Method for positioning sidelink and device therefor

1. A method of performing positioning by a user equipment (UE) mounted in a positioning vehicle in a cellular vehicle-to-everything (C-V2X) communication system, the method comprising:

measuring a time of flight (ToF) by performing round trip time (RTT) ranging with a road side unit (RSU);

determining a positioning mode, wherein the positioning mode includes a self-positioning mode and a cooperative positioning mode;

measuring a relative position of a neighbor vehicle using a sensor mounted in the positioning vehicle based on the determined positioning mode being the cooperative positioning mode, and storing first positioning measurement information related to the measured relative position;

selecting a neighbor vehicle to perform cooperative positioning;

transmitting the first positioning measurement information to the selected neighbor vehicle;

receiving second positioning measurement information from the selected neighbor vehicle; and

determining a current position of the positioning vehicle based on the first positioning measurement information and the second positioning measurement information.

2. The method of claim 1 , wherein the RTT ranging is performed with respect to a single RSU.

3. The method of claim 1 , wherein the first positioning measurement information and the second positioning measurement information include essential measurement information including at least one of information about an absolute position of a corresponding vehicle, information about reliability of the absolute position, information about a ToF measurement time at the corresponding vehicle, information about a relative position measured by the corresponding vehicle, or information about reliability of the relative position measured by the corresponding vehicle.

4. The method of claim 3 , wherein the first positioning measurement information and the second positioning measurement information further include additional measurement information including at least one of information about a time difference between a ToF measurement time and a relative position measurement time, information about a time difference between the ToF measurement time and a transmission time of the measured ToF, information about a vehicle speed during relative position measurement, or information about a heading angle during relative position measurement.

5. The method of claim 4 , further comprising:

estimating a time duration between a ToF measurement time and a relative position measurement time of the neighbor vehicle based on the additional measurement information received from the selected neighbor vehicle;

estimating change amounts of a speed and heading direction of the positioning vehicle related to the estimated time duration; and

correcting the relative position received from the neighbor vehicle based on the estimated change amounts of the speed and heading direction of the positioning vehicle and on a speed and heading direction of the neighbor vehicle.

6. The method of claim 1 , wherein the positioning mode is determined based on whether the sensor is provided and on a collective perception message (CPM) received from the neighbor vehicle.

7. The method of claim 6 , wherein an ID of a neighbor vehicle, the number of neighbor vehicles capable of performing cooperative positioning, and a positioning capability and level of a neighbor vehicle are identified based on the CPM, and a neighbor vehicle to perform cooperative positioning is determined based on the identified positioning capability and level of a neighbor vehicle.

8. The method of claim 7 , wherein the first positioning measurement information and the second positioning measurement information are transmitted and received through sidelink control information (SCI) of a physical sidelink control channel (PSCCH), SCI of a physical sidelink shared channel (PSSCH), or data of the PSSCH.

9. The method of claim 1 ,

wherein the sensor includes an inertial measurement unit including a gyroscope, an accelerometer, and a geomagnetic sensor,

wherein, based on the number of selected neighbor vehicles being one, cooperative positioning is performed based on a relative position change amount according to vehicle position variation measured through the inertial measurement unit, the first positioning measurement information, and the second positioning measurement information, and

wherein, based on the number of selected neighbor vehicles being two, cooperative positioning is performed based on the first positioning measurement information and the second positioning measurement information.

10. The method of claim 1 , wherein the current position of the positioning vehicle is determined based on absolute coordinates of the RSU, an absolute position of the positioning vehicle, a ToF measured at the positioning vehicle, an absolute position of the selected neighbor vehicle, and a ToF measured at the selected neighbor vehicle.

11. A user equipment (UE) mounted in a positioning vehicle, for performing positioning, in a cellular vehicle-to-everything (C-V2X) communication system, the UE comprising:

a radio frequency (RF) transceiver; and

a processor connected to the RF transceiver,

wherein the processor measures a time of flight (ToF) by performing round trip time (RTT) ranging with a road side unit (RSU), determines a positioning mode, wherein the positioning mode includes a self-positioning mode and a cooperative positioning mode, measures a relative position of a neighbor vehicle using a sensor mounted in the positioning vehicle based on the determined positioning mode being the cooperative positioning mode, stores first positioning measurement information related to the measured relative position, selects a neighbor vehicle to perform cooperative positioning, transmits the first positioning measurement information to the selected neighbor vehicle, receives second positioning measurement information from the selected neighbor vehicle, and determines a current position of the positioning vehicle based on the first positioning measurement information and the second positioning measurement information.

12. The UE of claim 11 , wherein the processor performs the RTT ranging with respect to a single RSU.

13. The UE of claim 11 , wherein the first positioning measurement information and the second positioning measurement information include essential measurement information including at least one of information about an absolute position of a corresponding vehicle, information about reliability of the absolute position, information about a ToF measurement time at the corresponding vehicle, information about a relative position measured by the corresponding vehicle, or information about reliability of the relative position measured by the corresponding vehicle.

14. The UE of claim 13 , wherein the first positioning measurement information and the second positioning measurement information further include additional measurement information including at least one of information about a time difference between a ToF measurement time and a relative position measurement time, information about a time difference between the ToF measurement time and a transmission time of the measured ToF, information about a vehicle speed during relative position measurement, or information about a heading angle during relative position measurement.

15. The UE of claim 14 , wherein the processor estimates a time duration between a ToF measurement time and a relative position measurement time of the neighbor vehicle based on the additional measurement information received from the selected neighbor vehicle, estimates change amounts of a speed and heading direction of the positioning vehicle related to the estimated time duration, and corrects the relative position received from the neighbor vehicle based on the estimated change amounts of the speed and heading direction of the positioning vehicle and on a speed and heading direction of the neighbor vehicle.

16. The UE of claim 11 , wherein the processor determines the positioning mode based on whether the sensor is provided and on a collective perception message (CPM) received from the neighbor vehicle.

17. The UE of claim 16 , wherein the processor identifies an ID of a neighbor vehicle, the number of neighbor vehicles capable of performing cooperative positioning, and a positioning capability and level of a neighbor vehicle, based on the CPM, and determines a neighbor vehicle to perform cooperative positioning based on the identified positioning capability and level of a neighbor vehicle.

18. The UE of claim 17 , wherein the first positioning measurement information and the second positioning measurement information are transmitted and received through sidelink control information (SCI) of a physical sidelink control channel (PSCCH), SCI of a physical sidelink shared channel (PSSCH), or data of the PSSCH.

19. The UE of claim 11 ,

wherein the sensor includes an inertial measurement unit including a gyroscope, an accelerometer, and a geomagnetic sensor,

wherein, based on the number of selected neighbor vehicles being one, the processor performs cooperative positioning based on a relative position change amount according to vehicle position variation measured through the inertial measurement unit, the first positioning measurement information, and the second positioning measurement information, and

wherein, based on the number of selected neighbor vehicles being two, the processor performs cooperative positioning based on the first positioning measurement information and the second positioning measurement information.

20. The UE of claim 11 , wherein the processor determines the current position of the positioning vehicle based on absolute coordinates of the RSU, an absolute position of the positioning vehicle, a ToF measured at the positioning vehicle, an absolute position of the selected neighbor vehicle, and a ToF measured at the selected neighbor vehicle.