Methods, communications devices, infrastructure equipment, and wireless telecommunications systems

A communications device comprising

• transceiver circuitry configured to transmit signals to and/or to receive signals from a wireless communications network and to transmit signals to and/or to receive signals from one or more other communications devices in accordance with Device-to-Device, D2D, communications, and
• controller circuitry configured in combination with the transceiver circuitry
• to determine that the communications device is to transmit one or more reference signals in accordance with one or more reference signal characteristics,
• to transmit the reference signals to the infrastructure equipment and/or one or more of the other communications devices in accordance with the determined reference signal characteristics, and
• to perform measurements on the basis of signals received in response to the transmitted reference signals and/or other reference signals received from one or more of the other communications devices,
• wherein the performed measurements are used to update a local map associated with at least one of the communications device and the infrastructure equipment on the basis of the performed measurements, wherein the local map describes an environment of the at least one of the communications device and the infrastructure equipment.

An infrastructure equipment forming part of a wireless communications network, comprising

• transceiver circuitry configured to transmit signals to and/or to receive signals from a plurality of communications devices, and
• controller circuitry configured in combination with the transceiver circuitry
• to receive, from each of at least one of the plurality of communications devices, one or more reference signals in accordance with one or more reference signal characteristics, and
• to perform measurements on the basis of the received reference signals,
• wherein the performed measurements are used to update a local map associated with at least one of the infrastructure equipment and the plurality of communications devices on the basis of the performed measurements, wherein the local map describes an environment of the at least one of the infrastructure equipment and the plurality of communications devices.