View source for USER EQUIPMENT (UE) BASED RELATIVE POSITION: abstract simplified (17696623)

A user equipment (UE) device, used with a Vulnerable Road User (VRU), can determine its relative position and send a report to vehicle On-Board Units (OBUs). The report includes the identification of reference points and can be based on stationary or moving reference points. The relative position is determined using identifiers and distance measurements to the reference points. This can be done using onboard sensors like radar, lidar, ultrasound, or camera, as well as wireless transceivers. The relative position also includes information about the device's heading and its placement with respect to street elements.