Pedestrian positioning via vehicle collaboration
Disclosed are techniques for using ranging signals to determine a position of a pedestrian user equipment (P-UE). In an aspect, a UE receives a plurality of ranging signals transmitted by one or more UEs, measures one or more properties of each of the plurality of ranging signals, and calculates an estimate of the position of the P-UE based on the one or more properties of each of the plurality of ranging signals. In an aspect, the P-UE transmits a plurality of ranging signals, receives a first message and a second message from first and second vehicle UEs (V-UEs), the first and second messages including first and second estimated positions of the P-UE and associated first and second confidences, and calculates an estimate of the position of the P-UE based on the first estimated position, the first confidence, the second estimated position, the second confidence, or a combination thereof.
1. A first user equipment (UE), comprising:
one or more memories;
one or more transceivers; and
one or more processors coupled to the one or more memories and the one or more transceivers, the one or more processors configured to:
receive, via the one or more transceivers, one or more ranging signals transmitted by a second UE;
perform one or more positioning measurements of each of the one or more ranging signals;
calculate an estimate of a position of the second UE based on the one or more positioning measurements of each of the one or more ranging signals and at least one known position of the first UE; and
transmit, via the one or more transceivers, the estimate of the position of the second UE to a third UE in one or more Basic Safety Messages (BSMs).
2. The first UE of claim 1 , wherein the one or more positioning measurements of each of the one or more ranging signals comprise a time of arrival (ToA) of each of the one or more ranging signals, an angle-of-arrival (AoA) of each of the one or more ranging signals, or any combination thereof.
3. The first UE of claim 2 , wherein the ToA of each of the one or more ranging signals is based on a local clock time of the first UE.
4. The first UE of claim 1 , wherein the one or more processors are further configured to:
transmit, via the one or more transceivers, the estimate of the position of the second UE to the second UE.
5. The first UE of claim 1 , wherein the one or more processors are further configured to:
calculate a confidence level in the estimate of the position of the second UE.
6. The first UE of claim 5 , wherein:
the one or more ranging signals comprise a plurality of ranging signals,
the confidence level is based on AoAs of the plurality of ranging signals, and
the confidence level is higher based on larger differences between AoAs of the plurality of ranging signals.
7. The first UE of claim 5 , wherein the one or more processors are further configured to:
transmit, via the one or more transceivers, the confidence level in the estimate of the position of the second UE to the third UE.
8. The first UE of claim 1 , wherein the third UE comprises at least one vehicle UE (V-UE).
9. The first UE of claim 1 , wherein the at least one known position of the first UE comprises at least one satellite positioning system (SPS) position of the first UE.
10. The first UE of claim 1 , wherein the at least one known position of the first UE comprises a plurality of positions of the first UE.
11. The first UE of claim 1 , wherein:
the first UE is a vehicle UE (V-UE), and
the second UE is a pedestrian UE (P-UE).
12. The first UE of claim 1 , wherein each of the one or more ranging signals encodes an identifier of a UE by which the ranging signal was transmitted.
13. The first UE of claim 1 , wherein the one or more ranging signals are transmitted periodically in consecutive resource pools.
14. The first UE of claim 1 , wherein the position of the second UE is considered to be constant when calculating the estimate of the position of the second UE.
15. A method of wireless communication, comprising:
receiving, at a first UE, one or more ranging signals transmitted by a second user equipment (UE);
performing, by the first UE, one or more positioning measurements of each of the one or more ranging signals;
calculating, by the first UE, an estimate of a position of the second UE based on the one or more positioning measurements of each of the one or more ranging signals and at least one known position of the first UE; and
transmitting, by the first UE, the estimate of the position of the second UE to a third UE in one or more Basic Safety Messages (BSMs).
16. The method of claim 15 , wherein the one or more positioning measurements of each of the one or more ranging signals comprise a time of arrival (ToA) of each of the one or more ranging signals, an angle-of-arrival (AoA) of each of the one or more ranging signals, or any combination thereof.
17. The method of claim 16 , wherein the ToA of each of the one or more ranging signals is based on a local clock time of the first UE.
18. The method of claim 15 , further comprising:
transmitting, by the first UE, the estimate of the position of the second UE to the second UE.
19. The method of claim 15 , further comprising:
calculating, by the first UE, a confidence level in the estimate of the position of the second UE.
20. The method of claim 19 , wherein:
the one or more ranging signals comprise a plurality of ranging signals,
the confidence level is based on AoAs of the plurality of ranging signals, and
the confidence level is higher based on larger differences between AoAs of the plurality of ranging signals.
21. The method of claim 19 , further comprising:
transmitting, by the first UE, the confidence level in the estimate of the position of the second UE to the third UE.
22. The method of claim 15 , wherein the third UE comprises at least one vehicle UE (V-UE).
23. The method of claim 15 , wherein the at least one known position of the first UE comprises at least one satellite positioning system (SPS) position of the first UE.
24. The method of claim 15 , wherein the at least one known position of the first UE comprises a plurality of positions of the first UE.
25. The method of claim 15 , wherein:
the first UE is a vehicle UE (V-UE), and
the second UE is a pedestrian UE (P-UE).
26. The method of claim 15 , wherein each of the one or more ranging signals encodes an identifier of a UE by which the ranging signal was transmitted.
27. The method of claim 15 , wherein the one or more ranging signals are transmitted periodically in consecutive resource pools.
28. The method of claim 15 , wherein the position of the second UE is considered to be constant when calculating the estimate of the position of the second UE.
29. A first user equipment (UE), comprising:
means for receiving one or more ranging signals transmitted by a second UE;
means for performing one or more positioning measurements of each of the one or more ranging signals;
means for calculating an estimate of a position of the second UE based on the one or more positioning measurements of each of the one or more ranging signals and at least one known position of the first UE; and
means for transmitting the estimate of the position of the second UE to a third UE in one or more Basic Safety Messages (BSMs).
30. A non-transitory computer-readable medium storing computer -executable instructions for using ranging signals to determine a position of a second user equipment (UE), the computer-executable instructions comprising:
receive one or more ranging signals transmitted by the second UE;
perform one or more positioning measurements of each of the one or more ranging signals;
calculate an estimate of the position of the second UE based on the one or more positioning measurements of each of the one or more ranging signals and at least one known position of the first UE; and
transmit the estimate of the position of the second UE to a third UE in one or more Basic Safety Messages (BSMs).