Management (UDM) 164, one or more location servers 168, and other functional entities. The AMF 161 is the control node that processes the signaling between the UEs 104 and the core network 120. The AMF 161 supports registration management, connection management, mobility management, and other functions. The SMF 162 supports session management and other functions. The UPF 163 supports packet routing, packet forwarding, and other functions. The UDM 164 supports the generation of authentication and key agreement (AKA) credentials, user identification handling, access authorization, and subscription management. The one or more location servers 168 are illustrated as including a Gateway Mobile Location Center (GMLC) 165 and a Location Management Function (LMF) 166. However, generally, the one or more location servers 168 may include one or more location / positioning servers, which may include one or more of the GMLC 165, the LMF 166, a position determination entity (PDE), a serving mobile location center (SMLC), a mobile positioning center (MPC), or the like. The GMLC 165 and the LMF 166 support UE location services. The GMLC 165 provides an interface for clients / applications (e.g., emergency services) for accessing UE positioning information. The LMF 166 receives measurements and assistance information from the NG-RAN and the UE 104 via the AMF 161 to compute the position of the UE 104. TheNG-RAN may utilize one or more positioning methods in orderto determinethe position of the UE 104. Positioningthe UE 104 may involve signal measurements, a position estimate, and an optional velocity computation based on the measurements. The signal measurements may be made by the UE 104 and / or the base station 102 serving the UE 104. The signals measured may be based on one or more of a satellite positioning system (SPS) 170 (e.g., one or more of a Global Navigation Satellite System (GNSS), global position system (GPS), non-terrestrial network (NTN), or other satellite position / location system), LTE signals, wireless local area network (WLAN) signals, Bluetooth signals, a terrestrial beacon system (TBS), sensor-based information (e.g., barometric pressure sensor, motion sensor), NR enhanced cell ID (NRE-CID) methods, NRsignals (e.g., multi-round trip time (Multi-RTT), DL angle- of-departure (DL-AoD), DL time difference of arrival (DL-TDOA), UL time difference of arrival (UL-TDOA), and UL angle-of-arrival (UL-AoA) positioning), and / or other systems / signals / sensors.

[0054] Examples of UEs 104 include a cellular phone, a smart phone, a session initiation protocol (SIP) phone, a laptop, a personal digital assistant (PDA), a satellite radio, a global positioning system, a multimedia device, a video device, a digital audio player (e.g., MP3 player), a camera, a game console, a tablet, a smart device, a wearable device, a vehicle, an electric meter, a gas pump, a large or small kitchen appliance, a healthcare device, an implant, a sensor / actuator, a display, or any other similar functioning device. Some of the UEs 104 may be referred to as loT devices (e.g, parking meter, gas pump, toaster, vehicles, heart monitor, etc.). TheUE 104 may also be referred to as a station, a mobile station, a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a wireless communications device, a remote device, a mobile subscriber station, an access terminal, a mobile terminal, a wireless terminal, a remote terminal, a handset, a user agent, a mobile client, a client, or some other suitable terminology. In some scenarios, the term UE may also apply to one or more companion devices such as in a device constellation arrangement. One or more of these devices may collectively access the network and / or individually access the network.

[0055] Referring again to FIG. 1, in certain aspects, the UE 104 may have a lane status reporting component 198 that may be configured to receive an indication of a set of recommended lanes for a destination; detect a deviation from at least one lane in the set of recommended lanes; obtain, via at least one sensor, information associated withthe at least one lane; and transmit the obtained information to a network entity. In certain aspects, the base station 102 or the one or more location servers 168 may have a lane-level map data update component 199 that may be configured to transmit, to a first user equipment (UE), an indication of a set of recommended lanes for a destination; receive, from the first UE, information associated with at least one lane in the set of recommended lanes; update a lane status in map data based on the received information; and transmit at least one of a portion of the information, a second indication of a set of recommended alternative lanes, or the map data with the updated lane status.

[0056] FIG. 2 A is a diagram 200 illustrating an example of a first subframe within a 5GNR frame structure. FIG. 2B is a diagram 230 illustrating an example of DL channels within a 5G NR subframe. FIG. 2C is a diagram 250 illustrating an example of a second subframe within a 5G NR frame structure. FIG. 2D is a diagram 280 illustrating an example of UL channels within a 5 G NR subframe. The 5 G NR frame structure may be frequency division duplexed (FDD) in which for a particular set of subcarriers (carrier system bandwidth), subframes within the set of subcarriers are dedicated for either DL orUL, or may be time division duplexed (TDD) in which for a particular set of subcarriers (carrier system bandwidth), subframes within the set of subcarriers are dedicated for both DL andUL. In the examples provided by FIGs. 2A, 2C, the 5G NR frame structure is assumed to be TDD, with subframe 4 being configured with slot format 28 (with mostly DL), where D is DL, U is UL, and F is flexible for use between DL / UL, and subframe 3 being configured with slot format 1 (with all UL). While subframes 3, 4 are shown with slot formats 1, 28, respectively, any particular subframe may be configured with any of the various available slot formats 0-61 . Slot formats 0, 1 are all DL, UL, respectively. Other slot formats 2-61 include a mix of DL, UL, and flexible symbols. UEs are configured with the slot format (dynamically through DL control information (DCI), or semi- statically / statically through radio resource control (RRC) signaling) through a received slot format indicator (SFI). Note that the description infra applies also to a 5G NR frame structure that is TDD.

[0057] FIGs. 2 A-2D illustrate a frame structure, and the aspects of the present disclosure may be applicable to other wireless communication technologies, which may have a different frame structure and / or different channels. A frame (10 ms) may be dividedinto 10 equally sized subframes (1 ms). Each subframe may include one or more time slots. Subframes may also include mini-slots, which may include 7, 4, or 2 symbols. Each slot may include 14 or 12 symbols, depending on whether the cyclic prefix (CP) is normal or extended. For normal CP, each slot may include 14 symbols, and for extended CP, each slot may include 12 symbols. The symbols on DL may be CP orthogonal frequency division multiplexing (OFDM) (CP-OFDM) symbols. The symbols on UL may be CP-OFDM symbols (for high throughput scenarios) or discrete Fourier transform (DFT) spread OFDM (DFT-s-OFDM) symbols (for power limited scenarios; limited to a single stream transmission). The number of slots within a subframe is based on the CP and the numerology. The numerology defines the subcarrier spacing (SCS) (see Table 1). The symbol length / duration may scale with 1 / SCS.Table 1: Numerology, SCS, and CP

[0058] For normal CP (14 symbols / slot), different numerologies p 0 to 4 allow for 1, 2, 4, 8, and 16 slots, respectively, per subframe. For extended CP, the numerology 2 allows for 4 slots per subframe. Accordingly, for normal CP and numerology p, there are 14 symbols / slot and 2^ si ots / sub frame. The subcarrier spacing may be equal to 2^ * 15 kHz , where g is the numerology 0 to 4. As such, the numerology p=0 has a subcarrier spacing of 15 kHz and the numerology p=4 has a subcarrier spacing of 240 kHz. The symbol length / duration is inversely related to the subcarrier spacing. FIGs. 2A-2D provide an example of normal CP with 14 symbols per slot and numerology p=2 with 4 slots per subframe. The slot duration is 0.25 ms, the subcarrier spacing is 60 kHz, and the symbol duration is approximately 16.67 ps. Within a set of frames,there may be one or more different bandwidth parts (BWPs) (see FIG. 2B) that are frequency division multiplexed. Each BWP may have a particular numerology and CP (normal or extended).

[0059] A resource grid may be used to represent the frame structure. Each time slot includes a resource block (RB) (also referred to as physical RBs (PRBs)) that extends 12 consecutive subcarriers. The resource grid is divided into multiple resource elements (REs). The number of bits carried by each RE depends on the modulation scheme.

[0060] As illustrated in FIG. 2A, some of the REs carry reference (pilot) signals (RS) for the UE. The RS may include demodulation RS (DM-RS) (indicated as Rfor one particular configuration, but other DM-RS configurations are possible) and channel state information reference signals (CSI-RS) for channel estimation attheUE. The RS may also include beam measurement RS (BRS), beam refinement RS (BRRS), and phase tracking RS (PT-RS).

[0061] FIG. 2B illustrates an example of various DL channels within a subframe of a frame. The physical downlink control channel (PDCCH) carries DCI within one or more control channel elements (CCEs) (e.g., 1, 2, 4, 8, or 16 CCEs), each CCE including six RE groups (REGs), each REG including 12 consecutive REs in an OFDM symbol of an RB. A PDCCH within one BWP may be referred to as a control resource set (CORESET). A UE is configured to monitor PDCCH candidates in a PDCCH search space (e.g., common search space, UE-specific search space) during PDCCH monitoring occasions on the CORESET, where the PDCCH candidates have different DCI formats and different aggregation levels. Additional BWPs may be located at greater and / or lower frequencies across the channel bandwidth. A primary synchronization signal (PSS) may be within symbol 2 of particular subframes of a frame. The PSS is used by a UE 104 to determine subframe / symbol timing and a physical layer identity. A secondary synchronization signal (SSS) may be within symbol 4 of particular subframes of a frame. The SSS is used by a UE to determine a physical layer cell identity group number and radio frame timing. Based on the physical layer identity and the physical layer cell identity group number, the UE can determine a physical cell identifier (PCI). Based on the PCI, the UE can determine the locations of the DM-RS. The physical broadcast channel (PBCH), which carries a master information block (MIB), may be logically grouped with the PSS and SSS to form a synchronization signal (SS) / PBCH block (also referred to as SS block(SSB)). The MIB provides a number of RBs in the system bandwidth and a system frame number (SFN). The physical downlink shared channel (PDSCH) carries user data, broadcast system information not transmitted through the PBCH such as system information blocks (SIBs), and paging messages.

[0062] As illustrated in FIG. 2C, some of the REs carry DM-RS (indicated as R for one particular configuration, but other DM-RS configurations are possible) for channel estimation at the base station. The UE may transmit DM-RS for the physical uplink control channel (PUCCH) and DM-RS for the physical uplink shared channel (PUSCH). The PUSCH DM-RS may be transmitted in the first one or two symbols of the PUSCH. The PUCCH DM-RS may be transmitted in different configurations depending on whether short or long PUCCHs are transmitted and depending on the particular PUCCH format used. The UE may transmit sounding reference signals (SRS). The SRS may be transmitted in the last symbol of a subframe. The SRS may have a comb structure, and a UE may transmit SRS on one of the combs. The SRS may be used by a base station for channel quality estimation to enable frequencydependent scheduling on the UL.

[0063] FIG. 2D illustrates an example of various UL channels within a subframe of a frame. The PUCCH may be located as indicated in one configuration. The PUCCH carries uplink control information (UCI), such as scheduling requests, a channel quality indicator (CQI), a precoding matrix indicator (PMI), a rank indicator (RI), and hybrid automatic repeat request (HARQ) acknowledgment (ACK) (HARQ-ACK) feedback (i.e., one or more HARQ ACK bits indicating one or more ACK and / or negative ACK (NACK)). The PUSCH carries data, and may additionally be used to carry a buffer status report (BSR), a power headroom report (PHR), and / or UCI.

[0064] FIG. 3 is a block diagram of a base station 310 in communication with a UE 350 in an access network. In the DL, Internet protocol (IP) packets may be provided to a controller / processor 375. The controller / processor 375 implements layer 3 and layer 2 functionality. Layer 3 includes a radio resource control (RRC) layer, and layer 2 includes a service data adaptation protocol (SDAP) layer, a packet data convergence protocol (PDCP) layer, a radio link control (REC) layer, and a medium access control (MAC) layer. The controller / processor 375 provides RRC layer functionality associated with broadcasting of system information (e.g., MIB, SIBs), RRC connection control (e.g., RRC connection paging, RRC connection establishment,RRC connection modification, and RRC connection release), inter radio access technology (RAT) mobility, and measurement configuration for UE measurement reporting; PDCP layer functionality associated with header compression / decompression, security (ciphering, deciphering, integrity protection, integrity verification), and handover support functions; RLC layer functionality associated with the transfer of upper layer packet data units (PDUs), error correction through ARQ, concatenation, segmentation, and reassembly of RLC service data units (SDUs), re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with 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 through HARQ, priority handling, and logical channel prioritization.

[0065] The transmit (TX) processors 16 and the receive (RX) processor 370 implement layer1 functionality associated with various signal processing functions. Layer 1, which includes a physical (PHY) layer, may include error detection on the transport channels, forward error correction (FEC) coding / decoding of the transport channels, interleaving, rate matching, mapping onto physical channels, modulation / demodulation of physical channels, andMIMO antenna processing The TX processor 316 handles mapping to signal constellations based on various modulation schemes (e.g., binary phase-shift keying (BPSK), quadrature phase-shift keying (QPSK), M-phase-shift keying (M-PSK), M-quadrature amplitude modulation (M-QAM)). The coded and modulated symbols may then be split into parallel streams. Each stream may then be mapped to an OFDM subcarrier, multiplexed with a reference signal (e.g., pilot) in the time and / or frequency domain, and then combined together using an Inverse Fast Fourier Transform (IFFT) to produce a physical channel carryingatime domain OFDMsymbol stream. The OFDM stream is spatially precoded to produce multiple spatial streams. Channel estimates from a channel estimator 374 may be used to determine the coding and modulation scheme, as well as for spatial processing. The channel estimate may be derived from a reference signal and / or channel condition feedback transmitted by the UE 350. Each spatial stream may then be provided to a different antenna 320 via a separate transmitter 318Tx. Each transmitter 318Tx may modulate a radio frequency (RF) carrier with a respective spatial stream for transmission.

[0066] At the UE 350, each receiver 354Rx receives a signal through its respective antenna 352. Each receiver 354Rx recovers information modulated onto an RF carrier and provides the information to the receive (RX) processor 356. The TX processor 368 and the RX processor 356 implement layer 1 functionality associated with various signal processing functions. The RX processor 356 may perform spatial processing on the information to recover any spatial streams destined for the UE 350. If multiple spatial streams are destined for the UE 350, they may be combined by the RX processor 356 into a single OFDM symbol stream. The RX processor 356 then converts the OFDM symbol stream from the time-domain to the frequency domain using a Fast Fourier Transform (FFT). The frequency domain signal includes 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 points transmitted by the base station 310. These soft decisions may b e based on channel estimates computed by the channel estimator 358. The soft decisions are then decoded and deinterleaved to recover the data and control signals that were originally transmitted by the base station 310 on the physical channel. The data and control signals are then provided to the controller / processor 359, which implements layer 3 and layer 2 functionality.

[0067] The controller / processor 359 can be associated with at least one memory 360 that stores program codes and data. The at least one memory 360 may be referred to as a computer-readable medium. In the UL, the controller / processor 359 provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, and control signal processing to recover IP packets. The controller / processor 359 is also responsible for error detection using an ACK and / or NACK protocol to support HARQ operations.

[0068] Similar to the functionality described in connection with the DL transmission by the base station 310, the controller / processor 359 provides RRC layer functionality associated with system information (e.g., MIB, SIBs) acquisition, RRC connections, and measurement reporting; PDCP layer functionality associated with header compression / decompression, and security (ciphering, deciphering, integrity protection, integrity verification); RLC layer functionality associated with the transfer of upper layer PDUs, error correction through ARQ, concatenation, segmentation, and reassembly of RLC SDUs, re-segmentation of RLC data PDUs, and reordering ofRLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto TBs, demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction through HARQ, priority handling, and logical channel prioritization.

[0069] Channel estimates derived by a channel estimator 358 from a reference signal or feedback transmitted by the base station 310 may be used by the TX processor 368 to select the appropriate coding and modulation schemes, and to facilitate spatial processing. The spatial streams generated by the TX processor 368 may be provided to different antenna 352 via separate transmitters 354Tx. Each transmitter 354 Tx may modulate an RF carrier with a respective spatial stream for transmission.

[0070] The UL transmission is processed at the base station 310 in a manner similar to that described in connection with the receiver function attheUE 350. Each receiver 318Rx receives a signal through its respective antenna 320. Each receiver 318Rx recovers information modulated onto an RF carrier and provides the information to a RX processor 370.

[0071] The controller / processor 375 can be associated with at least one memory 376 that stores program codes and data. The at least one memory 376 may be referred to as a computer-readable medium. In the UL, the controller / processor 375 provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, control signal processing to recover IP packets. The controller / processor 375 is also responsible for error detection using an ACK and / or NACK protocol to support HARQ operations.

[0072] At least one of the TX processor 368, the RX processor 356, and the controller / processor 359 may be configured to perform aspects in connection with the lane status reporting component 198 of FIG. 1.

[0073] At least one of the TX processor 316, the RX processor 370, and the controller / processor 375 may be configured to perform aspects in connection with the lane-level map data update component 199 of FIG. 1.

[0074] FIG. 4 is a diagram 400 illustrating an example of a UE positioningbased on reference signal measurements (which may also be referred to as “network -based positioning”) in accordance with variousaspects ofthe present disclosure. The UE404 may transmit UL SRS 412 at time TSRS_TX and receive DL positioning reference signals (PRS) (DL PRS) 410 at time TPRSRX- The TRP 406 may receive the UL SRS 412 at time TSRS_RXand transmit the DL PRS 410 at time TPRS_TX- The UE 404 may receive the DL PRS 410 before transmitting the UL SRS 412, or may transmit the UL SRS 412 before receiving the DL PRS 410. In both cases, a positioning server (e.g., location servers) 168) or the UE 404 may determine the RTT 414 based on ||TSRS _RX - TPRS_TX| - |TsRs TX - TPRS_RX||. Accordingly, multi-RTT positioning may make use of the UE Rx-Tx time difference measurements (i.e., |TSRs TX - TPRS_RX|) and DL PRS reference signal received power (RSRP) (DL PRS-RSRP) of downlink signals received from multiple TRPs 402, 406 and measured by the UE 404, and the measured TRP Rx-Tx time difference measurements (i.e., |TSRS _RX - TPRSTX|) and UL SRS-RSRP at multiple TRPs 402, 406 of uplink signals transmitted from UE 404. The UE 404 measures the UE Rx-Tx time difference measurements (and / or DL PRS-RSRP of the received signals) using assistance data received from the positioning server, and the TRPs 402, 406 measure the gNB Rx-Tx time difference measurements (and / or UL SRS-RSRP of the received signals) using assistance data received from the positioning server. The measurements may be used atthe positioning server or the UE 404 to determine the RTT, which is used to estimate the location of theUE 404. Other methods are possible for determining the RTT, such as for example using DL-TDOA and / or UL-TDOA measurements.

[0075] PRSs may be defined for network-based positioning (e.g., NR positioning) to enable UEs to detect and measure more neighbor transmission and reception points (TRPs), where multiple configurations are supported to enable a variety of deployments (e.g, indoor, outdoor, sub-6, mmW, etc.). To support PRS beam operation, beam sweeping may also be configured for PRS. The UL positioning reference signal may be based on sounding reference signals (SRSs) with enhancements / adjustments for positioning purposes. In some examples, UL-PRS may be referred to as “SRS for positioning” and a new Information Element (IE) may be configured for SRS for positioning in RRC signaling.

[0076] DL PRS-RSRP may be defined as the linear average over the power contributions (in [W]) of the resource elements of the antenna port(s) that carry DL PRS reference signals configured for RSRP measurements within the considered measurement frequency bandwidth. In some examples, for FR1, the referencepointfortheDL PRS- RSRP may be the antenna connector of the UE. For FR2, DL PRS-RSRP may be measured based on the combined signal from antenna elements corresponding to agiven receiver branch. For FR1 and FR2, if receiver diversity is in use by the UE, the reported DL PRS-RSRP value may not be lower than the corresponding DL PRS- RSRP of any of the individual receiver branches. Similarly, UL SRS-RSRP may be defined as linear average of the power contributions (in [W]) of the resource elements carrying sounding reference signals (SRS). UL SRS-RSRP may be measured over the configured resource elements within the considered measurement frequency bandwidth in the configured measurement time occasions. In some examples, for FR1 , the reference point for the UL SRS-RSRP may be the antenna connector of the base station (e.g., gNB). For FR2, UL SRS-RSRP may be measured based on the combined signalfrom antenna elements correspondingto a given receiverbranch. For FR1 and FR2, if receiver diversity is in use by the base station, the reported UL SRS- RSRP value may not be lower than the corresponding UL SRS-RSRP of any of the individual receiver branches.

[0077] PRS-path RSRP (PRS-RSRPP) may be defined as the power of the linear average of the channel response at the i-th path delay of the resource elements that carry DL PRS signal configured for the measurement, where DL PRS-RSRPP for the 1 st path delay is the power contribution corresponding to the first detected path in time. In some examples, PRS path Phase measurement may refer to the phase associated with an i- th path of the channel derived using a PRS resource.

[0078] DL-AoD positioning may make use of the measured DL PRS-RSRP of downlink signals received from multiple TRPs 402, 406 at the UE 404. The UE 404 measures the DL PRS-RSRP of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with the azimuth angle of departure (A-AoD), the zenith angle of departure (Z-AoD), and other configuration information to locate the UE 404 in relation to the neighboring TRPs 402, 406.

[0079] DL-TDOA positioning may make use of the DL reference signal time difference (RSTD) (and / or DL PRS-RSRP) of downlink signals received from multiple TRPs 402, 406 at the UE 404. The UE 404 measures the DL RSTD (and / or DL PRS-RSRP) of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to locate the UE 404 in relation to the neighboring TRPs 402, 406.

[0080] UL-TDOA positioning may make use of the UL relative time of arrival (RTOA) (and / or UL SRS-RSRP) at multiple TRPs 402, 406 of uplink signals transmitted from UE 404. The TRPs 402, 406 measure the UL-RTOA (and / or UL SRS-RSRP) of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to estimate the location of the UE 404.

[0081] UL-AoApositioningmay make use of the measured azimuth angle of arrival (A-AoA) and zenith angle of arrival (Z-AoA) at multiple TRPs 402, 406 of uplink signals transmitted from the UE 404. The TRPs 402, 406 measure the A-AoA and the Z-AoA of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to estimate the location of the UE 404. For purposes of the present disclosure, a positioning operation in which measurements are provided by a UE to a base station / positioning entity / serverto be used in the computation of the UE’s position may be described as “UE-assisted,” “UE-assisted positioning,” and / or “UE-assisted position calculation,” while a positioning operation in which a UE measures and computes its own position may be described as“UE-based ,” “UE-based positioning,” and / or “UE-based position calculation.”

[0082] Additional positioning methods may be used for estimating the location of the UE 404, such as for example, UE-side UL-AoD and / or DL-AoA. Note that data / measurements from various technologies may be combined in various ways to increase accuracy, to determine and / or to enhance certainty, to supplement / complement measurements, and / or to substitute / provide for missing information.

[0083] Note that the terms “positioning reference signal” and “PRS” generally refer to specific reference signals that are used for positioning in NR and LTE systems. However, as used herein, the terms “positioning reference signal” and “PRS” may also refer to any type of reference signal that can be used for positioning, such as but not limited to, PRS as defined in LTE and NR, tracking reference signal (TRS), phase tracking reference signal (PTRS), cell specific reference signal / cell reference signal (CRS), CSLRS, DMRS, PSS, SSS, SSB, SRS, UL-PRS, etc. In addition, the terms “positioningreference signal” and “PRS” may refer to downlink or uplink positioning reference signals, unless otherwise indicated by the context. To further distinguish thetype of PRS, a downlink positioning reference signal may be referred to as a “DL PRS,” and an uplink positioningreference signal (e.g., an SRS-for-positioning, PTRS) may be referred to as an “UL-PRS.” In addition, for signals that may be transmitted in both the uplink and downlink (e.g., DMRS, PTRS), the signals may be prepended with “UL” or “DL” to distinguish the direction. For example, “UL-DMRS” may be differentiated from “DL-DMRS.” In addition, the term “location” and “position” may be used interchangeably throughout the specification, which may referto a particular geographical or a relative place.

[0084] In addition to Global Navigation Satellite Systems (GNSS)-based positioning (e.g., positioning based on reception of signals from satellites) and network -based positioning (e.g., as described in connection with FIG. 4), camera-based positioning has also been developed to provide alternative / additional positioning mechanisms / modes. Camera-based positioning, which may also be referred to as “camera-based visual positioning,” “visual positioning” and / or “vision-based positioning,” is a positioning mechanism / mode that uses images captured by at least one camera to determine the location of a target (e.g., a UE or a transportation that is equipped with the at least one camera, an object that is in view of the at least one camera, etc.). For example, images captured by the dashboard camera (dash cam) of a vehicle may be used for calculating the three-dimensional (3D) position and / or 3D orientation of the vehicle while the vehicle is moving. Similarly, images captured by the camera of a mobile device may be used for estimating the location of the mobile device user or the location of one or more objects in the images. In another example, a camera (or a UE equipped with the camera) may determine its position by matching object(s) in images captured by the camera with object(s) in a map (e.g., a high- definition (HD) map), such as specified buildings, landmarks, etc. In some implementations, camera-based positioning may provide centimeter-level and 6- degrees-of-freedom (6DOF) positioning. 6DOF may refer to a representation of how an object moves through 3D space by either translating linearly or rotating axially (e.g., 6DOF = 3D position + 3D attitude). For example, a single-degree-of-freedom on an object may be controlled by the up / down, forward / back, left / right, pitch, roll, or yaw. Camera-based positioning has great potential for various applications, especially in satellite signal (e.g., GNSS / GPS signal) degenerated / unavailable environments.

[0085] In some scenarios, images captured by a camera may also be used for improving the accuracy / reliability of other positioning mechanisms / modes (e.g., the GNSS-based positioning, the network -basedpositioning, etc.), which may be referred to as “vision- aided positioning,” “camera-aided positioning,” “camera-aided location,” and / or “camera-aided perception,” etc. For example, while GNSS and / or inertial measurement unit (IMU) may provide good positioning / localization performance, when GNSS measurement outage occurs, the overall positioning performance might degrade due to IMU bias drifting. Thus, images captured by the camera may provide valuable information to reduce errors. For purposes of the present disclosure, a positioning session (e.g., a period of time in which one or more entities are configured to determine the position of a UE) that is associated with camera-based positioning or camera-aided positioning may be referred to as a camera-based positioning session or a camera-aided positioning session. In some examples, the camera-based positioning and / or the camera-aided positioning may be associated with an absolute position of the UE, a relative position of the UE, an orientation of the UE, or a combination thereof.

[0086] FIG. 5 is a diagram 500 illustrating an example of camera-aided positioning in accordance with various aspects of the present disclosure. A vehicle 502 may be equipped with a GNSS system and a set of cameras, which may include a front camera 504 (for capturing the front view of the vehicle 502), side cameras 506 (for capturing the side views of the vehicle 502), and / or a rear camera 508 (for capturingthe front view of the vehicle 502), etc. In some examples, the GNSS system may further include or be associated with at least one IMU (e.g., a GNSS+IMU system). While FIG. 5 uses the vehicle 502 as an example, it is merely for illustration purposes. Aspects presented herein may also apply to othertypes of transportations (e.g., motorcycles, bicycles, buses, trains, etc.), devices (e.g., UEs on pedestrians), and / or positioning mechanisms / modes (e.g., network-based positioning described in connection with FIG. 4). In addition, for purposes of the present disclosure, a positioning mechanism / mode (e.g., GNSS-based positioning, network -based positioning, etc.) that uses at least one sensor (e.g., an IMU, a camera) to assist the positioning may be referred to as “sensor fusion positioning” and / or “sensor-aided positioning.” For purposes of the present disclosure and at least in the context of positioning and / or automotive, a sensor may refer to any type of devices that is capable of measuring aphysical property of an object, such as the presence, the distance, the orientation, and / or the velocity of the object, etc. Example sensors may include cameras, radars, RF radars, a light detection and ranging (Lidar) sensors, ultrawideband (UWB) sensors, IMUs, etc.).”

[0087] The GNSS system may estimate the location of the vehicle 502 based on receiving GNSS signals transmitted from multiple satellites (e.g., based on performing GNSS- based positioning). However, when the GNSS signals are not available or weak, such as when the vehicle 502 is in an urban area or in a tunnel, the estimated location of the vehicle 502 may become inaccurate. Thus, in some implementations, the set of cameras on the vehicle 502 may be used for assisting the positioning, such as for verifying whether the location estimated by the GNSS system based on the GNSS signals is accurate. For example, as shown at 510, images capturedby the front camera 504 of the vehicle 502 may include / identify a specific building 512 (which may also be referred to as a feature) that is with a known location, and the vehicle 502 (or the GNSS system or a positioning engine associated with the vehicle 502) may determine / verify whether the location (e.g., the longitude and latitude coordinates) estimated by the GNSS system is in proximity to the known location of this specific building 512. Thus, with the assistance of the camera(s), the accuracy and reliability of the GNSS-based positioning may be further improved. For purposes of the present disclosure, a GNSS system that is associated with a camera (e.g., capable of performing camera-aided / based positioning) may be referred to as a “GNSS+camera system,” or a “GNSS+IMU+camera system” (if the GNSS system is also associated with / includes at least one IMU).

[0088] In some examples, a software or an application that accepts positioning related measurements from GNSS chipsets and / or sensors to estimate position, velocity, and / or altitude of a device may be referred to as a positioning engine. In addition, a positioning engine that is capable of achieving certain high level of accuracy (e.g, centimeter / decimeter level accuracy) and / or latency may be referred to as a precise positioning engine (PPE). For example, a positioning engine that is capable of performing real-time kinematic positioning (RTK) (e.g., receiving or processing correction data associated with RTK) may be considered as a PPE. Another example of PPE is a positioning engine that is capable of performing precise point positioning(PPP). PPP is a positioning technique that removes or models GNSS system errors to provide a high level of position accuracy from a single receiver.

[0089] In some examples, a software or an application that accepts positioning related measurements from global navigation satellite system (GNSS) / global positioning system (GPS) chipsets and / or sensors to estimate position, velocity, and / or altitude of a device may be referred to as a positioning engine (PE). In addition, a positioning engine that is capable of achieving certain high level of accuracy (e.g., centimeter / decimeter level accuracy) and / or latency may be referred to as a precise positioning engine (PPE). On the other hand, a navigation application may refer to an application in a user equipment (e.g., a smartphone, an in-vehicle navigation system, a GPS device, etc.) that is capable of providing navigational directions in real time. Over the last few years, users have increasingly relied on navigation applications because they have provided various benefits. For example, navigation applications may provide convenience to users as they enable users to find a way to their destinations, and also allow users to contribute information and mark places of importance thereby generating the most accurate description of a location. In some examples, navigation applications are also capable of providing expert guidance for users, where a navigation application may guide a user to a destination via the best, most direct, or most time-saving routes. For example, a navigation application may obtain the current status of traffic, and then locate a shortest and fastest way for a user to reach a destination, and also provide approximately how long it will take the user to reach the destination. As such, a navigation application may use an Internet connection and a GPS / GNSS navigation system to provide turn-by-turn guided instructions on how to arrive at a given destination.

[0090] FIG. 6 is a diagram 600 illustrating an example of a navigation application in accordance with various aspects of the present disclosure. As shown at 602, a navigation application, which may be running on a UE such as a vehicle (e.g., a built- in GPS / GNSS system of the vehicle) or a smartphone, may provide a user (e.g., via a display or an interface) with turn-by-turn directions to a destination and an estimated time to reach the destination based on real-time information. For example, the navigation application may receive / download real-time traffic information, road condition information, local traffic rules (e.g., speed limits), and / or map information / data from a server. Then, the navigation application may calculate a routeto the destination based on at least the map information and other available information. The map information may include the map of the area in which the user is traveling, such as the streets, buildings, and / or terrains of the area, or a map that is compatible with the navigation application and GPS / GNSS system. In some examples, the route calculated by the navigation application may be the shortest or the fastest route. For purposes of the present disclosure, information associated with this calculated route may be referred to as navigation route information. For example, navigation route information may include predicted / estimated positions, velocities, accelerations, directions, and / or altitudes of the user at different points in time.

[0091] For example, as shown at 604, based on the map information, the speed limit, and the real-time road condition information, the navigation application may generate navigation route information 606 that guides a user 608 to a destination. In some examples, the navigation route information 606 may include the position of the user and velocity of the user relative / respectto time, which may be denoted as r(t) and v(t), respectively. For example, the navigation application may estimate that at a first point in time (Tl), the user may reach a first point / place with certain speed (e.g., the intersection of 59th Street and Vista Drive with a velocity of 35 miles per hour), and at a second point in time (T2), the user may reach a second point / place with certain speed (e.g., the intersection of 60th Street and Vista Drive with a velocity of 15 miles per hour), and up to Nthpoint in time (TN), etc.

[0092] In recent years, vehicle manufacturers have been developing vehicles with autonomous driving capabilities. Autonomous driving, which may also be called as self-driving or driverless technology, may refer to the ability of a vehicle to navigate and operate itself without specifying human intervention (e.g., without a human controlling the vehicle). The goal of the autonomous driving is to create vehicles that are capable of perceiving their surroundings, making decisions, and controlling their movements, all without the direct involvement of a human driver.

[0093] To achieve or improve the autonomous driving, a vehicle may be specified to use a map (or map data) with detailed information, such as a high-definition (HD) map. An HD map may refer to a highly detailed and accurate digital map designed for use in autonomous driving and advanced driver assistance systems (ADAS). In one example, HD maps may typically include one or more of: (1) geometric information (e.g., precise road geometry, including lane boundaries, curvature, slopes, anddetailed 3D models of the surrounding environment), (2) lane-level information (e.g, information about individual lanes on the road, such as lane width, lane type (e.g., driving, turning, or parking lanes), and lane connectivity), (3) road attributes (e.g., data on road features like traffic signs, signals, traffic lights, speed limits, and road markings), (4) topology (e.g., information about the relationships between different roads, intersections, and connectivity patterns), (5) static objects (e.g., locations and details of fixed objects along the road, such as buildings, traffic barriers, and poles), (6) dynamic objects (e.g., real-time or frequently updated data about moving objects, like other vehicles, pedestrians, and cyclists), and / or (7) localization and positioning: precise reference points and landmarks that help in accurate vehicle localization on the map, etc. As HD maps are capable of providing detailed and up-to-date information about the road network, including lane-level data, traffic signs, road markings, and other importantfeatures, etc., HD maps may be an important aspectfor enabling autonomous vehicles to navigate complex environments and make informed decisions in real-time.

[0094] As described in connection with FIGs. 5 and 6, various applications (e.g., use cases) such as sensor-aided positioning, navigation, and / or autonomous driving, etc., may specify the use of map data. To keep the map data up-to-date, these applications (or devices runningthese applications) may be configuredto download updatedmap data from a server from time to time or based on certain pre-defined conditions (e.g., when travelling to an area that is without map data). In some implementations, downloading map data from a server may be referred to as “map over the air” (MOTA).

[0095] FIG. 7 is a diagram 700 illustrating an example of a vehicle performing map over the air in accordance with various aspects of the present disclosure. In one example, map over the air may refer to a process of a server 704 sending real-time map data 706 to a UE 702 (e.g., a vehicle, an on-board unit (OBU) of the vehicle, an ADAS of the vehicle, a device running a navigation application, etc.) over a wireless network / communication (e.g., anLTE network, a 5G network, etc.), enabling the UE 702 to make decisions based on the latest information about the road and traffic conditions, such as described in connection with FIGs. 5 and 6. In a typical implementation, the map data 706 is transmitted from the server 704 (e.g., a cloudbased system), where the server 704 may utilize sensors and other data sources to collect and analyze information about the road network and traffic patterns. This datais then processed and combined with other data, such as GPS / GNSS and / or camera data from multiple users (e.g., from other UEs / vehicles and / or the UE 702) to create a detailed map of the environment in real-time. Then, an application (e.g., for autonomous driving, navigation, positioning, etc.) of the UE 702 may access the map data 706 over a wireless network (e.g., a cellular or satellite network), and use the map data 706 to make decisions about speed, route, and other factors, etc. For example, the UE 702 may use the map data 706 to avoid road construction, traffic congestion, or accidents, and to optimize its route for efficiency and safety, etc.

[0096] Map / map data with lane-level information, such as road-maps with lane-level connectivity, may play a crucial role in enhancing the safety, the efficiency, and / or the overall performance of autonomous driving systems and ADAS systems, and may also contribute to the realization of a safer and more connected transportation future. For purposes of the present disclosure, a map / map data with lane-level information / connectivity may be referred to as a “lane-map,” a “lane-level map,” “lane-map data,” and / or “lane-level map data,” etc., which may indicate that a map / map data includes information related to different lanes of a road. Systems equipped with a lane-map may specify a precise and real-time lane-status in order to enable / provide optimized route planning, accurate localization, and / or enhanced safety. However, providing a real-time baseline lane-level map maybe a challenging task since the status of roads and their lanes may be continuously changing due to a variety of reasons such as road constructions, car accidents, traffic jams, and / or weather conditions, etc.

[0097] For example, in some implementations, lane-level road-maps (e.g., road maps with lane-level accuracy) may include a complete lane graph and lane connectivity in intersections, forks, and / or stacked roads, etc., and also include lane information (e.g, toll lanes, high-occupancy vehicle (HOV) lanes, bus lanes speed limit, height limit, weight limit, etc.). Lane-maps may be specified to enable precise lane guidance, optimized route planning, lane-specific traffic information, intersection and interchange navigation, improved lane-level control and enhanced safety, and / or smooth human-vehicle interaction, etc. However, the status / state of lanes in a lanelevel road-map may become inaccurate in certain times and / or areas. For example, the status of a lane (which may be referred to as “lane status” hereafter) may be affected by surrounding environment conditions, where certain conditions orhappenings may result in a temporary or permanent change in one or several lanes status. Thus, this may result in an inaccurate and outdated baseline road-map. As an illustration, construction work may make one or more lanes inaccessible for a certain period, car accidentin the middle of the roadmay blockone or more lanes, unexpected road objects (e.g., fallen tree, roadkill) may force drivers to switch lanes (at least temporarily), flooding and / or accumulated snow may make one or more lanes extremely dangerous to use, police vehicle(s) may temporarily block entry to a road or exit lane of a road (e.g., during a special event or an emergency situation), and / or a regular lane may have changed to an HOV lane or an express lane (e.g., during certain time period(s) of a day or permanently).

[0098] For vehicles that have access to a baseline road-map with lane-level accuracy, a navigation system or an autonomous driving system may navigate / guidethe vehicles with lane guidance (e.g. , indicating which lane(s) to use to reach a destination), where the navigation with lane guidance may be based on a current / latest version of the baseline map. When the status of one or more lanes’ changes, the one or more lanes may become inaccessible. For example, in the scenario where a user is driving a vehicle based on the navigation system, if the user notices that a lane is blocked, the user may determine to switch to other lane(s). Similarly, in the context of autonomous driving, vehicles are not configured to blindly follow road maps, but are configured to continuously use their sensors to aid them in identifying whether one or more lanes they are using or going to use are accessible / inaccessible. Thus, vehicles may specify an updated lane-level map in order to correct and re-optimize their routing.

[0099] Aspects presented herein may improve the overall performance of applications that use lane-maps by enabling UEs (e.g., vehicles, vehicle UEs, OBUs, ADAS systems, navigation systems, autonomous driving systems, etc.) to obtain real-time or latest information of lane status from a network (e.g., a server, a map server, a location server, etc.), and enabling the network to dynamically update the current / latest status / state of the lane-level map and provide an accurate and real-time / latest lanelevel map forthe UEs. For example, in one aspect of the present disclosure, a network may dynamically update a current status / state of lanes in lane-level road maps by using (real-time) data received from one or more UEs. Such mechanism may provide real-time accurate lane-level maps which both increase the reliability of autonomousdriving systems and help ADAS system to provide a more accurate lane guidance to the driver.

[0100] FIG. 8 is a diagram 800 illustrating an example of a UE / vehicle providing (real-time) lane status to a network in accordance with various aspects of the present disclosure. A UE 802 (e.g., a vehicle, a vehicle UE, an OBU, an ADAS system, a navigation system, an autonomous driving system, etc.) that supports lane-level navigation (e.g, the UE 802 has access to a lane-level map 806) may recommend (e.g., indicate, output, display, etc.) a set of routes and lanes to guide a driver to a destination, such as described in connection with FIG. 6. For example, as shown at 820, during one part of the navigation, the UE 802 may recommend the driver to travel and stay on a first lane 812 of a six-lane highway (e.g. , three lanes in one direction) and take an exit 810. However, as shown at 822, the first lane 812 and the exit 810 may be inaccessible due to an incident such as a construction, a car accident, a blockage by an object or police, etc. As such, as shown at 824, the driver or the UE 802 (e.g., in the context of autonomous driving) may determine (or forced to) to switch to a second lane 814, and skip exiting the exit 810. In other words, at some point of the navigated route the driver / UE 802 may be specified to deviate from the recommended lane due to inaccessibility.

[0101] In one aspects of the present disclosure, the UE 802 may be configured to report information related to the inaccessible lane(s) / road(s) / exit(s) to a network 804 (e.g, a server, a map server, a location server, etc.). For example, when the UE 802 detects that the vehicle (e.g., the vehicle associated with the UE 802 or the UE itself if the UE is the vehicle) is not travelling on the recommended lane / road (e.g., the vehicle (or the driver of the vehicle) is not travelling on the inaccessible first lane 812 and the exit 810), one or more sensors (e.g., vehicle sensors such as camera(s)) may be configured to observe and capture data from the inaccessible lane(s) / road(s), and to obtain / determine information related to the inaccessible lane(s) / road(s). Depending on the implementations, in some examples, the UE 802 may be configured to control the one or more sensors (e.g., at least for observing and capturing data from the inaccessible lane(s) / road(s)). In other examples, the one or more sensors may be configured to observe and capture data from the inaccessible lane(s) / road(s), and report the observed and captured data to theUE 802 or the network 804. For example, a camera associate with the UE 802 may capture and identify that there is aconstruction sign near the exit 810 or a police car blocking the exit 810, etc. (which may be referred to as an “incident” hereafter”). Then, as shown at 826, after capturing and identifying the incident, the UE 802 (or the camera depending on the implementation) may report the incident to the network 804.

[0102] In one example, as shown at 828, the UE 802 may include at least one of the followings in the incident report: (1) time / time stamp of the incident, (2) location of the incident, (3) lane, entrance, and / or exit, etc. which are not accessible (e.g., the first lane 812, the exit 810), (4) portion / part of the lane that is inaccessible (e.g., the first lane 812 is blocked from location A to location B), (5) a description of the incident (e.g., lane closure due to construction (if it can be captured and identified by the sensor(s)), and / or (6) substitute path(s) / lane(s) that the user ends up using (e.g., the second lane 814), etc. In some examples, the substitute path / lane that the user ends up using may be indicated in absolute position terms or as a differential with regards to the recommended lanes (e.g., one lane to the left with regard to version #Xof baseline map, where the version # of the baseline map may be indicated in the incident report).

[0103] Depending on implementations, the incident report may be configured to be a dynamic report, a periodic report, or both. For the dynamic report, the UE 802 may be configured to report the incident after it observes the incident (e.g., as soon as possible). On the other hand, for the periodic report, the UE 802 may be configured to report incident(s) it observes periodically (e.g., based on a (pre-)configured periodicity) or at specified time instance(s). As such, a periodic report may include more than one incident, e.g., more than one incidentmay be detected if the periodicity is long. In addition, the UE 802 may skip the reporting when no incident has been detected in a period. In some examples, the UE 802 may be configured to report certain types of incidents dynamically, and other types of incident periodically. For example, incidents with higher importance may be configured to be reported dynamically (e.g., a car accident, a police activity, etc.), whereas incidents with lower importance may be configured to be reported periodically (e.g., a scheduled road closure that lasts for a long time).

[0104] Based on the incident report from the UE 802, as shown at 830, the network 804 may perform (e.g., initiate, trigger, etc.) a lane-status update process. In one example, as shown at 832, the network 804 may broadcast a message to driver(s) / UE(s) / vehicle(s) in an area within a fixed / threshold distance of the reported incident location (e.g,within X kilometers / miles of the exit 810). In some implementations, this broadcast message may be configured to be received by all drivers / UEs / vehicles in that area regardless whether they are using, intend to use, or recommended to use the inaccessible lane(s) / road(s) / exit(s). Thebroadcastmessagemay include (1) a warning which suggests that a particular lane (e.g., the first lane 812) might be inaccessible, and / or (2) a request for a (non-mandatory) report if the drivers / UEs / vehicles are able to confirm the new lane status (e.g., that the first lane 812 is inaccessible) and / or are able to provide more information / data obtained by their sensor(s). Note that in this step the network 804 may not update the lane-level map 806 and may keep recommending the original lane-level map while broadcasting the waming / request message and waiting for more incident reports to confirm the lane status change. Such configuration may enable the network 804 to avoid performing a lane status update based on an incorrect / inaccurate incident reporting. Depending on the implementation, in some examples, the network 804 may be configured to receiver reports or waiting for a specified time window of length t (e.g., whichever occurs first) before proceeding with the next step in the lane-status update.

[0105] Referring back to 830, based on additional incident reports received from other vehicles at 832 (if any) and / or after waiting for a specified time window of length t (e.g., depending on implementations), the network 804 may start / initiate a standardized protocol to update the lane-level map. For example, the protocol may determine whether there are suitable / necessary and / or sufficient criteria for updating the lane-level map 806 (e.g., for issuing a lane-status update). In some examples, the updated lane-status (for the lane-level map 806) may be configured to be temporary (e.g., for a defined period of time) or a permanent new version of the lane-level map 806. Then, the network 804 may send the updated lane-level map 806 (or the delta version of the lane-level map 806) to drivers / UEs / vehicles (including the UE 802), such as drivers / UEs / vehicles that are in proximity to the exit 810 (e.g., within a defined distance of the reported incident location). In some examples, as shown at 834, the network 804 may also send a new set of recommend routes / lanes to the UE 802 to navigate the UE 802 to its planned destination, and also to other UEs in the area if their original navigation routes include the inaccessible lane(s) and route(s) (e.g., the routes include the first lane 812 and / or the exit 810).

[0106] FIG. 9 is a communication flow 900 illustrating an example signaling between UEs and a network for performing a dynamic lane-status update for a lane-level map in accordance with various aspects of the present disclosure. The numberings associated with the communication flow 900 do not specify a particular temporal order and are merely used as references for the communication flow 900.

[0107] At 910, a UE 902 (e.g., the UE 802, a vehicle, a vehicle UE, an OBU, an ADAS system, a navigation system, an autonomous driving system, etc.) may receive an indication of a set of recommended lanes for a destination, such as described in connection with FIG. 6. In some examples, the UE 902 may receive the indication from a network 904 (e.g., if the navigation routes are plannedby the network 904) or from a navigation system (e.g., if the UE 902 is a mobile device running a navigation application), etc.

[0108] At 912, the UE 902 may detect a deviation from at least one lane in the set of recommended lanes. For example, the UE 902 (or a navigation application) may recommend using a set of lanes for reaching a destination, but the user of the UE 902 (or the vehicle associated with the UE 902) may use lane(s) other than the recommended set of lanes such as described in connection with 824 of FIG. 8. In other words, the UE 902 may detect that the UE 902 or a vehicle associated with the UE 902 moves to one or more lanes not in the set of recommended lanes. In some examples, the detection of deviation may be based on the detected / estimated location of the UE 902 (e.g., using GNSS-based positioning, network-based positioning, etc.), and / orbased on the change in relative location of the UE 902 (e.g., u sing IMU sensors, dead reckoning (DR) mechanisms, camera detections, etc.).

[0109] At 914, the UE 902 may obtain, via at least one sensor, information associated with the at least one lane. For example, the UE 902 may use at least one camerato capture image(s) for the at least one lane, and identify information / incident(s) related to the at least one lane based on analyzing the capture image(s) (e.g., extracting and comparing features extracted from the image(s)).

[0110] At 916, in some examples, the UE 902 may also detect a set of alternative lanes used (e.g., by the user of the first UE 902) after the detected deviation, and the UE 902 may also report the alternative lane(s) used by the driver / UE 902 (e.g., in the context of autonomous driving) after deviating from the recommended lanes (discuss below at 918).

[0111] At 918, the UE 902 may transmit the obtained information (e.g., information related to the incident / inaccessibility occurring at the at least one lane) to the network 904 (e.g., a server, a map server, a location server, etc.). In some examples, the information associated with the at least one lane (e.g., the incident report to be reported for the at least one may) may include one or more of : an incident observed in the at least one lane, atimestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance associated with the set of recommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident. In some examples, if the UE 902 is configured to detect and report alternative lane(s) used by the UE 902 or by the vehicle / driver associated with the UE 902 after the detected deviation (e.g., as described in connection with 916), the UE 902 may also report to the network 904 the alternative lane(s) used by the UE 902.

[0112] In another example, the UE 902 may be configured to determine an importance level forthe obtained information (e.g., the inf ormation / incident related to the atleast one lane), and the UE 902 may transmit the obtained information to the network entity based on the importance level for the obtained information exceeding an importance level threshold. For example, the UE 902 may compute the importance level forthe obtained information based on a set of criteria, and compare the computed importance level with the importance level threshold.

[0113] For example, to reduce incident reporting overhead, UEs / vehicles (e.g., the UE 902) may be configured to report incidents with high importance. The importance level of different incidents may be predetermined and shared amongst all UEs / vehicles as well as the network 904. Then, the importance level may be included in the incident report by the reporting UE / vehicle. In some implementations, UEs / vehicles may be configured to report incidents with high importance as early as possible, and report lower importance level incident(s) in a best effort fashion (e.g., potentially much later than the time the incident was observed), such as periodically or when receiving an indication to provide the report (e.g., the network 904 may transmit the indication when it observes low communication traffic).

[0114] At 920, the network 904 may transmit, to one or more UEs in proximity to the location related to the incident reported by the UE 902, a request to confirm the information (or at least a portion of the information) provided by the UE 902. In response, at 922,the one or more UEs may transmit, to the network 904, their incident reports or confirmations related to the information provided by the UE 902. In some examples, the requestbased be a targeted report request. For example, the network 904 may send a request to a specified / particular UE / vehicle to report the status (e.g., availability) of a lane or lanes at a specific area, such as when the network 904 wants to confirm reports provided by other vehicles (e.g., provided by the UE 902) before updating the map with a lane closure, and / or when the network 904 wants to check whether a lane has become available (after it was first reported inaccessible), etc.

[0115] At 924, based on the information associated with the at least one lane from the UE 902 (and also based on verifications / confirmations from other UEs in the incident area as described in connection with 920 and 922), the network 904 may update a lane status in map data (e.g., a lane-level map data, a map data with lane-level connectivity, etc.).

[0116] In some implementations, at 918, the UE 902 may be configured to include its identification (ID) in the incident report. After the network 904 receives the ID associated with (or provided by) the UE 902, the network 904 may identify / determine whether the first UE is a trusted UE or a non-trusted UE based on the ID associated with the first UE. Then, the network 904 may be configured to receive, from another set of UEs, additional information related to the received information priorto updating the lane status in the map data based on the received information if the UE 902 is identified / determined to be a non-trusted UE. On the other hand, if the UE 902 is identified to be a trusted UE, the network 904 may be configured to update the lanelevel map without requesting additional reports / confirmation from other UEs (e.g., UEs in the incident area).

[0117] For example, jammers may refer to UEs / vehicles that might send a wrong / inaccurate report to the network 904 (e.g., due to a malfunction in the vehicle sensors or intentionally). To avoid jammers, each vehicle / UE may be configured with a specific ID, where the network 904 may have access to a database of trusted IDs and may refer to it when the network 904 receives an incident report from a UE (e.g., the UE 902). If an incident is reported by a trusted UE, the network 904 may update the map and lane-status without extra confirmations / information from other UEs. However, if an incident is reported by a non-trusted UE, the network 904 may be configured to waitfor extra information / confirmation from other UEs before updating the map and lanestatus.

[0118] In another example, the network 904 may receive a set of scheduled events (e.g., a scheduled parade, road construction, road closure, etc.), and the network 904 may update the lane status in the map data based on the received set of scheduled events. For example, the network 904 may have prior knowledge of the probability of an incident happening in the specific areas, such as an entrance or exit(s) next to a stadium / convention center will be closed during special events, or in a particular portion of a road the probability of happening a crash and lane closure is relatively high, etc. Then, the network 904 may consider the prior knowledge to decide whether to update the map data and the lane-status after receiving an incident report.

[0119] At 926, after updating the map data, the network 904 may transmit the updated lanelevel map or a delta version of the lane-level map (e.g., just transmit the portion of the map that is different from the previous version) to multiple UEs, which may include the UE 902, the UEs that are in proximity to the incident area, and / or other UEs (e.g, all UEs that are using the map data). In some examples, the network 904 may also report just the information obtained from the UE 902 (e.g., the inaccessible lane(s) and / or information related to the inaccessible lane(s)) to other UEs, and these UEs may update their map data (e.g., locally) based on the information from the network 904 and / or re-route their navigation routes (if inaccessible lane(s) are used).

[0120] In some examples, the network 904 may identify whether the incident associated with the at least one lane is temporary or permanent, and estimate a time for the incident to be resolved. Then, the 904 may transmit, to one or more UEs (e.g., UEs in proximity to the incident area), the estimated time for the incident to be resolved, and / or a request to report a status of the incident based on the estimated time. For example, a lane-status change may be temporary or permanent (e.g., police may close a lane for just few hours, a construction may close a lane for few days, a regular lane may become a HOV lane permanently, etc.). In some scenarios, if a lane closure is determined to be temporary, the network 904 may be able to estimate or determine the closure time. For example, if a lane is closed by police due to an event, the network 904 may receive information from the police regarding when the lane will become accessible again at a specific time. In another example, if a lane is closed due to construction, sign(s) at the construction site may show the end date / time of theconstruction, where this information may be capturedby vehicles sensors (e.g., by the UE 902) and reported to the network 904. Then, at the end of closure duration, the network 904 may broadcast a message and ask / request for UE / vehicle reports regarding the lane status. Similarly, after receiving a number of confirmation reports which is larger than a fixed threshold, the network 904 may update the corresponding lane-status (e.g., the network 904 may reuse the map data (or the map data version) that was valid before the start of lane closure).

[0121] In another scenario, if the lane-status change is temporary but the duration is unknown, the network 904 may broadcast messages to request a status update from the vehicles in the area (e.g., to UEs in the incident area). In some implementations, to reduce the overhead, the network 904 may wait for a certain amount of time before start broadcasting the status request. The wait time and time gaps between two consecutives broadcasting may be determined based on the cause of incident (e.g., few days for construction, few hours for blocked lane by police, etc.).

[0122] In some examples, the network 904 may also compute and transmit a set of alternative lanes for the UE 902 to reach the destination, where the set of alternative lanes may be based at least in part on the information obtained from the UE 902 (e.g., based on the lanes used by the UE 902 after the deviation).

[0123] Aspects presented herein are directed to techniques / protocols for dynamic lane-level map updates based on crowdsourced information. Aspects presented herein include at least the following aspects / features: (1) vehicles identify and report incidents, (2) network updates lane-status information and provides the updated information to vehicles that may be impacted by the changes: a) initial update without changing baseline map b) update the baseline map, (3) time-dependent lane-status update, (4) targeted report request, (5) jammer avoidance, and (6) overhead reduction.

[0124] FIG. 10 is a flowchart 1000 of a method of wireless communication at a user equipment (UE). The method may be performed by a UE (e.g., the UE 104, 404, 702, 802, 902; the apparatus 1204). The method may enable the UE to report information associated with one or more lanes to assist a network with lane-status updates for a lane-level map.

[0125] At 1002, the UE may receive an indication of a set of recommended lanes for a destination, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 910 of FIG. 9, the UE 902 may receive an indication ofa set of recommended lanes for a destination. The reception of the indication may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processors) 1224, and / or the application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0126] In one example, to receive the indication, the UE may receive the indication from the network entity or a navigation system.

[0127] In another example, the set of recommended lanes may be associated with map data including a lane-level connectivity.

[0128] At 1004, the UE may detect a deviation from at least one lane in the set of recommended lanes, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 912 of FIG. 9, the UE 902 may detect a deviation from at least one lane in the set of recommended lanes. The detection of the deviation may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processor(s) 1224, and / orthe application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0129] In one example, to detect the deviation from the at least one lane in the set of recommended lanes, the UE may detect that the UE or a vehicle associated with the UE moves to one or more lanes not in the set of recommended lanes.

[0130] At 1006, the UE may obtain, via at least one sensor, information associated with the at least one lane, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 914 of FIG. 9, the UE 902 may obtain, via at least one sensor, information associated with the at least one lane. The obtainment of the information may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processor(s) 1224, and / orthe application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0131] In one example, to obtain the information associated with the at least one lane, theUE may capture, via at least one camera, a set of images for the at least one lane, and identify at least one incident from the set of images.

[0132] In another example, the information associated with the at least one lane may include one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one otherlane, an entrance associated with the set of recommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident.

[0133] At 1008, the UE may transmit the obtained information to a network entity, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 918 of FIG. 9, the UE 902 may transmit the obtained information (e.g., information related to the incident / inaccessibility occurring at the at least one lane) to the network 904 (e.g., a server, a map server, a location server, etc.). The transmission of the obtained information may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceivers) 1222, the cellular baseband processor(s) 1224, and / or the application processors) 1206 of the apparatus 1204 in FIG. 12.

[0134] In one example, the UE may detect a set of alternative lanes used by the UE or a vehicle associated with the UE after the detected deviation, and transmit, to the network entity, a second indication of the set of alternative lanes, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 918 of FIG. 9, the UE 902 may also detect a set of alternative lanes used (e.g., by the user of the first UE 902) after the detected deviation, and the UE 902 may also report the alternative lane(s) used by the driver after deviating from the recommended lanes. The detection of the set of alternative lanes maybe performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processor(s) 1224, and / or the application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0135] In another example, the UE may determine an importance level for the obtained information. To transmit the obtained information to the network entity, the UE may transmit the obtained information to the network entity based on the importance level for the obtained information exceeding an importance level threshold. In some implementation, to determine the importance level for the obtained information, the UE may compute the importance level for the obtained information based on a set of criteria, and compare the computed importance level with the importance level threshold.

[0136] In another example, the UE may transmit, to the network entity, an identification (ID) associated with the UE for verifying whether the UE is a trusted UE or a non-trusted UE.

[0137] In another example, the UE may receive, from the network entity, a set of recommended alternative lanes based on the obtained information, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 926 of FIG. 9, the UE 902 may receive, from the network 904, a set of alternative lanes for the UE 902 to reach the destination, where the set of alternative lanes may be based at least in part on the information transmitted by the UE 902. The reception of the set of recommended alternative lanes may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processor(s) 1224, and / or the application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0138] In another example, the UE may receive, from the network entity, updated map data that includes updated lane information based on the obtained information, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 926 of FIG. 9, the UE 902 may receive, from the network 904, the update lanelevel map or a delta version of the lane-level map. The reception of the updated map data may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processor(s) 1224, and / orthe application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0139] FIG. 11 is a flowchart 1100 of a method of wireless communication at a user equipment (UE). The method maybe performed by a UE (e.g., the UE 104, 404, 702, 802, 902; the apparatus 1204). The method may enable the UE to report information associated with one or more lanes to assist a network with lane-status updates for a lane-level map.

[0140] At 1102, the UE may receive an indication of a set of recommended lanes for a destination, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 910 of FIG. 9, the UE 902 may receive an indication of a set of recommended lanes for a destination. The reception of the indication may be performed by, e.g., the lane status reporting component 198, the camera 1232, the oneor more sensors 1218, the transceiver(s) 1222, the cellular baseband processors) 1224, and / or the application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0141] In one example, to receive the indication, the UE may receive the indication from the network entity or a navigation system.

[0142] In another example, the set of recommended lanes may be associated with map data including a lane-level connectivity.

[0143] At 1104, the UE may detect a deviation from at least one lane in the set of recommended lanes, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 912 of FIG. 9, the UE 902 may detect a deviation from at least one lane in the set of recommended lanes. The detection of the deviation may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processor(s) 1224, and / orthe application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0144] In one example, to detect the deviation from the at least one lane in the set of recommended lanes, the UE may detect that the UE or a vehicle associated with the UE moves to one or more lanes not in the set of recommended lanes.

[0145] At 1106, the UE may obtain, via at least one sensor, information associated with the at least one lane, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 914 of FIG. 9, the UE 902 may obtain, via at least one sensor, information associated with the at least one lane. The obtainment of the information may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processor(s) 1224, and / orthe application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0146] In one example, to obtain the information associated with the at least one lane, theUE may capture, via at least one camera, a set of images for the at least one lane, and identify at least one incident from the set of images.

[0147] In another example, the information associated with the at least one lane may include one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance associated with the set of recommended lanes, or an exit associatedwith the set of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident.

[0148] At 1108, the UE may transmit the obtained information to a network entity, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 918 of FIG. 9, the UE 902 may transmit the obtained information (e.g., information related to the incident / inaccessibility occurring at the at least one lane) to the network 904 (e.g., a server, a map server, a location server, etc.). The transmission of the obtained information may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceivers) 1222, the cellular baseband processor(s) 1224, and / or the application processors) 1206 of the apparatus 1204 in FIG. 12.

[0149] In one example, as shown at 1110, the UE may detect a set of alternative lanes used by the UE or a vehicle associated with the UE after the detected deviation, and transmit, to the network entity, a second indication of the set of alternative lanes, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 918 of FIG. 9, the UE 902 may also detect a set of alternative lanes used (e.g., by the user of the first UE 902) after the detected deviation, and the UE 902 may also report the alternative lane(s) used by the driver after deviating from the recommended lanes. The detection of the set of alternative lanes may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processor(s) 1224, and / or the application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0150] In another example, the UE may determine an importance level for the obtained information. To transmit the obtained information to the network entity, the UE may transmit the obtained information to the network entity based on the importance level for the obtained information exceeding an importance level threshold. In some implementation, to determine the importance level for the obtained information, the UE may compute the importance level for the obtained information based on a set of criteria, and compare the computed importance level with the importance level threshold.

[0151] In anotherexample, the UE may transmit, to the network entity, an ID associated with the UE for verifying whether the UE is a trusted UE or a non-trusted UE.

[0152] In another example, as shown at 1112, the UE may receive, from the network entity, a set of recommended alternative lanes based on the obtained information, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 926 of FIG. 9, the UE 902 may receive, from the network 904, a set of alternative lanes for the UE 902 to reach the destination, where the set of alternative lanes may be based at least in part on the information transmitted by the UE 902. The reception of the set of recommended alternative lanes may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceiver(s) 1222, the cellular baseband processor(s) 1224, and / or the application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0153] In another example, as shown at 1114, the UE may receive, from the network entity, updated map data that includes updated lane information based on the obtained information, such as described in connection with FIGs. 8 and 9. For example, as discussed in connection with 926 of FIG. 9, the UE 902 may receive, fromthe network 904, the update lane-level map or a delta version of the lane-level map. The reception of the updated map data may be performed by, e.g., the lane status reporting component 198, the camera 1232, the one or more sensors 1218, the transceivers) 1222, the cellular baseband processor(s) 1224, and / or the application processor(s) 1206 of the apparatus 1204 in FIG. 12.

[0154] FIG. 12 is a diagram 1200 illustrating an example of a hardware implementation for an apparatus 1204. The apparatus 1204 may be a UE, a component of a UE, or may implement UE functionality. In some aspects, the apparatus 1204 may include at least one cellular baseband processor 1224 (also referred to as a modem) coupled to one or more transceivers 1222 (e.g., cellular RF transceiver). The cellular baseband processor(s) 1224 may include at least one on-chip memory 1224'. In some aspects, the apparatus 1204 may further include one or more subscriber identity modules (SIM) cards 1220 and at least one application processor 1206 coupled to a secure digital (SD) card 1208 and a screen 1210. The application processor(s) 1206 may include on-chip memory 1206'. In some aspects, the apparatus 1204 may further include a Bluetooth module 1212, a WLAN module 1214, an ultrawide band (UWB) module 1238, an SPS module 1216 (e.g., GNSS module), one or more sensors 1218 (e.g., barometric pressure sensor / altimeter; motion sensor such as inertial measurement unit (IMU), gyroscope, and / or accelerometer(s); light detection andranging (LIDAR), radio assisted detection and ranging (RADAR), sound navigation and ranging (SONAR), magnetometer, audio and / or other technologies used for positioning), additional memory modules 1226, a power supply 1230, and / or a camera 1232. The Bluetooth module 1212, the UWB module 1238, the WLAN module 1214, and the SPS module 1216 may include an on-chip transceiver (TRX) (or in some cases, just a receiver (RX)). The Bluetooth module 1212, the WLAN module 1214, and the SPS module 1216 may include their own dedicated antennas and / or utilize the antennas 1280 for communication. The cellular baseband processor(s) 1224 communicates through the transceiver(s) 1222 via one or more antennas 1280 with the UE 104 and / or with an RU associated with a network entity 1202. The cellular baseband processor(s) 1224 and the application processor(s) 1206 may each include a computer-readable medium / memory 1224', 1206', respectively. The additional memory modules 1226 may also be considered a computer-readable medium / memory. Each computer-readable medium / memory 1224', 1206', 1226 may benon- transitory. The cellular baseband processor(s) 1224 and the application processors) 1206 are each responsible for general processing, including the execution of software stored on the computer-readable medium / memory. The software, when executed by the cellular baseband processor(s) 1224 / application processor(s) 1206, causes the cellular baseband processor(s) 1224 / application processor(s) 1206 to perform the various functions described supra. The cellular baseband processor(s) 1224 and the application processor(s) 1206 are configured to perform the various functions described supra based at least in part of the information stored in the memory. That is, the cellular baseband processor(s) 1224 and the application processor(s) 1206 may be configured to perform a first subset of the various functions described supra without information stored in the memory and may be configured to perform a second subset of the various functions described supra based on the information stored in the memory. The computer-readable medium / memory may also be used for storing data that is manipulated by the cellular baseband processor(s) 1224 / application processor(s) 1206 when executing software. The cellular baseband processor(s) 1224 / application processor(s) 1206 may be a component of the UE 350 and may include the at least one memory 360 and / or at least one of the TX processor 368, the RX processor 356, and the controller / processor 359. In one configuration, the apparatus 1204 may be at least one processor chip (modem and / or application) and include justthe cellular baseband processor(s) 1224 and / or the application processor(s) 1206, and in another configuration, the apparatus 1204 may be the entire UE (e.g., see UE 350 of FIG. 3) and include the additional modules of the apparatus 1204.

[0155] As discussed supra, the lane status reporting component 198 may be configured to receive an indication of a set of recommended lanes for a destination. The lane status reporting component 198 may also be configured to detect a deviation from at least one lane in the set of recommended lanes. The lane status reporting component 198 may also be configured to obtain, via at least one sensor, information associated with the at least one lane. The lane status reporting component 198 may also be configured to transmit the obtained information to a network entity. The lane status reporting component 198 may be within the cellular baseband processor(s) 1224, the application processor(s) 1206, orboth the cellular baseband processor(s) 1224 and the application processor(s) 1206. The lane status reporting component 198 may be one or more hardware components specifically configured to carry out the stated processes / algorithm, implemented by one or more processors configured to perform the stated processes / algorithm, stored within a computer-readable medium for implementation by one or more processors, or some combination thereof. When multiple processors are implemented, the multiple processors may perform the stated processes / algorithm individually or in combination. As shown, the apparatus 1204 may include a variety of components configured for various functions. In one configuration, the apparatus 1204, and in particularthe cellularbaseband processors) 1224 and / or the application processor(s) 1206, may include means for receiving an indication of a set of recommended lanes for a destination. The apparatus 1204 may further include means for detecting a deviation from at least one lane in the set of recommended lanes. The apparatus 1204 may further include means for obtaining via at least one sensor, information associated with the at least one lane. The apparatus 1204 may further include means for transmitting the obtained information to a network entity.

[0156] In one configuration, the means for receiving the indication may include configuring the apparatus 1204 to receive the indication from the network entity or a navigation system.

[0157] In another configuration, the set of recommended lanes may be associated with map data including a lane-level connectivity.

[0158] In another configuration, the means for detecting the deviation from the at least one lane in the set of recommended lanes may include configuring the apparatus 1204 to detect that the apparatus 1204 or a vehicle associated with the apparatus 1204 moves to one or more lanes not in the set of recommended lanes.

[0159] In another configuration, the means for obtaining the information associated with the at least one lane may include configuring the apparatus 1204 to capture, via at least one camera, a set of images for the at least one lane, and identify at least one incident from the set of images.

[0160] In another configuration, the information associated with the at least one lane may include one or more of : an incident ob served in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance associated with the set of recommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident.

[0161] In another configuration, the apparatus 1204 may further include means for detecting a set of alternative lanes used by the apparatus 1204 or a vehicle associated with the apparatus 1204 after the detected deviation, and transmit, to the network entity, a second indication of the set of alternative lanes.

[0162] In another configuration, the apparatus 1204 may further include means for determining an importance level for the obtained information. The means for transmitting the obtained information to the network entity may include configuring the apparatus 1204 to transmitthe obtained information to the network entity based on the importance level for the obtained information exceeding an importance level threshold. In some implementation, the means for determining the importance level for the obtained information may include configuring the apparatus 1204 to compute the importance level for the obtained information based on a set of criteria, and compare the computed importance level with the importance level threshold.

[0163] In another configuration, the apparatus 1204 may further include means for transmitting, to the network entity, an ID associated with the apparatus 1204 for verifying whether the apparatus 1204 is a trusted UE or a non-trusted UE.

[0164] In another configuration, the apparatus 1204 may further include means for receiving from the network entity, a set of recommended alternative lanes based on the obtained information.

[0165] In another configuration, the apparatus 1204 may further include means for receiving from the network entity, updated map data that includes updated lane information based on the obtained information.

[0166] The means may be the lane status reporting component 198 of the apparatus 1204 configured to perform the functions recited by the means. As described supra, the apparatus 1204 may include the TX processor 368, the RX processor 356, and the controller / processor 359. As such, in one configuration, the means may be the TX processor 368, the RX processor 356, and / or the controller / processor 359 configured to perform the functions recited by the means.

[0167] FIG. 13 is a flowchart 1300 of a method of wireless communication. Themethodmay be performed by a network entity (e.g., the one or more location servers 168; the base station 102; the server 704; the network 804, 904; the network entity 1560). The method may enable the network entity to provide real-time lane-status updates for lane-level maps based on a crowdsourcing mechanism.

[0168] At 1302, the network entity may transmit, to a first UE, an indication of a set of recommended lanes for a destination, such as described in connection with FIGs. 8 and 9. For example, as described in connection with 910 of FIG. 9, the network 904 may transmit an indication of a set of recommended lanes for a destination to the UE 902. The transmission of the indication may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0169] At 1304, the network entity may receive, from the first UE, information associated with at least one lane in the set of recommended lanes, such as describedin connection with FIGs. 8 and 9. For example, as described in connection with 918 of FIG. 9, the network 904 may receive, from the UE 902, information related to the incident / inaccessibility atthe at least one lane in in the set of recommendedlanes. The reception of the information may be performedby, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0170] In one example, the information associated with the at least one lane includes one or more of : an incident ob served in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance associated with the set of recommended lanes, or an exit associated with theset of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident.

[0171] At 1310, the network entity may update a lane status in map data based onthe received information, such as described in connection with FIGs. 8 and 9. For example, as described in connection with 924 of FIG. 9, based on the information associated with the at least one lane from the UE 902 (and also based on verifications / confirmations from other UEs in the incident area as described in connection with 920 and 922), the network 904 may update a lane status in map data (e.g., a lane-level map data, a map data with lane-level connectivity, etc.). The update of the lane status may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0172] In one example, the map data may include a lane-level connectivity.

[0173] At 1314, the network entity may transmit at least one of a portion of the information, a second indication of a set of recommended alternative lanes, or the map data with the updated lane status, such as described in connection with FIGs. 8 and 9. For example, as describedin connection with 926 of FIG. 9, after updating the map data, the network 904 may transmitthe update lane-level map or a delta version of the lanelevel map (e.g., just transmit the portion of the map that is different from the previous version) to multiple UEs, which may include the UE 902, the UEs that are in proximity to the incident area, and / or other UEs (e.g., all UEs that are usingthe map data). The transmission of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15. In some implementations, to transmit at least one of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status, the network entity may transmit, to at least one second UE, at least one of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status, or transmit, to the first UE, the second indication of the set of recommend alternative lanes or the map data with the updated lane status.

[0174] In another example, the network entity may transmit, to at least one second UE, a request to confirm the portion of the information based on a location of the at least one second UE, such as described in connection with FIGs. 8 and 9. For example, as described in connection with 920 of FIG. 9, the network 904 may transmit, to one or more UEs in proximity to the location related to the incident reported by the UE 902, a request to confirm the information (or atleast a portion of the information) provided by the UE 902. The transmission of the request may be performed by, e.g., the lanelevel map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0175] In another example, the network entity may identify that an incident associated with the at least one lane is temporary, estimate a time for the incident to be resolved, and transmit, to the at least one second UE or a third UE, the estimated time or a request to report a status of the incident based on the estimated time, such as described in connection with FIGs. 8 and 9. For example, as described in connection with FIG. 9, the network 904 may identify whether the incident associated with the at least one lane is temporary or permanent, and estimate a time for the incident to be resolved. Then, the 904 may transmit, to one or more UEs (e.g., UEs in proximity to the incident area), the estimated time for the incident to be resolved, and / or a request to report a status of the incident based on the estimated time. The identification of the incident, the estimation of the time, and / or the transmission of the estimated time or request may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0176] In another example, the network entity may compute the set of recommended alternative lanes based on the received information, such as describedin connection with FIGs. 8 and 9. For example, as described in connection with 926 of FIG. 9, the network 904 may also compute and transmit a set of alternative lanes for the UE 902 to reach the destination, where the set of alternative lanes may be based atleast in part on the information obtained from the UE 902 (e.g., based on the lanes used by the UE 902 after the deviation). The computation of the set of recommended alternative lanes may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15. In some implementations, the network entity may receive, from thefirst UE, a third indication of a set of sub stituted lanes used by the first UE or a vehicle associated with the first UE, where the computation of the set of recommended alternative lanes may be further based on the set of substituted lanes used by the first UE.

[0177] In another example, the received information may include an ID associated with the first UE, the network entity may identify whether the first UE is a trusted UE or a non-trusted UEbased on the ID associated with the first UE, and receive, from another set of UEs, additional information related to the received information prior to updating the lane status in the map data based on the received information if the first UE is identified to be the non-trusted UE.

[0178] FIG. 14 is a flowchart 1400 of a method of wireless communication. The methodmay be performed by a network entity (e.g., the one or more location servers 168; the base station 102; the server 704; the network 804, 904; the network entity 1560). The method may enable the network entity to provide real-time lane-status updates for lane-level maps based on a crowdsourcing mechanism.

[0179] At 1402, the network entity may transmit, to a first UE, an indication of a set of recommended lanes for a destination, such as described in connection with FIGs. 8 and 9. For example, as described in connection with 910 of FIG. 9, the network 904 may transmit an indication of a set of recommended lanes for a destination to the UE 902. The transmission of the indication may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0180] At 1404, the network entity may receive, from the first UE, information associated with at least one lane in the set of recommended lanes, such as describedin connection with FIGs. 8 and 9. For example, as described in connection with 918 of FIG. 9, the network 904 may receive, from the UE 902, information related to the incident / inaccessibility atthe at least one lane in in the set of recommendedlanes. The reception of the information may be performedby, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0181] In one example, the information associated with the at least one lane includes one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, anentrance associated with the set of recommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident.

[0182] At 1410, the network entity may update a lane status in map data based on the received information, such as described in connection with FIGs. 8 and 9. For example, as described in connection with 924 of FIG. 9, based on the information associated with the at least one lane from the UE 902 (and also based on verifications / confirmations from other UEs in the incident area as described in connection with 920 and 922), the network 904 may update a lane status in map data (e.g., a lane-level map data, a map data with lane-level connectivity, etc.). The update of the lane status may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0183] In one example, the map data may include a lane-level connectivity.

[0184] At 1414, the network entity may transmit at least one of a portion of the information, a second indication of a set of recommended alternative lanes, or the map data with the updated lane status, such as described in connection with FIGs. 8 and 9. For example, as describedin connection with 926 of FIG. 9, after updating the map data, the network 904 may transmitthe update lane-level map or a delta version of the lanelevel map (e.g., just transmit the portion of the map that is different from the previous version) to multiple UEs, which may include the UE 902, the UEs that are in proximity to the incident area, and / or other UEs (e.g., all UEs that are using the map data). The transmission of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15. In some implementations, to transmit at least one of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status, the network entity may transmit, to at least one second UE, at least one of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status, or transmit, to the first UE, the second indication of the set of recommend alternative lanes or the map data with the updated lane status.

[0185] In another example, as shown at 1406, the network entity may transmit, to at least one second UE, a request to confirm the portion of the information based on a location of the at least one second UE, such as described in connection with FIGs. 8 and 9. For example, as described in connection with 920 of FIG. 9, the network 904 may transmit, to one or more UEs in proximity to the location related to the incident reported by the UE 902, a request to confirm the information (or at least a portion of the information) provided by the UE 902. The transmission of the request may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0186] In another example, as shown at 1408, the network entity may identify th at an incident associated with the at least one lane is temporary, estimate a time for the incident to be resolved, and transmit, to the at least one second UE or a third UE, the estimated time or a request to report a status of the incident based on the estimated time, such as described in connection with FIGs. 8 and 9. For example, as described in connection with FIG. 9, the network 904 may identify whether the incident associated with the at least one lane is temporary or permanent, and estimate a time for the incident to be resolved. Then, the 904 may transmit, to one or more UEs (e.g., UEs in proximity to the incident area), the estimated time for the incident to be resolved, and / or a request to report a status of the incident based on the estimated time. The identification of the incident, the estimation of the time, and / or the transmission of the estimated time or request may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface 1580 of the network entity 1560 in FIG. 15.

[0187] In another example, as shown at 1412, the network entity may compute the set of recommended alternative lanes based on the received information, such as described in connection with FIGs. 8 and 9. For example, as described in connection with 926 of FIG. 9, the network 904 may also compute and transmit a set of alternative lanes for the UE 902 to reach the destination, where the set of alternative lanes may be based at least in part on the information obtained from the UE 902 (e.g., based on the lanes used by the UE 902 after the deviation). The computation of the set of recommended alternative lanes may be performed by, e.g., the lane-level map data update component 199, the network processor(s) 1512, and / or the network interface1580 of the network entity 1560 in FIG. 15. In some implementations, the network entity may receive, from the first UE, a third indication of a set of substituted lanes used by the first UE or a vehicle associated with the first UE, where the computation of the set of recommended alternative lanes may be further based on the set of substituted lanes used by the first UE.

[0188] In another example, the received information may include an ID associated with the first UE, the network entity may identify whether the first UE is a trusted UE or a non-trusted UEbased on the ID associated with the first UE, and receive, from another set of UEs, additional information related to the received information prior to updating the lane status in the map data based on the received information if the first UE is identified to be the non-trusted UE.

[0189] FIG. 15 is a diagram 1500 illustrating an example of a hardware implementation for a network entity 1560. In one example, the network entity 1560 may be within the core network 120. The network entity 1560 may include at least one network processor 1512. The network processor(s) 1512 may include on-chip memory 1512'. In some aspects, the network entity 1560 may further include additional memory modules 1514. The network entity 1560communicatesviathenetworkinterface l580 directly (e.g., backhaul link) or indirectly (e.g., through a RIC) with the CU 1502. The on-chip memory 1512' and the additional memory modules 1514 may each be considered a computer-readable medium / memory. Each computer-readable medium / memory may be non-transitory. The network processor(s) 1512 is responsible for general processing, including the execution of software stored on the computer- readable medium / memory. The software, when executed by the corresponding processor(s) causes the processor(s) to perform the various functions described supra. The computer-readable medium / memory may also be used for storing data that is manipulated by the processor(s) when executing software.

[0190] As discussed supra, the lane-level map data update component 199 maybe configured to transmit, to a first UE, an indication of a set of recommendedlanesfor a destination. The lane-level map data update component 199 may also be configured to receive, from the first UE, information associated with at least one lane in the set of recommended lanes. The lane-level map data update component 199 may also be configured to update a lane status in map data based on the received information. The lane-level map data update component 199 may also be configured to transmit at leastone of a portion of the information, a second indication of a set of recommended alternative lanes, or the map data with the updated lane status. The lane-level map data update component 199 may be within the network processor(s) 1512. The lanelevel map data update component 199 may be one or more hardware components specifically configured to carry out the stated processes / algorithm, implemented by one or more processors configured to perform the stated processes / algorithm, stored within a computer-readable medium for implementation by one or more processors, or some combination thereof. When multiple processors are implemented, the multiple processors may perform the stated processes / algorithm individually or in combination. The network entity 1560 may include a variety of components configured for various functions. In one configuration, the network entity 1560 may include means for transmitting, to a first UE, an indication of a set of recommended lanes for a destination. The network entity 1560 may further include means for receiving, from the first UE, information associated with at least one lane in the set of recommended lanes. The networkentity 1560 may further include means forupdating a lane status in map data based on the received information. The network entity 1560 may further include means fortransmittingatleast one of a portion of the information, a second indication of a set of recommended alternative lanes, or the map data with the updated lane status.

[0191] In one configuration, the information associated with the at least one lane may include one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance associated with the set of recommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident.

[0192] In another configuration, the map data may include a lane-level connectivity.

[0193] In another configuration, the network entity 1560 may further include means for transmitting, to the at least one second UE, a request to confirm the portion of the information based on a location of the at least one second UE.

[0194] In another configuration, the network entity 1560 may further include means for identifying that an incident associated with the at least one lane is temporary, means for estimating a time for the incident to be resolved, and means for transmitting, tothe at least one second UE or a third UE, the estimated time or a request to report a status of the incident based on the estimated time.

[0195] In another configuration, the network entity 1560 may further include means for computing the set of recommended alternative lanes based on the received information. In some implementations, the network entity 1560 may further include means for receiving, from the first UE, a third indication of a set of substituted lanes used by the first UE or a vehicle associated with the first UE, where the computation of the set of recommended alternative lanes may be further based on the set of substituted lanes used by the first UE.

[0196] In another configuration, the received information may include an ID associated with the first UE, the network entity 1560 may further include means for identifying whether the first UE is a trusted UE or a non-trusted UE based on the ID associated with the first UE, and means for receiving, from another set of UEs, additional information related to the receivedinformation prior to updating the lane status in the map data based on the receivedinformation if the first UE is identified to be the nontrusted UE.

[0197] The means may be the lane-level map data update component 199 of the network entity 1560 configured to perform the functions recited by the means.

[0198] It is understood that the specific order or hierarchy of blocks in the processes / flowcharts disclosed is an illustration of example approaches. Based upon design preferences, it is understood that the specific order or hierarchy of blocks in the processes / flowcharts maybe rearranged. Further, some blocks may be combined or omitted. The accompanying method claims present elements of the various blocks in a sample order, and are not limited to the specific order or hierarchy presented.

[0199] The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects. Thus, the claims are not limited to the aspects described herein, but are to be accorded the full scope consistent with the language claims. Reference to an element in the singular does not mean “one and only one” unless specifically so stated, but rather “one or more.” Terms such as “if,” “when,” and “while” do not imply an immediate temporal relationship or reaction. That is, these phrases, e.g., “when,” do notimply an immediate action in response to or duringthe occurrence of an action, but simply imply that if a condition is met then an action will occur, butwithoutrequiringa specific or immediate time constraint for the action to occur. The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other aspects. Unless specifically stated otherwise, the term “some” refers to one or more. Combinations such as “at least one of A, B, or C,” “one or more of A, B, or C,” “at least one of A, B, and C,” “one or more of A, B, and C,” and “A, B, C, or any combination thereof’ include any combination of A, B, and / or C, and may include multiples of A, multiples of B, or multiples of C. Specifically, combinations such as “at least one of A, B, or C,” “one or more of A, B, or C,” “at least one of A, B, and C,” “one or more of A, B, and C,” and “A, B, C, or any combination thereof’ may be A only, B only, C only, A and B, A and C, B and C, or A and B and C, where any such combinations may contain one or more memb er or members of A, B, or C. Sets should b e interpreted as a set of elements where the elements number one or more. Accordingly, for a set of X, X would include one or more elements. When at least one processor is configured to perform a set of functions, the at least one processor, individually or in any combination, is configured to perform the set of functions. Accordingly, each processor of the at least one processor may be configured to perform a particular subset of the set of functions, where the subset is the full set, a proper subset of the set, or an empty subset of the set. A processor may be referred to as processor circuitry. A memory / memory module may be referred to as memory circuitry. If a first apparatus receives data from or transmits data to a second apparatus, the data may be received / transmitted directly between the first and second apparatuses, or indirectly between the first and second apparatuses through a set of apparatuses. A device configured to “output” data or “provide” data, such as a transmission, signal, or message, may transmit the data, for example with a transceiver, or may send the data to a device that transmits the data. A device configured to “obtain” data, such as a transmission, signal, or message, may receive, for example with a transceiver, or may obtain the data from a device that receives the data. Information stored in a memory includes instructions and / or data. All structural and functional equivalents to the elements of the various aspects described throughout this disclosure that are known or later come to be known to those of ordinary skill in the art are expresslyincorporated herein by reference and are encompassed by the claims. Moreover, nothing disclosed herein is dedicated to the public regardless of whether such disclosure is explicitly recited in the claims. The words “module,” “mechanism,” “element,” “device,” and the like may notbe a substitute forthe word “means.” As such, no claim element is to be construed as a means plus function unless the element is expressly recited using the phrase “means for.”

[0200] As used herein, the phrase “based on” shall notbe construed as a reference to a closed set of information, one or more conditions, one or more factors, or the like. In other words, the phrase “based on A” (where “A” may be information, a condition, a factor, or the like) shall be construed as “based at least on A” unless specifically recited differently.

[0201] The following aspects are illustrative only and may be combined with other aspects or teachings described herein, without limitation.

[0202] Aspect 1 is a method of wireless communication at a user equipment (UE), comprising: receiving an indication of a set of recommended lanes for a destination; detecting a deviation from at least one lane in the set of recommended lanes; obtaining, via at least one sensor, information associated with the at least one lane; and transmitting the obtained information to a network entity.

[0203] Aspect 2 is the method of aspect 1, wherein receiving the indication comprises: receiving the indication from the network entity or a navigation system.

[0204] Aspect 3 is the method of aspect 1 or aspect 2, wherein detecting the deviation from the at least one lane in the set of recommended lanes comprises: detecting that the UE or a vehicle associated with the UE moves to one or more lanes not in the set of recommended lanes.

[0205] Aspect4 is the method of any of aspects 1 to 3, wherein obtainingthe information associated with the at least one lane comprises: capturing, via at least one camera, a set of images for the at least one lane; and identifying at least one incident from the set of images.

[0206] Aspect 5 is the method of any of aspects 1 to 4, wherein the information associated with the at least one lane includes one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance associated with the set ofrecommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident.

[0207] Aspect 6 is the method of any of aspects 1 to 5, further comprising: detecting a set of alternative lanes used by the UE or a vehicle associated with the UE after the detected deviation; and transmitting, to the network entity, a second indication of the set of alternative lanes.

[0208] Aspect ? is the method of any of aspects 1 to 6, further comprising: receiving, from the network entity, a set of recommended alternative lanes based on the obtained information.

[0209] Aspect 8 is the method of any of aspects 1 to 7, further comprising: receiving, from the network entity, updated map data that includes updated lane information based on the obtained information.

[0210] Aspect 9 is the method of any of aspects 1 to 8, further comprising: determining an importance level for the obtained information, wherein transmitting the obtained information to the network entity comprises: transmitting the obtained information to the network entity based on the importance level for the obtained information exceeding an importance level threshold.

[0211] Aspect 10 is the method of any of aspects 1 to 9, wherein determining the importance level for the obtained information comprises: computing the importance level for the obtained information based on a set of criteria; and comparing the computed importance level with the importance level threshold.

[0212] Aspect 11 is the method of any of aspects 1 to 10, wherein the set of recommended lanes is associated with map data including a lane-level connectivity.

[0213] Aspect 12 is the method of any of aspects 1 to 11, further comprising: transmitting to the network entity, an identification (ID) associated with the UE forverifying whether the UE is a trusted UE or a non-trusted UE.

[0214] Aspect 13 is an apparatus for wireless communication at a user equipment (UE), including: at least one memory; and at least one processor coupled to the at least one memory and, based at least in part on information stored in the at least one memory, the at least one processor, individually or in any combination, is configured to implement any of aspects 1 to 12.

[0215] Aspect 14 is the apparatus of aspect 13, further including at least one transceiver coupled to the at least one processor.

[0216] Aspect 15 is an apparatus for wireless communication at a user equipment (UE), including means for implementing any of aspects 1 to 12.

[0217] Aspect 16 is a computer-readable medium (e.g., a non-transitory computer-readable medium) storing computer executable code, where the code when executed by a processor causes the processor to implement any of aspects 1 to 12.

[0218] Aspect 17 is a method of wireless communication at a network entity, comprising: transmitting, to a first user equipment (UE), an indication of a set of recommended lanes for a destination; receiving, from the first UE, information associated with at least one lane in the set of recommended lanes; updating a lane status in map data based on the received information; and transmitting at least one of a portion of the information, a second indication of a set of recommended alternativelanes, orthemap data with the updated lane status.

[0219] Aspect 18 is the method of aspect 17, wherein the information associated with the at least one lane includes one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance associated with the set of recommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident.

[0220] Aspect 19 is the method of aspect 17 or aspect 18, further comprising: computing the set of recommended alternative lanes based on the received information.

[0221] Aspect 20 is the method of any of aspects 17 to 19, further comprising: receiving from the first UE, a third indication of a set of substituted lanes used by the first UE or a vehicle associated with the first UE, wherein the computation of the set of recommended alternative lanes is further based on the set of substituted lanes used by the first UE.

[0222] Aspect 21 is the method of any of aspects 17 to 20, further comprising: transmitting to the at least one second UE, a requestto confirm the portion of the informationbased on a location of the at least one second UE.

[0223] Aspect 22 is the method of any of aspects 17 to 21, further comprising: identifying that an incident associated with the at least one lane is temporary; estimating a time for the incident to be resolved; and transmitting, to the at least one second UE or a third UE, the estimated time or a request to report a status of the incident based on the estimated time.

[0224] Aspect 23 is the method of any of aspects 17 to 22, wherein the received information includes an identification (ID) associated with the first UE, the method further comprising: identifying whether the first UEis a trusted UE or a non-trustedUEbased on the ID associated with the first UE; and receiving, from another set of UEs, additional information related to the received information prior to updating the lane status in the map data based on the received information if the first UE is identified to be the non-trusted UE.

[0225] Aspect 24 is the method of any of aspects 17 to 23, further comprising: receiving a set of scheduled events, wherein the lane status in the map data is updated further based on the set of scheduled events.

[0226] Aspect 25 is the method of any of aspects 17 to 24, wherein the map data includes a lane-level connectivity.

[0227] Aspect 26 is the method of any of aspects 17 to 25, wherein transmitting at least one of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status comprises: transmitting to at least one second UE, at least one of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status, or transmitting, to the first UE, the second indication of the set of recommend alternative lanes or the map data with the updated lane status.

[0228] Aspect 27 is an apparatus for wireless communication at a network entity, including: at least one memory; and at least one processor coupled to the at least one memory and, based atleast in part on information stored in the atleast one memory, the atleast one processor, individually or in any combination, is configured to implement any of aspects 17 to 26.

[0229] Aspect 28 is the apparatus of aspect 27, further including at least one transceiver coupled to the at least one processor.

[0230] Aspect 29 is an apparatus for wireless communication at a network entity, including means for implementing any of aspects 17 to 26.

[0231] Aspect 30 is a computer-readable medium (e.g., a non-transitory computer-readable medium) storing computer executable code, where the code when executed by a processor causes the processor to implement any of aspects 17 to 26.

Claims

CLAIMSWHAT IS CLAIMED IS:1 . An apparatus for wireless communication at a user equipment (UE), comprising: at least one memory; and at least one processor coupled to the at least one memory, the at least one processor, individually or in any combination, is configured to: receive an indication of a set of recommended lanes for a destination; detect a deviation from at least one lane in the set of recommended lanes; obtain, via at least one sensor, information associated with the at least one lane; and transmit the obtained information to a network entity.

2. The apparatus of claim 1, wherein to receive the indication, the at least one processor, individually or in any combination, is configured to: receive the indication from the network entity or a navigation system.

3. The apparatus of claim 1, wherein to detectthe deviation from the atleast one lane in the set of recommended lanes, the at least one processor, individually or in any combination, is configured to: detect that the UE or a vehicle associated with the UE moves to one or more lanes not in the set of recommended lanes.

4. The apparatus of claim 1 , wherein to obtain the information associated with the at least one lane, the atleast one processor, individually or in any combination, is configured to: capture, via at least one camera, a set of images for the at least one lane; and identify at least one incident from the set of images.

5. The apparatus of claim 1 , wherein the information associated with the at least one lane includes one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident,inaccessibility information for at least one other lane, an entrance associated with the set of recommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, or a description of the incident.

6. The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: detect a set of alternative lanes used by the UE or a vehicle associated with the UE after the detected deviation; and transmit, to the network entity, a second indication of the set of alternative lanes.

7. The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: receive, from the network entity, a set of recommended alternative lanes based on the obtained information.

8. The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: receive, from the network entity, updated map data that includes updated lane information based on the obtained information.

9. The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: determine an importance level for the obtained information, wherein transmitting the obtained information to the network entity comprises: transmit the obtained information to the network entity based on the importance level for the obtained information exceeding an importance level threshold.

10. The apparatus of claim 9, wherein to determine the importance level for the obtained information, the at least one processor, individually or in any combination, is configured to:compute the importance level for the obtained information based on a set of criteria; and compare the computed importance level with the importance level threshold.11 . The apparatus of claim 1 , wherein the set of recommended lanes is associated with map data including a lane-level connectivity.

12. The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: transmit, to the network entity, an identification (ID) associated with the UE for verifying whether the UE is a trusted UE or a non-trusted UE.

13. A method of wireless communication at a user equipment (UE), comprising: receiving an indication of a set of recommended lanes for a destination; detecting a deviation from at least one lane in the set of recommended lanes; obtaining, via at least one sensor, information associated with the at least one lane; and transmitting the obtained information to a network entity.

14. The method of claim 13, wherein obtaining the information associated with the at least one lane comprises: capturing, via at least one camera, a set of images for the at least one lane; and identifying at least one incident from the set of images.

15. The method of claim 13, wherein the information associated with the at least one lane includes one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance associated with the set of recommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, ora description of the incident.

16. The method of claim 13, further comprising: receiving, from the network entity, updated map data that includes updated lane information based on the obtained information.

17. The method of claim 13, further comprising: determining an importance level for the obtained information, wherein transmitting the obtained information to the network entity comprises: transmitting the obtained information to the network entity based on the importance level for the obtained information exceeding an importance level threshold.

18. An apparatus for wireless communication at a network entity, comprising: at least one memory; and at least one processor coupled to the at least one memory, the at least one processor, individually or in any combination, is configured to: transmit, to a first user equipment (UE), an indication of a set of recommended lanes for a destination; receive, from the first UE, information associated with at least one lane in the set of recommended lanes; update a lane status in map data based on the received information; and transmit at least one of a portion of the information, a second indication of a set of recommended alternative lanes, or the map data with the updated lane status.

19. The apparatus of claim 18, wherein the information associated with the at least one lane includes one or more of: an incident observed in the at least one lane, a timestamp of the incident, a location of the incident, inaccessibility information for at least one other lane, an entrance associated with the set of recommended lanes, or an exit associated with the set of recommended lanes, an inaccessible portion of the at least one lane, ora description of the incident.

20. The apparatus of claim 18, wherein the at least one processor, individually or in any combination, is further configured to: compute the set of recommended alternative lanes based on the received information.21 . The apparatus of claim 20, wherein the at least one processor, individually or in any combination, is further configured to: receive, from the first UE, a third indication of a set of substituted lanes used by the first UE or a vehicle associated with the first UE, wherein the computation of the set of recommended alternative lanes is further based on the set of substituted lanes used by the first UE.

22. The apparatus of claim 18, wherein the at least one processor, individually or in any combination, is further configured to: transmit, to at least one second UE, a request to confirm the portion of the information based on a location of the at least one second UE.

23. The apparatus of claim 18, wherein the at least one processor, individually or in any combination, is further configured to: identify that an incident associated with the at least one lane is temporary; estimate a time for the incident to be resolved; and transmit, to at least one second UE, the estimated time or a request to report a status of the incident based on the estimated time.

24. The apparatus of claim 18, wherein the received information includes an identification (ID) associated with the first UE, wherein the at least one processor, individually or in any combination, is further configured to: identify whether the first UE is a trusted UE or a non-trusted UE based on the ID associated with the first UE; andreceive, from another set of UEs, additional information related to the received information prior to updating the lane status in the map data based on the received information if the first UE is identified to be the non-trusted UE.

25. The apparatus of claim 18, wherein the at least one processor, individually or in any combination, is further configured to: receive a set of scheduled events, wherein the lane status in the map data is updated further based on the set of scheduled events.

26. The apparatus of claim 18, wherein the map data includes a lane-level connectivity.

27. The apparatus of claim 18, wherein to transmit at least one of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status, the at least one processor, individually or in any combination, is configured to: transmit, to at least one second UE, at least one of the portion of the information, the second indication of the set of recommended alternative lanes, or the map data with the updated lane status, or transmit, to the first UE, the second indication ofthe set of recommend alternative lanes or the map data with the updated lane status.

28. A method of wireless communication at a network entity, comprising: transmitting, to a firstuser equipment (UE), an indication of a set of recommended lanes for a destination; receiving, from the first UE, information associated with at least one lane in the set of recommended lanes; updating a lane status in map data based on the received information; and transmitting at least one of a portion of the information, a second indication of a set of recommended alternative lanes, or the map data with the updated lane status.

29. The method of claim 28, further comprising:transmitting, to at least one second UE, a request to confirm the portion of the information based on a location of the at least one second UE.

30. The method of claim 28, further comprising: identifying that an incident associated with the at least one lane is temporary; estimating a time for the incident to be resolved; and transmitting, to at least one second UE, the estimated time or a request to report a status of the incident based on the estimated time.

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