Vehicle-to-pedestrian positioning with user equipment and network assistance
Various aspects of the present disclosure generally relate to wireless communication. In some aspects, a network node may receive a first set of ranging measurements based at least in part on a first one or more positioning reference signals communicated over a sidelink between a pedestrian user equipment (P-UE) and a vehicle UE (V-UE). The network node may receive a second set of ranging measurements based at least in part on a second one or more positioning reference signals communicated over an access link between the P-UE and one or more base stations. The network node may transmit, to the P-UE, an estimated position of the P-UE. For example, in some aspects, the estimated position of the P-UE may be based at least in part on the first set of ranging measurements and the second set of ranging measurements. Numerous other aspects are provided.
1. A method of wireless communication performed by a network node, comprising:
receiving a first set of ranging measurements based at least in part on a first one or more positioning reference signals communicated between a pedestrian user equipment (P-UE) and a vehicle UE (V-UE) via a sidelink;
receiving a second set of ranging measurements based at least in part on a second one or more positioning reference signals communicated between the P-UE and one or more base stations via an access link; and
transmitting, to the P-UE, an estimated position of the P-UE, wherein the estimated position of the P-UE is based at least in part on the first set of ranging measurements and the second set of ranging measurements.
2. The method of claim 1 , further comprising:
determining a first position estimate for the P-UE based at least in part on the first set of ranging measurements and an estimated position of the V-UE; and
determining a second position estimate for the P-UE based at least in part on the second set of ranging measurements and positions of the one or more base stations, wherein the estimated position of the P-UE is based at least in part on the first position estimate and the second position estimate.
3. The method of claim 1 , further comprising:
receiving a request for positioning information from the P-UE, wherein the estimated position of the P-UE is transmitted to the P-UE based at least in part on the request for positioning information.
4. The method of claim 3 , wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the P-UE is transmitted to the P-UE based at least in part on the periodic reporting interval expiring.
5. The method of claim 3 , further comprising:
determining an estimated position of the V-UE based at least in part on ranging measurements associated with positioning reference signals communicated between the V-UE and one or more other P-UEs via a sidelink; and
transmitting, to the P-UE, the estimated position of the V-UE based at least in part on the request for positioning information including a request for positioning information associated with the V-UE.
6. The method of claim 5 , wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the P-UE and the estimated position of the V-UE are transmitted to the P-UE based at least in part on the periodic reporting interval expiring.
7. The method of claim 1 , further comprising:
receiving, from the P-UE, a message configuring one or more triggering events for reporting positioning information to the P-UE, wherein one or more of the estimated position of the P-UE or an estimated position of the V-UE are transmitted to the P-UE based at least in part on an occurrence of the one or more triggering events.
8. The method of claim 7 , wherein the one or more triggering events include one or more of:
a variance between one or more parameters included in the first set of ranging measurements and one or more parameters included in the second set of ranging measurements satisfying a first threshold,
receiving an initial reporting of the first set of ranging measurements from the P-UE, or
a distance between the estimated position of the P-UE and the estimated position of the V-UE or one or more other V-UEs satisfying a second threshold.
9. A method of wireless communication performed by a pedestrian user equipment (P-UE), comprising:
transmitting, to a network node, a first set of ranging measurements based at least in part on a first one or more positioning reference signals communicated between the P-UE and a vehicle UE (V-UE) via a sidelink;
transmitting, to one or more base stations, a second set of ranging measurements based at least in part on a second one or more positioning reference signals communicated between the P-UE and the one or more base stations via an access link; and
receiving, from the network node, an estimated position of the P-UE, wherein the estimated position of the P-UE is based at least in part on the first set of ranging measurements and the second set of ranging measurements.
10. The method of claim 9 , further comprising:
transmitting an estimated position of the V-UE to the network node, wherein the estimated position of the P-UE is further based at least in part on the estimated position of the V-UE and positions of the one or more base stations.
11. The method of claim 9 , further comprising:
transmitting a request for positioning information to the network node, wherein the estimated position of the P-UE is received from the network node based at least in part on the request for positioning information.
12. The method of claim 11 , wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the P-UE is received from the network node based at least in part on the periodic reporting interval expiring.
13. The method of claim 11 , further comprising:
receiving, from the network node, an estimated position of the V-UE based at least in part on the request for positioning information including a request for positioning information associated with the V-UE.
14. The method of claim 13 , wherein the request for positioning information indicates a periodic reporting interval, and wherein the estimated position of the P-UE and the estimated position of the V-UE are received from the network node based at least in part on the periodic reporting interval expiring.
15. The method of claim 11 , wherein the request for positioning information is transmitted to the network node based at least in part on a variance associated with one or more local sensors satisfying a first threshold, or based at least in part on a variance associated with the first set of ranging measurements satisfying a second threshold.
16. The method of claim 11 , wherein the request for positioning information is transmitted to the network node based at least in part on receiving one or more basic safety messages indicating a presence of one or more V-UEs.
17. The method of claim 9 , further comprising:
transmitting, to the network node, a message configuring one or more triggering events for reporting positioning information to the P-UE, wherein one or more of the estimated position of the P-UE or an estimated position of the V-UE are received from the network node based at least in part on an occurrence of the one or more triggering events.
18. The method of claim 17 , wherein the one or more triggering events include one or more of:
a variance between one or more parameters included in the first set of ranging measurements and one or more parameters included in the second set of ranging measurements satisfying a first threshold,
receiving an initial reporting of the first set of ranging measurements from the P-UE, or
a distance between the estimated position of the P-UE and the estimated position of the V-UE or one or more other V-UEs satisfying a second threshold.
19. A network node for wireless communication, comprising:
a transceiver;
a memory; and
one or more processors, coupled to the transceiver and the memory, configured to:
receive, via the transceiver, a first set of ranging measurements based at least in part on a first one or more positioning reference signals communicated between a pedestrian user equipment (P-UE) and a vehicle UE (V-UE) via a sidelink;
receive, via the transceiver, a second set of ranging measurements based at least in part on a second one or more positioning reference signals communicated between the P-UE and one or more base stations via an access link; and
transmit, to the P-UE, via the transceiver, an estimated position of the P-UE, wherein the estimated position of the P-UE is based at least in part on the first set of ranging measurements and the second set of ranging measurements.
20. The network node of claim 19 , wherein the one or more processors are further configured to:
determine a first position estimate for the P-UE based at least in part on the first set of ranging measurements and an estimated position of the V-UE; and
determine a second position estimate for the P-UE based at least in part on the second set of ranging measurements and positions of the one or more base stations, wherein the estimated position of the P-UE is based at least in part on the first position estimate and the second position estimate.
21. The network node of claim 19 , wherein the one or more processors are further configured to:
receive a request for positioning information from the P-UE, wherein the estimated position of the P-UE is transmitted to the P-UE based at least in part on the request for positioning information.
22. The network node of claim 21 , wherein the one or more processors are further configured to:
determine an estimated position of the V-UE based at least in part on ranging measurements associated with positioning reference signals communicated between the V-UE and one or more other P-UEs via a sidelink; and
transmit, to the P-UE, the estimated position of the V-UE based at least in part on the request for positioning information including a request for positioning information associated with the V-UE.
23. The network node of claim 19 , wherein the one or more processors are further configured to:
receive, from the P-UE, a message configuring one or more triggering events for reporting positioning information to the P-UE, wherein one or more of the estimated position of the P-UE or an estimated position of the V-UE are transmitted to the P-UE based at least in part on an occurrence of the one or more triggering events.
24. A pedestrian user equipment (P-UE) for wireless communication, comprising:
a transceiver;
a memory; and
one or more processors, coupled to the transceiver and the memory, configured to:
transmit, to a network node, via the transceiver, a first set of ranging measurements based at least in part on a first one or more positioning reference signals communicated between the P-UE and a vehicle UE (V-UE) via a sidelink;
transmit, to one or more base stations, via the transceiver, a second set of ranging measurements based at least in part on a second one or more positioning reference signals communicated between the P-UE and the one or more base stations via an access link; and
receive, from the network node, via the transceiver, an estimated position of the P-UE, wherein the estimated position of the P-UE is based at least in part on the first set of ranging measurements and the second set of ranging measurements.
25. The P-UE of claim 24 , wherein the one or more processors are further configured to:
transmit an estimated position of the V-UE to the network node, wherein the estimated position of the P-UE is further based at least in part on the estimated position of the V-UE and positions of the one or more base stations.
26. The P-UE of claim 24 , wherein the one or more processors are further configured to:
transmit a request for positioning information to the network node, wherein the estimated position of the P-UE is received from the network node based at least in part on the request for positioning information.
27. The P-UE of claim 26 , wherein the one or more processors are further configured to:
receive, from the network node, an estimated position of the V-UE based at least in part on the request for positioning information including a request for positioning information associated with the V-UE.
28. The P-UE of claim 26 , wherein the request for positioning information is transmitted to the network node based at least in part on a variance associated with one or more local sensors satisfying a first threshold, or based at least in part on a variance associated with the first set of ranging measurements satisfying a second threshold.
29. The P-UE of claim 26 , wherein the request for positioning information is transmitted to the network node based at least in part on receiving one or more basic safety messages indicating a presence of one or more V-UEs.
30. The P-UE of claim 24 , wherein the one or more processors are further configured to:
transmit, to the network node, a message configuring one or more triggering events for reporting positioning information to the P-UE, wherein one or more of the estimated position of the P-UE or an estimated position of the V-UE are received from the network node based at least in part on an occurrence of the one or more triggering events.