WO2018106467A1 - Technique de positionnement v2x (vehicle-to-everything) - Google Patents

Technique de positionnement v2x (vehicle-to-everything) Download PDF

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Publication number
WO2018106467A1
WO2018106467A1 PCT/US2017/063307 US2017063307W WO2018106467A1 WO 2018106467 A1 WO2018106467 A1 WO 2018106467A1 US 2017063307 W US2017063307 W US 2017063307W WO 2018106467 A1 WO2018106467 A1 WO 2018106467A1
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WIPO (PCT)
Prior art keywords
message
tof
information
toa
measured
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PCT/US2017/063307
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English (en)
Inventor
Elad Eyal
Alexander Sirotkin
Alexey Khoryaev
Benny Abramovsky
Sergey Sosnin
Pavel DYAKOV
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Intel IP Corporation
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Publication of WO2018106467A1 publication Critical patent/WO2018106467A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/08—Systems for determining distance or velocity not using reflection or reradiation using radio waves using synchronised clocks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Definitions

  • V2X vehicle-to-everything
  • V2X or enhanced V2X (eV2X) applications/services may require accurate and reliable V2X positioning in order to operate sufficiently.
  • Typical requirements for V2X/eV2X applications/services may include relative lateral positioning accuracy of 0.1 meters (m) and a relative longitude positioning accuracy of 0.5m or less. These requirements cannot be met with current positioning technologies, such as using global navigation satellite system based positioning, LTE Positioning Protocol, or the like.
  • FIG. IB illustrates an example arrangement in which vehicle-to-everything (V2X) communications may take place
  • FIG. 3 illustrates example components of a device, in accordance with various embodiments
  • Figure 5 depicts a block diagram illustrating components, according to some example embodiments, able to read instructions from a machine-readable or computer- readable medium)for example, a non-transitory machine-readable storage medium( and perform any one or more of the methodologies discussed herein;
  • FIG. 6 is an illustration of a control plane protocol stack in accordance with various embodiments.
  • FIG. 7A is an illustration of a user plane protocol stack in accordance with various embodiments.
  • FIG. 8 illustrates an example bidirectional positioning process in accordance with various embodiments
  • FIG. 9 illustrates an example unidirectional positioning process in accordance with various embodiments.
  • FIGS. 11-14 illustrate various positioning processes in accordance with various embodiments.
  • Embodiments discussed herein relate to mechanisms that support sidelink vehicle- to-everything (V2X) communications, and in particular, mechanisms that provide accurate and reliable V2X positioning.
  • the V2X positioning mechanisms may allow vehicle user equipment (vUEs) to determine a relative position, which may include measuring a distance between a vUE and another proximate device.
  • the other proximate device may be another vUE, a base station (e.g., a evolved NodeB (eNB), next Generation NodeB (gNB), etc.), or the like.
  • eNB evolved NodeB
  • gNB next Generation NodeB
  • Each of the aforementioned entities may be a mobile or fixed road-side unit (RSUs), for example, a UE-type RSU or an eNB-type RSU.
  • the V2X positioning mechanisms may include using time-of-flight (ToF) technology to determine a relative position.
  • TRF time-of-flight
  • Such embodiments may include bidirectional distance measurements, unidirectional distance measurements, non-synchronized downlink only positioning, and positioning enhancements using radio measurements.
  • Embodiments may also include protocol enhancements that support the V2X positioning mechanisms. Other embodiments may be described and/or claimed.
  • Example embodiments may be described as a process depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations may be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. A process may be terminated when its operations are completed, but may also have additional steps not included in the figure(s). A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, and the like. When a process corresponds to a function, its termination may correspond to a retum of the function to the calling function and/or the main function.
  • Example embodiments may be described in the general context of computer- executable instructions, such as program code, software modules, and/or functional processes, being executed by one or more of the aforementioned circuitry.
  • the program code, software modules, and/or functional processes may include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular data types.
  • the program code, software modules, and/or functional processes discussed herein may be implemented using existing hardware in existing communication networks. For example, program code, software modules, and/or functional processes discussed herein may be implemented using existing hardware at existing network elements or control nodes.
  • circuitry refers to, is part of, or includes hardware components such as an electronic circuit, a logic circuit, a processor)shared, dedicated, or group( and/ or memory)shared, dedicated, or group( ,an Application Specific Integrated Circuit (ASIC), a field-programmable device (FPD), (for example, a field-programmable gate array (FPGA), a programmable logic device (PLD), a complex PLD (CPLD), a high- capacity PLD (HCPLD), a structured ASIC, or a programmable System on Chip (SoC)), etc., that are configured to provide the described functionality.
  • the circuitry may execute one or more software or firmware programs to provide at least some of the described functionality .
  • processor circuitry may refer to, is part of, or includes circuitry capable of sequentially and automatically carrying out a sequence of arithmetic or logical operations; recording, storing, and/or transferring digital data.
  • processor circuitry may refer to one or more application processors, one or more baseband processors, a physical central processing unit (CPU), a single-core processor, a dual-core processor, a triple-core processor, a quad-core processor, and/or any other device capable of executing or otherwise operating computer-executable instructions, such as program code, software modules, and/or functional processes.
  • interface circuitry may refer to, is part of, or includes circuitry providing for the exchange of information between two or more components or devices.
  • interface circuitry may refer to one or more hardware interfaces (for example, buses, input/output (I/O) interfaces, peripheral component interfaces, network interface cards, and/or the like).
  • the term “user equipment” or “UE” may refer to a device with radio communication capabilities and may describe a remote user of network resources in a communications network.
  • the term “user equipment” or “UE” may be considered synonymous to, and may hereafter be occasionally referred to as client, mobile, mobile device, mobile terminal, user terminal, mobile unit, mobile station, mobile user, subscriber, user, remote station, access agent, user agent, receiver, radio equipment, reconfigurable radio equipment, reconfigurable mobile device, etc.
  • UE may include any type of wireless/wired device such as consumer electronics devices, cellular phones, smartphones, feature phones, tablet computers, wearable computer devices, personal digital assistants (PDAs), desktop computers, laptop computers, in-vehicle infotainment (IVI), in-car entertainment (ICE) devices, an Instrument Cluster (IC), head-up display (HUD) devices, onboard diagnostic (OBD) devices, dashtop mobile equipment (DME), mobile data terminals (MDTs), Electronic Engine Management System (EEMS), electronic/engine control units (ECUs), electronic/engine control modules (ECMs), embedded systems, microcontrollers, control modules, engine management systems (EMS), networked or “smart” appliances, machine-type communications (MTC) devices, machine- to-machine (M2M), Internet of Things (IoT) devices, and/or the like.
  • PDAs personal digital assistants
  • IoT Internet of Things
  • network element may be considered synonymous to and/or referred to as a networked computer, networking hardware, network equipment, router, switch, hub, bridge, radio network controller, radio access network device, gateway, server, and/or any other like device.
  • network element may describe a physical computing device of a wired or wireless communication network and be configured to host a virtual machine.
  • network element may describe equipment that provides radio baseband functions for data and/or voice connectivity between a network and one or more users.
  • network element may be considered synonymous to and/or referred to as a "base station.”
  • base station may be considered synonymous to and/or referred to as a node B, an enhanced or evolved node B (eNB), next generation nodeB (gNB), a roadside unit (RSU), base transceiver station (BTS), access point, etc., and may describe equipment that provides the radio baseband functions for data and/or voice connectivity between a network and one or more users.
  • RSU may refer to any transportation infrastructure entity implemented in an gNB/eNB or a stationary (or relatively stationary) UE.
  • An RSU implemented in a UE may be referred to as a "UE-type RSU” and an RSU implemented in an eNB may be referred to as an "eNB- type RSU.”
  • channel may refer to any transmission medium, either tangible or intangible, which is used to communicate data or a data stream.
  • channel may be synonymous with and/or equivalent to "communications channel,” “data communications channel,” “transmission channel,” “data transmission channel,” “access channel,” “data access channel,” “link,” “data link,” “carrier,” “radiofrequency carrier,” and/or any other like term denoting a pathway or medium through which data is communicated.
  • link may refer to a connection between two devices through a Radio Access Technology (RAT) for the purpose of transmitting and receiving information.
  • RAT Radio Access Technology
  • FIG. 1 A illustrates an architecture of a system 100 of a network, in accordance with some embodiments.
  • LTE Long Term Evolution
  • 3GPP 3rd Generation Partnership Project
  • TS Technical specifications
  • the example embodiments are not limited in this regard and the described embodiments may apply to other networks that benefit from the principles described herein, such as Fifth Generation (5G) or New Radio (NR) systems, and the like.
  • 5G Fifth Generation
  • NR New Radio
  • the system 100 is shown to include user equipment (UE) 101 and a UE 102.
  • UE user equipment
  • UE 102 user equipment
  • UEs 101 and 102 are illustrated as smartphones (for example, handheld touchscreen mobile computing devices connectable to one or more cellular networks) but may also comprise any mobile or non-mobile computing device, such as Personal Data Assistants (PDAs), pagers, laptop computers, desktop computers, wireless handsets, or any computing device including a wireless communications interface.
  • PDAs Personal Data Assistants
  • pagers pagers
  • laptop computers desktop computers
  • wireless handsets or any computing device including a wireless communications interface.
  • any of the UEs 101 and 102 can comprise an IoT UE, which can comprise a network access layer designed for low-power IoT applications utilizing short-lived UE connections.
  • An IoT UE can utilize technologies such as M2M or MTC for exchanging data with an MTC server or device via a public land mobile network (PLMN), Proximity-Based Service (ProSe) or device-to-device (D2D) communication, sensor networks, or IoT networks.
  • PLMN public land mobile network
  • ProSe Proximity-Based Service
  • D2D device-to-device
  • the M2M or MTC exchange of data may be a machine-initiated exchange of data.
  • An IoT network describes interconnecting IoT UEs, which may include uniquely identifiable embedded computing devices (within the Internet infrastructure), with short-lived connections.
  • the IoT UEs may execute background applications (for example, keep-alive messages, status updates, etc.) to facilitate the connections of the IoT network.
  • the UEs 101 and 102 may be implemented as V2V or V2X communications systems, where the UEs 101 and 102 are employed or embedded in respective vehicles. Where UEs 101 or 102 are employed in a vehicle, the UEs 101 and 102 may be referred to as vehicle UEs (vUEs) 101 and 102, respectively.
  • vUEs vehicle UEs
  • the UEs 101 and 102 may be configured to connect, for example, communicatively couple, with a radio access network (RAN)— in this embodiment, an Evolved Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (E- UTRAN) 110.
  • RAN radio access network
  • UMTS Evolved Universal Mobile Telecommunications System
  • E- UTRAN Evolved Universal Mobile Telecommunications System
  • the UEs 101 and 102 utilize connections 103 and 104, respectively, each of which comprises a physical communications interface or layer (discussed in further detail below); in this example, the connections 103 and 104 are illustrated as an air interface to enable communicative coupling, and can be consistent with cellular communications protocols, such as a Global System for Mobile Communications (GSM) protocol, a code- division multiple access (CDMA) network protocol, a Push-to-Talk (PTT) protocol, a PTT over Cellular (POC) protocol, a Universal Mobile Telecommunications System (UMTS) protocol, a 3 GPP Long Term Evolution (LTE) protocol, a fifth generation (5G) protocol, a New Radio (NR) protocol, and/or any of the other communications protocols discussed herein.
  • GSM Global System for Mobile Communications
  • CDMA code- division multiple access
  • PTT Push-to-Talk
  • POC PTT over Cellular
  • UMTS Universal Mobile Telecommunications System
  • LTE Long Term Evolution
  • 5G fifth generation
  • NR New
  • the UEs 101 and 102 may directly exchange communication data via a ProSe interface 105.
  • the ProSe interface 105 may alternatively be referred to as a sidelink (SL) interface 105 and may comprise one or more logical channels, including but not limited to a Physical Sidelink Control Channel (PSCCH), a Physical Sidelink Shared Channel (PSSCH), a Physical Sidelink Discovery Channel (PSDCH), and a Physical Sidelink Broadcast Channel (PSBCH).
  • PSCCH Physical Sidelink Control Channel
  • PSSCH Physical Sidelink Shared Channel
  • PSDCH Physical Sidelink Discovery Channel
  • PSBCH Physical Sidelink Broadcast Channel
  • the SL interface 105 may also include a higher layer PC5 interface, which may be a reference point between ProSe-enabled UEs 101 and 102 and may be used for exchanging control and user plane communications for ProSe Direct Discovery, ProSe Direct Communication, and ProSe UE-to-Network Relaying.
  • the SL interface 105 may be used in vehicular applications and communications technologies, which are often referred to as V2X systems.
  • V2X is a mode of communication where UEs (for example, UEs 101 and 102) communicate with each other directly over the PC5/SL interface 105 and can take place when the UEs 101/102 are served by RAN nodes 111/112 or when one or more UEs are outside a coverage area of the RAN 110.
  • V2X may be classified into four different types: vehicle-to- vehicle (V2V), vehicle- to-infrastructure (V2I), vehicle-to-network (V2N), and vehicle-to- pedestrian (V2P). These V2X applications can use "co-operative awareness" to provide more intelligent services for end-users.
  • vUEs 101/102, RAN nodes 111/112, application servers, and pedestrian UEs may collect knowledge of their local environment (for example, information received from other vehicles or sensor equipment in proximity) to process and share that knowledge in order to provide more intelligent services, such as cooperative collision warning, autonomous driving, and the like.
  • the UEs 101 and 102 may be implemented/employed as Vehicle Embedded Communications Systems (VECS) or VUEs.
  • VECS Vehicle Embedded Communications Systems
  • FIG. IB An example of V2X communications taking place over the SL interface 105 is shown by FIG. IB.
  • FIG. IB which depicts an example arrangement 100B of vUEs 101/102 travelling along a road and where V2X communications may take place, is shown.
  • the vUEs 101/102 may transmit data to one or many other vUEs 101/102 without involvement of the RAN node(s) 111/112.
  • the data may be transmitted over, for example, the PSCCH and/or the PSSCH.
  • the PSCCH may be used to convey Sidelink Control Information (SCI), which carries information that a receiving UE 102 requires in order to be able to receive and demodulate application/user data to be received over the PSSCH.
  • SCI Sidelink Control Information
  • the SCI may include sidelink scheduling information, such as resource block (RB) assignment(s); modulation and coding scheme (MCS); Group Destination identifier (ID), and ProSe Per-Packet Priority (PPPP) for V2X SL communications.
  • RB resource block
  • MCS modulation and coding scheme
  • ID Group Destination identifier
  • PPPP ProSe Per-Packet Priority
  • PSCCH and PSSCH transmissions may be transmitted in the same subframe(s).
  • Resource allocation for V2X SL transmissions may be scheduled by a network element (for example, a RAN node 111/112) or the vUEs 101/102 may perform autonomous resource selection.
  • the particular resource allocation mode (for example, scheduled or autonomous selection) employed by the VUE 101 may be configured using higher layer signaling (for example, using Radio Resource Control (RRC) signaling).
  • RRC Radio Resource Control
  • V2X and/or enhanced V2X (eV2X) applications may be defined for various V2X and/or enhanced V2X (eV2X) applications to ensure sufficient end-to-end performance, which is defined as communications sent by source and communication received by target.
  • eV2X enhanced V2X
  • These requirements may allow vUEs 101/102 to exchange status information, such as position, speed, heading, imminent warning messages, sensor data, application data, video data, etc. with other nearby vehicles, infrastructure nodes, and/or pedestrians.
  • V2X applications may require a relative lateral position accuracy of 0.1 meters (m) and a relative longitudinal position accuracy of less than 0.5m for vUEs 101/102 supporting V2X applications in proximity.
  • current positioning technologies for example, global navigation satellite system (GNSS), LTE Positioning Protocol (LPP), or the like
  • GNSS global navigation satellite system
  • LTP LTE Positioning Protocol
  • Embodiments herein provide mechanisms for vUEs (e.g., vUEs 101/102) to measure relative distances between itself and other proximate entities.
  • the other entities may be RAN nodes 111/112 (for example, using Uu interface signaling) or an enhanced User Equipment (“eUE") (for example, using PC5/SL interface signaling).
  • eUE enhanced User Equipment
  • Each of the aforementioned entities may be either a vehicle (vUE 101/102) or an RSU.
  • the RSU may be a mobile RSU (for example, a "UE-type RSU," such as a pedestrian (not shown) or the like) or a fixed RSU (for example, an "eNB-type RSU" such as one or more of the RAN nodes 111/112 or the like).
  • Embodiments herein may utilize time-of-flight (ToF) technology for position determination.
  • This may include bidirectional distance measurements; unidirectional distance measurements; non-synchronized downlink only positioning; positioning enhancement using radio measurements. Examples of such embodiments are shown and described with respect to FIGS 8-14.
  • arrangement 100B also includes GNSS nodes 150, which may be satellites that provide autonomous geo-spatial positioning services.
  • the GNSS nodes 150 may carry relatively stable atomic clocks that are synchronized with one another and with one or more ground clocks.
  • the GNSS nodes 150 may be part of the United States' Global Positioning System (GPS), Russia's Global Navigation System (GLONASS), the European Union's Galileo system, China's BeiDou Navigation Satellite System, a regional navigation system or GNSS augmentation system (e.g., Navigation with Indian Constellation (NAVIC), Japan's Quasi-Zenith Satellite System (QZSS), France's Doppler Orbitography and Radio-positioning Integrated by Satellite (DORIS), etc.), or the like.
  • GPS Global Positioning System
  • GLONASS Global Navigation System
  • Galileo system China's BeiDou Navigation Satellite System
  • a regional navigation system or GNSS augmentation system e.g., Navigation with Indian Constellation (
  • Each of the GNSS nodes 150 may provide positioning services by continuously transmitting or broadcasting GNSS signals 155 along a line of sight, which may be used by GNSS receivers (e.g., positioning circuitry implemented by vUEs 101/102) to determine their GNSS position.
  • the GNSS signals 155 may include a pseudorandom code (for example, a sequence of ones and zeros) that is known to the GNSS receiver and a message that includes a time of transmission (ToT) of a code epoch (for example, a defined point in the pseudorandom code sequence) and the GNSS node 150 position at the ToT.
  • a pseudorandom code for example, a sequence of ones and zeros
  • ToT time of transmission
  • code epoch for example, a defined point in the pseudorandom code sequence
  • the GNSS receivers may monitor/measure the GNSS signals 155 transmitted/broadcasted by a plurality of GNSS nodes 150 (e.g., four or more satellites) and solve various equations to determine a corresponding GNSS position (e.g., a spatial coordinate).
  • the GNSS receivers also implement clocks that are typically less stable and less precise than the atomic clocks of the GNSS nodes 150, and the GNSS receivers may use the measured GNSS signals 155 to determine the GNSS receivers' deviation from true time (for example, an offset of the GNSS receiver clock relative to the GNSS node 150 time).
  • the GNSS receivers may measure the time of arrivals (To As) of the GNSS signals 155 from the plurality of GNSS nodes 150 according to its own clock.
  • the GNSS receivers may determine ToF values for each received GNSS signal 155 from the ToAs and the ToTs, and then may determine, from the ToFs, a three-dimensional (3D) position and clock deviation.
  • the 3D position may then be converted into a latitude, longitude and altitude.
  • the vUEs 101/102 may broadcast or otherwise communicate their calculated position based on the measured GNSS signals 155 and/or other measurements; broadcast or otherwise communicate some GNSS measurements/readings (e.g., GNSS node 150 pseudorandom code epochs, ranges, etc. and visibility) ;broadcast or otherwise communicate position data only upon a specific targeted request broadcast or otherwise communicate their kinematic or other like vehicle data, which may be used by recipient to better estimate a relative positioning.
  • some GNSS measurements/readings e.g., GNSS node 150 pseudorandom code epochs, ranges, etc. and visibility
  • GNSS used for vehicle positioning may have various limitations that may not be sufficient for meeting V2X application/service requirements. For example, in some terrain types (e.g., dense urban area, tunnels, dense forests, and the like) GNSS positioning may not be available or the accuracy of GNSS mechanisms may be reduced. Furthermore, the positioning-related error between nearby vehicles is not necessarily consistent, which may further reduce relative position accuracy. For many V2X use cases, relative accuracy may be more important than absolute position. In various embodiments, the vUEs 101/102 may be capable of measuring/estimating/determining distances between themselves (e.g., as described in this disclosure), and the vUEs 101/102 may use their determined GNSS position to improve relative position accuracy.
  • the vUEs 101/102 may also use information from various internal onboard systems including sensors, electronic control units (ECUs), and electro-mechanical components (EMCs) to improve the relative position accuracy.
  • ECUs electronice control units
  • EMCs electro-mechanical components
  • the vUEs 101/102 may be able to share their GNSS position or measurements and/or GNSS/sensor/ECU/EMC data, which can be used for improving relative position accuracy. This information may be used for improving absolute and relative error in positioning, providing increased estimation accuracy, and increased system reliability and robustness (for example, due to increased availability by GNSS, RAN 110, etc.) without adding significant costs in terms of signaling or computational overhead and/or infrastructure deployment.
  • Various message formats may be used to communicate the positioning information discussed herein among the vUEs 101/102.
  • different message formats may be used depending on the type of devices involved in the communication. For example, a first message format may be used for device-to-device or vUE-to-vUE communication and a second message format may be used for vUE-to-RAN node communication.
  • the vUEs 101/102 may broadcast positioning information using upper layers, for example, application layer signaling/messages.
  • One example of such an upper layer protocol that can be used for conveying positioning information may be Cooperative Awareness Messages (CAMs) as defined by European Telecommunications Standards Institute (ETSI) European Standard, telecommunications series (EN) 302 637-2 version 1.3.2 (2014-11).
  • CAMs Cooperative Awareness Messages
  • ETSI European Telecommunications Standards Institute
  • EN telecommunications series
  • the positioning information may be located in a basic container of a CAM and the. sensor/ECU/EMC data may be included in a high frequency container and/or a low frequency container of the CAM. These messages may be conveyed over an air interface.
  • the vUEs 101/102 may broadcast positioning information using PC5 signaling messages, which may be exchanged between two ProSe-enabled UEs 101/102 over the PC5 interface 105.
  • the PC5 signaling messages may be Layer 3 (L3) messages, such as those defined by 3GPP technical specification (TS) 24.007 version 14.0.0 (2017-03).
  • the vUEs 101/102 may broadcast positioning information using lower layers, such as by using Media Access Control (MAC) protocol data units (PDUs), which may include a MAC header, zero or more MAC Service Data Units (MAC SDU), zero or more MAC control elements, and optionally padding.
  • MAC Media Access Control
  • PDUs Media Access Control protocol data units
  • MAC SDU MAC Service Data Units
  • CE new MAC Control Elements
  • FIG. 1C shows an example Bidirectinal Ranging MAC CE lOOC in accordance with various embodiments.
  • the Bidirectinal Ranging MAC CE lOOC may have a fixed size and may include two fields as shown by FIG. 1C.
  • the two fields may include a ToF information 1 field occupying octets 1 to 4 (for example, 32bits) and a ToF information 2 field occupying octets 5 to 8 (for example, 32bits).
  • These fields may carry departure or arrival time indications, such as ToDs, ToAs, ToFs, and/or other like information as discussed herein.
  • the ToF information may be used by various devices to determing position information. Such embodiments are discussed in more detail with respect to FIGS. 8-14.
  • the Bidirectinal Ranging MAC CE lOOC may be included in a MAC PDU to be transmitted over a Sidelink Shared Channel (SL-SCH).
  • MAC PDUs may include a header (not shown), and the MAC PDU header may include a Logical Channel ID (LCID) field.
  • the LCID field may include a value that uniquely identifies a logical channel instance within the scope of one Source Layer-2 ID and Destination Layer-2 ID pair of a corresponding MAC SDU or padding.
  • the LCID field may include a value indicating that the MAC CE is a Bidirectional Ranging MAC CE. Example LCID values for such embodiments is shown by table 1.
  • Table 1 example values of LCID for SL-SCH
  • the Bidirectinal Ranging MAC CE lOOC is identified by MAC PDU subheader LCID field with an LCID value of '01011 '. Some other value may be used to indicate that the MAC CE is a Bidirectinal Ranging MAC CE lOOC in other implementations.
  • connection 107 can comprise a local wireless connection, such as a connection consistent with any IEEE 202A.11 protocol, wherein the AP 106 would comprise a wireless fidelity (WiFi®) router.
  • WiFi® wireless fidelity
  • the AP 106 is shown to be connected to the Internet without connecting to the core network of the wireless system (described in further detail below).
  • the Radio Access Network (RAN) 110 can include one or more access nodes that enable the connections 103 and 104.
  • These access nodes (ANs) can be referred to as base stations (BSs), NodeBs, evolved NodeBs (eNBs), next Generation NodeBs (gNBs), RAN nodes, Road Side Units (RSUs), and so forth, and can comprise ground stations (for example, terrestrial access points) or satellite stations providing coverage within a geographic area (for example, a cell).
  • BSs base stations
  • eNBs evolved NodeBs
  • gNBs next Generation NodeBs
  • RSUs Road Side Units
  • the RAN 110 may include one or more RAN nodes for providing macrocells, for example, macro RAN node 111, and one or more RAN nodes for providing femtocells or picocells (for example, cells having smaller coverage areas, smaller user capacity, or higher bandwidth compared to macrocells), for example, low power (LP) RAN node 112.
  • RAN nodes for providing macrocells for example, macro RAN node 111
  • femtocells or picocells for example, cells having smaller coverage areas, smaller user capacity, or higher bandwidth compared to macrocells
  • LP low power
  • any of the RAN nodes 111 and 112 can terminate the air interface protocol and can be the first point of contact for the UEs 101 and 102.
  • any of the RAN nodes 111 and 112 can fulfill various logical functions for the RAN 110 including, but not limited to, radio network controller (RNC) functions such as radio bearer management, uplink and downlink dynamic radio resource management and data packet scheduling, and mobility management.
  • RNC radio network controller
  • the RAN nodes 111 and 112 may convey control information and/or user data between each other over an X2 user plane (UP) interface.
  • the X2 UP protocol layer is using services of the transport network layer in order to allow flow control of user data packets transferred over the X2 interface.
  • the control information may be related to user data flow management of E-UTRAN Radio Access Bearer (E-RABs).
  • E-RABs E-UTRAN Radio Access Bearer
  • the UEs 101 and 102 can be configured to communicate using Orthogonal Frequency-Division Multiplexing (OFDM) communication signals with each other or with any of the RAN nodes 111 and 112 over a multicarrier communication channel in accordance various communication techniques, such as, but not limited to, an Orthogonal Frequency-Division Multiple Access (OFDMA) communication technique (for example, for downlink communications) or a Single Carrier Frequency Division Multiple Access (SC-FDMA) communication technique (for example, for uplink and ProSe or sidelink communications), although the scope of the embodiments is not limited in this respect.
  • OFDM signals can comprise a plurality of orthogonal subcarriers.
  • a downlink resource grid can be used for downlink transmissions from any of the RAN nodes 111 and 112 to the UEs 101 and 102, while uplink transmissions can utilize similar techniques.
  • the grid can be a time-frequency grid, called a resource grid or time-frequency resource grid, which is the physical resource in the downlink in each slot.
  • a time-frequency plane representation is a common practice for OFDM systems, which makes it intuitive for radio resource allocation.
  • Each column and each row of the resource grid corresponds to one OFDM symbol and one OFDM subcarrier, respectively.
  • the duration of the resource grid in the time domain corresponds to one slot in a radio frame.
  • the smallest time-frequency unit in a resource grid is denoted as a resource element.
  • Each resource grid comprises a number of resource blocks, which describe the mapping of certain physical channels to resource elements.
  • Each resource block comprises a collection of resource elements; in the frequency domain, this may represent the smallest quantity of resources that currently can be allocated.
  • the physical downlink shared channel may carry user data and higher- layer signaling to the UEs 101 and 102.
  • the physical downlink control channel (PDCCH) may carry information about the transport format and resource allocations related to the PDSCH channel, among other things. It may also inform the UEs 101 and 102 about the transport format, resource allocation, and H-ARQ (Hybrid Automatic Repeat Request) information related to the uplink shared channel.
  • downlink scheduling (assigning control and shared channel resource blocks to the UE 102 within a cell) may be performed at any of the RAN nodes 111 and 112 based on channel quality information fed back from any of the UEs 101 and 102.
  • the downlink resource assignment information may be sent on the PDCCH used for (for example, assigned to) each of the UEs 101 and 102.
  • the PDCCH may use control channel elements (CCEs) to convey the control information.
  • CCEs control channel elements
  • the PDCCH complex-valued symbols may first be organized into quadruplets, which may then be permuted using a sub- block interleaver for rate matching.
  • Each PDCCH may be transmitted using one or more of these CCEs, where each CCE may correspond to nine sets of four physical resource elements known as resource element groups (REGs).
  • RAGs resource element groups
  • QPSK Quadrature Phase Shift Keying
  • the PDCCH can be transmitted using one or more CCEs, depending on the size of the downlink control information (DCI) and the channel condition.
  • DCI downlink control information
  • There can be four or more different PDCCH formats defined in LTE with different numbers of CCEs (for example, aggregation level, L l, 2, 4, or 8).
  • Some embodiments may use concepts for resource allocation for control channel information that are an e2ension of the above-described concepts.
  • some embodiments may utilize an enhanced physical downlink control channel (EPDCCH) that uses PDSCH resources for control information transmission.
  • the EPDCCH may be transmitted using one or more enhanced the control channel elements (ECCEs). Similar to above, each ECCE may correspond to nine sets of four physical resource elements known as an enhanced resource element groups (EREGs). An ECCE may have other numbers of EREGs in some situations.
  • EPCCH enhanced physical downlink control channel
  • ECCEs enhanced the control channel elements
  • each ECCE may correspond to nine sets of four physical resource elements known as an enhanced resource element groups (EREGs).
  • EREGs enhanced resource element groups
  • An ECCE may have other numbers of EREGs in some situations.
  • the RAN 110 is shown to be communicatively coupled to a core network— in this embodiment, Core Network (CN) 120 (for example, an Evolved Packet Core (EPC)) via an SI interface 113.
  • Core Network (CN) 120 for example, an Evolved Packet Core (EPC)
  • EPC Evolved Packet Core
  • SI interface 113 is split into two parts, the Sl-U interface 114, which carries traffic data between the RAN nodes 111 and 112 and the serving gateway (S-GW) 122, and the Sl-mobility management entity (MME) interface 115, which is a signaling interface between the RAN nodes 111 and 112 and MMEs 121.
  • S-GW serving gateway
  • MME Sl-mobility management entity
  • the EPC network 120 comprises the MMEs 121, the S-GW 122, the Packet Data Network (PDN) Gateway (P-GW) 123, and a home subscriber server (HSS) 124.
  • the MMEs 121 may be similar in function to the control plane of legacy Serving General Packet Radio Service (GPRS) Support Nodes (SGSN).
  • the MMEs 121 may manage mobility aspects in access such as gateway selection and tracking area list management.
  • the HSS 124 may comprise a database for network users, including subscription-related information to support the network entities' handling of communication sessions.
  • the EPC network 120 may comprise one or several HSSs 124, depending on the number of mobile subscribers, on the capacity of the equipment, on the organization of the network, etc.
  • the HSS 124 can provide support for routing/roaming, authentication, authorization, naming/addressing resolution, location dependencies, etc.
  • the S-GW 122 may terminate the SI interface 113 towards the RAN 110, and routes data packets between the RAN 110 and the EPC network 120.
  • the S-GW 122 may be a local mobility anchor point for inter-RAN node handovers and also may provide an anchor for inter-3GPP mobility. Other responsibilities may include lawful intercept, charging, and some policy enforcement.
  • the P-GW 123 may terminate an SGi interface toward a PDN.
  • the P-GW 123 may route data packets between the EPC network 123 and e2ernal networks such as a network including the application server 130 (alternatively referred to as application function (AF)) via an Internet Protocol (IP) interface 125.
  • the application server 130 may be an element offering applications that use IP bearer resources with the core network (for example, UMTS Packet Services (PS) domain, LTE PS data services, etc.).
  • PS UMTS Packet Services
  • the P-GW 123 is shown to be communicatively coupled to an application server 130 via an IP communications interface 125.
  • the application server 130 can also be configured to support one or more communication services (for example, Voice-over- Internet Protocol (VoIP) sessions, PTT sessions, group communication sessions, social networking services, etc.) for the UEs 101 and 102 via the EPC network 120.
  • VoIP Voice-over- Internet Protocol
  • the P-GW 123 may further be a node for policy enforcement and charging data collection.
  • Policy and Charging Enforcement Function (PCRF) 126 is the policy and charging control element of the EPC network 120.
  • PCRF Policy and Charging Enforcement Function
  • HPLMN Home Public Land Mobile Network
  • IP-CAN Internet Protocol Connectivity Access Network
  • HPLMN Home Public Land Mobile Network
  • V-PCRF Visited PCRF
  • VPLMN Visited Public Land Mobile Network
  • the PCRF 126 may be communicatively coupled to the application server 130 via the P-GW 123.
  • the application server 130 may signal the PCRF 126 to indicate a new service flow and select the appropriate Quality of Service (QoS) and charging parameters.
  • the PCRF 126 may provision this rule into a Policy and Charging Enforcement Function (PCEF) (not shown) with the appropriate traffic flow template (TFT) and QoS class of identifier (QCI), which commences the QoS and charging as specified by the application server 130.
  • PCEF Policy and Charging Enforcement Function
  • TFT traffic flow template
  • QCI QoS class of identifier
  • FIG. 2 illustrates an example of infrastructure equipment 200 in accordance with various embodiments.
  • the infrastructure equipment 200 may be implemented as a base station, radio head, RAN node, etc., such as the RAN nodes 111 and 112, and/or AP 106 shown and described previously.
  • the infrastructure equipment 200 may include one or more of application circuitry 205, baseband circuitry 210, one or more radio front end modules 215, memory 220, power management circuitry 225, power tee circuitry 230, network controller 235, network interface connector 240, satellite positioning circuitry 245, and user interface 250.
  • Application circuitry 205 may include one or more central processing unit (CPU) cores and one or more of cache memory, low drop-out voltage regulators (LDOs), interrupt controllers, serial interfaces such as SPI, I2C or universal programmable serial interface module, real time clock (RTC), timer-counters including interval and watchdog timers, general purpose input/output (I/O or 10), memory card controllers such as Secure Digital (SD/)MultiMediaCard (MMC) or similar, Universal Serial Bus (USB) interfaces, Mobile Industry Processor Interface (MIPI) interfaces and Joint Test Access Group (JTAG) test access ports.
  • CPU central processing unit
  • LDOs low drop-out voltage regulators
  • interrupt controllers serial interfaces such as SPI, I2C or universal programmable serial interface module
  • RTC real time clock
  • timer-counters including interval and watchdog timers
  • I/O or 10 general purpose input/output
  • memory card controllers such as Secure Digital (SD/)MultiMediaCard (MMC
  • user interface 250 may include one or more of physical or virtual buttons, such as a reset button, one or more indicators such as light emitting diodes (LEDs) and a display screen.
  • the application circuitry 205 may include one or more Intel Pentium®, Core®, or Xeon® processor(s); Advanced Micro Devices (AMD) Ryzen® processor(s), Accelerated Processing Units (APUs), or Epyc® processors; and/or the like.
  • the baseband circuitry 210 may be implemented, for example, as a solder-down substrate including one or more integrated circuits, a single packaged integrated circuit soldered to a main circuit board or a multi-chip module containing two or more integrated circuits.
  • baseband circuitry 210 may comprise one or more digital baseband systems, which may be coupled via an interconnect subsystem to a CPU subsystem, an audio subsystem, and an interface subsystem.
  • the digital baseband subsystems may also be coupled to a digital baseband interface and a mixed-signal baseband sub-system via another interconnect subsystem.
  • Each of the interconnect subsystems may include a bus system, point-to-point connections, network-on-chip (NOC) structures, and/or some other suitable bus or interconnect technology, such as those discussed herein.
  • the audio sub-system may include digital signal processing circuitry, buffer memory, program memory, speech processing accelerator circuitry, data converter circuitry such as analog-to- digital and digital-to-analog converter circuitry, analog circuitry including one or more of amplifiers and filters, and/or other like components.
  • baseband circuitry 210 may include protocol processing circuitry with one or more instances of control circuitry (not shown) to provide control functions for the digital baseband circuitry and/or radio frequency circuitry (for example, the radio front end modules 215).
  • the radio front end modules (RFEMs) 215 may comprise a millimeter wave RFEM and one or more sub-millimeter wave radio frequency integrated circuits (RFICs).
  • the one or more sub-millimeter wave RFICs may be physically separated from the millimeter wave RFEM.
  • the RFICs may include connections to one or more antennas or antenna arrays, and the RFEM may be connected to multiple antennas.
  • both millimeter wave and sub-millimeter wave radio functions may be implemented in the same physical radio front end module 215.
  • the RFEMs 215 may incorporate both millimeter wave antennas and sub-millimeter wave antennas.
  • the memory circuitry 220 may include one or more of volatile memory including dynamic random access memory (DRAM) and/or synchronous dynamic random access memory (SDRAM), and nonvolatile memory (NVM) including high-speed electrically erasable memory (commonly referred to as Flash memory), phase change random access memory (PRAM), magnetoresistive random access memory (MRAM) and/or a three- dimensional crosspoint memory.
  • volatile memory including dynamic random access memory (DRAM) and/or synchronous dynamic random access memory (SDRAM), and nonvolatile memory (NVM) including high-speed electrically erasable memory (commonly referred to as Flash memory), phase change random access memory (PRAM), magnetoresistive random access memory (MRAM) and/or a three- dimensional crosspoint memory.
  • Memory circuitry 220 may be implemented as one or more of solder down packaged integrated circuits, socketed memory modules and plug-in memory cards.
  • the power management integrated circuitry (PMIC) 225 may include voltage regulators, surge protectors, power alarm detection circuitry, and one or more backup power sources such as a battery or capacitor.
  • the power alarm detection circuitry may detect one or more of brown out (under-voltage) and surge (over-voltage) conditions.
  • the power tee circuitry 230 may provide for electrical power drawn from a network cable to provide both power supply and data connectivity to the infrastructure equipment 200 using a single cable.
  • the network controller circuitry 235 may provide connectivity to a network using a standard network interface protocol such as Ethernet, Ethernet over GRE Tunnels, Ethernet over Multiprotocol Label Switching (MPLS), or some other suitable protocol.
  • Network connectivity may be provided to/from the infrastructure equipment 200 using a physical connection, which may be electrical (commonly referred to as a "copper interconnect"), optical, or wireless.
  • the positioning circuitry 245, which may include circuitry to receive and decode signals transmitted by one or more navigation satellite constellations, such as a plurality of GNSS nodes 150 of a GNSS.
  • navigation satellite constellations may include GPS, GLONASS, Galileo, BeiDou, and/or other GNSS discussed herein.
  • the positioning circuitry 245 may provide data to application circuitry 205 which may include one or more of position data or time data. Application circuitry 205 may use the time data to synchronize operations with other radio base stations (for example, RAN nodes 111/112).
  • Application circuitry 205 and/or baseband circuitry 210 may use the time data to synchronize with various devices, such as vUEs 101/102, UE-type RSUs, RAN nodes 111/112, and/or eNB-type RSUs, for the positioning determination mechanisms of the various embodiments discussed herein.
  • the application circuitry 205 and/or the baseband circuitry 210 may use the position data to enhance the positioning information and/or relative distance determined according to the various embodiments discussed herein.
  • FIG. 3 illustrates example components of a device 300 in accordance with some embodiments.
  • the electronic device 300 may be implemented in or by UEs 101/02 of FIGS. 1A-1B, and/or.
  • the device 300 may include application circuitry 302, baseband circuitry 304, Radio Frequency (RF) circuitry 306, front- end module (FEM) circuitry 308, one or more antennas 310, and power management circuitry (PMC) 312 coupled together at least as shown.
  • RF Radio Frequency
  • FEM front- end module
  • PMC power management circuitry
  • the device 300 may include additional elements such as, for example, network interface cards, display, camera, sensor)s( ,or input/output )I/0 (interface .
  • additional elements such as, for example, network interface cards, display, camera, sensor)s( ,or input/output )I/0 (interface .
  • the components described below may be included in more than one device (for example, said circuitries may be separately included in more than one device for Cloud-RAN (C-RAN) implementations).
  • C-RAN Cloud-RAN
  • the components may communicate over a suitable bus technology, such as industry standard architecture (ISA); extended ISA (EISA); peripheral component interconnect (PCI); peripheral component interconnect extended (PCIx); PCI express (PCIe); a proprietary bus, for example, used in a SoC based system; an I2C interface, an SPI interface, point-to-point interfaces, a power bus, or any number of other technologies.
  • ISA industry standard architecture
  • EISA extended ISA
  • PCI peripheral component interconnect
  • PCIx peripheral component interconnect extended
  • PCIe PCI express
  • the application circuitry 302 may include one or more application processors 302A.
  • the application circuitry 302 may include circuitry such as, but not limited to, one or more single-core or multi-core processors, a microprocessor, a multithreaded processor, an ultra-low voltage processor, an embedded processor, or other known processing element.
  • the processor)s( 302A may include any combination of general- purpose processors and dedicated processors (for example, graphics processors, application processors ,etc .(.
  • the processors 302A may be coupled with or may include memory /storage 302B (also referred to as "computer readable media 302B" and the like) and may be configured to execute instructions stored in the memory /storage to enable various applications or operating systems to run on the device 300.
  • processors of application circuitry 302 may process IP data packets received from an EPC.
  • the application circuitry 302 may include one or more Intel Atom® or Core M® processor(s); A series, S series, W series, etc. processor(s) provided by Apple Inc.; Qualcomm snapdragon® processor(s); Samsung Exynos® processor(s); and/or the like.
  • the memory /storage 302B may comprise any number of memory devices used to provide for a given amount of system memory.
  • the memory 302B may include random access memory (RAM) in accordance with a Joint Electron Devices Engineering Council (JEDEC) double data rate (DDR) or low power double data rate (LPDDR)-based design.
  • JEDEC Joint Electron Devices Engineering Council
  • DDR double data rate
  • LPDDR low power double data rate
  • individual memory devices may be formed of any number of different package types, such as single die package (SDP), dual die package (DDP) or quad die package (Q17P), dual inline memory modules (DIMMs) such as microDIMMs or MiniDIMMs, and/or any other like memory devices.
  • SDP single die package
  • DDP dual die package
  • Q17P quad die package
  • DIMMs dual inline memory modules
  • microDIMMs microDIMMs or MiniDIMMs
  • the memory /storage 302B may include one or more mass-storage devices, such as a solid state disk drive (SSDD); flash memory cards, such as SD cards, microSD cards, xD picture cards, and the like, and USB flash drives; on-die memory or registers associated with the processors 302A (for example, in low power implementations); a micro hard disk drive (HDD); three dimensional cross-point (3D XPOINT) memories from Intel® and Micron®, etc.
  • SSDD solid state disk drive
  • flash memory cards such as SD cards, microSD cards, xD picture cards, and the like, and USB flash drives
  • on-die memory or registers associated with the processors 302A for example, in low power implementations
  • HDD micro hard disk drive
  • 3D XPOINT three dimensional cross-point
  • the baseband circuitry 304 may include circuitry such as, but not limited to, one or more single-core or multi-core processors.
  • the baseband circuitry304 may include one or more baseband processors or control logic to process baseband signals received from a receive signal path of the RF circuitry 306 and to generate baseband signals for a transmit signal path of the RF circuitry 306.
  • Baseband processing circuity 204 may interface with the application circuitry 302 for generation and processing of the baseband signals and for controlling operations of the RF circuitry 306.
  • the baseband circuitry 304 may include a third generation (3G) baseband processor 304A, a fourth generation (4G) baseband processor 304B, a fifth generation (5G) baseband processor 304C, or other baseband processor(s) 304D for other existing generations, generations in development or to be developed in the future (for example, second generation (2G), si2h generation (6G), etc.).
  • 3G third generation
  • 4G fourth generation
  • 5G fifth generation
  • 6G si2h generation
  • the baseband circuitry 304 may handle various radio control functions that enable communication with one or more radio networks via the RF circuitry306 .
  • various radio control functions may include, but are not limited to, signal modulation/demodulation, encoding/decoding, radio frequency shifting, etc.
  • modulation/demodulation circuitry of the baseband circuitry 304 may include Fast-Fourier Transform (FFT), precoding, or constellation mapping/demapping functionality.
  • FFT Fast-Fourier Transform
  • encoding/decoding circuitry of the baseband circuitry 304 may include convolution, tail-biting convolution, turbo, Viterbi, or Low Density Parity Check (LDPC) encoder/decoder functionality.
  • LDPC Low Density Parity Check
  • the baseband circuitry 304 may include one or more audio digital signal processor(s) (DSP) 304F.
  • the audio DSP(s) 304F may be include elements for compression/decompression and echo cancellation and may include other suitable processing elements in other embodiments.
  • Components of the baseband circuitry may be suitably combined in a single chip, a single chipset, or disposed on a same circuit board in some embodiments.
  • some or all of the constituent components of the baseband circuitry304 and the application circuitry302 may be implemented together such as, for example, on a system on a chip (SoC), an integrated circuit, or a single package.
  • SoC system on a chip
  • the baseband circuitry 304 may provide for communication compatible with one or more radio technologies.
  • the baseband circuitry 304 may support communication with an evolved universal terrestrial radio access network)EUTRAN( or other wireless metropolitan area networks )WMAN( , a wireless local area network)WLAN( ,a wireless personal area network )WPAN .
  • EUTRAN evolved universal terrestrial radio access network
  • Embodiments in which the baseband circuitry304 is configured to support radio communicationsof more than one wireless protocol may be referred to as multi-mode baseband circuitry.
  • RF circuitry 306 may enable communication with wireless networks using modulated electromagnetic radiation through a non-solid medium.
  • the RF circuitry 306 may include switches, filters, amplifiers, etc. to facilitate the communication with the wireless network.
  • RF circuitry 306 may include a receive signal path which may include circuitry to down-convert RF signals received from the FEM circuitry 308 and provide baseband signals to the baseband circuitry 304.
  • RF circuitry 306 may also include a transmit signal path which may include circuitry to up-convert baseband signals provided by the baseband circuitry 304 and provide RF output signals to the FEM circuitry 308 for transmission.
  • the receive signal path of the RF circuitry 306 may include mixer circuitry 306a, amplifier circuitry 306b and filter circuitry 306c.
  • the transmit signal path of the RF circuitry 306 may include filter circuitry 306c and mixer circuitry 306a.
  • RF circuitry 306 may also include synthesizer circuitry 306d for synthesizing a frequency for use by the mixer circuitry 306a of the receive signal path and the transmit signal path.
  • the mixer circuitry 306a of the receive signal path may be configured to down-convert RF signals received from the FEM circuitry 308 based on the synthesized frequency provided by synthesizer circuitry 306d.
  • the amplifier circuitry 306b may be configured to amplify the down-converted signals and the filter circuitry 306c may be a low-pass filter (LPF) or band-pass filter (BPF) configured to remove unwanted signals from the down-converted signals to generate output baseband signals.
  • Output baseband signals may be provided to the baseband circuitry 304 for further processing.
  • the output baseband signals may be zero-frequency baseband signals, although this is not a requirement.
  • mixer circuitry 306a of the receive signal path may comprise passive mixers, although the scope of the embodiments is not limited in this respect.
  • the mixer circuitry 306a of the transmit signal path may be configured to up-convert input baseband signals based on the synthesized frequency provided by the synthesizer circuitry 306d to generate RF output signals for the FEM circuitry 308.
  • the baseband signals may be provided by the baseband circuitry 304 and may be filtered by filter circuitry 306c.
  • the mixer circuitry 306a of the receive signal path and the mixer circuitry 306a of the transmit signal path may include two or more mixers and may be arranged for quadrature downconversion and upconversion, respectively.
  • the mixer circuitry 306a of the receive signal path and the mixer circuitry 306a of the transmit signal path may include two or more mixers and may be arranged for image rejection (for example, Hartley image rejection).
  • the mixer circuitry 306a of the receive signal path and the mixer circuitry 306a may be arranged for direct downconversion and direct upconversion, respectively.
  • the mixer circuitry 306a of the receive signal path and the mixer circuitry 306a of the transmit signal path may be configured for super-heterodyne operation.
  • the output baseband signals and the input baseband signals may be analog baseband signals, although the scope of the embodiments is not limited in this respect.
  • the output baseband signals and the input baseband signals may be digital baseband signals.
  • the RF circuitry 306 may include analog-to-digital converter (ADC) and digital-to-analog converter (DAC) circuitry and the baseband circuitry 304 may include a digital baseband interface to communicate with the RF circuitry 306.
  • ADC analog-to-digital converter
  • DAC digital-to-analog converter
  • a separate radio IC circuitry may be provided for processing signals for each spectrum, although the scope of the embodiments is not limited in this respect.
  • the synthesizer circuitry 306d may be a fractional -N synthesizer or a fractional N/N+l synthesizer, although the scope of the embodiments is not limited in this respect as other types of frequency synthesizers may be suitable.
  • synthesizer circuitry 306d may be a delta-sigma synthesizer, a frequency multiplier, or a synthesizer comprising a phase-locked loop with a frequency divider.
  • the synthesizer circuitry 306d may be configured to synthesize an output frequency for use by the mixer circuitry 306a of the RF circuitry 306 based on a frequency input and a divider control input. In some embodiments, the synthesizer circuitry 306d may be a fractional N/N+l synthesizer.
  • frequency input may be provided by a voltage controlled oscillator (VCO), although that is not a requirement.
  • VCO voltage controlled oscillator
  • Divider control input may be provided by either the baseband circuitry 304 or the applications processor 202 depending on the desired output frequency.
  • a divider control input (for example, N) may be determined from a look-up table based on a channel indicated by the applications processor 302.
  • Synthesizer circuitry 306d of the RF circuitry 306 may include a divider, a delay- locked loop (DLL), a multiplexer and a phase accumulator.
  • the divider may be a dual modulus divider (DMD) and the phase accumulator may be a digital phase accumulator (DP A).
  • the DMD may be configured to divide the input signal by either N or N+l (for example, based on a carry out) to provide a fractional division ratio.
  • the DLL may include a set of cascaded, tunable, delay elements, a phase detector, a charge pump and a D-type flip-flop.
  • the delay elements may be configured to break a VCO period up into Nd equal packets of phase, where Nd is the number of delay elements in the delay line.
  • Nd is the number of delay elements in the delay line.
  • synthesizer circuitry 306d may be configured to generate a carrier frequency as the output frequency, while in other embodiments, the output frequency may be a multiple of the carrier frequency (for example, twice the carrier frequency, four times the carrier frequency) and used in conjunction with quadrature generator and divider circuitry to generate multiple signals at the carrier frequency with multiple different phases with respect to each other.
  • the output frequency may be a LO frequency (fLO).
  • the RF circuitry 306 may include an IQ/polar converter.
  • FEM circuitry 308 may include a receive signal path which may include circuitry configured to operate on RF signals received from one or more antennas 310, amplify the received signals and provide the amplified versions of the received signals to the RF circuitry 306 for further processing.
  • FEM circuitry 308 may also include a transmit signal path which may include circuitry configured to amplify signals for transmission provided by the RF circuitry 306 for transmission by one or more of the one or more antennas 310.
  • the amplification through the transmit or receive signal paths may be done solely in the RF circuitry 306, solely in the FEM 208, or in both the RF circuitry 306 and the FEM 208.
  • the FEM circuitry 308 may include a TX/RX switch to switch between transmit mode and receive mode operation.
  • the FEM circuitry may include a receive signal path and a transmit signal path.
  • the receive signal path of the FEM circuitry may include an LNA to amplify received RF signals and provide the amplified received RF signals as an output (for example, to the RF circuitry 306).
  • the transmit signal path of the FEM circuitry 308 may include a power amplifier (PA) to amplify input RF signals (for example, provided by RF circuitry 306), and one or more filters to generate RF signals for subsequent transmission (for example, by one or more of the one or more antennas 310).
  • PA power amplifier
  • the PMC 312 may manage power provided to the baseband circuitry 304.
  • the PMC 312 may control power-source selection, voltage scaling, battery charging, or DC-to-DC conversion.
  • the PMC 312 may often be included when the device 300 is capable of being powered by a battery, for example, when the device is included in an RE, UE, etc.
  • the PMC 312 may increase the power conversion efficiency while providing desirable implementation size and heat dissipation characteristics.
  • the PMC 312 may control, or otherwise be part of, various power saving mechanisms of the device 300. For example, if the device 300 is in an RRC_Connected state, where it is still connected to the RAN node as it expects to receive traffic shortly, then it may enter a state known as Discontinuous Reception Mode (DRX) after a period of inactivity. During this state, the device 300 may power down for brief intervals of time and thus save power.
  • DRX Discontinuous Reception Mode
  • the device 300 may transition off to an RRC Idle state, where it disconnects from the network and does not perform operations such as channel quality feedback, handover, etc.
  • the device 300 goes into a very low power state and it performs paging where again it periodically wakes up to listen to the network and then powers down again.
  • the device 300 may not receive data in this state, in order to receive data, it must transition back to RRC Connected state.
  • An additional power saving mode may allow a device to be unavailable to the network for periods longer than a paging interval (ranging from seconds to a few hours). During this time, the device is totally unreachable to the network and may power down completely. Any data sent during this time incurs a large delay and it is assumed the delay is acceptable.
  • Layer 3 may comprise a radio resource control (RRC) layer, described in further detail below.
  • Layer 2 may comprise a medium access control (MAC) layer, a radio link control (RLC) layer, and a packet data convergence protocol (PDCP) layer, described in further detail below.
  • Layer 1 may comprise a physical (PHY) layer of a UE/RAN node, described in further detail below.
  • the device 300 may be communicatively coupled with various other devices/circuits via a suitable bus technology, such as ISA; EISA; PCI; PCIx; PCIe; an I2C interface, an SPI interface; point-to-point interfaces, a power bus; a controller area network (CAN), a Time- Trigger Protocol (TTP) system, or a FlexRay system; a proprietary bus, for example, used in a SoC based system; or any number of other technologies.
  • ISA ISA
  • EISA Peripheral Component Interconnect
  • PCIx Peripheral Component Interconnect
  • PCIe Peripheral Component Interconnect Express
  • I2C interface an SPI interface
  • point-to-point interfaces a power bus
  • CAN controller area network
  • TTP Time- Trigger Protocol
  • FlexRay FlexRay
  • the device 300 may be coupled with input/output (I/O) interface that may include circuitry, such as an external expansion bus (e.g., Universal Serial Bus (USB), IEEE 1394, Thunderbolt interface, etc.), used to connect with external components/devices, such as sensors, electronic control units (ECUs), electro-mechanical components (EMCs), positioning circuitry (for example, GNSS receivers), and the like.
  • I/O interface circuitry may include ports/receptacles, host controllers, and/or other like components.
  • the positioning circuitry may include circuitry to receive and decode signals transmitted by one or more navigation satellite constellations, such as the plurality of GNSS nodes 150 discussed previously.
  • the positioning circuitry 245 may provide position data and/or time data to application circuitry 302 and/or the baseband circuitry 304.
  • the application circuitry 302 and/or the baseband circuitry 304 may use the time data to synchronize with various devices, such as vUEs 101/102, UE-type RSUs, the RAN nodes 111/112, and/or eNB-type RSUs, for the positioning determination mechanisms of the various embodiments discussed herein.
  • the application circuitry 302 and/or the baseband circuitry 304 may use the position data to enhance the positioning information and/or relative distance determined according to the various embodiments discussed herein.
  • the sensors may include any device configured to detect events or environmental changes, convert the detected events into electrical signals and/or digital data, and transmit/send the signals/data to one or more ECUs and/or to device 300.
  • the sensors may include, inter alia, exhaust sensors including exhaust oxygen sensors to obtain oxygen data and manifold absolute pressure (MAP) sensors to obtain manifold pressure data; mass air flow (MAF) sensors to obtain intake air flow data; intake air temperature (IAT) sensors to obtain IAT data; ambient air temperature (AAT) sensors to obtain AAT data; ambient air pressure (AAP) sensors to obtain AAP data; catalytic converter sensors including catalytic converter temperature (CCT) to obtain CCT data and catalytic converter oxygen (CCO) sensors to obtain CCO data; vehicle speed sensors (VSS) to obtain VSS data; exhaust gas recirculation (EGR) sensors including EGR pressure sensors to obtain ERG pressure data and EGR position sensors to obtain position/orientation data of an EGR valve pintle; Throttle Position Sensor (TP
  • the EMCs may be devices that change a state, position, orientation, move, and/or control a mechanism or system.
  • the EMCs may include one or more switches, actuators (e.g., valve actuators, fuel injectors, ignition coils), motors, thrusters, and/or other like electro-mechanical components.
  • ECUs may be embedded systems or other like computer devices, such as a microcontroller or other like processor device, memory device(s), communications interfaces, etc., that control a corresponding system of a vehicle.
  • ECUs may include, inter alia, a Drivetrain Control Unit (DCU), an Engine Control Module (ECM), Engine Management System (EEMS), a Powertrain Control Module (PCM), a Transmission Control Module (TCM), a Brake Control Module (BCM) including an anti-lock brake system (ABS) module and/or an electronic stability control (ESC) system, a Central Control Module (CCM), a Central Timing Module (CTM), a General Electronic Module (GEM), a Body Control Module (BCM), a Suspension Control Module (SCM), a Door Control Unit (DCU), a Speed Control Unit (SCU), a Human-Machine Interface (HMI) unit, a Telematic Control Unit (TTU), a Battery Management System and/or any other entity or node in a vehicle system.
  • FIG. 4 illustrates example interfaces of baseband circuitry in accordance with some embodiments.
  • the baseband circuitry 304 of FIG. 3 may comprise processors 304A-304E and a memory 304G utilized by said processors.
  • Each of the processors 304A-304E may include a memory interface, 304A-304E, respectively, to send/receive data to/from the memory 304G.
  • the baseband circuitry 304 may further include one or more interfaces to communicatively couple to other circuitries/devices, such as a memory interface 312 (for example, an interface to send/receive data to/from memory exernal to the baseband circuitry 304), an application circuitry interface 314 (for example, an interface to send/receive data to/from the application circuitry 302 of FIG. 3), an RF circuitry interface 316 (for example, an interface to send/receive data to/from RF circuitry 306 of FIG.
  • a memory interface 312 for example, an interface to send/receive data to/from memory exernal to the baseband circuitry 304
  • an application circuitry interface 314 for example, an interface to send/receive data to/from the application circuitry 302 of FIG. 3
  • an RF circuitry interface 316 for example, an interface to send/receive data to/from RF circuitry 306 of FIG.
  • a wireless hardware connectivity interface 318 for example, an interface to send/receive data to/from Near Field Communication (NFC) components, Bluetooth® components (for example, Bluetooth® Low Energy), Wi-Fi® components, and other communication components), and a power management interface 320 (for example, an interface to send/receive power or control signals to/from the PMC 312.
  • NFC Near Field Communication
  • Bluetooth® components for example, Bluetooth® Low Energy
  • Wi-Fi® components Wireless Fidelity
  • FIG. 5 is a block diagram illustrating components, according to some example embodiments, able to read instructions from a machine-readable or computer-readable medium (for example, a non-transitory machine-readable storage medium) and perform any one or more of the methodologies discussed herein.
  • hardware resources 500 may be employed in or as any of the elements, devices, components, etc. discussed with regard to FIGS. 1A, IB, 2, 3, and 4.
  • FIG. 5 shows a diagrammatic representation of hardware resources 500 including one or more processors (or processor cores) 510, one or more memory /storage devices 520, and one or more communication resources 530, each of which may be communicatively coupled via a bus 540.
  • a hypervisor 502 may be executed to provide an execution environment for one or more network slices/sub-slices to utilize the hardware resources 500.
  • the processors 510 may include, for example, a central processing unit (CPU), a reduced instruction set computing (RISC) processor, a complex instruction set computing (CISC) processor, a graphics processing unit (GPU), a digital signal processor (DSP) such as a baseband processor, an application specific integrated circuit (ASIC), a radio-frequency integrated circuit (RFIC), another processor, or any suitable combination thereof
  • CPU central processing unit
  • RISC reduced instruction set computing
  • CISC complex instruction set computing
  • GPU graphics processing unit
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • RFIC radio-frequency integrated circuit
  • the memory /storage devices 520 may include main memory, disk storage, or any suitable combination thereof.
  • the memory /storage devices 520 may include, but are not limited to any type of volatile or non-volatile memory such as dynamic random access memory (DRAM), static random-access memory (SRAM), erasable programmable readonly memory (EPROM), electrically erasable programmable read-only memory (EEPROM), Flash memory, solid-state storage, and/or any other type of memory device technology, such as those discussed herein.
  • DRAM dynamic random access memory
  • SRAM static random-access memory
  • EPROM erasable programmable readonly memory
  • EEPROM electrically erasable programmable read-only memory
  • Flash memory solid-state storage, and/or any other type of memory device technology, such as those discussed herein.
  • the communication resources 530 may include interconnection or network interface components or other suitable devices to communicate with one or more peripheral devices 404 or one or more databases 503 via a network 508.
  • the communication resources 530 may include wired communication components (for example, for coupling via a Universal Serial Bus (USB)), cellular communication components, NFC components, Bluetooth® components (for example, Bluetooth® Low Energy), Wi-Fi® components, and other communication components.
  • Instructions 450 may comprise software, a program, an application, an applet, an app, or other executable code for causing at least any of the processors 510 to perform any one or more of the methodologies discussed herein.
  • the instructions 550 may reside, completely or partially, within at least one of the processors 510 (for example, within the processor's cache memory), the memory /storage devices 520, or any suitable combination thereof.
  • any portion of the instructions 550 may be transferred to the hardware resources 500 from any combination of the peripheral devices 504 or the databases 503.
  • the memory of processors 510, the memory /storage devices 520, the peripheral devices 504, and the databases 503 are examples of computer-readable and machine- readable media.
  • FIG. 6 is an illustration of a control plane protocol stack in accordance with some embodiments.
  • a control plane 500 is shown as a communications protocol stack between the UE 101 (or alternatively, the UE 102), the RAN node 111 (or alternatively, the RAN node 112), and the MME 121.
  • the PHY layer 501 may transmit or receive information used by the MAC layer 502 over one or more air interfaces.
  • the PHY layer 501 may further perform link adaptation or adaptive modulation and coding (AMC), power control, cell search (for example, for initial synchronization and handover purposes), and other measurements used by higher layers, such as the RRC layer 505.
  • AMC link adaptation or adaptive modulation and coding
  • the PHY layer 501 may still further perform error detection on the transport channels, forward error correction (FEC) coding/decoding of the transport channels, modulation/demodulation of physical channels, interleaving, rate matching, mapping onto physical channels, and Multiple Input Multiple Output (MIMO) antenna processing.
  • FEC forward error correction
  • MIMO Multiple Input Multiple Output
  • the MAC layer 502 may perform mapping between logical channels and transport channels, multiplexing of MAC service data units (SDUs) from one or more logical channels onto transport blocks (TB) to be delivered to PHY via transport channels, de-multiplexing MAC SDUs to one or more logical channels from transport blocks (TB) delivered from the PHY via transport channels, multiplexing MAC SDUs onto TBs, scheduling information reporting, error correction through hybrid automatic repeat request (HARQ), and logical channel prioritization.
  • SDUs MAC service data units
  • TB transport blocks
  • HARQ hybrid automatic repeat request
  • the RLC layer 503 may operate in a plurality of modes of operation, including: Transparent Mode (TM), Unacknowledged Mode (UM), and Acknowledged Mode (AM).
  • the RLC layer 503 may execute transfer of upper layer protocol data units (PDUs), error correction through automatic repeat request (ARQ) for AM data transfers, and concatenation, segmentation and reassembly of RLC SDUs for UM and AM data transfers.
  • PDUs protocol data units
  • ARQ automatic repeat request
  • the RLC layer 503 may also execute re-segmentation of RLC data PDUs for AM data transfers, reorder RLC data PDUs for UM and AM data transfers, detect duplicate data for UM and AM data transfers, discard RLC SDUs for UM and AM data transfers, detect protocol errors for AM data transfers, and perform RLC re-establishment.
  • the PDCP layer 504 may execute header compression and decompression of IP data, maintain PDCP Sequence Numbers (SNs), perform in-sequence delivery of upper layer PDUs at re-establishment of lower layers, eliminate duplicates of lower layer SDUs at re- establishment of lower layers for radio bearers mapped on RLC AM, cipher and decipher control plane data, perform integrity protection and integrity verification of control plane data, control timer-based discard of data, and perform security operations (for example, ciphering, deciphering, integrity protection, integrity verification, etc.).
  • SNs PDCP Sequence Numbers
  • the main services and functions of the RRC layer 505 may include broadcast of system information (for example, included in Master Information Blocks (MIBs) or System Information Blocks (SIBs) related to the non-access stratum (NAS)), broadcast of system information related to the access stratum (AS), paging, establishment, maintenance and release of an RRC connection between the UE and E-UTRAN (for example, RRC connection paging, RRC connection establishment, RRC connection modification, and RRC connection release), establishment, configuration, maintenance and release of point to point Radio Bearers, security functions including key management, inter radio access technology (RAT) mobility, and measurement configuration for UE measurement reporting.
  • SIBs may comprise one or more information elements (IEs), which may each comprise individual data fields or data structures.
  • the UE 101 and the RAN node 111 may utilize a Uu interface (for example, an LTE- Uu interface) to exchange control plane data via a protocol stack comprising the PHY layer 501, the MAC layer 502, the RLC layer 503, the PDCP layer 504, and the RRC layer 505.
  • a Uu interface for example, an LTE- Uu interface
  • the non-access stratum (NAS) protocols 506 form the highest stratum of the control plane between the UE 101 and the MME 121.
  • the NAS protocols 506 support the mobility of the UE 101 and the session management procedures to establish and maintain IP connectivity between the UE 101 and the P-GW 123.
  • the SI Application Protocol (S l-AP) layer 515 may support the functions of the SI interface and comprise Elementary Procedures (EPs).
  • An EP is a unit of interaction between the RAN node 111 and the CN 120.
  • the S l-AP layer services may comprise two groups: UE-associated services and non UE-associated services. These services perform functions including, but not limited to: E-UTRAN Radio Access Bearer (E-RAB) management, UE capability indication, mobility, NAS signaling transport, RAN Information Management (RIM), and configuration transfer.
  • E-RAB E-UTRAN Radio Access Bearer
  • RIM RAN Information Management
  • the Stream Control Transmission Protocol (SCTP) layer (alternatively referred to as the SCTP/IP layer) 514 may ensure reliable delivery of signaling messages between the RAN node 111 and the MME 121 based, in part, on the IP protocol, supported by the IP layer 513.
  • the L2 layer 512 and the LI layer 511 may refer to communication links (for example, wired or wireless) used by the RAN node and the MME to exchange information.
  • the RAN node 111 and the MME 121 may utilize an S I -MME interface to exchange control plane data via a protocol stack comprising the LI layer 511 , the L2 layer 512, the IP layer 513, the SCTP layer 514, and the Sl-AP layer 515.
  • FIG. 7A is an illustration of a user plane protocol stack in accordance with some embodiments.
  • a user plane 700A is shown as a communications protocol stack between the UE 101 (or alternatively, the UE 102), the RAN node 111 (or alternatively, the RAN node 112), the S-GW 122, and the P-GW 123.
  • the user plane 700 may utilize at least some of the same protocol layers as the control plane 600.
  • the UE 101 and the RAN node 111 may utilize a Uu interface (for example, an LTE-Uu interface) to exchange user plane data via a protocol stack comprising the PHY layer 601, the MAC layer 602, the RLC layer 603, the PDCP layer 604.
  • a Uu interface for example, an LTE-Uu interface
  • the application layer 714 may be a layer in which a user of the UE 101/102 interacts with software applications being executed, for example, by application circuitry 302.
  • the application layer 614 may also provide one or more interfaces for software applications to interact with communications systems of the UE 101/102, such as the baseband circuitry 304.
  • the IP layer 713 and/or the application layer 714 may provide the same or similar functionality as layers 5-7, or portions thereof, of the Open Systems Interconnection (OSI) model (for example, OSI Layer 7 - the application layer, OSI Layer 6 - the presentation layer, and OSI Layer 5 - the session layer).
  • OSI Open Systems Interconnection
  • the Internet Protocol (IP) layer 613 (also referred to as the "Internet layer") may be used to perform packet addressing and routing functionality.
  • the IP layer 713 may assigned IP addresses to user data packets in any of IPv4, IPv6, or PPP formats, for example.
  • the General Packet Radio Service (GPRS) Tunneling Protocol for the user plane (GTP-U) layer 704 may be used for carrying user data within the GPRS core network and between the radio access network and the core network.
  • the user data transported can be packets in any of IPv4, IPv6, or PPP formats, for example.
  • the UDP and IP security (UDP/IP) layer 703 may provide checksums for data integrity, port numbers for addressing different functions at the source and destination, and encryption and authentication on the selected data flows.
  • the RAN node 111/112 and the S-GW 122 may utilize an Sl-U interface to exchange user plane data via a protocol stack comprising the LI layer 511, the L2 layer 512, the UDP/IP layer 703, and the GTP-U layer 704.
  • the S-GW 122 and the P-GW 123 may utilize an S5/S8a interface to exchange user plane data via a protocol stack comprising the Layer 1 (LI) layer 611, the Layer 2 (L2) layer 612, the UDP/IP layer 703, and the GTP-U layer 704.
  • NAS protocols support the mobility of the UE 101/102 and the session management procedures to establish and maintain IP connectivity between the UE 101/102 and the P-GW 123.
  • FIG. 7B is an illustration of an SL protocol stack 700B in accordance with some embodiments.
  • an SL plane 700B is shown as a communications protocol stack between at least two UEs, such as the UE 101 and the UE 102.
  • the SL plane 700 may utilize at least some of the same protocol layers as the control plane 500 and the user plane 600.
  • the UE 101 and the UE 102 may utilize a PC5 interface to exchange user data via the protocol stack comprising the PHY layer 501, the MAC layer 502, the RLC layer 503, the PDCP layer 504, the IP layer 512, and the application layer 614.
  • These layers may operate in the same manner as discussed previously, but with the following modifications.
  • the PDCP layer 504 may perform ciphering (if configured) and header compression (if configured) for SL data transmission; and perform deciphering (if configured) and header decompression (if configured) for SL data reception. Additionally, the PDCP layer 504 may not be required to maintain PDCP SNs and/or Hyper Frame Numbers (HFNs) for SL data communications.
  • FSNs Hyper Frame Numbers
  • the RLC layer 503 may operate in the RLC UM for SL communication, where each UE 101/102 maintains at least one RLC UM entity per transmitting peer UE 101/102.
  • An UM RLC entity is configured either as a transmitting UM RLC entity or a receiving UM RLC entity.
  • the transmitting UM RLC entity receives RLC SDUs from upper layer and sends RLC PDUs to its peer receiving UM RLC entity via lower layers.
  • the receiving UM RLC entity delivers RLC SDUs to upper layer and receives RLC PDUs from its peer transmitting UM RLC entity via lower layers.
  • the MAC layer 502 may provide data transfer services (for example, mapping, multiplexing/demultiplexing, PDU filtering, etc.) for SL logical channels to SL transport channels.
  • the MAC layer 502 may map a Sidelink Traffic Channel (STCH) to a Sidelink Shared Channel (SL-SCH).
  • STCH is a point-to-point and a point-to- multipoint channel used for transfer of user/application data from one UE to one or more other UEs.
  • the SL-SCH is a transport channel that may be used to transmit user/application data from one UE to one or more other UEs.
  • the user/application data of the SL-SCH is conveyed to the other UEs over the PSSCH.
  • the MAC entity 502 In order to transmit on the SL-SCH, the MAC entity 502 must have at least one sidelink grant.
  • the MAC entity 502 may create the SL grant based on configuration information, which may be indicated to the VUE 101/102 via RRC signaling, for example.
  • the MAC entity 502 may be configured by upper layers (for example, RRC layer 505) to transmit based on sensing using a pool of resources as indicated by the PHY layer 501, or may be configured by upper layers to transmit based on scheduled resources.
  • FIGS. 8-14 illustrate processes 800-1400, respectively, for determining relative distance according to various embodiments.
  • the operations of processes 800-1400 are described as being performed by various entities including the vUEs 101/102 and RAN nodes 111/112 of FIGS. 1A-1B.
  • the process 800-1400 may include communications between various devices, and it should be understood that such communications may be facilitated by the various circuitry as described with regard to FIGS. 1-4 using the various messages/protocols/entities/layers discussed with regard to FIGS. 5-7B.
  • FIGS. 8-14 the depicted orders of operations should not be construed to limit the scope of the embodiments in any way. Rather, the depicted operations may be re-ordered, broken into additional operations, combined, and/or omitted altogether while remaining within the spirit and scope of the present disclosure.
  • the process 800 may include vUE 101/102 that may communicate messages with a device 801, where the vUE 101/102 may transmit a first message M0 to the device 801 at time tl, and the device 801 may receive the first message M0 at time t2.
  • the device 801 may transmit a second message Ml to the vUE 101/102, which may be received by the vUE 101/102 at time t4.
  • the vUE 101/102 may transmit a third message M2 to the device 801 at time t5, and the device 801 may receive the third message M2 at time t6.
  • the device 801 may transmit a fourth message M3 to the vUE 101/102, which may be received by the vUE 101/102 at time t8.
  • Process 800 may end or repeat as necessary.
  • a relative position measurement or distance between two devices is based on detecting the a time of departure (ToD) and time of arrival (ToA) of two messages.
  • the ToAs and ToDs may be measured by a local clock at the device.
  • each of the aforementioned messages may include ToF information.
  • each device vUE 101/102 and device 801 may measure a ToA of a received message and determine a distance between the receiving device (receiver) and transmitting device (transmitter) based on a time of flight (ToF) of the transmitted message.
  • the ToF may be determined based on the information in the message and the ToA of that message.
  • the ToF of a single message from a transmitter to receiver is given by equation 1.
  • the ToF information may include a ToD of when a device transmits a message and/or a ToA of a previously received message.
  • the device 801 may determine a relative position measurement based on the To As and ToDs of two messages, M0 and Ml.
  • the message M2 transmitted by the vUE 101 to the device 801 may include a ToD of the first message M0 and a ToA of the second message Ml .
  • the ToD of the first message M0 is time tl
  • the ToA of the second message Ml at the vUE 101 is time t4.
  • the device 801 may determine the distance between the device 801 and the vUE 101/102 by determining the ToF of message M0 or message Ml, and multiplying the ToF by the speed of light (for example, the constant c).
  • the processor circuitry of device 801 may determine the ToF using equation 1 with the information in the message M2 and the measured ToA of message M0 (for example, time t2) and the measured ToD of message Ml (for example, time t3).
  • the vUE 101/102 may determine a relative position measurement based on the ToAs and ToDs of two messages, M0 and Ml .
  • the message M3 transmitted to the vUE 101 by the device 801 may include a ToA of the first message M0 (for example, time t2) and a ToD of the second message Ml (for example, time t3).
  • the processor circuitry of the vUE 101/102 may determine the distance between the device 801 and the vUE 101/102 by determining the ToF of message M0 or message Ml, and multiplying the ToF by the speed of light (the constant c).
  • the processor circuitry of vUE 101/102 may determine the ToF using equation 1 with the information in the message M3 and the measured ToA of message Ml (for example, time t4) and the measured ToD of message M0 (for example, time tl).
  • the departure (arrival) time indication may be a difference between a ToDs and a ToA as measured by a device.
  • the departure (arrival) time indication carried by the message M2 may be a difference between the ToA of message Ml (time t4) and the ToD of message Ml (time tl), and the device 801 may determine the distance between the device 801 and vUE 101/102 in a same manner as the first or second examples.
  • the departure (arrival) time indication carried by the message M3 may be a difference between the ToD of message Ml (time t3) and the ToA of message M0 (time t2), and the vUE 101/102 may determine the distance between the device 801 and vUE 101/102 in a same manner as the first or second examples.
  • the device 801 may be another vUE 101/102, a RAN node 11 1/1 12, an eNB-type RSU, a UE-type RSU, or some other suitable electronic device.
  • the messages M0-M3 may be communicated over a Uu air interface (links 103/104) using protocols 600 and/or 700A.
  • the messages M0-M3 may be communicated over a PC5 air interface or SL interface 105 using SL protocol 700B.
  • the embodiments of FIG. 8 do not require time synchronization between the vUE 101/102 and the device 801.
  • the embodiments of FIG. 8 may depend on the accuracy of the measured ToAs and ToDs tl, t2, t3, and t4 because minor time measurement inaccuracies may result in relatively large distance estimation inaccuracies. For example, a time measurement of one nanosecond may result in a distance estimation of approximately 0.3 meters. Therefore, in order for vUEs 101/102 to utilize process 800, the vUEs 101/102 may need to be able to accurately determine ToDs and/or while ignoring multipath reflections.
  • the process 900 may include a vUE 101/102 that may communicate messages with a devices 901 and 901, where the vUE 101/102 may transmit or broadcast a first message M0 to the devices 901 and 902 at time tl .
  • Device 901 may receive the first message M0 at time t2 and the device 902 may receive the first message M0 at time t2'.
  • the vUE 101/102 may then transmit or broadcast a second message Ml to the devices 901 and 902 at time t3.
  • Device 901 may receive the second message Ml at time t4 and the device 902 may receive the second message Ml at time t4'.
  • Process 900 may end or repeat as necessary.
  • Each of the messages M0 and Ml can be sent via multi-cast or unicast transmission.
  • multiple recipient devices 901/902 may monitor the same RF signals (for example, M0 and Ml) and independently measure the relative position between vUE 101/102 and device 901/902.
  • the distance between vUE 101/102 and device 901/902 may be calculated based on the ToF, which may be calculated in a same or similar manner as discussed previously with regard to FIG. 8.
  • the ToF for message MO between vUE 101/102 and device 901 may be calculated using t2-tl ; and the ToF for message M0 between vUE 101/102 and device 902 may be calculated using t2'-tl .
  • the message Ml may include the ToD of message M0 (time tl) to be used for determining the relative position.
  • the message M0 may include a ToD of M0 (time tl) and the message Ml may not be transmitted.
  • the processor circuitry of the vUE 101/102 may schedule the message M0 for transmission in a time/frequency resource, and may generate the message M0 to include the scheduled time for transmitting message M0.
  • the ToDs and ToAs should calculated based on a common time domain. Therefore, the embodiments of FIG. 9 may require time synchronization between the various device.
  • the devices in FIG. 9 may use a timing indicated by GNSS signals 155 as a synchronization source in deployment scenarios where global synchronization is desired.
  • the devices in FIG. 9 may use a network time (or timing) as a synchronization source in deployment scenarios where network-based synchronization is desired.
  • the devices in FIG. 9 may use an internal component or embedded device as a synchronization source, such as a relatively stable atomic clock, a crystal oscillator of internal circuitry (for example, GNSS circuitry or the like).
  • a longwave radio clock or radio-controlled clock may be used as a synchronization source, where a dedicated terrestrial longwave radio transmitter connected to a time standard (for example, an atomic clock) transmits a time code that is demodulated and decoded to determine the current time.
  • a combination of the previous synchronization sources may be used.
  • the devices in FIG. 9 may use any of the aforementioned synchronization sources as a primary synchronization source, and use another one or more of the aforementioned synchronization sources as secondary or fallback synchronization sources that is used when the primary synchronization source is unavailable.
  • each of the devices of FIG. 9 may be configured with priority information for each synchronization source, where each device uses a highest priority synchronization source when available.
  • the synchronization configuration may be signaled to each device using higher layer signaling (for example, RRC or NAS signaling/messages).
  • the devices 901 and 902 may be other vUEs 101/102, RAN nodes 111/112, eNB-type RSUs, UE-type RSUs, and/or some other suitable electronic devices.
  • the messages MO-MI may be communicated over a Uu air interface (links 103/104) using protocols 600 and/or 700A.
  • the messages M0-M1 may be communicated over a PC5 air interface or SL interface 105 using SL protocol 700B.
  • FIG. 10 an example downlink only positioning process 1000, is shown.
  • the process 1000 may include the vUE 101/102 that may receive messages from devices 1001, 1002, 1003.
  • the device 1001 may transmit/broadcast message M0 to vUE 101/102, device 1002, and device 1003 at time ToDl.
  • the vUE 101/102 may receive the message M0 at time Tol
  • the device 1002 may receive the message M0 at time Tol2
  • the device 1003 may receive the message M0 at time Tol3.
  • the device 1002 may transmit/broadcast message M0 to vUE 101/102, device 1001, and device 1003 at time ToD2.
  • the vUE 101/102 may receive the message Ml at time ToA2, the device 1002 may receive the message Ml at time Tol2, and the device 1003 may receive the message Ml at time ToA23.
  • the device 1003 may transmit/broadcast message M2 to vUE 101/102, device 1002, and device 1001 at time ToD3.
  • the vUE 101/102 may receive the message M2 at time To A3, the device 1002 may receive the message M2 at time ToA32, and the device 1001 may receive the message M2 at time ToA31.
  • Each of the messages in FIG. 10 can be sent via multi-cast or unicast transmission.
  • the vUE 101/102 may determine the relative position measurement or distance between the vUE 101/102 and one or more of the devices 1001, 1002, and 1003 based on detecting the ToAs of messages M0, Ml, or M2 and using the ToDs included in one or more of those messages.
  • the ToF of a single message from a transmitter to receiver is given by equation 2.
  • di may be a ToD of a signal (message) transmitted from a device i as measured by a local timer implemented by device i
  • dj may be a ToD of a signal (message) transmitted from a device j as measured by a local timer implemented by device j
  • aij may be a ToA of a signal (message) at device j as measured by a local timer implemented by device j where the signal (message) is transmitted from device i
  • aji may be a ToA of a signal (message) at device i as measured by a local timer implemented by device i where the signal (message) is transmitted from device j.
  • the following equations may be derived from equation 2.
  • ToA t ToD 1 — ⁇ 1 + a [Equation 3]
  • ToA 2 ToA 21 - ToF 12 + ⁇ - ⁇ 1 [Equation 4]
  • Toll, Toh, and Toh may be the ToA of messages MO, Ml, and M2, respectively, at vUE 101/102 as measured by a local timer implemented by the processor circuitry of vUE 101/102; T0A21 and T0A31 may be the ToA of messages Ml and M2, respectively, at device 1001 as measured by a local timer implemented by the processor circuitry of device 1001 ; T0F12 and T0F13 may be the ToF of message M0 sent to device 1002 and device 1003; and ⁇ 1 may be a time offset between a vUE 101/102 local clock and a local clock of device 1001.
  • a may be a ToF of message M0
  • ⁇ may be a ToF of message Ml
  • ⁇ may be a ToF of message M2.
  • Solving equations 3, 4, and 5 for ⁇ , ⁇ , and ⁇ may yield equations 6, 7, and 8.
  • the values of ToAij and ToDi may be included in messages M0, Ml, and/or M2 and delivered to the vUE 101/102 repeatedly. Additionally, the vUE 101/102 may measure the ToAi and use the measured ToAi to calculate the relative position.
  • the ToDs of the messages M0, Ml, and/or M2 may be ToDs of those messages as measured by the transmitting devices 1001, 1002, and 1003. Additionally, the ToAs of the messages M0, Ml, and/or M2 may be ToAs of messages received and measured by the devices 1001, 1002, and 1003. Furthermore, the messages M0, Ml, and/or M2 may include ToDs and/or ToAs included in messages that are received by the transmitting devices 1001, 1002, and 1003 from other nearby devices. For example, the message Ml obtained by the device 1003 may include the ToD2, and the device 1003 may include the ToD2 in message M2 as well as ToD3 and/or other parameters. In some embodiments, the messages M0, Ml , and/or M2 may include various ToA, ToD, and/or ToF values from a previous positioning cycle (e.g., a previous cycle of process 1000 or the like).
  • a previous positioning cycle e.g., a previous cycle of process 1000 or the
  • the devices 1001, 1002, and 1003 may be other vUEs 101/102, RAN nodes 1 1 1/1 12, eNB-type RSUs, UE-type RSUs, and/or some other suitable electronic devices.
  • the messages M0-M2 may be communicated over a Uu air interface (links 103/104) using protocols 600 and/or 700A.
  • the messages communicated between devices 1001 , 1002, and 1003 may be included in uplink, downlink, or sidelink frames; or may be included in X2 application protocol (X2-AP) messages or S l-AP messages.
  • X2-AP X2 application protocol
  • one of the devices 1001 , 1002, and 1003 is another vUE
  • the messages M0-M2 may be communicated over a PC5 air interface or SL interface 105 using SL protocol 700B.
  • the messages communicated between devices 1001, 1002, and 1003 may be included in uplink, downlink, or sidelink frames.
  • the embodiments of FIG. 10 may provide for positioning determinations without requiring uplink resources, and without time synchronization requirements (or any specific accuracy for time synchronization) between the various devices.
  • the ToDs of the signals from devices 1001 , 1002, and 1003, may be measured on device local timer, and the To As of signals received by vUE 101/102 and devices 1001, 1002, and 1003 may be measured using local timer of those devices.
  • the air interface resource utilization is proportional to the density of RAN nodes 1 11/1 12 and does not scale with the number of UEs.
  • FIG. 10 shows the devices 1001, 1002, and 1003 transmitting or broadcasting a same message to the other depicted entities.
  • the each of the devices 1001 , 1002, and 1003 may transmit individual signals/messages to individual entities. For example, at time ToD3, the device 1003 may transmit a message M2 to vUE 101/102, a message M2' to device 1002, and a message M2" to device 1001 where M2, M2', and M2" are different from one another.
  • FIG. 1 1 illustrates an example positioning process 1 100 in accordance with various embodiments.
  • Process 1 100 may begin at operation 1 105 where communication circuitry of a computer device may receive a first message from a transmitting device.
  • processor circuitry of the computer device may measure a first ToA of the first message.
  • the communication circuitry of the computer device may receive a second message from the transmitting device, and at operation 1120, the processor circuitry of the computer device may measure a second ToA of the second message.
  • the processor circuitry of the computer device may determine a relative distance of the computer device based on the first ToA, the second ToA, and information included in the first message or included in the second message.
  • the processor circuitry may determine the relative distance based on a ToF of the first message or the second message.
  • the information included in the first message or included in the second message may be a ToD of the first message, a ToD of the second message, a ToA of one or more messages obtained by the transmitting device, and/or a ToF of one or more messages obtained by the transmitting device as calculated by the transmitting device.
  • the second message may only carry a ToD of the first message.
  • the second message may carry a ToD of the first message and a ToA of a message received at the transmitting device.
  • the ToD of the first message and the ToA of the other message may be measured by a local clock at the transmitting device.
  • the second message may carry a ToD of the first message and a ToD of the second message.
  • the first message may carry a ToD of the first message and the second message may carry a ToD of the second message.
  • the processor circuitry may determine the respective ToDs from a transmission schedule, and may include the schedule transmission time into the respective messages prior to transmission.
  • the computer device that performs process 1100 may be a vUE 101/102 or a UE-type RSU.
  • the processor circuitry may be the baseband circuitry 304 and the communication circuitry may be one or more of the RF circuitry 306, FEM 308, and/or antennas 310 as shown by FIG. 3.
  • the computer device that performs process 1100 may be a RAN node 1 1 1/1 12 or an eNB-type RSU.
  • the processor circuitry may be the baseband circuitry 210 and the communication circuitry may be one or more of the radio front end modules 215 as shown by FIG. 2.
  • FIG. 12 illustrates an example bidirectional positioning process 1200 in accordance with various embodiments.
  • Process 1200 may be performed by a first computer device with a second computer device.
  • Process 1200 may begin at operation 1205 where communication circuitry of the first computer device may transmit a first message to the second computer device, and at operation 1210 the communication circuitry of the first computer device may receive a second message from the second computer device.
  • the processor circuitry of the first computer device may measure a ToA of the second message.
  • the processor circuitry of the first computer device may determine a ToD of the first message. Measurement/determination of the ToD of the first message and the ToA of the second message may be based on a local clock implemented by a local clock at the first computer device.
  • the processor circuitry of the first computer device may generate a third message to include the ToA of the second message and the ToD of the first message.
  • the third message may be generated to include a difference between the ToA of the second message and the ToD of the first message.
  • the communication circuitry of the first computer device may transmit the third message to the second computer device.
  • the second computer device may use the information in the third message to determine a relative distance between the second computer device and the first computer device.
  • the second computer device may also determine the relative distance using a ToA of the first message at the second computer device, and a ToD of the second message. Measurement of the ToA of the first message and the ToD of the second message may be based on a local clock at the second computer device.
  • communication circuitry of the first computer device may receive a fourth message from the second computer device, and at operation 1240 the processor circuitry of the first computer device may determine a relative distance between the first computer device and the second computer device based on the ToA of the second message, the ToD of the first message, and information included in the fourth message.
  • the information in the fourth message may include a ToA of the first message as measured by the second computer device and/or a ToD of the second message as measured by the second computer device.
  • the information in the fourth message may include a difference between the ToD of the second message as measured by the second computer device and the ToA of the first message as measured by the second computer device. This information may be used to determine a ToF of the first message and/or the second message, which may then be used to determine the relative distance.
  • the first computer device and/or the second computer device may be a vUE 101/102 or a UE-type RSU.
  • the processor circuitry may be the baseband circuitry 304 and the communication circuitry may be one or more of the RF circuitry 306, FEM 308, and/or antennas 310 as shown by FIG. 3.
  • the first computer device and/or the second computer device may be a RAN node 1 11/112 or an eNB-type RSU.
  • the processor circuitry may be the baseband circuitry 210 and the communication circuitry may be one or more of the radio front end modules 215 as shown by FIG. 2.
  • FIG. 13 illustrate an example unidirectional positioning processes 1300A and 1300B in accordance with various embodiments.
  • the process 1300A may be performed by a transmitter computer device and process 1300B may be performed by a receiver computer device.
  • Process 1300A may begin at operation 1305 where the processor circuitry of the transmitter computer device may synchronize with a synchronization source, such as a GNSS timing, an internal clock, longwave radio clock, or the like.
  • a synchronization source such as a GNSS timing, an internal clock, longwave radio clock, or the like.
  • communication circuitry of the transmitter computer device may transmit or broadcast a first message
  • the processor circuitry of the transmitter computer device may determine a ToD of the first message.
  • the processor circuitry of the transmitter computer device may generate a second message to include an indication of the ToD, and at operation 1325, the communication circuitry of the transmitter computer device may transmit or broadcast the second message.
  • the first and second messages may be transmitted or broadcasted to one or more receiver computer devices, which may determine a ToF of the first message and/or the second message according to process 1300B.
  • Process 1300B may begin at operation 1330 where processor circuitry of a receiver computer device my synchronize with the synchronization source.
  • communication circuitry of the receiver computer device may receive the first message from the transmitter computer device (see operation 1310 of process 1300 A), and at operation 1340, the communication circuitry of the receiver computer device may receive the second message from the transmitter computer device (see operation 1325 of process 1300A).
  • the processor circuitry of the receiver computer device may determine a first ToA of the first message and a second ToA of the second message.
  • the processor circuitry of the receiver computer device may determine a ToF of the first message based on the first ToA, the second ToA, and the ToD included in the second message.
  • the processor circuitry may determine the ToF according to the various embodiments discussed previously.
  • the processor circuitry of the receiver computer device may determine a relative distance between the receiver computer device and the transmitter computer device based on the ToF, such as by multiplying the ToF with the speed of light or the like.
  • the transmitter computer device and/or the receiver computer device may be a vUE 101/102 or a UE-type RSU.
  • the processor circuitry may be the baseband circuitry 304 and the communication circuitry may be one or more of the RF circuitry 306, FEM 308, and/or antennas 310 as shown by FIG. 3.
  • the transmitter computer device and/or the receiver computer device may be a RAN node 11 1/1 12 or an eNB-type RSU.
  • the processor circuitry may be the baseband circuitry 210 and the communication circuitry may be one or more of the radio front end modules 215 as shown by FIG. 2.
  • FIG. 14 illustrate an example downlink positioning processes 1400A and 1400B in accordance with various embodiments.
  • the process 1400A may be performed by a transmitter computer device and process 1400B may be performed by a receiver computer device.
  • Process 1400A may begin at operation 1405 where communication circuitry of the transmitter computer device may receive a first message to include first ToF information related to the first message.
  • the first ToF information may be a ToD of the first message as measured by another transmitter computer device that transmitted or broadcasted the first message; one or more ToAs of one or more messages as measured by the other transmitter computer device; one or more calculated ToFs of one or more messages obtained by the other transmitter computer device; and/or any of the aforementioned values as measured or determined by the during a previous positioning cycle as determined/measured by the other transmitter computer device.
  • processor circuitry of the transmitter computer device may measure a ToA of the first message at the transmitter computer device.
  • the processor circuitry of the transmitter computer device may generate a second message to include second ToF information related to the second message.
  • the second ToF information may include a ToD of the second message as determined by the transmitter computer device, the ToA of the first message as measured by the transmitter computer device, a ToF of the first message as determined by the transmitter computer device, any of the first ToF information included in the first message, and/or any of the aforementioned values as measured or determined during a previous positioning cycle.
  • the communication circuitry of the transmitter computer device may transmit or broadcast the second message.
  • the first and second messages may be transmitted or broadcasted to one or more receiver computer devices, which may determine a ToF of the first message and/or the second message according to process 1400B.
  • Process 1400B may begin at operation 1430 where communication circuitry of the receiver computer device may receive the first message, which may be the same first message as received by the transmitter computer device at operation 1405 of process 1400 A.
  • processor circuitry of the receiver computer device may measure a ToA of the first message at the receiver computer device.
  • the communication circuitry of the receiver computer device may receive the second message, which may be the second message transmitted by the transmitter computer device at operation 1420 of process 1400A.
  • the processor circuitry of the receiver computer device may measure a ToA of the second message at the receiver computer device.
  • the processor circuitry of the receiver computer device may determine a ToF of the first message and/or a ToF of the second message using the measured ToA of the first message, the measured ToA of the second message, the ToF information included in the first message, and/or the ToF information included in the second message.
  • the processor circuitry of the receiver computer device may determine a relative position of the receiver computer device and the transmitter computer device based on the determined ToF.
  • the transmitter computer device, the other transmitter computer device, and/or the receiver computer device may be a vUE 101/102 or a UE-type RSU.
  • the processor circuitry may be the baseband circuitry 304 and the communication circuitry may be one or more of the RF circuitry 306, FEM 308, and/or antennas 310 as shown by FIG. 3.
  • the transmitter computer device, the other transmitter computer device, and/or the receiver computer device may be a RAN node 111/112 or an eNB-type RSU.
  • the processor circuitry may be the baseband circuitry 210 and the communication circuitry may be one or more of the radio front end modules 215 as shown by FIG. 2.
  • Example 1 may include an apparatus capable of communicating in a wireless cellular network, the apparatus comprising: communication means for receiving a first message and a second message after the first message, wherein the second message is to include time of flight, "ToF", information; and processing means for: measuring a time of arrival, "ToA", of the first message at the apparatus, determining a ToF of the first message or the second message based on the ToF information and the ToA at the apparatus, and determining a relative distance between the apparatus and a device based on the ToF of the first message or the second message.
  • communication means for receiving a first message and a second message after the first message, wherein the second message is to include time of flight, "ToF", information
  • processing means for: measuring a time of arrival, "ToA", of the first message at the apparatus, determining a ToF of the first message or the second message based on the ToF information and the ToA at the apparatus, and determining a relative distance between the apparatus and a device based on the ToF of the first
  • Example 2 may include the apparatus of example 1 and/or some other examples herein, wherein the processing means is for determining the distance between the apparatus and the device without time synchronicity between the apparatus and the device.
  • Example 3 may include the apparatus of example 1 and/or some other examples herein, wherein the first message and the second message are received from the device, the device is proximate to the apparatus, and wherein the communication means is for transmitting a third message to the device after receipt of the first message and before receipt of the second message.
  • Example 4 may include the apparatus of example 3 and/or some other examples herein, wherein the ToF information comprises a time of departure, "ToD", of the first message as measured by the device and a ToA of the third message as measured by the device.
  • ToF information comprises a time of departure, "ToD" of the first message as measured by the device and a ToA of the third message as measured by the device.
  • Example 5 may include the apparatus of example 3 and/or some other examples herein, wherein the ToF information comprises a single value equal to a ToA of the third message as measured by the device subtracted from a ToD of the first message as measured by the device.
  • Example 6 may include the apparatus of example 3, and/or some other examples herein wherein the processing means is for determining the ToF based on a first difference and a second difference, wherein: the first difference is between a ToA of the third message as measured by the device and a ToD of the first message as measured by the device, and the second difference is between a ToD of the third message as measured by the processing means and the ToA of the first message as measured by the processing means.
  • Example 7 may include the apparatus of any one of examples 1-6 and/or some other examples herein, wherein the apparatus is employed as a UE, and eNB, a gNB, a mobile RSU, or a fixed RSU; and the device is an eNB, a gNB, a mobile RSU, a fixed RSU, or a UE.
  • Example 8 may include the apparatus of example 1 and/or some other examples herein, wherein the first message is received from a first device and the second message is received from a second device, wherein the ToF information is second ToF information and the first message is to include first ToF information, and wherein: the first ToF information is to include a ToD of the first message as measured by a clock implemented by the first device, a ToA of a message sent by the second device to the first device, and a ToD of the message sent by the second device to the first device as measured by a clock implemented by the second device; and the second ToF information is to include a ToD of the second message as measured by the clock implemented by the second device, a ToA of a message sent by the first device to the second device, and a ToD of the message sent by the first device to the second device as measured by the clock implemented by the first device.
  • Example 9 may include the apparatus of example 8 and/or some other examples herein, wherein the processing means is for: implementing a local timer; measuring, based on the local timer, a first ToA of the first message and a second ToA of the second message; and determining the ToF of the first message or the second message based on the first ToF information, the second ToF information, the first ToA, the second ToA, and an offset between the local timer and the clock implemented by the first device.
  • the processing means is for: implementing a local timer; measuring, based on the local timer, a first ToA of the first message and a second ToA of the second message; and determining the ToF of the first message or the second message based on the first ToF information, the second ToF information, the first ToA, the second ToA, and an offset between the local timer and the clock implemented by the first device.
  • Example 10 may include the apparatus of any one of examples 8-9 and/or some other examples herein, wherein: the apparatus is employed as a user equipment, "UE”, an evolved NodeB, “eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; the first device is an eNB, a gNB, a mobile RSU, a fixed RSU, or a UE; and the second device is an eNB, a gNB, a mobile RSU, a fixed RSU, or a UE.
  • the apparatus is employed as a user equipment, "UE”, an evolved NodeB, "eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU
  • the first device is an eNB, a gNB, a mobile RSU, a fixed RSU, or a UE
  • the second device is an eNB, a gNB, a mobile RSU,
  • Example 11 may include the apparatus of any one of examples 1-10, and/or some other examples herein wherein the first message or the second message comprise vehicle information, wherein the vehicle information comprises measurement data of measured global navigation satellite system, "GNSS", signals; an estimated position of a vehicle based on the measured GNSS signals; or velocity data as measured by one or more sensors of the vehicle.
  • vehicle information comprises measurement data of measured global navigation satellite system, "GNSS", signals; an estimated position of a vehicle based on the measured GNSS signals; or velocity data as measured by one or more sensors of the vehicle.
  • GNSS global navigation satellite system
  • Example 12 may include the apparatus of example 11 and/or some other examples herein, wherein the communication means is for transmitting a request for vehicle information, and the first message or the second message is to comprise the vehicle information based on the request for vehicle information.
  • Example 13 may include the apparatus of any one of examples 1-12 and/or some other examples herein, wherein the processing means is for receiving GNSS information from GNSS positioning means, wherein the GNSS information is to include measurement data of one or more GNSS signals measured by the GNSS positioning means or an estimated geo-coordinate based on the measured GNSS signals.
  • the processing means is for receiving GNSS information from GNSS positioning means, wherein the GNSS information is to include measurement data of one or more GNSS signals measured by the GNSS positioning means or an estimated geo-coordinate based on the measured GNSS signals.
  • Example 14 may include the apparatus of any one of examples 11 -13 and/or some other examples herein, wherein the processing means is for determining the relative distance between the apparatus and the device based on the ToF of the first message or the second message and based on the GNSS information and/or the vehicle information.
  • Example 15 may include the apparatus of example 14 and/or some other examples herein, wherein the processing means is for receiving sensor data from one or more sensors, and for determining the relative distance between the apparatus and the device based on the ToF of the first message or the second message, the GNSS information and/or the vehicle information, and the sensor data.
  • the processing means is for receiving sensor data from one or more sensors, and for determining the relative distance between the apparatus and the device based on the ToF of the first message or the second message, the GNSS information and/or the vehicle information, and the sensor data.
  • Example 16 may include a computer device capable of communicating in a wireless cellular network, the computer device comprising: first processor circuitry to: schedule a position determination message to be transmitted or broadcasted to one or more other computer devices, and generate the position determination message to indicate a time of departure, "ToD"; and second processor circuitry to cause the position determination message to be transmitted based on when the position determination message is scheduled to be transmitted.
  • first processor circuitry to: schedule a position determination message to be transmitted or broadcasted to one or more other computer devices, and generate the position determination message to indicate a time of departure, "ToD"
  • second processor circuitry to cause the position determination message to be transmitted based on when the position determination message is scheduled to be transmitted.
  • Example 17 may include the computer device of example 16 and/or some other examples herein, wherein the position determination message is a second position determination message transmitted or broadcasted after a first position determination message, and wherein the ToD is a timestamp of a time when the first position determination message was transmitted or broadcasted.
  • Example 18 may include the computer device of example 16 and/or some other examples herein, wherein the position determination message is an only position determination message to be transmitted or broadcasted, and wherein the ToD is a timestamp of a time when the position determination message is scheduled for transmission.
  • Example 19 may include the computer device of any one of examples 16-18 and/or some other examples herein, wherein the second processor circuitry and the one or more other computer devices are to synchronize with a same external timing source, wherein the external timing source is one or more of a global navigation satellite system, "GNSS" clock, an external atomic clock, or a longwave radio clock.
  • GNSS global navigation satellite system
  • atomic clock external atomic clock
  • longwave radio clock a longwave radio clock
  • Example 20 may include the apparatus of example 19 and/or some other examples herein, wherein the computer device is employed as a user equipment, "UE”, an evolved NodeB, “eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; and the one or more other computer devices are eNBs, a gNBs, mobile RSUs, fixed RSUs, or UEs.
  • the computer device is employed as a user equipment, "UE”, an evolved NodeB, "eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; and the one or more other computer devices are eNBs, a gNBs, mobile RSUs, fixed RSUs, or UEs.
  • Example 21 may include a computer device capable of communicating in a wireless cellular network, the computer device comprising: first processor circuitry to cause receipt of a first message and a second message after the first message, wherein the second message is to include time of flight, "ToF", information; and second processor circuitry to measure a time of arrival, "ToA", of the first message at the computer device based on a local clock, determine a ToF of the first message or the second message based on the ToF information and the ToA of the first message, and determine positioning information based on the ToF of the first message or the second message without synchronizing with an external synchronization source.
  • first processor circuitry to cause receipt of a first message and a second message after the first message, wherein the second message is to include time of flight, "ToF", information
  • second processor circuitry to measure a time of arrival, "ToA", of the first message at the computer device based on a local clock, determine a ToF of the first message or the second message based on the ToF information and the
  • Example 22 may include the computer device of example 21 and/or some other examples herein, wherein the first message and the second message are received from another computer device that is proximate to the computer device, and wherein the first processor circuitry to cause transmission of a third message to the other computer device after receipt of the first message and before receipt of the second message.
  • Example 23 may include the computer device of example 22 and/or some other examples herein, wherein the ToF information comprises: a time of departure, "ToD", of the first message as measured by the other computer device and a ToA of the third message as measured by the ther computer device; or a single value equal to the ToA of the third message subtracted from the ToD of the first message.
  • ToF information comprises: a time of departure, "ToD", of the first message as measured by the other computer device and a ToA of the third message as measured by the ther computer device; or a single value equal to the ToA of the third message subtracted from the ToD of the first message.
  • Example 24 may include the computer device of example 22 and/or some other examples herein, wherein the second processor circuitry is to determine the ToF based on a first difference and a second difference, wherein: the first difference is between a ToA of the third message as measured by the device and a ToD of the first message as measured by the device, and the second difference is between a ToD of the third message as measured by the second processor circuitry and the ToA of the first message as measured by the second processor circuitry.
  • Example 25 may include the computer device of any one of examples 21-24 and/or some other examples herein, wherein the computer device or the other computer device is employed as a user equipment, "UE”, an evolved NodeB, “eNB”, a next generation NodeB, “gNB”, a mobile road side unit, "RSU”, a fixed RSU.
  • UE user equipment
  • eNB evolved NodeB
  • gNB next generation NodeB
  • RSU mobile road side unit
  • Example 26 may include a computer device capable of communicating in a wireless cellular network, the computer device comprising: first processor circuitry to cause receipt of a first message from a first device and cause receipt of a second message from a second device after receipt of the first message, wherein the first message is to include first time of flight, "ToF", information and the second message is to include second ToF information; and second processor circuitry to: measure a first time of arrival, "ToA", of the first message at the computer device based on a local clock, measure a second time of arrival, "ToA", of the second message at the computer device based on a local clock, determine a ToF of the first message or the second message based on the first ToF information, the second ToF information, the first ToA, the second ToA, and an offset, and determine positioning information based on the determined ToF without synchronizing with an external synchronization source.
  • first processor circuitry to cause receipt of a first message from a first device and cause receipt of a second message from a second device after receipt
  • Example 27 may include the computer device of example 26 and/or some other examples herein, wherein: the first ToF information is to include a ToD of the first message as measured by a timer implemented by the first device, a ToA of a message sent by the second device to the first device, and a ToD of the message sent by the second device to the first device as measured by a timer implemented by the second device; the second ToF information is to include a ToD of the second message as measured by the timer implemented by the second device, a ToA of a message sent by the first device to the second device, and a ToD of the message sent by the first device to the second device as measured by the timer implemented by the first device; and the offset is a timing offset between the local clock and the timer implemented by the first device.
  • Example 28 may include the computer device of example 26 and/or some other examples herein, wherein the first message or the second message is to include ToF information from a previous positioning measurement cycle.
  • Example 29 may include the computer device of any one of examples 26-28 and/or some other examples herein, wherein: the first processor circuitry is to cause receipt of a third message from a third device, wherein the third message is to include third ToF information; the second processor is circuitry to: measure a third ToA of the third message at the computer device based on the local clock, determine the ToF of the first message or the second message further based on the third ToF information, wherein the third ToF information is to include a ToD of the third message as measured by a timer implemented by the third device, a ToA of a message sent by the first device to the third device, a ToD of the message sent by the first device to the third device as measured by the timer implemented by the first device.
  • Example 30 may include the computer device of example 29 and/or some other examples herein, wherein the computer device, the first device, the second device, and the third device are employed as user equipment, "UE”, an evolved NodeB, “eNB”, a next generation NodeB, “gNB”, a mobile road side unit, "RSU”, or a fixed RSU.
  • UE user equipment
  • eNB evolved NodeB
  • gNB next generation NodeB
  • RSU mobile road side unit
  • RSU fixed RSU
  • Example 31 may include the computer device of any one of examples 16-30 and/or some other examples herein, wherein the first message or the second message comprise global navigation satellite system, "GNSS", position information, wherein the GNSS position information comprises measurement data of measured GNSS signals; an estimated position based on the measured GNSS signals; or velocity data as measured by one or more sensors.
  • GNSS global navigation satellite system
  • Example 32 may include the computer device of example 31 and/or some other examples herein, wherein the first processor circuitry is cause a request for position information to be transmitted, and the first message or the second message is to include the position information based on the request for position information.
  • Example 33 may include the computer device of any one of examples 16-30 and/or some other examples herein, wherein the first processor circuitry is to cause GNSS position information to be obtained from positioning circuitry, wherein the GNSS position information is to include measurement data of one or more GNSS signals measured by the positioning circuitry or an estimated geo-coordinate based on the measured GNSS signals.
  • Example 34 may include the computer device of any one of examples 31-33 and/or some other examples herein, wherein the second circuitry is to determine the relative distance between the apparatus and the device based on the ToF of the first message or the second message and based on the GNSS information and/or the vehicle information.
  • Example 35 may include the computer device of example 34 and/or some other examples herein, wherein the first circuitry is to cause sensor data to be received from one or more sensors, and the second circuitry is to determine the relative distance between the apparatus and the device based on the ToF of the first message or the second message, the GNSS information and/or the vehicle information, and the sensor data.
  • Example 36 may include one or more computer-readable media, "CRM”, comprising instructions, which when executed by one or more processors, is to cause a computer device to: schedule a position determination message to be transmitted or broadcasted to one or more other computer devices; generate the position determination message to indicate a time of departure, "ToD"; and control transmission of the position determination message based on when the position determination message is scheduled to be transmitted.
  • Example 37 may include the one or more CRM of example 36 and/or some other examples herein, wherein the position determination message is a second position determination message transmitted or broadcasted after a first position determination message, and wherein the ToD is atimestamp of a time when the first position determination message was transmitted or broadcasted.
  • Example 38 may include the one or more CRM of example 36 and/or some other examples herein, wherein the position determination message is an only position determination message to be transmitted or broadcasted, and wherein the ToD is a timestamp of a time when the position determination message is scheduled for transmission.
  • Example 39 may include the one or more CRM of any one of examples 36-38 and/or some other examples herein, wherein execution of the instructions by the one or more processors is to cause the computer device to: synchronize with a same extemal timing source as the one or more other computer devices, wherein the external timing source is one or more of a global navigation satellite system, "GNSS" clock, an extemal atomic clock, or a longwave radio clock.
  • GNSS global navigation satellite system
  • extemal atomic clock an extemal atomic clock
  • longwave radio clock a global navigation satellite system
  • Example 40 may include the one or more CRM of example 39 and/or some other examples herein, wherein the computer device is employed as a user equipment, "UE”, an evolved NodeB, "eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; and the one or more other computer devices are eNBs, a gNBs, mobile RSUs, fixed RSUs, or UEs.
  • the computer device is employed as a user equipment, "UE”, an evolved NodeB, "eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; and the one or more other computer devices are eNBs, a gNBs, mobile RSUs, fixed RSUs, or UEs.
  • Example 41 may include one or more computer-readable media, "CRM”, comprising instructions, which when executed by one or more processors, is to cause a computer device to: control receipt of a first message and a second message after the first message, wherein the second message is to include time of flight, "ToF", information; measure a time of arrival, "ToA", of the first message at the computer device based on a local clock; determine a ToF of the first message or the second message based on the ToF information and the ToA of the first message; and determine positioning information based on the ToF of the first message or the second message without synchronizing with an extemal synchronization source.
  • CRM computer-readable media
  • Example 42 may include the one or more CRM of example 41 and/or some other examples herein, wherein the first message and the second message are received from another computer device that is proximate to the computer device, and wherein the first processor circuitry to cause transmission of a third message to the other computer device after receipt of the first message and before receipt of the second message.
  • Example 43 may include the one or more CRM of example 42 and/or some other examples herein, wherein the ToF information comprises: a time of departure, "ToD", of the first message as measured by the other computer device and a ToA of the third message as measured by the ther computer device; or a single value equal to the ToA of the third message subtracted from the ToD of the first message.
  • ToD time of departure
  • Example 44 may include the one or more CRM of example 42 and/or some other examples herein, wherein execution of the instructions by the one or more processors is to cause the computer device to determine the ToF based on a first difference and a second difference, wherein: the first difference is between a ToA of the third message as measured by the other computer device and a ToD of the first message as measured by the other computer device, and the second difference is between a ToD of the third message as measured by the local clock and the ToA of the first message as measured by the local clock.
  • Example 45 may include the one or more CRM of any one of examples 41 -44 and/or some other examples herein, wherein the computer device or the other computer device is employed as a user equipment, "UE”, an evolved NodeB, “eNB”, a next generation NodeB, “gNB”, a mobile road side unit, "RSU”, a fixed RSU.
  • UE user equipment
  • eNB evolved NodeB
  • gNB next generation NodeB
  • RSU mobile road side unit
  • Example 46 may include one or more computer-readable media, "CRM”, comprising instructions, which when executed by one or more processors, is to cause a computer device to: first processor circuitry to cause receipt of a first message from a first device and cause receipt of a second message from a second device after receipt of the first message, wherein the first message is to include first time of flight, "ToF", information and the second message is to include second ToF information; and second processor circuitry to: measure a first time of arrival, "ToA”, of the first message at the computer device based on a local clock, measure a second time of arrival, "ToA", of the second message at the computer device based on a local clock, determine a ToF of the first message or the second message based on the first ToF information, the second ToF information, the first ToA, the second ToA, and an offset, and determine positioning information based on the determined ToF without synchronizing with an external synchronization source.
  • CRM computer-readable media
  • Example 47 may include the one or more CRM of example 46 and/or some other examples herein, wherein: the first ToF information is to include a ToD of the first message as measured by a timer implemented by the first device, a ToA of a message sent by the second device to the first device, and a ToD of the message sent by the second device to the first device as measured by a timer implemented by the second device; the second ToF information is to include a ToD of the second message as measured by the timer implemented by the second device, a ToA of a message sent by the first device to the second device, and a ToD of the message sent by the first device to the second device as measured by the timer implemented by the first device; and the offset is a timing offset between the local clock and the timer implemented by the first device.
  • Example 48 may include the one or more CRM of example 46 and/or some other examples herein, wherein the first message or the second message is to include ToF information from a previous positioning measurement cycle.
  • Example 49 may include the one or more CRM of any one of examples 46-48, wherein: the first processor circuitry is to cause receipt of a third message from a third device, wherein the third message is to include third ToF information; the second processor is circuitry to: measure a third ToA of the third message at the computer device based on the local clock, determine the ToF of the first message or the second message further based on the third ToF information, wherein the third ToF information is to include a ToD of the third message as measured by a timer implemented by the third device, a ToA of a message sent by the first device to the third device, a ToD of the message sent by the first device to the third device as measured by the timer implemented by the first device.
  • Example 50 may include the one or more CRM of example 49 and/or some other examples herein, wherein the computer device, the first device, the second device, and the third device are employed as user equipment, "UE”, an evolved NodeB, “eNB”, a next generation NodeB, “gNB”, a mobile road side unit, "RSU”, or a fixed RSU.
  • UE user equipment
  • eNB evolved NodeB
  • gNB next generation NodeB
  • RSU mobile road side unit
  • RSU fixed RSU
  • Example 51 may include the one or more CRM of any one of examples 36-50 and/or some other examples herein, wherein the first message or the second message comprise vehicle information, wherein the vehicle information comprises measurement data of measured global navigation satellite system, "GNSS", signals; an estimated position of a vehicle based on the measured GNSS signals; or velocity data as measured by one or more sensors of the vehicle.
  • vehicle information comprises measurement data of measured global navigation satellite system, "GNSS", signals; an estimated position of a vehicle based on the measured GNSS signals; or velocity data as measured by one or more sensors of the vehicle.
  • GNSS global navigation satellite system
  • Example 52 may include the one or more CRM of example 51 and/or some other examples herein, wherein execution of the instructions by the one or more processors is to cause the computer device to: control transmission of a request for vehicle information, wherein the first message or the second message is to include the vehicle information based on the request for vehicle information.
  • Example 53 may include the one or more CRM of any one of examples 36-50 and/or some other examples herein, wherein execution of the instructions by the one or more processors is to cause the computer device to control receipt of GNSS information from GNSS positioning circuitry, wherein the GNSS information is to include measurement data of one or more GNSS signals measured by the GNSS positioning circuitry or an estimated geo-coordinate based on the measured GNSS signals.
  • Example 54 may include the one or more CRM of any one of examples 51-53 and/or some other examples herein, wherein execution of the instructions by the one or more processors is to cause the computer device to determine the relative distance between the apparatus and the device based on the ToF of the first message or the second message and based on the GNSS information and/or the vehicle information.
  • Example 55 may include the one or more CRM of example 54 and/or some other examples herein, wherein execution of the instructions by the one or more processors is to cause the computer device to control receipt of sensor data from one or more sensors, and determine the relative distance between the apparatus and the device based on the ToF of the first message or the second message, the GNSS information and/or the vehicle information, and the sensor data.
  • Example 56 may include an apparatus capable of communicating in a wireless cellular network, the apparatus comprising: means for scheduling a position determination message to be transmitted or broadcasted to one or more other computer devices; means for generating the position determination message to indicate a time of departure, "ToD"; and means for transmitting the position determination message based on when the position determination message is scheduled to be transmitted.
  • Example 57 may include the apparatus of example 56 and/or some other examples herein, wherein the position determination message is a second position determination message transmitted or broadcasted after a first position determination message, and wherein the ToD is a timestamp of a time when the first position determination message was transmitted or broadcasted.
  • Example 58 may include the apparatus of example 56 and/or some other examples herein, wherein the position determination message is an only position determination message to be transmitted or broadcasted, and wherein the ToD is a timestamp of a time when the position determination message is scheduled for transmission.
  • Example 59 may include the apparatus of any one of examples 56-58 and/or some other examples herein, further comprising: means for synchronizing with a same external timing source as the one or more other computer devices, wherein the external timing source is one or more of a global navigation satellite system, "GNSS" clock, an external atomic clock, or a longwave radio clock.
  • GNSS global navigation satellite system
  • atomic clock external atomic clock
  • longwave radio clock longwave radio clock
  • Example 60 may include the apparatus of example 59 and/or some other examples herein, wherein the computer device is employed as a user equipment, "UE”, an evolved NodeB, "eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; and the one or more other computer devices are eNBs, a gNBs, mobile RSUs, fixed RSUs, or UEs.
  • the computer device is employed as a user equipment, "UE”, an evolved NodeB, "eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; and the one or more other computer devices are eNBs, a gNBs, mobile RSUs, fixed RSUs, or UEs.
  • Example 61 may include an apparatus capable of communicating in a wireless cellular network, the apparatus comprising: means for receiving a first message and a second message after the first message, wherein the second message is to include time of flight, "ToF", information; means for measuring a time of arrival, "ToA", of the first message at the computer device based on a local clock; means for determining a ToF of the first message or the second message based on the ToF information and the ToA of the first message; and means for determining positioning information based on the ToF of the first message or the second message without synchronizing with an external synchronization source.
  • ToF time of flight
  • ToA time of arrival
  • Example 62 may include the apparatus of example 61 and/or some other examples herein, wherein the first message and the second message are received from another computer device that is proximate to the computer device, and the means for transmitting is for transmitting a third message to the other computer device after receipt of the first message and before receipt of the second message.
  • Example 63 may include the apparatus of example 62 and/or some other examples herein, wherein the ToF information comprises: a time of departure, "ToD", of the first message as measured by the other computer device and a ToA of the third message as measured by the ther computer device; or a single value equal to the ToA of the third message subtracted from the ToD of the first message.
  • ToF information comprises: a time of departure, "ToD", of the first message as measured by the other computer device and a ToA of the third message as measured by the ther computer device; or a single value equal to the ToA of the third message subtracted from the ToD of the first message.
  • Example 64 may include the apparatus of example 62 and/or some other examples herein, further comprising means for determining the ToF based on a first difference and a second difference, wherein: the first difference is between a ToA of the third message as measured by the device and a ToD of the first message as measured by the device, and the second difference is between a ToD of the third message as measured by the processing means and the ToA of the first message as measured by the processing means.
  • Example 65 may include the apparatus of any one of examples 61-64 and/or some other examples herein, wherein the computer device or the other computer device is employed as a user equipment, "UE”, an evolved NodeB, “eNB”, a next generation NodeB, “gNB”, a mobile road side unit, "RSU", a fixed RSU.
  • Example 66 may include the apparatus of any one of examples 56-65, wherein the first message or the second message comprise vehicle information, wherein the vehicle information comprises measurement data of measured global navigation satellite system, "GNSS", signals; an estimated position of a vehicle based on the measured GNSS signals; or velocity data as measured by one or more sensors of the vehicle.
  • GNSS global navigation satellite system
  • Example 67 may include the apparatus of example 66 and/or some other examples herein, further comprising: means for transmitting a request for vehicle information, wherein the first message or the second message is to include the vehicle information based on the request for vehicle information.
  • Example 68 may include the apparatus of any one of examples 56-65 and/or some other examples herein, further comprising means for obtaining GNSS information from GNSS positioning means, wherein the GNSS information is to include measurement data of one or more GNSS signals measured by the GNSS positioning means or an estimated geo- coordinate based on the measured GNSS signals.
  • Example 69 may include the apparatus of any one of examples 66-68 and/or some other examples herein, further comprising means for determining the relative distance between the apparatus and the device based on the ToF of the first message or the second message and based on the GNSS information and/or the vehicle information.
  • Example 70 may include the apparatus of example 69 and/or some other examples herein, further comprising means for obtaining sensor data from one or more sensors, and means for determining the relative distance between the apparatus and the device based on the ToF of the first message or the second message, the GNSS information and/or the vehicle information, and the sensor data.
  • Example 71 may include an apparatus capable of communicating in a wireless cellular network, the apparatus comprising: interface circuitry to obtain a first message and a second message after the first message, wherein the second message is to include time of flight, "ToF", information; and processor circuitry coupled with the interface circuitry, the processor circuitry to: measure a time of arrival, "ToA", of the first message at the apparatus, determine a ToF of the first message or the second message based on the ToF information and the ToA at the apparatus, and determine a relative distance between the apparatus and a device based on the ToF of the first message or the second message.
  • interface circuitry to obtain a first message and a second message after the first message, wherein the second message is to include time of flight, "ToF", information
  • processor circuitry coupled with the interface circuitry, the processor circuitry to: measure a time of arrival, "ToA", of the first message at the apparatus, determine a ToF of the first message or the second message based on the ToF information and the ToA at the apparatus
  • Example 72 may include an apparatus of example 71 and/or some other examples herein, wherein the processor circuitry is to determine the distance between the apparatus and the device without time synchronicity between the apparatus and the device.
  • Example 73 may include an apparatus of example 71 and/or some other examples herein, wherein the first message and the second message are received from the device, the device is proximate to the apparatus, and wherein the interface circuitry is to obtain a third message to the device after receipt of the first message and before receipt of the second message.
  • Example 74 may include an apparatus of example 73 and/or some other examples herein, wherein the ToF information comprises a time of departure, "ToD", of the first message as measured by the device and a ToA of the third message as measured by the device.
  • ToF information comprises a time of departure, "ToD" of the first message as measured by the device and a ToA of the third message as measured by the device.
  • Example 75 may include an apparatus of example 73 and/or some other examples herein, wherein the ToF information comprises a single value equal to a ToA of the third message as measured by the device subtracted from a ToD of the first message as measured by the device.
  • Example 77 may include an apparatus of any one of examples 71-76 and/or some other examples herein, wherein the apparatus is employed as a UE, and eNB, a gNB, a mobile RSU, or a fixed RSU; and the device is an eNB, a gNB, a mobile RSU, a fixed RSU, or a UE.
  • Example 78 may include an apparatus of example 71 and/or some other examples herein, wherein the first message is received from a first device and the second message is received from a second device, wherein the ToF information is second ToF information and the first message is to include first ToF information, and wherein: the first ToF information is to include a ToD of the first message as measured by a clock implemented by the first device, a ToA of a message sent by the second device to the first device, and a ToD of the message sent by the second device to the first device as measured by a clock implemented by the second device; and the second ToF information is to include a ToD of the second message as measured by the clock implemented by the second device, a ToA of a message sent by the first device to the second device, and a ToD of the message sent by the first device to the second device as measured by the clock implemented by the first device.
  • Example 79 may include an apparatus of example 78 and/or some other examples herein, wherein the processor circuitry is to: implement a local timer; measure, based on the local timer, a first ToA of the first message and a second ToA of the second message; and determine the ToF of the first message or the second message based on the first ToF information, the second ToF information, the first ToA, the second ToA, and an offset between the local timer and the clock implemented by the first device.
  • Example 80 may include an apparatus of any one of examples 78-79 and/or some other examples herein, wherein: the apparatus is employed as a user equipment, "UE”, an evolved NodeB, “eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; the first device is an eNB, a gNB, a mobile RSU, a fixed RSU, or a UE; and the second device is an eNB, a gNB, a mobile RSU, a fixed RSU, or a UE.
  • the apparatus is employed as a user equipment, "UE”, an evolved NodeB, "eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU
  • the first device is an eNB, a gNB, a mobile RSU, a fixed RSU, or a UE
  • the second device is an eNB, a gNB, a mobile R
  • Example 81 may include an apparatus of any one of examples 71-80 and/ or some other examples herein, wherein the first message or the second message comprise vehicle information, wherein the vehicle information comprises measurement data of measured global navigation satellite system, "GNSS", signals; an estimated position of a vehicle based on the measured GNSS signals; or velocity data as measured by one or more sensors of the vehicle.
  • vehicle information comprises measurement data of measured global navigation satellite system, "GNSS", signals; an estimated position of a vehicle based on the measured GNSS signals; or velocity data as measured by one or more sensors of the vehicle.
  • GNSS global navigation satellite system
  • Example 82 may include an apparatus of example 81 and/or some other examples herein, wherein the interface circuitry is to provide a request for vehicle information to be transmitted, and the first message or the second message is to comprise the vehicle information based on the request for vehicle information.
  • Example 83 may include an apparatus of any one of examples 71-82 and/or some other examples herein, wherein the processor circuitry is to receive GNSS information from GNSS positioning circuitry via the interface circuitry, wherein the GNSS information is to include measurement data of one or more GNSS signals measured by the GNSS positioning circuitry or an estimated geo-coordinate based on the measured GNSS signals.
  • Example 84 may include an apparatus of any one of examples 81-83 and/or some other examples herein, wherein the processor circuitry is to determine the relative distance between the apparatus and the device based on the ToF of the first message or the second message and based on the GNSS information and/or the vehicle information.
  • Example 85 may include an apparatus of example 84 and/or some other examples herein, wherein the processor circuitry is to obtain sensor data from one or more sensors via the interface circuitry, and determine the relative distance between the apparatus and the device based on the ToF of the first message or the second message, the GNSS information and/or the vehicle information, and the sensor data.
  • Example 86 may include a computer device capable of communicating in a wireless cellular network, the computer device comprising: processor circuitry to: schedule a position determination message to be transmitted or broadcasted to one or more other computer devices, and generate the position determination message to indicate a time of departure, "ToD"; and interface circuitry coupled with the processor circuitry, the interface circuitry to provide the position determination message to be transmitted by radiofrequency (RF) circuitry based on when the position determination message is scheduled to be transmitted.
  • RF radiofrequency
  • Example 87 may include the computer device of example 86 and/or some other examples herein, wherein the position determination message is a second position determination message transmitted or broadcasted after a first position determination message, and wherein the ToD is a timestamp of a time when the first position determination message was transmitted or broadcasted.
  • Example 88 may include the computer device of example 86 and/or some other examples herein, wherein the position determination message is an only position determination message to be transmitted or broadcasted, and wherein the ToD is a timestamp of a time when the position determination message is scheduled for transmission.
  • Example 89 may include the computer device of any one of examples 86-88 and/or some other examples herein, wherein the processor circuitry and the one or more other computer devices are to synchronize with a same external timing source, wherein the external timing source is one or more of a global navigation satellite system, "GNSS" clock, an external atomic clock, or a longwave radio clock.
  • GNSS global navigation satellite system
  • atomic clock external atomic clock
  • longwave radio clock a global navigation satellite system
  • Example 90 may include the computer device of example 89 and/or some other examples herein, wherein the computer device is employed as a user equipment, "UE”, an evolved NodeB, "eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; and the one or more other computer devices are eNBs, a gNBs, mobile RSUs, fixed RSUs, or UEs.
  • the computer device is employed as a user equipment, "UE”, an evolved NodeB, "eNB”, a next generation NodeB, "gNB”, a mobile road side unit, "RSU”, a fixed RSU; and the one or more other computer devices are eNBs, a gNBs, mobile RSUs, fixed RSUs, or UEs.
  • Example 91 may include a computer device capable of communicating in a wireless cellular network, the computer device comprising: interface circuitry to obtain, from radiofrequency (RF) circuitry, a first message and a second message after the first message, wherein the second message is to include time of flight, "ToF", information; and processor circuitry coupled with the interface circuitry, the processor circuitry to measure a time of arrival, "ToA", of the first message at the computer device based on a local clock, determine a ToF of the first message or the second message based on the ToF information and the ToA of the first message, and determine positioning information based on the ToF of the first message or the second message without synchronizing with an external synchronization source.
  • RF radiofrequency
  • Example 92 may include the computer device of example 91 and/or some other examples herein, wherein the first message and the second message are received from another computer device that is proximate to the computer device, and wherein the first processor circuitry to cause transmission of a third message to the other computer device after receipt of the first message and before receipt of the second message.
  • Example 93 may include the computer device of example 92 and/or some other examples herein, wherein the ToF information comprises: a time of departure, "ToD", of the first message as measured by the other computer device and a ToA of the third message as measured by the ther computer device; or a single value equal to the ToA of the third message subtracted from the ToD of the first message.
  • ToF information comprises: a time of departure, "ToD", of the first message as measured by the other computer device and a ToA of the third message as measured by the ther computer device; or a single value equal to the ToA of the third message subtracted from the ToD of the first message.
  • Example 94 may include the computer device of example 92 and/or some other examples herein, wherein the processor circuitry is to determine the ToF based on a first difference and a second difference, wherein: the first difference is between a ToA of the third message as measured by the device and a ToD of the first message as measured by the device, and the second difference is between a ToD of the third message as measured by the processor circuitry and the ToA of the first message as measured by the processor circuitry.
  • Example 95 may include the computer device of any one of examples 91-94 and/or some other examples herein, wherein the computer device or the other computer device is employed as a user equipment, "UE”, an evolved NodeB, “eNB”, a next generation NodeB, “gNB”, a mobile road side unit, "RSU”, a fixed RSU.
  • UE user equipment
  • eNB evolved NodeB
  • gNB next generation NodeB
  • RSU mobile road side unit
  • Example 96 may include one or more computer-readable storage media to store instructions, which when executed by one or more processors of a user equipment, cause the user equipment to perform the method of examples 1-95.
  • the one or more computer- readable storage media may be non-transitory computer-readable storage media.
  • Example 97 may include an apparatus comprising means to perform one or more elements of a method described in or related to any of examples 1-95, or any other method or process described herein.
  • Example 98 may include one or more non-transitory computer-readable media comprising instructions to cause an electronic device, upon execution of the instructions by one or more processors of the electronic device, to perform one or more elements of a method described in or related to any of examples 1-95, or any other method or process described herein.
  • Example 99 may include an apparatus comprising logic, modules, or circuitry to perform one or more elements of a method described in or related to any of examples 1-95, or any other method or process described herein.
  • Example 100 may include a method, technique, or process as described in or related to any of examples 1 -95, or portions or parts thereof.
  • Example 101 may include an apparatus comprising: one or more processors and one or more computer readable media comprising instructions that, when executed by the one or more processors, cause the one or more processors to perform the method, techniques, or process as described in or related to any of examples 1-95, or portions thereof.
  • Example 102 may include a signal as described in or related to any of examples 1 - 95, or portions or parts thereof.
  • Example 103 may include a signal in a wireless network as shown and described herein.
  • Example 104 may include a method of communicating in a wireless network as shown and described herein.
  • Example 105 may include a system for providing wireless communication as shown and described herein.
  • Example 106 may include a device for providing wireless communication as shown and described herein.

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  • Engineering & Computer Science (AREA)
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Abstract

L'invention concerne des procédés, des systèmes, et des supports de stockage permettant de réserver des ressources radio pour fournir un positionnement V2X (vehicle-to-everything) précis et fiable. Les mécanismes de positionnement V2X peuvent permettre à un équipement d'utilisateur de véhicule (vUE) de déterminer une position relative, qui peut consister à mesurer une distance entre un vUE et un autre dispositif proche à l'aide d'une technologie du temps de vol. Les mécanismes de positionnement V2X peuvent comprendre des mesures de distance bidirectionnelles, des mesures de distance unidirectionnelles, un positionnement de liaison descendante uniquement, non synchronisé, et des améliorations de positionnement à l'aide de mesures radio. L'invention peut également concerner d'autres modes de réalisation.
PCT/US2017/063307 2016-12-05 2017-11-27 Technique de positionnement v2x (vehicle-to-everything) WO2018106467A1 (fr)

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WO2019140234A1 (fr) * 2018-01-12 2019-07-18 Qualcomm Incorporated Télémétrie et positionnement de véhicule
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EP3617735A1 (fr) * 2018-08-31 2020-03-04 Cohda Wireless Pty Ltd. Procédé d'estimation de la position d'un objet
WO2020145487A1 (fr) * 2019-01-11 2020-07-16 엘지전자 주식회사 Procédé et équipement utilisateur de transmission de signal dans un système de communication sans fil
CN111586619A (zh) * 2019-02-15 2020-08-25 华为技术有限公司 一种多种网络制式下的通信方法及装置
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WO2021108804A1 (fr) * 2019-11-27 2021-06-03 Qualcomm Incorporated Positionnement de véhicules et de piétons mettant à profit un signal de télémétrie
WO2021174637A1 (fr) * 2020-03-02 2021-09-10 惠州Tcl移动通信有限公司 Procédé et appareil de calcul de distance de communication
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US20220137179A1 (en) * 2019-07-15 2022-05-05 Huawei Technologies Co., Ltd. Detection method and signal sending method and apparatus
CN110446160A (zh) * 2019-08-13 2019-11-12 南京戎智信息创新研究院有限公司 一种基于多路径信道状态信息的车辆位置估计的深度学习方法
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EP4061022A4 (fr) * 2019-11-11 2023-01-11 Datang Mobile Communications Equipment Co., Ltd. Procédé de positionnement, terminal, et dispositif côté réseau
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WO2021108804A1 (fr) * 2019-11-27 2021-06-03 Qualcomm Incorporated Positionnement de véhicules et de piétons mettant à profit un signal de télémétrie
US11758357B2 (en) 2019-11-27 2023-09-12 Qualcomm Incorporated Positioning of vehicles and pedestrians leveraging ranging signal
WO2021174637A1 (fr) * 2020-03-02 2021-09-10 惠州Tcl移动通信有限公司 Procédé et appareil de calcul de distance de communication
WO2021194866A1 (fr) * 2020-03-25 2021-09-30 Qualcomm Incorporated Positionnement en liaison latérale: commutation entre positionnement par temps d'aller-retour et par temps d'aller simple
WO2022164509A1 (fr) * 2021-01-28 2022-08-04 Qualcomm Incorporated Adaptation de signal de référence de positionnement dans un système de télémétrie distribué
US11991662B2 (en) 2021-01-28 2024-05-21 Qualcomm Incorporated Positioning reference signal adaptation in distributed ranging system
WO2022197374A1 (fr) * 2021-03-18 2022-09-22 Qualcomm Incorporated Localisation de piéton assistée par télémétrie
US11659354B2 (en) 2021-03-18 2023-05-23 Qualcomm Incorporated Ranging assisted pedestrian localization
WO2024078196A1 (fr) * 2022-10-09 2024-04-18 华为技术有限公司 Procédé de positionnement et dispositif de communication

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