Method and device for measuring position based on softv2x

A method of controlling a first user equipment (UE), the method comprising:

• transmitting, via a transmitter included in the first UE, a first safety message including a first Ultra-WideBand (UWB) token ID of the first UE for connecting to an UWB session;
• receiving, via a receiver included in the first UE, a second safety message transmitted by a second UE in an anchor mode, the second safety message including a second UWB token ID of the second UE for connecting to the UWB session;
• setting, via a controller included in the first UE, the first UE into a tag mode;
• initiating, via the controller, the Ultra-WideBand (UWB) session with the second UE having the second UWB token ID;
• performing, via the controller, a Time of Flight (ToF) or angle of arrival (AoA)-based measurement based on the second UE in the anchor mode;
• and
• updating, via the controller, a location of the first UE based on the ToF or AoA-based measurement.