Resource awareness method and device, terminal and indication equipment

Abstract

The invention provides a resource sensing method and device, a terminal and indication equipment. The method comprises the following steps: acquiring a multiplexing mode of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource; and according to the multiplexing mode, multiplexing the first SL PRS resource and the second SL PRS resource, and sending the SL PRS. By adopting the method, the SL PRS can be transmitted through resource multiplexing, so that the transmission reliability of the SL PRS is ensured, and the problems of long consumed time and increased system overhead caused by resource selection again are avoided.

Description

Technical Field

[0001] The present application relates to the field of wireless technology, and in particular to a resource sensing method, apparatus, terminal and indication device. Background Art

[0002] At present, there are two resource allocation methods for sidelink positioning (also called direct link or sidelink), including Scheme 1 and Scheme 2. Scheme 1 is used for scenarios within coverage, and the base station uniformly allocates time and frequency resources to the sidelink terminal for the transmission of the sidelink positioning reference signal (Sidelink Positioning Reference Signal, SLPRS). Scheme 2 is used for scenarios outside coverage, and the terminal autonomously selects the time and frequency resources for sending SL PRS through perception. Currently, two types of resource pools for sidelink positioning have been confirmed, namely dedicated resource pools and shared resource pools. The resources in the dedicated resource pool are only used for positioning services, and the resources in the shared resource pool are used for data communications in addition to positioning services.

[0003] Under the current Scheme2 resource allocation method, multiple SL PRS resource priorities are supported in the dedicated resource pool. Some terminals with low positioning priority or terminals with low positioning delay requirements may occupy / reserve SL PRS time and frequency resources first, resulting in low efficiency in system resource utilization and reducing the reliability of SL PRS transmission by terminals with higher priority. If a high-priority terminal preempts SL PRS resources, the probability of SL PRS resource collision will increase and positioning accuracy will be reduced. After the SL PRS resources indicated by a low-priority terminal are preempted by a high-priority terminal, it is necessary to re-listen, exclude resources, determine the candidate resource set and select resources, which takes a long time and increases system overhead. Summary of the invention

[0004] The purpose of the present application is to provide a resource perception method, apparatus, terminal and indication device, which are used to solve the problem in the prior art that the terminal occupies SL PRS resources, there is low SL PRS transmission reliability or SL PRS resources are preempted, and resource selection needs to be re-performed, resulting in a long time consumption and increased system overhead.

[0005] One embodiment of the present application provides a resource perception method, which is performed by a first terminal and includes:

[0006] Obtaining a multiplexing method of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource;

[0007] According to the multiplexing method, the first SL PRS resource and the second SL PRS resource are multiplexed, and the SL PRS is sent.

[0008] In some embodiments, the resource perception method, wherein the first SL PRS resource and the second SLPRS resource are both SL PRS resources of the first terminal; or,

[0009] The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

[0010] In some embodiments, the resource perception method, wherein obtaining a multiplexing method of the first SL PRS resource and the second SL PRS resource includes:

[0011] The multiplexing mode of the first SL PRS resource and the second SL PRS resource is obtained by one or more of the following modes:

[0012] According to the pre-configured information;

[0013] According to the first terminal analysis;

[0014] According to the instruction information of the second terminal.

[0015] In some embodiments, the resource sensing method, wherein the multiplexing mode configured by the pre-configuration information includes one or more of a comb-based mode, a frequency division FDM-based mode, and a time division TDM-based mode;

[0016] The acquiring, according to the pre-configuration information, a multiplexing mode of the first SL PRS resource and the second SL PRS resource includes:

[0017] Determine that one of the multiplexing modes configured by the pre-configuration information is the multiplexing mode.

[0018] In some embodiments, the resource perception method, wherein, when the multiplexing mode is acquired according to the analysis of the first terminal, or when the multiplexing mode is acquired according to the indication information of the second terminal, the acquired multiplexing mode includes one or more of the following:

[0019] In the case where the first resource pool is a dedicated resource pool, the multiplexing method is a method that satisfies the multiplexing between the first SL PRS resource and the second SL PRS resource, determined based on one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the sent SL PRS, and the bandwidth information of the first resource pool;

[0020] In the case that the first resource pool is a shared resource pool, the multiplexing mode includes any one or more of a comb-based mode, a frequency division multiplexing (FDM-based mode) and a time division multiplexing (TDM-based mode).

[0021] In some embodiments, the resource awareness method further comprises:

[0022] Sending a first resource reuse request to the second terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse;

[0023] Obtain the indication information sent by the second terminal according to the first resource reuse request.

[0024] In some embodiments, the resource perception method, wherein obtaining a multiplexing mode of the first SL PRS resource and the second SL PRS resource includes:

[0025] When it is determined that the first SL PRS resource is a preempted resource, the multiplexing method is obtained.

[0026] In some embodiments, the resource awareness method further comprises:

[0027] When the first condition is met, determining that the first SL PRS resource is a preempted resource;

[0028] The first condition includes one or more of the following:

[0029] The first SL PRS resource is not in a set of candidate resources in the first resource pool;

[0030] The first SL PRS resource at least partially overlaps with the second SLPRS resource indicated by the detected sidelink control information SCI;

[0031] The reference signal received power measured by the first terminal is greater than a preset threshold value; and

[0032] The priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource; or, the priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource by a preset level threshold.

[0033] In some embodiments, the resource awareness method further comprises:

[0034] Obtaining a resource pool indication parameter configured by a high level; the resource pool indication parameter is used to indicate whether the first resource pool supports a resource preemption mechanism;

[0035] In a case where the resource pool indication parameter indicates that the first resource pool supports a resource preemption mechanism, it is determined whether the first SL PRS resource selected in the first resource pool is a preempted resource.

[0036] In some embodiments, the resource perception method, wherein, when the resource pool indication parameter indicates that the first resource pool supports a resource preemption mechanism, determining whether the first SL PRS resource selected in the first resource pool is a preempted resource includes:

[0037] When the resource pool indication parameter indicates that the first resource pool supports the resource preemption mechanism, after obtaining the trigger signaling and / or activation signaling of the resource preemption mechanism, it is determined whether the first SL PRS resource selected in the first resource pool belongs to the preempted resource.

[0038] In some embodiments, the resource awareness method further comprises:

[0039] When the second condition is met, determining to terminate the judgment on whether the first SL PRS resource is a preempted resource;

[0040] The second condition includes one or more of the following:

[0041] Obtain the termination signaling of the resource preemption mechanism;

[0042] The effective operation time of the resource preemption mechanism configured by the high-level configuration expires;

[0043] Obtain deactivation signaling for the resource preemption mechanism.

[0044] In some embodiments, the resource awareness method further comprises:

[0045] When it is determined that the first SL PRS resource does not support resource reuse, a third SL PRS resource is selected from the candidate resource set of the first resource pool, and the SL PRS is sent.

[0046] In some embodiments, the resource-aware method, wherein selecting a third SL PRS resource from the candidate resource set of the first resource pool includes one or more of the following:

[0047] Randomly select the third SL PRS resource from the candidate resource set;

[0048] The resources in the candidate resource set are sorted in order from small to large according to the received signal strength indication RSSI values, and the third SL PRS resource is randomly selected from the preset resources in the front sorting.

[0049] In some embodiments, the resource awareness method further comprises:

[0050] Send a second resource multiplexing request to the second terminal; wherein the second resource multiplexing request is used to report to the second terminal a multiplexing method of multiplexing the first SL PRS resource and the second SL PRS resource.

[0051] One embodiment of the present application further provides a resource perception method, which is executed by an indicating device and includes:

[0052] Sending preconfiguration information to the first terminal;

[0053] The pre-configuration information is used to indicate the multiplexing method of the first sidelink SL positioning reference signal PRS resource and the second SLPRS resource.

[0054] In some embodiments, the resource perception method, wherein the first SL PRS resource and the second SLPRS resource are both SL PRS resources of the first terminal; or,

[0055] The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

[0056] In some embodiments, the resource sensing method further comprises: sending one or more of the following information to the first terminal:

[0057] Resource pool indication parameter; the resource pool indication parameter is used to indicate whether the first resource pool supports a resource preemption mechanism;

[0058] Trigger signaling of resource preemption mechanism;

[0059] Termination signaling of resource preemption mechanism;

[0060] Activation signaling of resource preemption mechanism;

[0061] Deactivation signaling of the resource preemption mechanism;

[0062] The effective operation time of the resource preemption mechanism;

[0063] The resource preemption mechanism is used to enable the first terminal to send the SL PRS by multiplexing the first SL PRS resource with the second SLPRS resource when determining that the first SL PRS resource for sending the side link positioning reference signal SL PRS belongs to the preempted resource.

[0064] One embodiment of the present application further provides a resource perception method, which is performed by a second terminal and includes:

[0065] Acquire a multiplexing method of a second sidelink SL positioning reference signal PRS resource of the second terminal and a first SLPRS resource of the first terminal; wherein the priority of the second SL PRS resource is higher than the priority of the first SL PRS resource;

[0066] According to the multiplexing method, the second SL PRS resource is multiplexed with the first SL PRS resource, and the SL PRS is sent.

[0067] In some embodiments, the resource perception method, wherein acquiring a multiplexing mode of a second SL PRS resource of the second terminal and a first SL PRS resource of the first terminal, includes:

[0068] The multiplexing method is obtained by one or more of the following methods:

[0069] A second resource multiplexing request sent by the first terminal; wherein the second resource multiplexing request is used to report a multiplexing mode of multiplexing the first SL PRS resource and the second SL PRS resource;

[0070] The second terminal is determined.

[0071] In some embodiments, the resource awareness method further comprises:

[0072] Receive a first resource reuse request sent by the first terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse;

[0073] The multiplexing mode is determined according to the first resource multiplexing request, and indication information is sent to the first terminal, where the indication information is used to indicate the multiplexing mode.

[0074] In some embodiments, the resource awareness method, wherein the determining the multiplexing mode includes one or more of the following:

[0075] When the first resource pool is a dedicated resource pool, determining that a method for multiplexing between the first SL PRS resource and the second SL PRS resource is the multiplexing method according to one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the sent SL PRS, and the bandwidth information of the resource pool;

[0076] When the first resource pool is a shared resource pool, any one of a comb-based method, a frequency division FDM-based method, and a time division TDM-based method is determined as the multiplexing method.

[0077] One embodiment of the present application further provides a terminal, wherein the terminal is a first terminal, which includes a memory, a transceiver, and a processor:

[0078] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations:

[0079] Obtaining a multiplexing method of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource;

[0080] According to the multiplexing method, the first SL PRS resource and the second SL PRS resource are multiplexed, and the SL PRS is sent.

[0081] In some embodiments, the terminal, wherein the processor is used to read the computer program in the memory to obtain a multiplexing method of the first SL PRS resource and the second SL PRS resource, including:

[0082] The multiplexing mode of the first SL PRS resource and the second SL PRS resource is obtained by one or more of the following modes:

[0083] According to the pre-configured information;

[0084] According to the first terminal analysis;

[0085] According to the instruction information of the second terminal.

[0086] In some embodiments, the terminal, wherein the multiplexing mode configured by the pre-configuration information includes one or more of a comb-based mode, a frequency division FDM-based mode, and a time division TDM-based mode;

[0087] The processor is used to read the computer program in the memory, and obtain, according to the pre-configuration information, a multiplexing method of the first SL PRS resource and the second SL PRS resource, including:

[0088] Determine that one of the multiplexing modes configured by the pre-configuration information is the multiplexing mode.

[0089] In some embodiments, the terminal, wherein the processor is used to read the computer program in the memory, and when the multiplexing mode is acquired according to the analysis of the first terminal, or when the multiplexing mode is acquired according to the indication information of the second terminal, the acquired multiplexing mode includes one or more of the following:

[0090] In the case where the first resource pool is a dedicated resource pool, the multiplexing method is a method that satisfies the multiplexing between the first SL PRS resource and the second SL PRS resource, determined based on one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the sent SL PRS, and the bandwidth information of the first resource pool;

[0091] In the case that the first resource pool is a shared resource pool, the multiplexing mode includes any one or more of a comb-based mode, a frequency division multiplexing (FDM-based mode) and a time division multiplexing (TDM-based mode).

[0092] In some embodiments, the terminal, wherein the processor is used to read the computer program in the memory to obtain a multiplexing method of the first SL PRS resource and the second SL PRS resource, including:

[0093] When it is determined that the first SL PRS resource is a preempted resource, the multiplexing method is obtained.

[0094] In some embodiments, the terminal, wherein the processor reads the computer program in the memory, is further configured to:

[0095] When the first condition is met, determining that the first SL PRS resource is a preempted resource;

[0096] The first condition includes one or more of the following:

[0097] The first SL PRS resource is not in a set of candidate resources in the resource pool;

[0098] The first SL PRS resource at least partially overlaps with the second SLPRS resource indicated by the detected sidelink control information SCI;

[0099] The reference signal received power measured by the first terminal is greater than a preset threshold value; and

[0100] The priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource; or, the priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource by a preset level threshold.

[0101] One embodiment of the present application further provides an indication device, which includes a memory, a transceiver, and a processor:

[0102] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations:

[0103] Sending preconfiguration information to the first terminal;

[0104] The pre-configuration information is used to indicate the multiplexing method of the first sidelink SL positioning reference signal PRS resource and the second SLPRS resource.

[0105] In some embodiments, the indicating device, wherein the processor reads the computer program in the memory, is further configured to perform the following operations:

[0106] Send one or more of the following information to the first terminal:

[0107] Resource pool indication parameter; the resource pool indication parameter is used to indicate whether the resource pool used by the first terminal to select the sidelink positioning reference signal SL PRS resource supports a resource preemption mechanism;

[0108] Trigger signaling of resource preemption mechanism;

[0109] Termination signaling of resource preemption mechanism;

[0110] Activation signaling of resource preemption mechanism;

[0111] Deactivation signaling of the resource preemption mechanism;

[0112] The effective operation time of the resource preemption mechanism;

[0113] The resource preemption mechanism is used to enable the first terminal to send the SL PRS by multiplexing the first SL PRS resource with the second SLPRS resource when determining that the first SL PRS resource for sending the side link positioning reference signal SL PRS belongs to the preempted resource.

[0114] One embodiment of the present application provides a terminal, wherein the terminal is a second terminal, including a memory, a transceiver, and a processor:

[0115] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations:

[0116] Acquire a multiplexing method of a second sidelink SL positioning reference signal PRS resource of the second terminal and a first SLPRS resource of the first terminal; wherein the priority of the second SL PRS resource is higher than the priority of the first SL PRS resource;

[0117] According to the multiplexing method, the second SL PRS resource is multiplexed with the first SL PRS resource, and the SL PRS is sent.

[0118] In some embodiments, the terminal, wherein the processor reads the computer program in the memory to obtain a multiplexing method of the second SL PRS resource of the second terminal and the first SL PRS resource of the first terminal, includes:

[0119] The multiplexing method is obtained by one or more of the following methods:

[0120] A second resource multiplexing request sent by the first terminal; wherein the second resource multiplexing request is used to report a multiplexing mode of multiplexing the first SL PRS resource and the second SL PRS resource;

[0121] The second terminal is determined.

[0122] One embodiment of the present application further provides a resource sensing device, which is applied to a first terminal, and includes:

[0123] A first acquisition unit is used to acquire a multiplexing method of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource;

[0124] The first multiplexing unit is used to multiplex the first SL PRS resource and the second SLPRS resource according to the multiplexing method, and send the SL PRS.

[0125] One embodiment of the present application further provides a resource sensing device, which is applied to an indication device, and the device includes:

[0126] A first sending unit, configured to send pre-configuration information to a first terminal;

[0127] The pre-configuration information is used to indicate the multiplexing method of the first sidelink SL positioning reference signal PRS resource and the second SLPRS resource.

[0128] One embodiment of the present application further provides a resource sensing device, which is applied to a second terminal, and includes:

[0129] A second acquisition unit is used to acquire a multiplexing mode of a second sidelink SL positioning reference signal PRS resource of the second terminal and a first SL PRS resource of the first terminal; wherein the priority of the second SL PRS resource is higher than the priority of the first SL PRS resource;

[0130] The second multiplexing unit is used to multiplex the second SL PRS resource with the first SLPRS resource according to the multiplexing mode to send the SL PRS.

[0131] One embodiment of the present application further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the resource perception method as described in any one of the above items.

[0132] The beneficial effects of the above technical solution of the present application are as follows:

[0133] By adopting the resource perception method described in the embodiment of the present application, the multiplexing method of the first SL PRS resource and the second SL PRS resource is obtained through the first terminal, and the first SL PRS resource and the second SL PRS resource are multiplexed according to the determined multiplexing method, and the SL PRS is sent. In this way, for the low-priority first terminal, when the SL PRS resource is preempted by the high-priority second terminal, the first terminal does not need to re-listen to the resource and exclude the resource, so as to avoid the problem of re-selecting the resource, which results in a long time and increased system overhead; for the higher-priority first terminal, when the low-priority second terminal occupies / reserve the SL PRS resource, the first terminal can send the SL PRS through resource multiplexing to ensure the reliability of the SL PRS transmission and avoid the problem of low reliability of the SL PRS transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0134] Figure 1 This is a flow chart of the method described in Example 1 of the present application;

[0135] Figure 2 This is a flow chart of the method described in Example 2 of the present application;

[0136] Figure 3 This is a flow chart of the method described in Example 3 of the present application;

[0137] Figure 4 This is a schematic diagram of the structure of a terminal according to one embodiment of the present application;

[0138] Figure 5 This is a schematic diagram of the structure of the indicating device described in the embodiment of the present application;

[0139] Figure 6 This is a schematic diagram of the structure of a terminal according to another embodiment of the present application;

[0140] Figure 7 This is a schematic diagram of the structure of the device described in Example 1 of the present application;

[0141] Figure 8 This is a schematic diagram of the structure of the device described in Example 2 of the present application;

[0142] Fig. 9 This is a schematic diagram of the structure of the device described in Example 3 of the present application. DETAILED DESCRIPTION

[0143] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0144] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0145] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0146] The technical solution provided in the embodiment of the present application can be applicable to a variety of systems, especially 5G systems. For example, the applicable system can be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, a long term evolution (LTE) system, a LTE frequency division duplex (FDD) system, a LTE time division duplex (TDD) system, an advanced long term evolution (LTE-A) system, a universal mobile telecommunication system (UMTS), a world-wide interoperability for microwave access (WiMAX) system, a 5G new air interface (NR) system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0147] The terminal device involved in the embodiment of the present application may be a device that provides voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called a user equipment (UE). The wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or a "cellular" phone) and a computer with a mobile terminal device. For example, it can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges language and / or data with a wireless access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDA) and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, and a user device, but is not limited in the embodiments of the present application.

[0148] The network device involved in the embodiment of the present application may be a base station, which may include multiple cells providing services for the terminal. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in the access network that communicates with the wireless terminal device through one or more sectors on the air interface, or other names. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, and serve as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present application may be a network device (Base Transceiver Station, BTS) in the Global System for Mobile communications (Global System for Mobile communications, GSM) or Code Division Multiple Access (Code Division Multiple Access, CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolutionary network device (evolutional Node B, eNB or e-NodeB) in the long term evolution (long term evolution, LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), or a home evolved Node B (Home evolved Node B, HeNB), a relay node, a home base station (femto), a pico base station (pico), etc., which is not limited in the embodiments of the present application. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be arranged geographically separately.

[0149] Under the current Scheme2 resource allocation method, multiple SL PRS resource priorities are supported in the dedicated resource pool. Some terminals with low positioning priority or terminals with low positioning delay requirements may occupy / reserve SL PRS time and frequency resources first, resulting in low system resource utilization efficiency and reducing the reliability of SL PRS transmission by terminals with relatively high priority. The preemption of SL PRS resources by high-priority terminals will increase the probability of SL PRS resource collision and reduce positioning accuracy. In addition, after the SL PRS resources indicated by low-priority terminals are preempted by high-priority terminals, they need to be listened again, resources excluded, candidate resource sets determined and resources selected, resulting in a long time consumption and increased system overhead. An embodiment of the present application provides a resource perception method.

[0150] like Figure 1 As shown, the resource perception method described in one embodiment of the present application is executed by the first terminal, and the method includes:

[0151] S110, obtaining a multiplexing method of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource;

[0152] S120: Multiplex the first SL PRS resource and the second SL PRS resource according to the multiplexing method, and send the SL PRS.

[0153] In the method described in the embodiment of the present application, the first terminal can be any terminal in the SL link.

[0154] The above-mentioned method of obtaining the multiplexing method of the first side link SL positioning reference signal PRS resource and the second SL PRS resource can also be expressed as determining the multiplexing method of the first side link SL positioning reference signal PRS resource and the second SLPRS resource in some embodiments, and the method of determining the multiplexing method between different PRS resources includes at least one of the following:

[0155] Determined according to pre-configuration information;

[0156] determined by the first terminal;

[0157] Determined according to the indication information of the second terminal.

[0158] The determination by the first terminal may be that the first terminal determines according to relevant information of itself.

[0159] By adopting the resource perception method, the multiplexing mode of the first SL PRS resource and the second SL PRS resource is obtained by the first terminal, and the first SL PRS resource and the second SL PRS resource are multiplexed according to the determined multiplexing mode, and SLPRS is sent. In this way, for the low-priority first terminal, when the SL PRS resource is preempted by the high-priority second terminal, the first terminal does not need to re-listen to the resource and exclude the resource, so as to avoid the problem of re-selecting the resource, which results in a long time and increased system overhead; for the higher-priority first terminal, when the low-priority second terminal occupies / reserve the SL PRS resource, the first terminal can send the SL PRS through resource multiplexing to ensure the reliability of SL PRS transmission and avoid the problem of low SL PRS transmission reliability.

[0160] In the present application, in some embodiments, the first SL PRS resource and the second SL PRS resource are both SL PRS resources of the first terminal; or,

[0161] The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

[0162] In some embodiments, the priority of the second SL PRS resource of the second terminal is higher than the priority of the first SL PRS resource of the first terminal.

[0163] In one implementation mode, the first terminal may reuse its own PRS resources for sending SL PRS; in another implementation mode, the first terminal may multiplex its own PRS resources with the PRS resources of the second terminal for sending SL PRS. With these two implementation modes, when the first terminal selects PRS resources in the first resource pool to send SL PRS and determines that the selected SL PRS resources are occupied, the reliability of SL PRS transmission can be guaranteed and the problem of re-selection of resources can be avoided.

[0164] It should be noted that, in the embodiment of the present application, the first resource pool mentioned is a resource pool used to select PRS resources when the terminal sends an SL PRS.

[0165] In an embodiment of the present application, in one implementation mode, in some embodiments, a multiplexing method of obtaining a first SL PRS resource and a second SL PRS resource includes:

[0166] When it is determined that the first SL PRS resource is a preempted resource, the multiplexing mode is obtained.

[0167] Using this implementation mode, the first terminal continues to monitor resources after completing SL PRS resource selection, and determines whether the SL PRS resource is preempted by the second terminal (other terminal) based on the decision conditions at least once before the SLPRS resource is sent. If preempted, the first terminal multiplexes the selected first SL PRS resource with the second SL PRS resource. In some embodiments, the first terminal multiplexes the selected first SL PRS resource with the SL PRS resource of the second terminal.

[0168] With this implementation mode, when the first terminal determines that the first condition is met, it determines that the first SL PRS resource is a preempted resource;

[0169] The first condition includes one or more of the following:

[0170] The first SL PRS resource is not in the candidate resource set in the first resource pool; in some embodiments, the candidate resource set is a set of idle resources after the first terminal excludes resources in the first resource pool; wherein the first SL PRS resource selected and indicated by the first terminal is not in the candidate resource set, indicating that the first SL PRS resource is no longer available, that is, it may be occupied;

[0171] The first SL PRS resource at least partially overlaps with the second SL PRS resource indicated by the detected sidelink control information (Sidelink Control Information, SCI); in some embodiments, the overlap includes (time domain) overlap of part or all of orthogonal frequency division multiplexing (Orthogonal Frequency Division Multiplexing, OFDM) symbols, and / or, (frequency domain) overlap of part or all of physical resource elements (Resource Element, RE); wherein, partial or full overlap in the time domain means that the first SL PRS resource and the second SL PRS resource occupy the same OFDM symbol, and partial or full overlap in the frequency domain means that the first SL PRS resource and the second SL PRS resource occupy the same subchannel or physical resource unit;

[0172] The reference signal receiving power measured by the first terminal is greater than a preset threshold value; in some embodiments, the reference signal used to measure the reference signal receiving power includes one or more of SL PRS, Physical Sidelink Control Channel (PSCCH), Physical Sidelink Shared Channel (PSSCH), PSCCH-associated demodulation reference signal (DMRS), and PSSCH-associated DMRS; specifically, the preset threshold value of the reference signal receiving power is used to determine whether the resource is a conflicting resource, that is, if the reference signal receiving power measured by the first terminal exceeds the preset threshold value, it is considered that a resource conflict has occurred and resource preemption may have occurred. Conversely, if the reference signal receiving power measured by the first terminal is lower than the preset threshold value, it is considered that resource preemption has not occurred;

[0173] as well as

[0174] The priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource; or, the priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource by a preset level threshold.

[0175] The first condition mentioned above is also a decision condition for the first terminal to determine whether the SL PRS resource is preempted. In some embodiments, the first terminal determines that the first SLPRS resource is preempted when determining that the first SL PRS resource meets one or more of the above conditions.

[0176] It should be noted that the judgment conditions for determining whether SL PRS resources are preempted include one or more of the above conditions, which can be determined according to actual resource requirements. Optionally, to ensure the accuracy of the judgment, when it is determined that all the above conditions are met, it is determined that the first SL PRS resource is preempted.

[0177] In some embodiments, in the above-mentioned first condition, the preset threshold value related to the reference signal received power can be determined by a higher layer based on the first positioning priority information Pi and the second positioning priority information Pj. The first positioning priority information Pi is the positioning priority information of the receiving end indicated by the SCI, and the second positioning priority information Pj is the positioning priority information of the sending end indicated by the SCI.

[0178] In some embodiments, for example, a reference signal receiving power (RSRP) threshold list can be pre-configured, and the RSRP threshold list can be determined by an index i, and the index i is related to the first positioning priority information Pi and the second positioning priority information Pj, and the determination method is: i=p i +(p j -1)*8.

[0179] In some embodiments, the preset threshold value of the reference signal received power may be carried by the SCI received by the first terminal, or may be configured by other signaling (such as RRC signaling) and sent to the first terminal.

[0180] It should be noted that the above method of determining the reference signal receiving power based on the first positioning priority information Pi and the second positioning priority information Pj is only an example and is not limited to this.

[0181] In an embodiment of the present application, in one implementation mode, when the first resource pool supports the resource preemption mechanism, after the first terminal selects the first SL PRS resource in the first resource pool, a step of determining whether the first SL PRS resource is a preempted resource is performed. In some embodiments, the high layer configures a resource pool indication parameter for the first resource pool to indicate whether the first resource pool that sends the SL PRS for SL PRS resource selection supports the resource preemption mechanism. When the first resource pool indication parameter indicates that the first resource pool supports the resource preemption mechanism, it is determined whether the first SL PRS resource selected in the first resource pool is a preempted resource, that is, a determination is performed as to whether the first SL PRS resource is a preempted resource.

[0182] By adopting this implementation mode, the activation or deactivation of the resource preemption mechanism can be configured for the first resource pool through the resource pool indication parameter to adapt to the resource selection process in different scenarios.

[0183] In some embodiments, when the resource pool indication parameter is configured as "enabled", it means that the resource preemption mechanism is activated in the first resource pool, that is, the resource pool indication parameter indicates that the first resource pool supports the resource preemption mechanism. If the resource pool indication parameter is not configured in the first resource pool or when the indication parameter is "disable", it means that the resource preemption mechanism is deactivated in the first resource pool.

[0184] In another implementation manner, in some embodiments, when the resource pool indication parameter indicates that the first resource pool supports a resource preemption mechanism, determining whether the first SL PRS resource selected in the first resource pool belongs to a preempted resource includes:

[0185] When the resource pool indication parameter indicates that the first resource pool supports the resource preemption mechanism, after obtaining the trigger signaling and / or activation signaling of the resource preemption mechanism, it is determined whether the first SL PRS resource selected in the first resource pool belongs to the preempted resource.

[0186] In another embodiment, in some embodiments, the method further comprises:

[0187] When the second condition is met, determining to terminate the judgment on whether the first SL PRS resource is a preempted resource;

[0188] The second condition includes one or more of the following:

[0189] Obtain the termination signaling of the resource preemption mechanism;

[0190] The effective operation time of the resource preemption mechanism configured by the high-level configuration expires;

[0191] Obtain deactivation signaling for the resource preemption mechanism.

[0192] In some embodiments, the trigger signaling and the termination signaling are SCI respectively; the activation signaling and the deactivation signaling are sidelink SL medium access control MAC control element CE signaling respectively.

[0193] By adopting this implementation mode, when the first resource pool supports the resource preemption mechanism, the SL PRS resource preemption mechanism in the first resource pool can be triggered or activated through low-layer signaling. In this way, the SL PRS resource preemption mechanism in the first resource pool can be triggered or activated, or the SL PRS resource preemption mechanism in the first resource pool can be deactivated according to the current state of the first terminal to adapt to different communication states.

[0194] In some embodiments, specific methods of triggering or activating the SL PRS resource preemption mechanism in the first resource pool, and deactivating the SL PRS resource preemption mechanism in the first resource pool include one or more of the following:

[0195] Method 1: triggering the SL PRS resource preemption mechanism through the first SCI, and then terminating the SL PRS resource preemption mechanism through the second SCI;

[0196] Mode 2: The SL PRS resource preemption mechanism is triggered by the first SCI, and the effective operation time of the SL PRS resource preemption mechanism is determined by the high-level signaling parameters;

[0197] Method three: activate the SL PRS resource preemption mechanism through the first SL MAC CE, and then deactivate the SL PRS resource preemption mechanism through the second SL MAC CE.

[0198] In some embodiments of the present application, the high-level layer includes one or more of the following:

[0199] a high layer of the first terminal;

[0200] a high layer of an intermediate node connected to the first terminal;

[0201] A network device connected to the first terminal.

[0202] In some embodiments of the present application, in combination with Figure 1 In step S110, a multiplexing method of the first SL PRS resource and the second SL PRS resource is obtained, including:

[0203] The multiplexing mode of the first SL PRS resource and the second SL PRS resource is obtained by one or more of the following modes:

[0204] According to the pre-configured information;

[0205] According to the first terminal analysis;

[0206] According to the instruction information of the second terminal.

[0207] In some embodiments, the multiplexing mode configured by the pre-configuration information includes one or more of a comb-based mode, a frequency division FDM-based mode, and a time division TDM-based mode;

[0208] The acquiring, according to the pre-configuration information, a multiplexing mode of the first SL PRS resource and the second SL PRS resource includes:

[0209] Determine that one of the multiplexing modes configured by the pre-configuration information is the multiplexing mode.

[0210] Specifically, when obtaining the multiplexing mode according to the pre-configuration information, when the first SL PRS resource and the second SL PRS have the same time-frequency pattern and different time-frequency patterns, the multiplexing mode obtained through the pre-configuration information is one or more of a comb-based mode, a frequency division FDM-based mode and a time division TDM-based mode.

[0211] In some embodiments, when the number of symbols M occupied by the first SL PRS resource and the second SL PRS resource in a time slot is the same and the comb size N is the same, that is, they have the same (M, N), they may have the same time-frequency pattern; when the number of symbols M occupied by the first SL PRS resource and the second SL PRS resource in a time slot is different and / or the comb size N is different, that is, they have different (M, N), they may have different time-frequency patterns.

[0212] In another implementation manner, when the multiplexing mode is obtained according to the analysis of the first terminal, or when the multiplexing mode is obtained according to the indication information of the second terminal, the obtained multiplexing mode includes one or more of the following:

[0213] In the case where the first resource pool is a dedicated resource pool, the multiplexing method is a method that satisfies multiplexing between the first SL PRS resource and the second SL PRS resource, determined based on one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the sent SL PRS, and the bandwidth information of the first resource pool;

[0214] In the case that the first resource pool is a shared resource pool, the multiplexing method includes any one of a comb-based method, a frequency division multiplexing (FDM-based method) and a time division multiplexing (TDM-based method).

[0215] In some embodiments, when the multiplexing mode is determined according to one or more of the time-frequency pattern of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool, the mode that conforms to the multiplexing of the first SL PRS resource and the second SL PRS resource includes one or more of the following:

[0216] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are the same and the first SL PRS resource and the second SL PRS resource conform to frequency division multiplexing using a comb-based method, the multiplexing method is frequency division multiplexing using a comb-based method;

[0217] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are different, and the first SL PRS resource and the second SL PRS resource are suitable for multiplexing in a TDM-based manner, the multiplexing manner is a TDM-based manner;

[0218] When the first SL PRS resource and the second SL PRS resource are resources that are determined to be suitable for FDM-based multiplexing based on bandwidth information of the SL PRS and bandwidth information of the first resource pool, the multiplexing method is the FDM-based method.

[0219] Specifically, according to the analysis of the first terminal, obtaining the multiplexing mode includes one or more of the following:

[0220] When the first resource pool used to select the first SL PRS resource is a dedicated resource pool, (M, M) of the first SL PRS resource and the second SL PRS resource are the same, and the first SL PRS resource and the second SL PRS resource conform to frequency division multiplexing using a Comb-based method, the first terminal determines that the multiplexing method is frequency division multiplexing using a Comb-based method;

[0221] When the first resource pool for selecting the first SL PRS resource is a dedicated resource pool, (M, M) of the first SL PRS resource and the second SL PRS resource are different, and the first SL PRS resource and the second SL PRS resource conform to multiplexing in a TDM-based manner, the first terminal determines that the multiplexing manner is a TDM-based manner;

[0222] When the first resource pool for selecting the first SL PRS resource is a dedicated resource pool, when it is judged that the first SL PRS resource and the second SL PRS resource meet the requirements of multiplexing in an FDM-based manner according to the bandwidth information of the SL PRS and the bandwidth information of the first resource pool, the first terminal determines that the multiplexing manner is an FDM-based manner;

[0223] When the first resource pool used to select the first SL PRS resource is a shared resource pool, and when (M, M) of the first SL PRS resource and the second SL PRS resource are the same or different, the multiplexing method determined by the first terminal includes one or more of a comb-based method, a frequency division FDM-based method, and a time division TDM-based method.

[0224] Specifically, the multiplexing mode determined by the second terminal includes one or more of the following:

[0225] When the first resource pool used to select the first SL PRS resource is a dedicated resource pool, (M, M) of the first SL PRS resource and the second SL PRS resource are the same, and the first SL PRS resource and the second SL PRS resource conform to frequency division multiplexing using a Comb-based method, the second terminal determines that the multiplexing method is frequency division multiplexing using a Comb-based method;

[0226] When the first resource pool for selecting the first SL PRS resource is a dedicated resource pool, (M, M) of the first SL PRS resource and the second SL PRS resource are different, and the first SL PRS resource and the second SL PRS resource conform to multiplexing in a TDM-based manner, the second terminal determines that the multiplexing manner is a TDM-based manner;

[0227] When the first resource pool for selecting the first SL PRS resource is a dedicated resource pool, when it is determined that the first SL PRS resource and the second SL PRS resource are suitable for multiplexing in an FDM-based manner according to the bandwidth information of the SL PRS and the bandwidth information of the first resource pool, the second terminal determines that the multiplexing manner is an FDM-based manner;

[0228] When the first resource pool used to select the first SL PRS resource is a shared resource pool, and when (M, M) of the first SL PRS resource and the second SL PRS resource are the same or different, the multiplexing method determined by the first terminal includes one or more of a comb-based method, a frequency division FDM-based method, and a time division TDM-based method.

[0229] In some embodiments of the present application, when the multiplexing mode is obtained from the indication information of the second terminal, the method further includes:

[0230] Sending a first resource reuse request to the second terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse;

[0231] Obtain the indication information sent by the second terminal according to the first resource reuse request.

[0232] By adopting this implementation mode, a first resource multiplexing request is sent from the first terminal to the second terminal, the first SL PRS resource is reported to the second terminal as a preempted resource, and resource multiplexing is requested, so that the second terminal can determine the multiplexing method of the first SL PRS resource of the first terminal and the second SL PRS resource of the second terminal according to the first resource multiplexing request, and send the determined multiplexing method to the first terminal through indication information.

[0233] In another implementation manner, in some embodiments, after the first terminal determines a multiplexing mode of a first SL PRS resource of the first terminal and a second SL PRS resource of the second terminal, the method further includes:

[0234] The first terminal sends a second resource multiplexing request to the second terminal; wherein the second resource multiplexing request is used to report to the second terminal a multiplexing method of multiplexing the first SL PRS resource and the second SL PRS resource.

[0235] By adopting this implementation mode, the first terminal sends a second resource multiplexing request to the second terminal, and the multiplexing method of the first SL PRS resource and the second SL PRS resource determined by the first terminal can be reported to the second terminal, so that the terminal can adopt the multiplexing method to multiplex the first SL PRS resource and the second SL PRS resource and then send the SL PRS.

[0236] In one embodiment of the present application, when it is determined that the first SL PRS resource does not support resource reuse, a third SL PRS resource is selected from a candidate resource set of a first resource pool used to select the first SL PRS resource, and the SL PRS is sent.

[0237] In some embodiments, selecting the third SL PRS resource from the candidate resource set of the first resource pool includes one or more of the following:

[0238] Randomly select the third SL PRS resource from the candidate resource set;

[0239] The resources in the candidate resource set are sorted in order from small to large according to the received signal strength indication (RSSI) values, and the third SL PRS resource is randomly selected from the preset resources in the first sorting.

[0240] Specifically, if the transmission resources of the SL PRS of the first terminal (such as the first SL PRS resources) are preempted by the high-priority SLPRS, the two SL PRSs cannot reuse resources, then the first terminal needs to re-listen for resources, exclude resources, determine the candidate resource set Y, and select transmission resources from the candidate resource set for the transmitted low-priority SL PRS.

[0241] In one implementation mode, a SL PRS resource may be randomly selected from the candidate resource set Y as the third SL PRS resource for transmitting the SL PRS. In another implementation mode, in some embodiments, the RSSI values ​​of all resources in the candidate resource set may be sorted, and from the sorted multiple SL PRS resources, a resource may be randomly selected from a preset number of resources with the smallest RSSI to determine the third SL PRS resource for transmitting the SL PRS.

[0242] In some embodiments, the preset number of resources for random resource selection can be determined according to the total number of sorted SL PRS resources, and a preset percentage of SL PRS resources among the sorted multiple SL PRS resources are selected as the preset number of resources.

[0243] The following is an example of the implementation of the resource perception method described in the embodiment of the present application in combination with specific implementation methods.

[0244] Implementation Method 1

[0245] In the first implementation mode, the first terminal obtains the multiplexing method of the first SL PRS resource and the second SL PRS resource according to the pre-configuration information.

[0246] In this implementation, the high-level layer configures a resource pool indication parameter Indicator for the first resource pool, indicating whether the SL PRS resource preemption mechanism is supported in the first resource pool. When the indication parameter is "enabled", it indicates that the resource preemption mechanism is activated in the first resource pool. If the indication parameter is not configured in the first resource pool or when the first resource pool indication parameter is "disable", it indicates that the resource preemption mechanism is deactivated in the first resource pool.

[0247] In some embodiments, the high level of configuring the resource pool indication parameter includes one or more of the following:

[0248] The upper level of the terminal;

[0249] The high level of the intermediate node;

[0250] The network equipment, such as a base station / LMF, wherein the terminal is mobile and can be moved to a scenario within coverage, and the base station / location management function (LMF) entity configures a resource pool indication parameter Indicator for use in a scenario outside coverage.

[0251] If the first resource pool where the SL PRS resources are located supports the resource preemption mechanism, the SL PRS resource preemption mechanism in the first resource pool is triggered or activated using low-layer signaling.

[0252] In one implementation method, a new field is added to the existing SCI to trigger the resource preemption mechanism of the SL PRS, or a new SCI format is added to trigger the resource preemption mechanism of the SL PRS:

[0253] In one implementation mode, the SL PRS resource preemption mechanism is triggered by the SCI, and then the SL PRS resource preemption mechanism is terminated by the SCI;

[0254] In one implementation mode, the SL PRS resource preemption mechanism is triggered by the SCI, and the effective operation time of the SL PRS resource preemption mechanism is determined by a high-level signaling parameter, or

[0255] In another implementation manner, the SL PRS resource preemption mechanism is activated through the SL MAC CE, and then the SL PRS resource preemption mechanism is deactivated through the SL MAC CE.

[0256] The first terminal (such as a low priority terminal) determines whether the first SL PRS resource for sending the SL PRS is preempted by the high priority SL PRS based on the decision condition, wherein the decision condition includes:

[0257] The first SL PRS resource selected and indicated by the first terminal is not in the candidate resource set. The candidate resource set refers to a collection of idle resources. If the first SL PRS resource selected and indicated by the first terminal is not in the candidate resource set, it means that the first SL PRS resource is no longer available, that is, it may be occupied.

[0258] The SL PRS time-frequency resources (second SL PRS resources) indicated by the SCI continuously monitored by the first terminal overlap with the SL PRS resources (first SL PRS resources) selected and indicated by the terminal, including full overlap and partial overlap. Partial or full overlap in the time domain means that the two SL PRS resources occupy the same OFDM symbol, and partial or full overlap in the frequency domain means that the two SL PRS resources occupy the same subchannel or physical resource unit.

[0259] The RSRP measured by the first terminal is greater than the RSRP threshold value H, where the reference signal used to measure RSRP can be SLPRS, PSCCH, PSSCH, PSCCH-associated DMRS, PSSCH-associated DMRS. The RSRP threshold is used to determine whether the resource is a conflicting resource, that is, if the RSRP measured by the first terminal exceeds the RSRP threshold value H, it is considered that a resource conflict has occurred and resource preemption may have occurred. Conversely, if the RSRP measured by the first terminal is lower than the RSRP threshold value H, it is considered that no resource preemption has occurred. The RSRP threshold has the following configuration methods:

[0260] The first method: the information of RSRP threshold value H is carried by SCI;

[0261] The second method: the information of the RSRP threshold value H is configured by other signaling (such as RRC signaling);

[0262] The priority of the SL PRS resources (second SL PRS resources) carried by the SCI detected by the first terminal is higher than the priority of the SL PRS resources (first SL PRS resources) to be sent by the first terminal or is higher than a certain threshold value. That is to say, the SL PRS resources of the first terminal can only be preempted when the priority information of the SCI carried by the second terminal detected by the first terminal is higher than the priority of the SL PRS resources to be sent by the first terminal.

[0263] The RSRP threshold value in the resource preemption decision condition may be determined by a high layer based on (Pi, Pj), wherein Pi is the positioning priority information of the receiving terminal carried by the SCI, and Pj is the positioning priority information of the sending terminal carried by the SCI.

[0264] After the low-priority first terminal determines that the SL PRS resource indicated by it is preempted based on the above decision conditions, it can determine the multiplexing method of the low-priority SL PRS and the high-priority SL PRS by (pre) configuration.

[0265] Specifically: when the high-priority SL PRS resources (the second SL PRS resources) and the low-priority SL PRS resources (the first SLPRS resources) are the same (M, N) or different (M, N), the SL PRS multiplexing mode is determined by (pre-) configuration to be a Comb-based mode, an FDM-based mode, a TDM-based mode, or all three modes, that is, the determined multiplexing mode includes any one of the three modes, or includes multiple modes.

[0266] Implementation Method 2

[0267] In the second embodiment, the multiplexing method of the first SL PRS resource of the first terminal and the second SL PRS resource of the second terminal is determined by the first terminal. In some embodiments, the first terminal is a lower priority terminal than the second terminal. After selecting the first SL PRS resource to send SL PRS, the first terminal determines the multiplexing method when it determines that the first SL PRS resource is preempted.

[0268] In the second embodiment, the manner in which the first terminal obtains the resource pool indication parameter and the manner in which the resource preemption mechanism is triggered or activated are the same as those in the first embodiment, and are not described again herein.

[0269] In the second implementation mode, the multiplexing mode of the first SL PRS resource and the second SL PRS resource is determined according to the analysis of the first terminal, including one or more of the following:

[0270] If the first resource pool sent is a dedicated resource pool: the high priority SL PRS resource (the second SL PRS resource) and the low SL PRS resource (the first SL PRS resource) are the same (M, N), then the low priority terminal (the first terminal) determines whether the first SLPRS resource and the second SL PRS resource can be frequency-division multiplexed using a comb-based method. If they can be frequency-division multiplexed using a comb-based method, then the multiplexing method is determined to be comb-based frequency-division multiplexing; where M is the number of symbols occupied by the SL PRS resource in a time slot, and N is the comb size.

[0271] If the first resource pool sent is a dedicated resource pool: the high priority SL PRS resource (the second SL PRS resource) and the low SL PRS resource (the first SL PRS resource) are different (M, N), the low priority terminal (the first terminal) determines whether the first SL PRS resource and the second SL PRS resource can be time-division multiplexed in a TDM-based manner, and if the TDM-based time-division multiplexing can be used, it is determined that the multiplexing mode is TDM-based time-division multiplexing;

[0272] If the first resource pool sent is a dedicated resource pool: the first terminal determines whether the first SL PRS resource and the second SL PRS resource can be frequency-division multiplexed using FDM-based method based on the SL PRS bandwidth information and the resource pool bandwidth information; if they can be frequency-division multiplexed using FDM-based method, the multiplexing method is determined to be FDM-based frequency-division multiplexing.

[0273] If the first resource pool sent is a shared resource pool: the high priority SL PRS resources and the low priority SL PRS resources are the same (M, N) or different (M, N), the low priority first terminal determines that the SL PRS multiplexing method is Comb-based, or FDM-based, or TDM-based, or all three.

[0274] By adopting this implementation mode, the determination of resource preemption and the multiplexing mode of SL PRS multiplexing are both completed by the first terminal, without the need for interaction with other terminals, thereby achieving the effect of saving signaling overhead and power consumption.

[0275] Implementation Method 3

[0276] In the second embodiment, the multiplexing method of the first SL PRS resource of the first terminal and the second SL PRS resource of the second terminal is determined by the second terminal. In some embodiments, the second terminal is a higher priority terminal than the first terminal.

[0277] In the second implementation mode, the first terminal analyzes and determines the multiplexing mode of the first SL PRS resource and the second SL PRS resource, including one or more of the following:

[0278] If the first resource pool sent is a dedicated resource pool: the high priority SL PRS resource (the second SL PRS resource) and the low SL PRS resource (the first SL PRS resource) are the same (M, N), then the high priority terminal (the second terminal) determines whether the first SLPRS resource and the second SL PRS resource can be frequency-division multiplexed using a comb-based method. If they can be frequency-division multiplexed using a comb-based method, then the multiplexing method is determined to be comb-based frequency-division multiplexing; where M is the number of symbols occupied by the SL PRS resource in a time slot, and N is the comb size.

[0279] If the first resource pool sent is a dedicated resource pool: the high priority SL PRS resource (the second SL PRS resource) and the low SL PRS resource (the first SL PRS resource) are different (M, N), the high priority terminal (the second terminal) determines whether the first SL PRS resource and the second SL PRS resource can be time-division multiplexed in a TDM-based manner, and if the TDM-based time-division multiplexing can be used, it is determined that the multiplexing mode is TDM-based time-division multiplexing;

[0280] If the first resource pool sent is a dedicated resource pool: the second terminal determines whether the first SL PRS resource and the second SL PRS resource can be frequency-division multiplexed using FDM-based method based on the SL PRS bandwidth information and the resource pool bandwidth information; if they can be frequency-division multiplexed using FDM-based method, the multiplexing method is determined to be FDM-based frequency-division multiplexing.

[0281] If the first resource pool sent is a shared resource pool: the high priority SL PRS resources and the low priority SL PRS resources are the same (M, N) or different (M, N), the high priority second terminal determines that the SL PRS multiplexing method is Comb-based, or FDM-based, or TDM-based, or supports all three.

[0282] By adopting this implementation mode, after determining the resource multiplexing mode of the low-priority SL PRS and the high-priority SL PRS, the high-priority second terminal notifies the first terminal of the determined resources and multiplexing mode for transmitting the low-priority SL PRS.

[0283] It should be noted that the above-mentioned implementation modes are merely examples of the application modes of the method described in the embodiments of the present application, and are not specifically limited thereto. Each implementation mode will not be described with examples separately herein.

[0284] One embodiment of the present application further provides a resource perception method, which is executed by an indicating device, such as Figure 2 As shown, the method includes:

[0285] S210, sending pre-configuration information to the first terminal;

[0286] The pre-configuration information is used to indicate the multiplexing method of the first sidelink SL positioning reference signal PRS resource and the second SLPRS resource.

[0287] By adopting the method described in the embodiment of the present application, pre-information information is sent to the first terminal through an indicating device, indicating the multiplexing method of the first side link SL positioning reference signal PRS resources and the second SL PRS resources, so that the first terminal utilizes the multiplexing method to send SL PRS through resource multiplexing to ensure the reliability of SL PRS transmission and avoid the problem of low SL PRS transmission reliability.

[0288] In some embodiments, the indicating device may be a network device, or may be a terminal different from the first terminal.

[0289] In some embodiments, the resource perception method, wherein the first SL PRS resource and the second SLPRS resource are both SL PRS resources of the first terminal; or,

[0290] The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

[0291] In some embodiments, the method further includes: sending one or more of the following information to the first terminal:

[0292] Resource pool indication parameter; the resource pool indication parameter is used to indicate whether the first resource pool used by the first terminal to select the sidelink positioning reference signal SL PRS resource supports a resource preemption mechanism;

[0293] Trigger signaling of resource preemption mechanism;

[0294] Termination signaling of resource preemption mechanism;

[0295] Activation signaling of resource preemption mechanism;

[0296] Deactivation signaling of the resource preemption mechanism;

[0297] The effective operation time of the resource preemption mechanism;

[0298] The resource preemption mechanism is used to enable the first terminal to send the SL PRS by multiplexing the first SL PRS resource with the second SLPRS resource when determining that the first SL PRS resource for sending the side link positioning reference signal SL PRS belongs to the preempted resource.

[0299] For the specific implementation of the method described in the embodiment of the present application when applied to the indicating device, please refer to the detailed description when applied to the first terminal, and the description will not be repeated here.

[0300] One embodiment of the present application further provides a resource sensing method, which is executed by the second terminal, such as Figure 3 As shown, the method includes:

[0301] S310, obtaining a multiplexing mode of a second sidelink SL positioning reference signal PRS resource of the second terminal and a first SL PRS resource of the first terminal; wherein the priority of the second SL PRS resource is higher than the priority of the first SL PRS resource;

[0302] S320: According to the multiplexing method, the second SL PRS resource is multiplexed with the first SL PRS resource to send a SL PRS.

[0303] By adopting the resource sensing method, the second terminal obtains the multiplexing mode of the second side link SL positioning reference signal PRS resource of the second terminal and the first SL PRS resource of the first terminal, multiplexes the first SL PRS resource with the second SL PRS resource, and sends SL PRS. In this way, for the second terminal with higher priority, when the first terminal with lower priority occupies / reserve SL PRS resources, the second terminal can send SL PRS through resource multiplexing to ensure the reliability of SL PRS transmission and avoid the problem of low reliability of SL PRS transmission.

[0304] In some embodiments, the resource perception method, wherein acquiring a multiplexing mode of a second SL PRS resource of the second terminal and a first SL PRS resource of the first terminal, includes:

[0305] The multiplexing method is obtained by one or more of the following methods:

[0306] A second resource multiplexing request sent by the first terminal; wherein the second resource multiplexing request is used to report a multiplexing mode of multiplexing the first SL PRS resource and the second SL PRS resource;

[0307] The second terminal is determined.

[0308] In some embodiments, the resource awareness method further comprises:

[0309] Receive a first resource reuse request sent by the first terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse;

[0310] The multiplexing mode is determined according to the first resource multiplexing request, and indication information is sent to the first terminal, where the indication information is used to indicate the multiplexing mode.

[0311] In some embodiments, the resource awareness method, wherein the determining the multiplexing mode includes one or more of the following:

[0312] When the first resource pool for selecting the first SL PRS resource is a dedicated resource pool, determining that a method that conforms to multiplexing of the first SL PRS resource and the second SL PRS resource is the multiplexing method according to one or more of the time-frequency pattern of the first SLPRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool;

[0313] When the first resource pool for selecting the first SL PRS resource is a shared resource pool, any one of a comb-based method, a frequency division FDM-based method and a time division TDM-based method is determined as the multiplexing method.

[0314] In some embodiments, the resource perception method, wherein, according to one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool, determining that the mode that conforms to the multiplexing of the first SL PRS resource and the second SL PRS resource is the multiplexing mode, includes one or more of the following:

[0315] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are the same and the first SL PRS resource and the second SL PRS resource conform to frequency division multiplexing using a comb-based method, determining that the multiplexing method is frequency division multiplexing using a comb-based method;

[0316] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are different and the first SL PRS resource and the second SL PRS resource conform to time division multiplexing using a TDM-based method, determining that the multiplexing method is time division multiplexing using a TDM-based method;

[0317] When it is determined that the first SLPRS resource and the second SL PRS resource are suitable for frequency division multiplexing using FDM-based method according to the bandwidth information of the SL PRS and the bandwidth information of the first resource pool, the multiplexing method is determined to be frequency division multiplexing using FDM-based method.

[0318] The specific implementation of the resource perception method described in the embodiment of the present application applied to the second terminal can refer to the detailed description of the specific implementation applied to the first terminal, and will not be repeated here.

[0319] One embodiment of the present application further provides a terminal, wherein the terminal is a first terminal, such as Figure 4 As shown, it includes a memory 410, a transceiver 420, and a processor 430:

[0320] The memory 410 is used to store computer programs; the transceiver 420 is used to send and receive data under the control of the processor; the processor 430 is used to read the computer program in the memory and perform the following operations:

[0321] Obtaining a multiplexing method of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource;

[0322] According to the multiplexing method, the first SL PRS resource and the second SL PRS resource are multiplexed, and the SL PRS is sent.

[0323] In some embodiments, the terminal, wherein the first SL PRS resource and the second SL PRS resource are both SL PRS resources of the first terminal; or,

[0324] The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

[0325] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory to obtain a multiplexing method of the first SL PRS resource and the second SL PRS resource, including:

[0326] The multiplexing mode of the first SL PRS resource and the second SL PRS resource is obtained by one or more of the following modes:

[0327] According to the pre-configured information;

[0328] According to the first terminal analysis;

[0329] According to the instruction information of the second terminal.

[0330] In some embodiments, the terminal, wherein the multiplexing mode configured by the pre-configuration information includes one or more of a comb-based mode, a frequency division FDM-based mode, and a time division TDM-based mode;

[0331] The processor 430 reads the computer program in the memory, and acquires the multiplexing mode of the first SL PRS resource and the second SL PRS resource according to the pre-configuration information, including:

[0332] Determine that one of the multiplexing modes configured by the pre-configuration information is the multiplexing mode.

[0333] In some embodiments, the terminal, wherein, when the multiplexing mode is acquired according to the analysis of the first terminal, or when the multiplexing mode is acquired according to the indication information of the second terminal, the acquired multiplexing mode includes one or more of the following:

[0334] In the case where the first resource pool is a dedicated resource pool, the multiplexing mode is determined according to one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool, in accordance with a mode that conforms to the multiplexing of the first SL PRS resource and the second SL PRS resource;

[0335] In the case that the first resource pool is a shared resource pool, the multiplexing method includes any one or more of a comb-based method, a frequency division multiplexing (FDM-based method) and a time division multiplexing (TDM-based method).

[0336] In some embodiments, the terminal, wherein the multiplexing mode is determined according to one or more of the time-frequency pattern of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool, in accordance with the mode of multiplexing of the first SL PRS resource and the second SL PRS resource, the multiplexing mode includes one or more of the following:

[0337] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are the same and the first SL PRS resource and the second SL PRS resource conform to frequency division multiplexing using a comb-based method, the multiplexing method is frequency division multiplexing using a comb-based method;

[0338] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are different, and the first SLPRS resource and the second SL PRS resource conform to time division multiplexing using a TDM-based method, the multiplexing method is time division multiplexing using a TDM-based method;

[0339] When the first SL PRS resource and the second SL PRS resource are resources that are determined to be suitable for FDM-based frequency division multiplexing based on the bandwidth information of the SL PRS and the bandwidth information of the first resource pool, the multiplexing method is FDM-based frequency division multiplexing.

[0340] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory, and further performs the following operations:

[0341] Sending a first resource reuse request to the second terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse;

[0342] Obtain the indication information sent by the second terminal according to the first resource reuse request.

[0343] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory to obtain the multiplexing mode of the first SL PRS resource and the second SL PRS resource, including:

[0344] When it is determined that the first SL PRS resource is a preempted resource, the multiplexing method is obtained.

[0345] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory, and further performs the following operations:

[0346] When the first condition is met, determining that the first SL PRS resource is a preempted resource;

[0347] The first condition includes one or more of the following:

[0348] The first SL PRS resource is not in a set of candidate resources in the first resource pool;

[0349] The first SL PRS resource at least partially overlaps with the second SLPRS resource indicated by the detected sidelink control information SCI;

[0350] The reference signal received power measured by the first terminal is greater than a preset threshold value; and

[0351] The priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource; or, the priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource by a preset level threshold.

[0352] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory, and further performs the following operations:

[0353] Obtain the preset threshold value sent by the high layer; wherein the preset threshold value is determined based on the first positioning priority information and the second positioning priority information carried by the SCI, the first positioning priority information is the positioning priority information of the receiving end indicated by the SCI, and the second positioning priority information is the positioning priority information of the sending end indicated by the SCI.

[0354] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory, and further performs the following operations:

[0355] Acquire a resource pool indication parameter configured by a high layer; the resource pool indication parameter is used to indicate whether the first resource pool that sends the SL PRS for SL PRS resource selection supports a resource preemption mechanism;

[0356] In a case where the resource pool indication parameter indicates that the first resource pool supports a resource preemption mechanism, it is determined whether the first SL PRS resource selected in the first resource pool is a preempted resource.

[0357] In some embodiments, the terminal, wherein, when the resource pool indication parameter indicates that the first resource pool supports a resource preemption mechanism, the processor 430 reads the computer program in the memory to determine whether the first SL PRS resource selected in the first resource pool belongs to a preempted resource, including:

[0358] When the resource pool indication parameter indicates that the first resource pool supports the resource preemption mechanism, after obtaining the trigger signaling and / or activation signaling of the resource preemption mechanism, it is determined whether the first SL PRS resource selected in the first resource pool belongs to the preempted resource.

[0359] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory, and further performs the following operations:

[0360] When the second condition is met, determining to terminate the judgment on whether the first SL PRS resource is a preempted resource;

[0361] The second condition includes one or more of the following:

[0362] Obtain the termination signaling of the resource preemption mechanism;

[0363] The effective operation time of the resource preemption mechanism configured by the high-level configuration expires;

[0364] Obtain deactivation signaling for the resource preemption mechanism.

[0365] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory, and further performs the following operations:

[0366] When it is determined that the first SL PRS resource does not support resource multiplexing, a third SL PRS resource is selected from a candidate resource set of a first resource pool used to select the first SLPRS resource, and the SL PRS is sent.

[0367] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory, and selects the third SL PRS resource from the candidate resource set of the first resource pool, including one or more of the following:

[0368] Randomly select the third SL PRS resource from the candidate resource set;

[0369] The resources in the candidate resource set are sorted in order from small to large according to the received signal strength indication RSSI values, and the third SL PRS resource is randomly selected from the preset resources in the front sorting.

[0370] In some embodiments, the terminal, wherein the high layer includes one or more of the following:

[0371] a high layer of the first terminal;

[0372] a high layer of an intermediate node connected to the first terminal;

[0373] A network device connected to the first terminal.

[0374] In some embodiments, the terminal, wherein the processor 430 reads the computer program in the memory, and further performs the following operations:

[0375] Send a second resource multiplexing request to the second terminal; wherein the second resource multiplexing request is used to report to the second terminal a multiplexing method of multiplexing the first SL PRS resource and the second SL PRS resource.

[0376] Among them, Figure 4 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 430 and various circuits of memory represented by memory 410 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 420 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, including wireless channels, wired channels, optical cables, and other transmission media. For different user devices, the user interface 440 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0377] The processor 430 is responsible for managing the bus architecture and general processing, and the memory 410 can store data used by the processor 430 when performing operations.

[0378] Optionally, the processor 430 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0379] The processor calls the computer program stored in the memory to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0380] One embodiment of the present application also provides an indication device, such as Figure 5 As shown, it includes a memory 510, a transceiver 520, and a processor 530:

[0381] The memory 510 is used to store computer programs; the transceiver 520 is used to send and receive data under the control of the processor; the processor 530 is used to read the computer program in the memory and perform the following operations:

[0382] Sending preconfiguration information to the first terminal;

[0383] The pre-configuration information is used to indicate the multiplexing method of the first sidelink SL positioning reference signal PRS resource and the second SLPRS resource.

[0384] In some embodiments, the indicating device, wherein the first SL PRS resource and the second SL PRS resource are both SL PRS resources of the first terminal; or,

[0385] The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

[0386] In some embodiments, the indicating device, wherein the processor 530 reads the computer program in the memory, is further configured to perform the following operations:

[0387] Send one or more of the following information to the first terminal:

[0388] Resource pool indication parameter; the resource pool indication parameter is used to indicate whether the first resource pool used by the first terminal to select the sidelink positioning reference signal SL PRS resource supports a resource preemption mechanism;

[0389] Trigger signaling of resource preemption mechanism;

[0390] Termination signaling of resource preemption mechanism;

[0391] Activation signaling of resource preemption mechanism;

[0392] Deactivation signaling of the resource preemption mechanism;

[0393] The effective operation time of the resource preemption mechanism;

[0394] The resource preemption mechanism is used to enable the first terminal to send the SL PRS by multiplexing the first SL PRS resource with the second SLPRS resource when determining that the first SL PRS resource for sending the side link positioning reference signal SL PRS belongs to the preempted resource.

[0395] Among them, Figure 5 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 530 and various circuits of memory represented by memory 510 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 520 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium may include a wireless channel, a wired channel, an optical cable, and other transmission media. The processor 530 is responsible for managing the bus architecture and general processing, and the memory 510 may store data used by the processor 530 when performing operations.

[0396] The processor 530 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0397] One embodiment of the present application further provides a terminal, wherein the terminal is a second terminal, such as Figure 6 As shown, it includes a memory 610, a transceiver 620, and a processor 630:

[0398] The memory 610 is used to store computer programs; the transceiver 620 is used to send and receive data under the control of the processor; the processor 630 is used to read the computer program in the memory and perform the following operations:

[0399] Acquire a multiplexing method of a second sidelink SL positioning reference signal PRS resource of the second terminal and a first SL PRS resource of the first terminal; wherein the priority of the second SL PRS resource is higher than the priority of the first SL PRS resource;

[0400] According to the multiplexing method, the second SL PRS resource is multiplexed with the first SL PRS resource to send SLPRS.

[0401] In some embodiments, the terminal, wherein the processor 630 reads the computer program in the memory to obtain a multiplexing mode of the second SL PRS resource of the second terminal and the first SL PRS resource of the first terminal, including:

[0402] The multiplexing method is obtained by one or more of the following methods:

[0403] A second resource multiplexing request sent by the first terminal; wherein the second resource multiplexing request is used to report a multiplexing mode of multiplexing the first SL PRS resource and the second SL PRS resource;

[0404] The second terminal is determined.

[0405] In some embodiments, the terminal, wherein the processor 630 fetches the computer program in the memory, and further performs the following operations:

[0406] Receive a first resource reuse request sent by the first terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse;

[0407] The multiplexing mode is determined according to the first resource multiplexing request, and indication information is sent to the first terminal, where the indication information is used to indicate the multiplexing mode.

[0408] In some embodiments, the terminal, wherein the processor 630 reads the computer program in the memory to determine the multiplexing mode, including one or more of the following:

[0409] When the first resource pool for selecting the first SL PRS resource is a dedicated resource pool, determining that a method that conforms to multiplexing of the first SL PRS resource and the second SL PRS resource is the multiplexing method according to one or more of the time-frequency pattern of the first SLPRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool;

[0410] When the first resource pool for selecting the first SL PRS resource is a shared resource pool, any one of a comb-based method, a frequency division FDM-based method and a time division TDM-based method is determined as the multiplexing method.

[0411] In some embodiments, the terminal, wherein the processor 630 reads the computer program in the memory, and determines, according to one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool, that the manner of multiplexing the first SL PRS resource and the second SL PRS resource is the multiplexing manner, including one or more of the following:

[0412] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are the same and the first SL PRS resource and the second SL PRS resource conform to frequency division multiplexing using a comb-based method, determining that the multiplexing method is frequency division multiplexing using a comb-based method;

[0413] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are different and the first SL PRS resource and the second SL PRS resource conform to time division multiplexing using a TDM-based method, determining that the multiplexing method is time division multiplexing using a TDM-based method;

[0414] When it is determined that the first SLPRS resource and the second SL PRS resource are suitable for frequency division multiplexing using FDM-based method according to the bandwidth information of the SL PRS and the bandwidth information of the first resource pool, the multiplexing method is determined to be frequency division multiplexing using FDM-based method.

[0415] Among them, Figure 6In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 630 and various circuits of memory represented by memory 610 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 620 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, including transmission media such as wireless channels, wired channels, and optical cables. For different user devices, the user interface 640 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0416] The processor 630 is responsible for managing the bus architecture and general processing, and the memory 610 can store data used by the processor 630 when performing operations.

[0417] Optionally, the processor 630 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0418] The processor calls the computer program stored in the memory to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0419] One embodiment of the present application further provides a resource sensing device, which is applied to a first terminal, and includes:

[0420] A first acquisition unit 710 is configured to acquire a multiplexing method of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource;

[0421] The first multiplexing unit 720 is used to multiplex the first SL PRS resource and the second SLPRS resource according to the multiplexing mode, and send the SL PRS.

[0422] In some embodiments, the apparatus, wherein the first SL PRS resource and the second SL PRS resource are both SL PRS resources of the first terminal; or,

[0423] The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

[0424] In some embodiments, in the apparatus, the first acquiring unit 710 acquires the multiplexing mode of the first SL PRS resource and the second SL PRS resource, including:

[0425] The multiplexing mode of the first SL PRS resource and the second SL PRS resource is obtained by one or more of the following modes:

[0426] According to the pre-configured information;

[0427] According to the first terminal analysis;

[0428] According to the instruction information of the second terminal.

[0429] In some embodiments, the device, wherein the multiplexing mode configured by the pre-configuration information includes one or more of a comb-based mode, a frequency division FDM-based mode, and a time division TDM-based mode;

[0430] The first acquisition unit 710 acquires the multiplexing mode of the first SL PRS resource and the second SLPRS resource according to the pre-configuration information, including:

[0431] Determine that one of the multiplexing modes configured by the pre-configuration information is the multiplexing mode.

[0432] In some embodiments, the device, wherein, when the multiplexing mode is acquired according to the analysis of the first terminal, or when the multiplexing mode is acquired according to the indication information of the second terminal, the acquired multiplexing mode includes one or more of the following:

[0433] In the case where the first resource pool is a dedicated resource pool, the multiplexing mode is determined according to one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool, in accordance with a mode that conforms to the multiplexing of the first SL PRS resource and the second SL PRS resource;

[0434] In the case where the first resource pool of the first SL PRS resources is a shared resource pool, the multiplexing method includes any one or more of a comb-based method, a frequency division FDM-based method, and a time division TDM-based method.

[0435] In some embodiments, in the device, wherein the multiplexing mode is determined according to one or more of the time-frequency pattern of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool, and the mode that conforms to the multiplexing of the first SL PRS resource and the second SL PRS resource, the multiplexing mode includes one or more of the following:

[0436] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are the same and the first SL PRS resource and the second SL PRS resource conform to frequency division multiplexing using a comb-based method, the multiplexing method is frequency division multiplexing using a comb-based method;

[0437] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are different, and the first SLPRS resource and the second SL PRS resource conform to time division multiplexing using a TDM-based method, the multiplexing method is time division multiplexing using a TDM-based method;

[0438] When the first SL PRS resource and the second SL PRS resource are resources that are determined to be suitable for FDM-based frequency division multiplexing based on the bandwidth information of the SL PRS and the bandwidth information of the first resource pool, the multiplexing method is FDM-based frequency division multiplexing.

[0439] In some embodiments, the device, wherein the device further comprises:

[0440] The second sending unit 730 is used to send a first resource reuse request to the second terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse;

[0441] The first acquisition unit 710 is further used to acquire the indication information sent by the second terminal according to the first resource reuse request.

[0442] In some embodiments, in the apparatus, the first acquiring unit 710 acquires the multiplexing mode of the first SL PRS resource and the second SL PRS resource, including:

[0443] When it is determined that the first SL PRS resource is a preempted resource, the multiplexing method is obtained.

[0444] In some embodiments, in the device, the first acquiring unit 710 is further configured to:

[0445] When the first condition is met, determining that the first SL PRS resource is a preempted resource;

[0446] The first condition includes one or more of the following:

[0447] The first SL PRS resource is not in a set of candidate resources in the first resource pool;

[0448] The first SL PRS resource at least partially overlaps with the second SLPRS resource indicated by the detected sidelink control information SCI;

[0449] The reference signal received power measured by the first terminal is greater than a preset threshold value; and

[0450] The priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource; or, the priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource by a preset level threshold.

[0451] In some embodiments, in the device, the first acquiring unit 710 is further configured to:

[0452] Obtain the preset threshold value sent by the high layer; wherein the preset threshold value is determined based on the first positioning priority information and the second positioning priority information carried by the SCI, the first positioning priority information is the positioning priority information of the receiving end indicated by the SCI, and the second positioning priority information is the positioning priority information of the sending end indicated by the SCI.

[0453] In some embodiments, in the device, the first acquiring unit 710 is further configured to:

[0454] Obtain a resource pool indication parameter configured by a high level; the resource pool indication parameter is used to indicate whether the first resource pool that sends the SL PRS for SL PRS resource selection supports a resource preemption mechanism;

[0455] In a case where the resource pool indication parameter indicates that the first resource pool supports a resource preemption mechanism, it is determined whether the first SL PRS resource selected in the first resource pool is a preempted resource.

[0456] In some embodiments, the device, wherein, when the resource pool indication parameter indicates that the first resource pool supports a resource preemption mechanism, the first acquisition unit 710 determines whether the first SL PRS resource selected in the first resource pool belongs to a preempted resource, including:

[0457] In the case where the resource pool indication parameter indicates that the resource pool supports a resource preemption mechanism, after obtaining trigger signaling and / or activation signaling of the resource preemption mechanism, it is determined whether the first SLPRS resource selected in the first resource pool is a preempted resource.

[0458] In some embodiments, in the device, the first acquiring unit 710 is further configured to:

[0459] When the second condition is met, determining to terminate the judgment on whether the first SL PRS resource is a preempted resource;

[0460] The second condition includes one or more of the following:

[0461] Obtain the termination signaling of the resource preemption mechanism;

[0462] The effective operation time of the resource preemption mechanism configured by the high-level configuration expires;

[0463] Obtain deactivation signaling for the resource preemption mechanism.

[0464] In some embodiments, the device, wherein the device further comprises:

[0465] The third sending unit 740 is configured to, when it is determined that the first SL PRS resource does not support resource multiplexing, select a third SL PRS resource from a candidate resource set of a first resource pool used for selecting the first SL PRS resource, and send the SL PRS.

[0466] In some embodiments, in the apparatus, the third sending unit 740 selects the third SL PRS resource from the candidate resource set of the first resource pool, including one or more of the following:

[0467] Randomly select the third SL PRS resource from the candidate resource set;

[0468] The resources in the candidate resource set are sorted in order from small to large according to the received signal strength indication RSSI values, and the third SL PRS resource is randomly selected from the preset resources in the front sorting.

[0469] In some embodiments, the device, wherein the high level includes one or more of the following:

[0470] a high layer of the first terminal;

[0471] a high layer of an intermediate node connected to the first terminal;

[0472] A network device connected to the first terminal.

[0473] In some embodiments, the device, wherein the device further comprises:

[0474] The fourth sending unit 750 is used to send a second resource multiplexing request to the second terminal; wherein the second resource multiplexing request is used to report to the second terminal a multiplexing method of multiplexing the first SL PRS resource and the second SL PRS resource.

[0475] One embodiment of the present application further provides a resource sensing device, which is applied to an indication device, such as Figure 8 As shown, the device comprises:

[0476] A first sending unit 810, configured to send pre-configuration information to a first terminal;

[0477] The pre-configuration information is used to indicate the multiplexing method of the first sidelink SL positioning reference signal PRS resource and the second SLPRS resource.

[0478] In some embodiments, the resource sensing device, wherein the first SL PRS resource and the second SLPRS resource are both SL PRS resources of the first terminal; or,

[0479] The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

[0480] In some embodiments, in the resource sensing device, the first sending unit 810 is further configured to send one or more of the following information to the first terminal:

[0481] Resource pool indication parameter; the resource pool indication parameter is used to indicate whether the first resource pool used by the first terminal to select the sidelink positioning reference signal SL PRS resource supports a resource preemption mechanism;

[0482] Trigger signaling of resource preemption mechanism;

[0483] Termination signaling of resource preemption mechanism;

[0484] Activation signaling of resource preemption mechanism;

[0485] Deactivation signaling of the resource preemption mechanism;

[0486] The effective operation time of the resource preemption mechanism;

[0487] The resource preemption mechanism is used to enable the first terminal to send the SL PRS by multiplexing the first SL PRS resource with the second SLPRS resource when determining that the first SL PRS resource for sending the side link positioning reference signal SL PRS belongs to the preempted resource.

[0488] One embodiment of the present application further provides a resource sensing device, which is applied to a second terminal, such as Fig. 9 As shown, the device comprises:

[0489] The second acquisition unit 910 is used to acquire a multiplexing mode of a second sidelink SL positioning reference signal PRS resource of the second terminal and a first SL PRS resource of the first terminal; wherein the priority of the second SL PRS resource is higher than the priority of the first SL PRS resource;

[0490] The second multiplexing unit 920 is used to multiplex the second SL PRS resource with the first SLPRS resource according to the multiplexing mode to send the SL PRS.

[0491] In some embodiments, the resource sensing device, wherein the second acquiring unit 910 acquires a multiplexing mode of a second SL PRS resource of the second terminal and a first SL PRS resource of the first terminal, includes:

[0492] The multiplexing method is obtained by one or more of the following methods:

[0493] A second resource multiplexing request sent by the first terminal; wherein the second resource multiplexing request is used to report a multiplexing mode of multiplexing the first SL PRS resource and the second SL PRS resource;

[0494] The second terminal is determined.

[0495] In some embodiments, in the resource sensing device, the second acquisition unit 910 is further configured to:

[0496] Receive a first resource reuse request sent by the first terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse;

[0497] The multiplexing mode is determined according to the first resource multiplexing request, and indication information is sent to the first terminal, where the indication information is used to indicate the multiplexing mode.

[0498] In some embodiments, in the resource sensing device, the second acquisition unit 910 determines the multiplexing mode, including one or more of the following:

[0499] When the first resource pool for selecting the first SL PRS resource is a dedicated resource pool, determining that a method that conforms to multiplexing of the first SL PRS resource and the second SL PRS resource is the multiplexing method according to one or more of the time-frequency pattern of the first SLPRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool;

[0500] When the first resource pool for selecting the first SL PRS resource is a shared resource pool, any one of a comb-based method, a frequency division FDM-based method and a time division TDM-based method is determined as the multiplexing method.

[0501] In some embodiments, the resource sensing device, wherein, according to one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the transmitted SL PRS, and the bandwidth information of the first resource pool, determines that the mode that conforms to the multiplexing of the first SL PRS resource and the second SL PRS resource is the multiplexing mode, includes one or more of the following:

[0502] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are the same and the first SL PRS resource and the second SL PRS resource conform to frequency division multiplexing using a comb-based method, determining that the multiplexing method is frequency division multiplexing using a comb-based method;

[0503] When the time-frequency patterns of the first SL PRS resource and the second SL PRS resource are different and the first SL PRS resource and the second SL PRS resource conform to time division multiplexing using a TDM-based method, determining that the multiplexing method is time division multiplexing using a TDM-based method;

[0504] When it is determined that the first SLPRS resource and the second SL PRS resource are suitable for frequency division multiplexing using FDM-based method according to the bandwidth information of the SL PRS and the bandwidth information of the first resource pool, the multiplexing method is determined to be frequency division multiplexing using FDM-based method.

[0505] It should be noted here that the above-mentioned device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0506] Among them, the method and the device are based on the same application concept. Since the method and the device solve the problem in a similar principle, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0507] It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0508] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0509] An embodiment of the present application further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the resource perception method as described in any one of the above items.

[0510] Among them, the processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD)), etc.

[0511] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0512] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer executable instructions. These computer executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0513] These processor executable instructions may also be stored in a processor readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0514] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0515] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A resource perception method, characterized in that: The method is performed by a first terminal and includes: Obtaining a multiplexing method of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource; According to the multiplexing method, the first SL PRS resource and the second SL PRS resource are multiplexed, and the SL PRS is sent.

2. The resource perception method according to claim 1, characterized in that: The first SL PRS resource and the second SL PRS resource are both SL PRS resources of the first terminal; or, The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

3. The resource perception method according to claim 1, characterized in that: The method of obtaining the multiplexing of the first SL PRS resource and the second SLPRS resource includes: The multiplexing mode of the first SL PRS resource and the second SL PRS resource is obtained by one or more of the following modes: According to the pre-configured information; According to the first terminal analysis; According to the instruction information of the second terminal.

4. The resource perception method according to claim 3, characterized in that: The multiplexing mode configured by the pre-configuration information includes one or more of a comb-based mode, a frequency division FDM-based mode and a time division TDM-based mode; The acquiring, according to the pre-configuration information, a multiplexing mode of the first SL PRS resource and the second SL PRS resource includes: Determine that one of the multiplexing modes configured by the pre-configuration information is the multiplexing mode.

5. The resource perception method according to claim 3, characterized in that: In the case where the multiplexing mode is acquired according to the analysis of the first terminal, or in the case where the multiplexing mode is acquired according to the indication information of the second terminal, the acquired multiplexing mode includes one or more of the following: In the case where the first resource pool is a dedicated resource pool, the multiplexing method is a method that satisfies the multiplexing between the first SL PRS resource and the second SL PRS resource, determined based on one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the sent SL PRS, and the bandwidth information of the first resource pool; In the case that the first resource pool is a shared resource pool, the multiplexing mode includes any one or more of a comb-based mode, a frequency division multiplexing (FDM-based mode) and a time division multiplexing (TDM-based mode).

6. The resource perception method according to claim 3, characterized in that: The method further comprises: Sending a first resource reuse request to the second terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse; Obtain the indication information sent by the second terminal according to the first resource reuse request.

7. The resource perception method according to claim 1, characterized in that: The method of obtaining the multiplexing of the first SL PRS resource and the second SLPRS resource includes: When it is determined that the first SL PRS resource is a preempted resource, the multiplexing method is obtained.

8. The resource perception method according to claim 7, characterized in that: The method further comprises: When the first condition is met, determining that the first SL PRS resource is a preempted resource; The first condition includes one or more of the following: The first SL PRS resource is not in a set of candidate resources in the first resource pool; The first SL PRS resource at least partially overlaps with the second SL PRS resource indicated by the detected sidelink control information SCI; The reference signal received power measured by the first terminal is greater than a preset threshold value; and The priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SLPRS resource; or, the priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource by a preset level threshold.

9. The resource perception method according to claim 7, characterized in that: The method further comprises: Obtaining a resource pool indication parameter configured by a high level; the resource pool indication parameter is used to indicate whether the first resource pool supports a resource preemption mechanism; In a case where the resource pool indication parameter indicates that the first resource pool supports a resource preemption mechanism, it is determined whether the first SL PRS resource selected in the first resource pool is a preempted resource.

10. The resource sensing method according to claim 9, characterized in that: When the resource pool indication parameter indicates that the first resource pool supports a resource preemption mechanism, determining whether the first SLPRS resource selected in the first resource pool is a preempted resource includes: When the resource pool indication parameter indicates that the first resource pool supports the resource preemption mechanism, after obtaining the trigger signaling and / or activation signaling of the resource preemption mechanism, it is determined whether the first SLPRS resource selected in the first resource pool is a preempted resource.

11. The resource sensing method according to claim 10, characterized in that: The method further comprises: When the second condition is met, determining to terminate the judgment on whether the first SL PRS resource is a preempted resource; The second condition includes one or more of the following: Obtain the termination signaling of the resource preemption mechanism; The effective operation time of the resource preemption mechanism configured by the high-level configuration expires; Obtain deactivation signaling for the resource preemption mechanism.

12. The resource perception method according to claim 8, characterized in that: The method further comprises: When it is determined that the first SL PRS resource does not support resource reuse, a third SL PRS resource is selected from the candidate resource set of the first resource pool, and the SL PRS is sent.

13. The resource sensing method according to claim 12, characterized in that: Selecting a third SL PRS resource from the candidate resource set in the first resource pool includes one or more of the following: Randomly select the third SL PRS resource from the candidate resource set; The resources in the candidate resource set are sorted in order from small to large according to the received signal strength indication RSSI values, and the third SL PRS resource is randomly selected from the preset resources in the front sorting.

14. The resource sensing method according to claim 1 or 3, characterized in that: The method further comprises: Send a second resource multiplexing request to the second terminal; wherein the second resource multiplexing request is used to report to the second terminal a multiplexing method of multiplexing the first SL PRS resource and the second SL PRS resource.

15. A resource perception method, characterized in that: Executed by an indication device, the method includes: Sending preconfiguration information to the first terminal; The pre-configuration information is used to indicate the multiplexing method of the first sidelink SL positioning reference signal PRS resource and the second SL PRS resource.

16. The resource sensing method according to claim 15, characterized in that: The first SL PRS resource and the second SL PRS resource are both SL PRS resources of the first terminal; or, The first SL PRS resource is the SL PRS resource of the first terminal, and the second SL PRS resource is the SL PRS resource of the second terminal.

17. The resource sensing method according to claim 15, characterized in that: The method further includes: sending one or more of the following information to the first terminal: Resource pool indication parameter; the resource pool indication parameter is used to indicate whether the first resource pool supports a resource preemption mechanism; Trigger signaling of resource preemption mechanism; Termination signaling of resource preemption mechanism; Activation signaling of resource preemption mechanism; Deactivation signaling of the resource preemption mechanism; The effective operation time of the resource preemption mechanism; The resource preemption mechanism is used to enable the first terminal to send the SL PRS by multiplexing the first SL PRS resource with the second SL PRS resource when determining that the first SL PRS resource for sending the side link positioning reference signal SLPRS belongs to the preempted resource.

18. A resource perception method, characterized in that: The method is performed by the second terminal, and includes: Acquire a multiplexing method of a second sidelink SL positioning reference signal PRS resource of the second terminal and a first SL PRS resource of the first terminal; wherein the priority of the second SL PRS resource is higher than the priority of the first SL PRS resource; According to the multiplexing method, the second SL PRS resource is multiplexed with the first SL PRS resource, and the SL PRS is sent.

19. The resource sensing method according to claim 18, characterized in that: Acquiring a multiplexing method of a second SLPRS resource of the second terminal and a first SL PRS resource of the first terminal, including: The multiplexing method is obtained by one or more of the following methods: A second resource multiplexing request sent by the first terminal; wherein the second resource multiplexing request is used to report a multiplexing mode of multiplexing the first SL PRS resource and the second SL PRS resource; The second terminal is determined.

20. The resource sensing method according to claim 19, characterized in that: The method further comprises: Receive a first resource reuse request sent by the first terminal; wherein the first resource reuse request is used to report to the second terminal that the first SL PRS resource is a preempted resource and request resource reuse; The multiplexing mode is determined according to the first resource multiplexing request, and indication information is sent to the first terminal, where the indication information is used to indicate the multiplexing mode.

21. The resource sensing method according to claim 20, characterized in that: The determining of the multiplexing mode includes one or more of the following: When the first resource pool is a dedicated resource pool, determining that a method for multiplexing between the first SL PRS resource and the second SL PRS resource is the multiplexing method according to one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the sent SL PRS, and the bandwidth information of the resource pool; When the first resource pool is a shared resource pool, any one of a comb-based method, a frequency division FDM-based method, and a time division TDM-based method is determined as the multiplexing method.

22. A terminal, wherein: The terminal is a first terminal, characterized in that it includes a memory, a transceiver, and a processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Obtaining a multiplexing method of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource; According to the multiplexing method, the first SL PRS resource and the second SL PRS resource are multiplexed, and the SL PRS is sent.

23. The terminal according to claim 22, characterized in that: The processor is configured to read the computer program in the memory to obtain a multiplexing method of the first SL PRS resource and the second SL PRS resource, including: The multiplexing mode of the first SL PRS resource and the second SL PRS resource is obtained by one or more of the following modes: According to the pre-configured information; According to the first terminal analysis; According to the instruction information of the second terminal.

24. The terminal according to claim 23, characterized in that The multiplexing mode configured by the pre-configuration information includes one or more of a comb-based mode, a frequency division FDM-based mode and a time division TDM-based mode; The processor is used to read the computer program in the memory, and obtain, according to the pre-configuration information, a multiplexing method of the first SL PRS resource and the second SL PRS resource, including: Determine that one of the multiplexing modes configured by the pre-configuration information is the multiplexing mode.

25. The terminal according to claim 23, characterized in that The processor is used to read the computer program in the memory, and when the multiplexing mode is acquired according to the analysis of the first terminal, or when the multiplexing mode is acquired according to the indication information of the second terminal, the acquired multiplexing mode includes one or more of the following: In the case where the first resource pool is a dedicated resource pool, the multiplexing method is a method that satisfies the multiplexing between the first SL PRS resource and the second SL PRS resource, determined based on one or more of the time-frequency patterns of the first SL PRS resource and the second SL PRS resource, the bandwidth information of the sent SL PRS, and the bandwidth information of the first resource pool; In the case that the first resource pool is a shared resource pool, the multiplexing mode includes any one or more of a comb-based mode, a frequency division multiplexing (FDM-based mode) and a time division multiplexing (TDM-based mode).

26. The terminal according to claim 22, characterized in that: The processor is configured to read the computer program in the memory to obtain a multiplexing method of the first SL PRS resource and the second SL PRS resource, including: When it is determined that the first SL PRS resource is a preempted resource, the multiplexing method is obtained.

27. The terminal according to claim 26, characterized in that The processor reads the computer program in the memory and is further configured to: When the first condition is met, determining that the first SL PRS resource is a preempted resource; The first condition includes one or more of the following: The first SL PRS resource is not in a set of candidate resources in the resource pool; The first SL PRS resource at least partially overlaps with the second SL PRS resource indicated by the detected sidelink control information SCI; The reference signal received power measured by the first terminal is greater than a preset threshold value; and The priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SLPRS resource; or, the priority of the second SL PRS resource indicated by the SCI heard by the first terminal is higher than the priority of the first SL PRS resource by a preset level threshold.

28. A pointing device, characterized in that: Including memory, transceiver, processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Sending preconfiguration information to the first terminal; The pre-configuration information is used to indicate the multiplexing method of the first sidelink SL positioning reference signal PRS resource and the second SL PRS resource.

29. The pointing device according to claim 28, characterized in that The processor reads the computer program in the memory and is further configured to perform the following operations: Send one or more of the following information to the first terminal: Resource pool indication parameter; the resource pool indication parameter is used to indicate whether the resource pool used by the first terminal to select the sidelink positioning reference signal SL PRS resource supports a resource preemption mechanism; Trigger signaling of resource preemption mechanism; Termination signaling of resource preemption mechanism; Activation signaling of resource preemption mechanism; Deactivation signaling of the resource preemption mechanism; The effective operation time of the resource preemption mechanism; The resource preemption mechanism is used to enable the first terminal to send the SL PRS by multiplexing the first SL PRS resource with the second SL PRS resource when determining that the first SL PRS resource for sending the side link positioning reference signal SLPRS belongs to the preempted resource.

30. A terminal, wherein: The terminal is a second terminal, characterized in that it includes a memory, a transceiver, and a processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Acquire a multiplexing method of a second sidelink SL positioning reference signal PRS resource of the second terminal and a first SL PRS resource of the first terminal; wherein the priority of the second SL PRS resource is higher than the priority of the first SL PRS resource; According to the multiplexing method, the second SL PRS resource is multiplexed with the first SL PRS resource, and the SL PRS is sent.

31. The terminal according to claim 30, characterized in that The processor reads the computer program in the memory to obtain a multiplexing mode of a second SL PRS resource of the second terminal and a first SL PRS resource of the first terminal, including: The multiplexing method is obtained by one or more of the following methods: a second resource multiplexing request sent by the first terminal; wherein the second resource multiplexing request is used to report a multiplexing mode of multiplexing the first SL PRS resource and the second SL PRS resource; The second terminal is determined.

32. A resource sensing device, characterized in that: Applied to a first terminal, the device includes: A first acquisition unit is used to acquire a multiplexing method of a first sidelink SL positioning reference signal PRS resource and a second SL PRS resource; The first multiplexing unit is used to multiplex the first SL PRS resource and the second SL PRS resource according to the multiplexing method, and send the SL PRS.

33. A resource sensing device, characterized in that: Applied to an indicating device, the device comprises: A first sending unit, configured to send pre-configuration information to a first terminal; The pre-configuration information is used to indicate the multiplexing method of the first sidelink SL positioning reference signal PRS resource and the second SL PRS resource.

34. A resource sensing device, characterized in that: Applied to a second terminal, the device includes: A second acquisition unit is used to acquire a multiplexing mode of a second sidelink SL positioning reference signal PRS resource of the second terminal and a first SL PRS resource of the first terminal; wherein the priority of the second SL PRS resource is higher than the priority of the first SL PRS resource; The second multiplexing unit is used to multiplex the second SL PRS resource with the first SL PRS resource according to the multiplexing mode to send the SL PRS.

35. A processor-readable storage medium, characterized in that: The processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the resource perception method according to any one of claims 1 to 21.

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