Disclosed are techniques for improving an advanced driver-assistance system (ADAS) using a secure channel area. In one embodiment, a method is disclosed comprising establishing a secure channel area extending from at least one side of a first vehicle; detecting a presence of a second vehicle in the secure channel area; establishing a secure connection with the second vehicle upon detecting the presence; exchanging messages between the first vehicle and the second vehicle, the messages including a position and speed of a sending vehicle; taking control of a position and speed of the first vehicle based on the contents of the messages; and releasing control of the position and speed of the first vehicle upon detecting that the secure connection was released.

Disclosed are techniques for wireless communication. In an aspect, a user equipment (UE) engages in a downlink positioning session, a sidelink positioning session, or both with one or more first network entities, and transmits at least one positioning capability report to one or more second network entities, the at least one positioning capability report including one or more parameters indicating joint downlink and sidelink capabilities of the UE to process both downlink positioning reference signals (DL-PRS) and sidelink positioning reference signals (SL-PRS).

Provided are a robot accompaniment device and a four-legged robot (1) using the same. The robot accompaniment device includes a target module provided with an orienting assembly (3). The orienting assembly (3) is provided with a dual-antenna structure, and implements positioning and orienting between the accompanier and the accompanied, thus enabling a robot to be capable of recognizing the position, orientation and turning angle of an accompaniment object (2) relative to the robot, and moving and turning together with the accompaniment object (2).

Example embodiments may relate to systems, methods and/or computer programs relating to positioning, for example for terminating or adapting an established positioning session under certain conditions. For example, the method may involve monitoring, for a plurality of time instances during transmission over a wireless channel of a positioning signal from a first terminal to a second terminal as part of a positioning session, one or more features of the wireless channel. The method may also involve identifying based on a value of one, or a combination, of the monitored one or more features between a first time instance and a second time instance, a change indicative of transition of at least one of the first and second terminals from a first environment to a second environment. The method may also involve causing termination or adaptation of the active positioning session responsive to the identification.

Methods, systems, and devices for wireless communications are described in which a vulnerable road user (VRU) user equipment (UE) indicates to a user whether a current position accuracy is sufficient or insufficient for approaching vehicles to determine if they present a hazard to the VRU. The position accuracy may be based on an accuracy threshold that is configured at the UE, such as by a serving base station or a road side unit (RSU). The accuracy threshold may be configured via common or dedicated signaling, through application-layer signaling, or may be pre-configured in the UE. When the VRU UE position accuracy exceeds the specified threshold for a particular interval of time, the UE may inform the user that approaching vehicles will be unable to determine their location with enough accuracy to take evasive maneuvers.

A conventional V2X communication system relays vehicle information received from vehicles, from a base station to all vehicles in an area. Accordingly, a problem arises in that unnecessary transmission to vehicles which do not require vehicle information occurs, resulting in increase in a traffic amount in communication. According to the present disclosure, only if it is determined, based on information that is held by a vehicle or a base station and that is about an area in which direct transmission or reception is difficult, that direct transmission of vehicle information to another vehicle or reception of vehicle information transmitted from the other vehicle is difficult, the vehicle information is transmitted to the other vehicle via the base station.

An ordnance munition is included in an intelligent ordnance projectile delivery system and equipped with targeting and guidance systems that allow the ordnance munition to collaborate with other devices to intelligently select targets and/or to guide the ordnance munition to its selected target. The ordnance munition may be configured to generate first location information based on its determined approximate location, send the generated first location information to a wireless transceiver in proximity to the first ordnance munition, and receive location information from the wireless transceiver in response. The ordnance munition may determine its more precise location based on the received location information, and generating second location information based on the more precise location. The ordnance munition may change or adjust its flight path or trajectory based on the generated second location information.

Aspects relate to group-based reference signal broadcast in a wireless communication network. A first wireless communication device may transmit a first group formation broadcast message associated with a first positioning group comprising a first plurality of wireless communication devices including the first wireless communication device. The first wireless communication device may receive a second group formation broadcast message associated with a second positioning group comprising a second plurality of wireless communication devices including a second wireless communication device. The second positioning group may be associated with a channel occupancy time (CoT) in a sidelink channel. The CoT may comprise transmission opportunities configured to be used by the second plurality of wireless communication devices for communicating reference signals. The first wireless communication device may initiate transmission of reference signals by the first plurality of wireless communication devices using additional transmission opportunities within the CoT associated with the second positioning group.

A system and method for navigating a vehicle automatically from a current location to a destination location without a human operator is disclosed. The method includes identifying a vehicle location using global positioning system (GPS) data regarding the vehicle. Also included is identifying that the vehicle location is near or at a parking location. Then, using mapping data defined for the parking location. The mapping data at least in part is used to find a path at the parking location to avoid a collision of the vehicle with at least one physical structure when the vehicle is automatically moved at the parking location. The method includes instructing the electronics of the vehicle to proceed with controlling the vehicle to automatically move from the current location to the destination location at the parking location. The electronics use as input at least part of the mapping data and sensor data collected from around the vehicle by at least two vehicle sensors. The path is configured to be updatable dynamically based on changes in the destination location or changes along the path. The destination location is a parking spot for the vehicle at the parking location.

A position estimation unit (2) comprising a first transceiver device (3) and a processing unit (10) that is arranged to repeatedly calculate time-of-flight (TOF) for radio signals (x.sub.1, x.sub.2, x.sub.3, x.sub.4, x.sub.5, x.sub.6) sent pair-wise between two transceivers among the first transceiver device (3) and at least two other transceiver devices (7, 8, 9); calculate possible positions for the transceiver devices (3, 7, 8, 9), which results in possible positions for each transceiver device (3, 7, 8, 9); and perform Multidimensional scaling (MDS) calculation in order to obtain relative positions of the transceiver devices (3, 7, 8, 9) in a present coordinate system. After two initial MDS calculations, between every two consecutive MDS calculations, the processing unit (10) is arranged to repeatedly perform a processing procedure comprising translation, scaling and rotation of present coordinate system such that a corrected present coordinate system is acquired. The processing procedure is arranged to determine the corrected present coordinate system such that a smallest change for the relative positions of the transceiver devices (3, 7, 8, 9) between the consecutive MDS calculations is obtained.