| CPC H04W 4/40 (2018.02) [H04W 72/04 (2013.01); H04W 92/18 (2013.01)] | 20 Claims |

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1. A method of performing on-demand positioning by a positioning user equipment (UE) in a new radio-vehicle to everything (NR-V2X) communication system, the method comprising:
transmitting a request positioning reference signal (PRS) through a sidelink channel;
receiving a response PRS related to the request PRS from a neighbor UE through the sidelink channel;
receiving a measurement result related to the request PRS from the neighbor UE; and
performing positioning based on the response PRS and the measurement result,
wherein the positioning UE transmits resource allocation information for transmission of the response PRS related to the request PRS to the neighbor UE and receives the measurement result through a resource for V2X data transmission.
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