A method and apparatus are disclosed. In an example from the perspective of a first device, the first device performs sidelink communication with one or more destinations. The first device receives and/or selects a sidelink grant associated with a sidelink transmission. Responsive to the sidelink grant, the first device selects a first destination of the one or more destinations based upon a report signaling. The first device performs the sidelink transmission associated with the sidelink grant to the first destination.

A communication method and system for converging a 5.sup.th-Generation (5G) communication system for supporting higher data rates beyond a 4.sup.th-Generation (4G) system with a technology for Internet of Things (IoT) are provided. The communication method and system may be applied to intelligent services based on the 5G communication technology and the IoT-related technology, such as smart home, smart building, smart city, smart car, connected car, health care, digital education, smart retail, security and safety services. A method and apparatus for determining a reception area of a packet in a V2X system are provided. In described aspects, a reception terminal may receive location information of a transmitting terminal and range information of transmitted data, and may determine whether to provide feedback regarding the transmitted data based on the location information and the range information.

Systems and methods for updating navigational maps based using at least one sensor are provided. In one aspect, a control system for an autonomous vehicle, includes a processor and a computer-readable memory configured to cause the processor to: receive output from at least one sensor located on the autonomous vehicle indicative of a driving environment of the autonomous vehicle, retrieve a navigational map used for driving the autonomous vehicle, and detect one or more inconsistencies between the output of the at least one sensor and the navigational map. The computer-readable memory is further configured to cause the processor to: in response to detecting the one or more inconsistencies, trigger mapping of the driving environment based on the output of the at least one sensor, update the navigational map based on the mapped driving environment, and drive the autonomous vehicle using the updated navigational map.

Systems and methods for updating navigational maps based using at least one sensor are provided. In one aspect, a control system for an autonomous vehicle, includes a processor and a computer-readable memory configured to cause the processor to: receive output from at least one sensor located on the autonomous vehicle indicative of a driving environment of the autonomous vehicle, retrieve a navigational map used for driving the autonomous vehicle, and detect one or more inconsistencies between the output of the at least one sensor and the navigational map. The computer-readable memory is further configured to cause the processor to: in response to detecting the one or more inconsistencies, trigger mapping of the driving environment based on the output of the at least one sensor, update the navigational map based on the mapped driving environment, and drive the autonomous vehicle using the updated navigational map.

In an aspect, a UE (e.g., PUE or VUE) performs one or more sidelink positioning measurements on a first sidelink positioning signal between PUE and a VUE. The UE transmits measurement data based on the one or more sidelink positioning measurements to a RSU. The RSU receives the measurement data and determines a positioning estimate for the PUE. The RSU transmits the positioning estimate to the PUE, at least one VUE, or a combination thereof.

In an aspect, a UE (e.g., PUE or VUE) performs one or more sidelink positioning measurements on a first sidelink positioning signal between PUE and a VUE. The UE transmits measurement data based on the one or more sidelink positioning measurements to a RSU. The RSU receives the measurement data and determines a positioning estimate for the PUE. The RSU transmits the positioning estimate to the PUE, at least one VUE, or a combination thereof.

Mobile wireless terminals, such as vehicles in traffic, can determine the relative positions of other vehicles with improved precision by arranging to acquire GNSS (global navigational satellite system) signals simultaneously, and then analyzing the various data sets differentially. Simultaneous acquisition can cancel many important errors such as motional errors of the vehicles, atmospheric distortions, and satellite timebase errors. Differential analysis to determine the relative positions of vehicles (as opposed to their overall geographical coordinates) can reduce errors related to satellite ephemeris and velocity, as well as roundoff errors. Localization with a precision of less than 1 meter can greatly improve collision avoidance while discriminating near-miss scenarios from imminent collisions, according to some embodiments. Messaging examples, in 5G and 6G, to manage the simultaneous acquisition and differential analysis, are provided in examples. Many other aspects are disclosed.

Mobile wireless terminals, such as vehicles in traffic, can determine the relative positions of other vehicles with improved precision by arranging to acquire GNSS (global navigational satellite system) signals simultaneously, and then analyzing the various data sets differentially. Simultaneous acquisition can cancel many important errors such as motional errors of the vehicles, atmospheric distortions, and satellite timebase errors. Differential analysis to determine the relative positions of vehicles (as opposed to their overall geographical coordinates) can reduce errors related to satellite ephemeris and velocity, as well as roundoff errors. Localization with a precision of less than 1 meter can greatly improve collision avoidance while discriminating near-miss scenarios from imminent collisions, according to some embodiments. Messaging examples, in 5G and 6G, to manage the simultaneous acquisition and differential analysis, are provided in examples. Many other aspects are disclosed.

A communications method includes determining, by a first platoon member, at least one second platoon member, where the first platoon member and the at least one second platoon member belong to a same platoon, and signal quality of a communication link from the first platoon member to each second platoon member is less than a first preset quality threshold, determining, by the first platoon member, a target communications node, where signal quality of a communication link from the target communications node to each second platoon member is greater than or equal to the first preset quality threshold, and sending, by the first platoon member, to-be-sent data to each second platoon member through the target communications node.

A communications method includes determining, by a first platoon member, at least one second platoon member, where the first platoon member and the at least one second platoon member belong to a same platoon, and signal quality of a communication link from the first platoon member to each second platoon member is less than a first preset quality threshold, determining, by the first platoon member, a target communications node, where signal quality of a communication link from the target communications node to each second platoon member is greater than or equal to the first preset quality threshold, and sending, by the first platoon member, to-be-sent data to each second platoon member through the target communications node.