Sidelink positioning based on physical ranging signals
A user equipment (UE) in a vehicle (V-UE) broadcasts multi-phased ranging signals with which other entities may determine the range to the V-UE. The multi-phased ranging signals may include a first message, which may be broadcast in the Intelligent Transport System (ITS) spectrum, includes ranging information, such as a source identifier, location information for the broadcasting V-UE, and an expected time of broadcast of the ranging signal. The ranging signal may then be broadcast at the expected time and may include the source identifier. A second message, which be broadcast in the ITS spectrum, may include clock error information for the V-UE. A receiving entity may determine the range to the V-UE based on the time of arrival of the ranging signal and the expected time of transmission, as well as the clock error information. The receiving entity may further generate a position estimate based on the received location information.
1. A method of ranging between vehicles performed by a vehicle based user equipment (V-UE), the method comprising:
broadcasting one or more messages with information related to a ranging signal, the information comprising a source identifier identifying the V-UE, location information for the V-UE, clock error information for the V-UE, and a time of broadcast of a ranging signal, the one or more messages broadcast before, or after, or both before and after broadcasting the ranging signal; and
broadcasting the ranging signal, the ranging signal comprising the source identifier.
2. The method of claim 1 , wherein the one or more messages comprises a first message broadcast before broadcasting the ranging signal, the first message comprising the source identifier identifying the V-UE and the location information for the V-UE, and a second message broadcast after broadcasting the ranging signal, the second message comprising the clock error information for the V-UE, wherein the time of broadcast of the ranging signal is provided in one of the first message before the ranging signal is broadcast and the second message after the ranging signal is broadcast.
3. The method of claim 1 , wherein the one or more messages with the information related to the ranging signal is broadcast in an Intelligent Transport System (ITS) spectrum and the one or more messages and the ranging signal are broadcast on a licensed spectrum or an unlicensed spectrum.
4. The method of claim 1 , wherein the location information comprises at least one of a location of the V-UE, a velocity of the V-UE when broadcasting the one or more messages, and an expected location of the V-UE at the time of broadcast of the ranging signal.
5. The method of claim 1 , wherein the information related to the ranging signal further comprises a sequence identifier identifying with respect to other ranging signal sequences a ranging signal sequence comprising the one or more messages and the ranging signal, wherein the ranging signal further comprises the sequence identifier.
6. The method of claim 1 , further comprising:
receiving ranging signals from at least one other V-UE; and
determining the clock error information for the V-UE based on the ranging signals from the at least one other V-UE.
7. The method of claim 1 , wherein the clock error information for the V-UE comprises a clock drift and clock bias or a variance in the clock drift and clock bias.
8. The method of claim 1 , wherein the one or more messages and the ranging signal comprise a first ranging signal sequence, the method further comprising broadcasting multiple ranging signal sequences at different time instances.
9. The method of claim 1 , wherein a waveform of the ranging signal is associated with the source identifier.
10. A vehicle based user equipment (V-UE) configured for ranging between vehicles, comprising:
a wireless transceiver configured to receive broadcast signals from other V-UEs;
at least one memory; and
at least one processor coupled to the wireless transceiver and the at least one memory, the at least one processor configured to:
broadcast one or more messages with information related to a ranging signal, the information comprising a source identifier identifying the V-UE, location information for the V-UE, clock error information for the V-UE, and a time of broadcast of a ranging signal, the one or more messages broadcast before, or after, or both before and after broadcasting the ranging signal; and
broadcast the ranging signal, the ranging signal comprising the source identifier.
11. The V-UE of claim 10 , wherein the one or more messages comprises a first message broadcast before the ranging signal is broadcast, the first message comprising the source identifier identifying the V-UE and the location information for the V-UE, and a second message broadcast after the ranging signal is broadcast, the second message comprising the clock error information for the V-UE, wherein the time of broadcast of the ranging signal is provided in one of the first message before the ranging signal is broadcast and the second message after the ranging signal is broadcast.
12. The V-UE of claim 10 , wherein the one or more messages with the information related to the ranging signal is broadcast in an Intelligent Transport System (ITS) spectrum and the one or more messages and the ranging signal are broadcast on a licensed spectrum or an unlicensed spectrum.
13. The V-UE of claim 10 , wherein the location information comprises at least one of a location of the V-UE, a velocity of the V-UE when broadcasting the one or more messages, and an expected location of the V-UE at the time of broadcast of the ranging signal.
14. The V-UE of claim 10 , wherein the information related to the ranging signal further comprises a sequence identifier identifying with respect to other ranging signal sequences a ranging signal sequence comprising the one or more messages and the ranging signal, wherein the ranging signal further comprises the sequence identifier.
15. The V-UE of claim 10 , wherein the at least one processor is further configured to:
receive ranging signals from at least one other V-UE; and
determine the clock error information for the V-UE based on the ranging signals from the at least one other V-UE.
16. The V-UE of claim 10 , wherein the clock error information for the V-UE comprises a clock drift and clock bias or a variance in the clock drift and clock bias.
17. The V-UE of claim 10 , wherein the one or more messages and the ranging signal comprise a first ranging signal sequence, wherein the at least one processor is further configured to broadcast multiple ranging signal sequences at different time instances.
18. The V-UE of claim 10 , wherein a waveform of the ranging signal is associated with the source identifier.
19. A method of ranging between vehicles performed by a first vehicle based user equipment (V-UE), the method comprising:
receiving one or more messages broadcast by a second V-UE, the one or more messages comprising information related to a ranging signal to be broadcast by the second V-UE, the information comprising a source identifier identifying the second V-UE, location information for the second V-UE, clock error information for the second V-UE, and a time of broadcast of a ranging signal, the one or more messages is received before, or after, or both before and after receiving the ranging signal;
receiving the ranging signal broadcast by the second V-UE, the ranging signal comprising the source identifier; and
determining a range to the second V-UE based on the information related to the ranging signal, the ranging signal, and the clock error information received from the second V-UE.
20. The method of claim 19 , wherein the one or more messages comprises a first message received before receiving the ranging signal, the first message comprising the source identifier identifying the second V-UE and the location information for the second V-UE, and a second message received after receiving the ranging signal, the second message comprising the clock error information for the second V-UE, wherein the time of broadcast of the ranging signal is provided in one of the first message before the ranging signal is received and the second message after the ranging signal is received.
21. The method of claim 19 , wherein the one or more messages with the information related to the ranging signal is broadcast in an Intelligent Transport System (ITS) spectrum and the one or more messages and the ranging signal are broadcast on a licensed spectrum or an unlicensed spectrum.
22. The method of claim 19 , wherein the location information comprises a at least one of location of the second V-UE, a velocity of the V-UE when broadcasting the one or more messages, and an expected location of the V-UE at the time of broadcast of the ranging signal.
23. The method of claim 19 , wherein the information related to the ranging signal further comprises a sequence identifier identifying with respect to other ranging signal sequences a ranging signal sequence comprising the one or more messages and the ranging signal, wherein the ranging signal further comprises the sequence identifier.
24. The method of claim 19 , wherein the one or more messages and the ranging signal comprise a first ranging signal sequence, the method further comprising receiving multiple ranging signal sequences from the second V-UE at different time instances.
25. The method of claim 19 , wherein the one or more messages and the ranging signal comprise a first ranging signal sequence, the method further comprising:
receiving a second ranging signal sequences from a third V-UE including at least a location of the third V-UE and a velocity of the third V-UE, and determining a range to the third V-UE;
receiving a third ranging signal sequences from a fourth V-UE including at least a location of the fourth V-UE and a velocity of the fourth V-UE and determining a range to the fourth V-UE; and
determining a location of the first V-UE based on the range to the second V-UE, the range to the third V-UE, and the range to the fourth V-UE, and locations of the second V-UE, the third V-UE, and the fourth V-UE and velocities of the second V-UE, the third V-UE, and the fourth V-UE.
26. The method of claim 19 , wherein a waveform of the ranging signal is associated with the source identifier.
27. A first vehicle based user equipment (V-UE) configured for ranging between vehicles, comprising:
a wireless transceiver configured to receive broadcast signals from other V-UEs;
at least one memory; and
at least one processor coupled to the wireless transceiver and the at least one memory, the at least one processor configured to:
receive one or more messages broadcast by a second V-UE, the one or more messages comprising information related to a ranging signal to be broadcast by the second V-UE, the information comprising a source identifier identifying the second V-UE, location information for the second V-UE, clock error information for the second V-UE, and a time of broadcast of a ranging signal, the one or more messages is received before, or after, or both before and after receiving the ranging signal; and
receive the ranging signal broadcast by the second V-UE, the ranging signal comprising the source identifier; and
determine a range to the second V-UE based on the information related to the ranging signal, the ranging signal, and the clock error information received from the second V-UE.
28. The -UE of claim 27 , wherein the one or more messages comprises a first message received before receiving the ranging signal, the first message comprising the source identifier identifying the second V-UE and the location information for the second V-UE, and a second message received after receiving the ranging signal, the second message comprising the clock error information for the second V-UE, wherein the time of broadcast of the ranging signal is provided in one of the first message before the ranging signal is received and the second message after the ranging signal is received.
29. The V-UE of claim 27 , wherein the one or more messages with the information related to the ranging signal is broadcast in an Intelligent Transport System (ITS) spectrum and the one or more messages and the ranging signal are broadcast on a licensed spectrum or an unlicensed spectrum.
30. The V-UE of claim 27 , wherein the location information comprises at least one of a location of the second V-UE, a velocity of the V-UE when broadcasting the one or more messages, and an expected location of the V-UE at the time of broadcast of the ranging signal.
31. The V-UE of claim 27 , wherein the information related to the ranging signal further comprises a sequence identifier identifying with respect to other ranging signal sequences a ranging signal sequence comprising the one or more messages and the ranging signal, wherein the ranging signal further comprises the sequence identifier.
32. The V-UE of claim 27 , wherein the one or more messages and the ranging signal comprise a first ranging signal sequence, the method further comprising receiving multiple ranging signal sequences from the second V-UE at different time instances.
33. The V-UE of claim 27 , wherein the one or more messages and the ranging signal comprise a first ranging signal sequence, wherein the at least one processor is further configured to:
receive a second ranging signal sequences from a third V-UE including at least a location of the third V-UE and a velocity of the third V-UE, and determining a range to the third V-UE;
receive a third ranging signal sequences from a fourth V-UE including at least a location of the fourth V-UE and a velocity of the fourth V-UE and determining a range to the fourth V-UE; and
determine a location of the first V-UE based on the range to the second V-UE, the range to the third V-UE, and the range to the fourth V-UE, and locations of the second V-UE, the third V-UE, and the fourth V-UE and velocities of the second V-UE, the third V-UE, and the fourth V-UE.
34. The V-UE of claim 27 , wherein a waveform of the ranging signal is associated with the source identifier.