| CPC B60W 40/105 (2013.01) [H04W 4/025 (2013.01); H04W 4/46 (2018.02); H04W 12/50 (2021.01); B60W 2552/20 (2020.02); B60W 2554/4049 (2020.02)] | 20 Claims |

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1. An integrated circuit for use in a first vehicle, comprising:
an interface circuit configured to communicate with a second integrated circuit in a second vehicle; and
a processing circuit, wherein the processing circuit is configured to:
determine that the second vehicle has better situational awareness for a portion of a road or an environment proximate to the road than the first vehicle, wherein the second vehicle is proximate to the first vehicle;
dynamically establish, with the second integrated circuit, a communication pairing with the second vehicle;
wherein the interface circuit is further configured to dynamically create and discontinue the communication pairing, based at least in part on a predefined distance corresponding to a speed of the first vehicle, a speed of the second vehicle, or both;
perform measurements in the environment;
coordinate, via the communication pairing, the measurements with second measurements performed by the second integrated circuit;
alternate, based at least in part on a duty cycle, transmissions of measurement signals by the integrated circuit and the second integrated circuit; and
create, by jointly performing additional measurements, a larger baseline and a synthetic aperture.
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