Positioning method on sidelink, terminal and network side device

Abstract

The embodiment of the application discloses a positioning method on a sidelink (SL), a terminal and a network side device, and belongs to the technical field of wireless communication. A first terminal reports first position information, wherein the first position information comprises at least one of the following: a first measurement result, the first measurement result is obtained by the first terminal through measurement on a first SL reference signal for positioning, the first SL reference signal is transmitted by a second terminal and / or a network side device; a second measurement result, the second measurement result is an additional measurement result obtained by the first terminal through measurement on the first SL reference signal, in addition to the first measurement result; identification information; timestamp information; calibration information; relative distance information; absolute position information; relative position information; target event information; and a second position information request, the second position information request is used for instructing the second terminal to report position information.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wireless communication, and particularly relates to a positioning method on a sidelink (SL), a terminal and a network side device. BACKGROUND

[0002] For example, a fifth generation new radio (5G NR) system, a long term evolution (LTE) system and the like can support sidelink (SL) transmission, that is, user equipment (UE, also referred to as a terminal) can directly perform data transmission on a physical layer without passing through a network side device. th Generation New Radio, 5G NR) system, a long term evolution (LTE) system and the like can support sidelink (SL) transmission, that is, user equipment (UE, also referred to as a terminal) can directly perform data transmission on a physical layer without passing through a network side device.

[0003] However, for vehicle to everything (V2X) or industrial internet of things (IIoT) and the like in the SL technology, although the related SL technology can meet the basic safety communication of V2X, it cannot adapt to other more advanced V2X services such as positioning services. SUMMARY

[0004] The embodiments of the present application provide a positioning method on a sidelink (SL), a terminal and a network side device, which can adapt the SL technology to other more advanced V2X services such as positioning services.

[0005] In a first aspect, a positioning method on a SL is provided, which is executed by a first terminal, and the method comprises: reporting first position information, wherein the first position information comprises at least one of the following: a first measurement result, the first measurement result being obtained by the first terminal by measuring a first SL reference signal for positioning, the first SL reference signal being transmitted by a second terminal and / or a network side device; a second measurement result, the second measurement result being an additional measurement result obtained by the first terminal by measuring the first SL reference signal in addition to the first measurement result; identification information; timestamp information; calibration information; relative distance information; absolute position information; relative position information; target event information, the target event information being used to indicate that the first terminal reports the first position information in relation to the target event; and a second position information request, the second position information request being used to indicate that the second terminal reports position information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute position information and the relative position information are information associated with the first terminal measuring the first SL reference signal.

[0006] In a second aspect, a positioning method on SL is provided, performed by a second terminal or a network side device, and the method comprises: receiving first position information, wherein the first position information comprises at least one of: first measurement results obtained by the first terminal by measuring first SL reference signals for positioning, the first SL reference signals being transmitted by the second terminal and / or the network side device; second measurement results obtained by the first terminal by measuring the first SL reference signals, the second measurement results being additional measurement results other than the first measurement results; identification information; timestamp information; calibration information; relative distance information; absolute position information; relative position information; target event information, the target event information being used to indicate that the first terminal reports the first position information in relation to the target event; and a second position information request, the second position information request being used to instruct the second terminal to report position information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute position information, and the relative position information are information associated with the first terminal measuring the first SL reference signals.

[0007] In a third aspect, a positioning apparatus on SL is provided, and the apparatus comprises: a reporting module configured to report first position information, wherein the first position information comprises at least one of: first measurement results obtained by the first terminal by measuring first SL reference signals for positioning, the first SL reference signals being transmitted by the second terminal and / or the network side device; second measurement results obtained by the first terminal by measuring the first SL reference signals, the second measurement results being additional measurement results other than the first measurement results; identification information; timestamp information; calibration information; relative distance information; absolute position information; relative position information; target event information, the target event information being used to indicate that the first terminal reports the first position information in relation to the target event; and a second position information request, the second position information request being used to instruct the second terminal to report position information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute position information, and the relative position information are information associated with the first terminal measuring the first SL reference signals.

[0008] In a fourth aspect, a positioning apparatus on a sidelink is provided, and the apparatus comprises a receiving module configured to receive first location information, wherein the first location information comprises at least one of: first measurement results obtained by the first terminal by measuring a first sidelink reference signal for positioning, the first sidelink reference signal being transmitted by the second terminal and / or the network-side device; second measurement results; identification information; timestamp information; calibration information; relative distance information; absolute location information; relative location information; target event information, the target event information being used to indicate that the first terminal reports the first location information in relation to the target event; and a second location information request, the second location information request being used to instruct the second terminal to report location information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute location information, and the relative location information are information associated with the first terminal measuring the first sidelink reference signal.

[0009] In a fifth aspect, a terminal is provided, which comprises a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the method according to the first aspect or the second aspect.

[0010] In a sixth aspect, a network-side device is provided, which comprises a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the method according to the second aspect.

[0011] In a seventh aspect, a readable storage medium is provided, which stores a program or instructions, and the program or instructions, when executed by a processor, implement the steps of the method according to the first aspect or the steps of the method according to the second aspect.

[0012] In an eighth aspect, a chip is provided, which comprises a processor and a communication interface, the communication interface being coupled to the processor, and the processor is configured to execute network-side device programs or instructions to implement the method according to the first aspect or the method according to the second aspect.

[0013] In a ninth aspect, a computer program product is provided, which comprises a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the method according to the first aspect or the steps of the method according to the second aspect.

[0014] In the embodiments of the present application, the first terminal measures the first SL reference signal sent by the second terminal and / or the network side device, and then reports the first position information, so as to realize terminal positioning. Thus, the SL technology can be adapted to other higher V2X services such as positioning services. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 FIG. 1 is a schematic diagram of a wireless communication system provided by an exemplary embodiment of the present application.

[0016] Figure 2 FIG. 2 is a flowchart of a positioning method on SL provided by an exemplary embodiment of the present application.

[0017] Figure 3 FIG. 3 is a flowchart of a positioning method on SL provided by another exemplary embodiment of the present application.

[0018] Figure 4 FIG. 4 is a flowchart of a positioning method on SL provided by still another exemplary embodiment of the present application.

[0019] Figure 5 FIG. 5 is a flowchart of a positioning method on SL provided by yet another exemplary embodiment of the present application.

[0020] Figure 6 FIG. 6 is a block structure schematic diagram of a positioning device on SL provided by an exemplary embodiment of the present application.

[0021] Figure 7 FIG. 7 is a block structure schematic diagram of a positioning device on SL provided by another exemplary embodiment of the present application.

[0022] Figure 8 FIG. 8 is a block structure schematic diagram of a terminal provided by an exemplary embodiment of the present application.

[0023] Figure 9 FIG. 9 is a block structure schematic diagram of a network side device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0025] The terms "first", "second", and the like in the description and in the claims of the present application are used for distinguishing between similar objects discussed in the specification and claims and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of the terms so construed can interchange depending on the context in which it is used and the intention is to select a term uniquely identifying an object to be described for the convenience of the reader and the understanding that the same object can be described by different terminology depending upon the context of where it is described. Therefore, the use of such terms can change according to the context in which it is used in order to select a unique and consistent object to be discussed. Also, the term "and / or" includes combinations thereof, and can be used interchangeably with "or". Furthermore, the description and the claims can use the term "comprising" which is used to mean "including but not limited to". In addition, the term "coupled" and the like, as used in the specification and in the claims, can mean coupled, while the term "connected" could mean either coupled or directly connected. Although the term "exemplary" can be used in the description and the claims as a synonym for the term "example", it is understood that the term "exemplary" is used to present what is believed to be the most useful example or examples of the subject technology. Finally, a term "consisting of" shall not be construed as excluding additional subject matter unless otherwise indicated.

[0026] It is worth noting that the techniques described in the embodiments of the present application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" are often used interchangeably in the embodiments of the present application, and the described techniques can be used in the above-mentioned systems and radio technologies, as well as other systems and radio technologies. Although the following description describes a New Radio (NR) system for the purpose of example, and NR terminology is used in most of the following description, these techniques can also be applied outside the NR system application, such as 6th Generation (6G) communication systems. th

[0027] Figure 1 ​This diagram illustrates a block diagram of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal 11 and a network-side device 12. The terminal 11 can also be referred to as a terminal device or user terminal. The terminal 11 can be a mobile phone, tablet computer, laptop computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), wearable device, vehicle-mounted device (VUE), pedestrian terminal (PUE), etc. Wearable devices include wristbands, headphones, glasses, etc. It should be noted that the specific type of terminal 11 is not limited in this embodiment. Network-side device 12 can be a base station or a core network. The base station can be referred to as a node B, evolved node B, access point, base transceiver station (BTS), radio base station, radio transceiver, basic service set (BSS), extended service set (ESS), B node, evolved B node (eNB), home B node, home evolved B node, WLAN access point, WiFi node, transmitting and receiving point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that in this application embodiment, only the base station in the NR system is used as an example, but the specific type of base station is not limited.

[0028] The technical solutions provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0029] like Figure 2 The diagram shown is a flowchart of a positioning method 200 on an SL provided in an exemplary embodiment of this application. The method 200 can be executed by a first terminal, for example, by hardware and / or software installed in the first terminal. The method 200 includes at least the following S210.

[0030] S210, report first location information.

[0031] It should be noted that the "report" in the embodiment can also be represented as "send", "feedback" or "report", etc. For example, before reporting the first position information, if the first terminal receives the first SL reference signal sent by the second terminal or the network device, the first terminal can then'respond' to the first position information corresponding to the SL reference signal. For another example, before reporting the first position information, if the first terminal receives the first position information request sent by the second terminal or the network device, the first terminal can then'respond' to the first position information.

[0032] The first position information can include one or more information, which can be determined according to the positioning requirement on the SL. For example, in an implementation, the first position information can include at least one of the following (1)-(10).

[0033] (1) The first measurement result.

[0034] The first measurement result is obtained by the first terminal by measuring the first SL reference signal. The first SL reference signal can be a reference signal in the sidelink, or a reference signal for positioning in the sidelink.

[0035] In the embodiment, the first SL reference signal can be sent by the second terminal and / or the network side device to the first terminal, or can be pre-configured in the first terminal. Correspondingly, in the case that the first SL reference signal is sent by the second terminal and / or the network side device to the first terminal, the first terminal can also send a second SL reference signal to the second terminal and / or the network side device.

[0036] For ease of description, the first SL reference signal is taken as an example below, which is used for terminal positioning. For example, the first SL reference signal can be used to position the distance between the first terminal and the second terminal, the distance between the first terminal or the second terminal and the control node, the relative position of the first terminal and / or the first terminal, the relative position of the first terminal and / or the second terminal, etc. The control node can be a network side device (such as a base station, a serving base station, a location server, etc.), another terminal or another control device, etc., which is not limited in the embodiment.

[0037] In an implementation, the first SL reference signal includes, but is not limited to, at least one of a synchronization signal block (SSB), a positioning reference signal (PRS), a channel state information reference signal (CSI-RS), a demodulation reference signal (DMRS), and the like in a sidelink. In this embodiment, the first SL reference signal can be transmitted in a manner of unicast, broadcast, or groupcast.

[0038] On the basis of the foregoing, the first measurement result obtained by the first terminal through measurement on the first SL reference signal can include a difference between the first time and the second time, which can also be understood as an RX-TX time difference.

[0039] The first time is a time at which the first terminal receives the first SL reference signal sent by the second terminal or a network side device. In an implementation, the first time can be a time at which the first terminal receives a specified path of a predetermined SL time unit i, and the specified path of the predetermined SL time unit i is determined according to the first SL reference signal. The SL time unit can include, but is not limited to, an SL slot, an SL sub-slot, an SL OFDM symbol, and the like. The specified path can be a first path (that is, a first-arriving path), a strongest path, an optimal path, and the like. Taking the optimal path as an example, the first terminal can comprehensively determine which path is the best, and the path can be taken as the optimal path.

[0040] Optionally, the first time at which the first terminal receives the specified path of the predetermined SL time unit i can be understood as a (starting position) time at which the first terminal receives a predetermined SL reference time unit i. In an implementation, the (starting position) time of the SL reference time unit i is defined or determined by a predetermined path. For example, the first time is a time at which the first terminal receives a starting position of an SL subframe i, and the time of the starting position of the SL subframe i is defined or determined by a predetermined path corresponding to the starting position of the SL subframe i.

[0041] For example, assuming that the predetermined SL time unit is SL subframe i, and the specified path is the first-arriving path, the first time can be the time at which the first terminal receives the first-arriving path of the second terminal in SL subframe i. The first-arriving path of the second terminal in SL subframe i can be determined according to the first SL reference signal. In addition, the first time can also be the starting time of the predetermined SL time unit received by the first terminal, such as the starting time of SL subframe i.

[0042] The second time is the time at which the first terminal transmits the second SL reference signal. In an implementation, the second time is the time corresponding to the target SL time unit j, and the transmission time of the target SL time unit j satisfies a predetermined requirement with the time at which the predetermined SL time unit i is received. Optionally, the time corresponding to the target SL time unit j can be understood as the time corresponding to the starting position of the target SL time unit j.

[0043] The predetermined requirement can be set according to actual needs, for example, the transmission time of the target SL time unit j is closest to the time at which the predetermined SL time unit i is received. For example, assuming that the predetermined SL time unit is SL subframe i, the second time can be the time of the SL subframe of the first terminal closest to the time at which the SL subframe i is received, where the time can be the starting time or the transmission time of the SL subframe, and the like, which is not limited herein.

[0044] It should be noted that, in the embodiment, the reference points corresponding to the first time and / or the second time can satisfy the following (1a) or (1b).

[0045] (1a) For a first frequency range (FR1), the reference point of the first time is the receiving antenna connection point of the first terminal, and the second time is the transmitting antenna connection point of the first terminal.

[0046] (1b) For a second frequency range (FR2), the reference point of the first time is the receiving antenna of the first terminal, and the second time is the transmitting antenna of the first terminal.

[0047] The first frequency range and the second frequency range in (1a) and (1b) can be set according to actual needs, which is not limited herein.

[0048] It should be noted that, for the first measurement result, in addition to the first measurement result obtained by the first terminal measuring the first SL reference signal, the first measurement result can also be a measurement result obtained by measuring the SL reference signal by a terminal other than the first terminal, that is, the first measurement result is not limited to the difference between the first time and the second time, but can also include a reference signal time difference (RSTD), a reference signal received power (RSRP), an angle of arrival (AOA), an angle of departure (AOD), and the like.

[0049] (2) identification information.

[0050] The identification information is information associated with the measurement of the first SL reference signal by the first terminal, such as identification information of an antenna, a terminal, a resource, and the like involved in measuring the first SL reference signal. In an implementation manner, the identification information can include at least one of (2a)-(2c).

[0051] (2a) identification information of a receiving antenna port or a receiving antenna panel, used to indicate which receiving antenna port or receiving antenna panel the first position information is associated with.

[0052] (2b) identification information of the first terminal and / or identification information of the second terminal.

[0053] The identification information of the first terminal and / or the identification information of the second terminal can be obtained in any of the following manners.

[0054] Manner 1: control node allocation, for example, in a certain area, the identification information of the first terminal and / or the identification information of the second terminal is a unique terminal identifier allocated by the control node.

[0055] It should be noted that, in the present application, the control node can be a network side device (such as a base station, a serving base station, a location server, and the like), a terminal, or other control devices, and the like, which will not be described in detail hereinafter.

[0056] Manner 2: protocol predefinition or manufacturer preconfiguration.

[0057] Manner 3: determined by the first terminal and / or the second terminal according to a resource set broadcast by the control node, network preconfiguration, or protocol predefinition.

[0058] Manner 4: The first terminal and / or the second terminal generates according to high layer signaling, such as an identifier of an application layer or an Internet Protocol (IP) layer, a terminal identifier of a Medium Access Control (MAC) layer, such as a group identifier and / or an intra-group identifier allocated by high layer signaling, and the like.

[0059] Manner 5: Allocation through SL, for example, the second terminal allocates identifier information for the first terminal through SL.

[0060] Manner 6: The first terminal and / or the second terminal generates according to a manner / rule indicated by a control node or agreed by a protocol.

[0061] Manner 7: Source identifier information (Source ID).

[0062] Manner 8: Destination identifier information (Destination ID).

[0063] Manner 9: Group identifier information and / or intra-group identifier information.

[0064] (2c) An identifier of a SL reference signal or a SL reference signal resource.

[0065] For example, the identifier can include an identifier of a first SL reference signal sent by the second terminal, an identifier of a second SL reference signal sent by the first terminal, or an identifier of a reference signal resource, and the like.

[0066] The reference signal resource can be a resource corresponding to the first SL reference signal or / and the second SL reference signal. In an implementation manner, the identifier of the reference signal or the reference signal resource can be obtained through any one of the following manners.

[0067] Manner 1: Allocation by a control node. For example, a resource identifier (resource ID), a sequence identifier (sequence ID), a scrambling identifier (scrambling ID), used to carry one or more cyclic shifts or / and a pair of cyclic shifts or / and a group of cyclic shifts.

[0068] Manner 2: Predefined by a protocol.

[0069] Manner 3: Obtained by the first terminal and / or the second terminal according to a resource set broadcast by a control node, preconfigured, or predefined by a protocol.

[0070] Manner 4: Generated by the first terminal and / or the second terminal according to high layer information.

[0071] Manner 5: Allocation through SL.

[0072] Manner 6: generated according to a manner / rule agreed by protocol or indicated by the control node.

[0073] Manner 7: the second terminal and / or the first terminal sends an identification of multiple reference signal resources, where the identification further includes resource identification, resource set identification, etc. distinguishing the multiple reference signal resources. Wherein the reference signal resources in a resource set can be associated with one spatial filter (beam).

[0074] (3) second measurement result.

[0075] Wherein, the second measurement result is an additional measurement result (also understood as other measurement result) obtained by the first terminal by measuring the first SL reference signal in addition to the first measurement result. In an implementation manner, the second measurement result at least includes one of (3a)-(3i).

[0076] (3a) additional path measurement result, that is, in addition to reporting the RX-TX measurement result (that is, the first position information) of the first path after the first terminal receives the first SL reference signal sent by the second terminal, the first terminal can additionally report the additional path measurement result corresponding to the other N RX paths in addition to the first path. Wherein, N depends on the capability of the first terminal.

[0077] In an implementation manner, the additional path measurement result at least includes one of the following:

[0078] The differential measurement result of the additional path in time relative to the reference path; wherein the reference path can be the first path.

[0079] The power or relative power of each path; wherein the relative power is relative to the power of the reference path, the reference path can be the first path, and the power or relative power can be represented by the RSRP value.

[0080] The angle measurement result of the AoA corresponding to each path.

[0081] The measurement quality information of each path.

[0082] The indication information of the strongest path and / or the median path, the indication information is used to indicate whether the reported path is the median path and the relative time difference (Relative Time Difference) thereof relative to the RSTD.

[0083] The power value of the strongest path and / or the median path.

[0084] The ratio of the power of the first path and the strongest path and / or the median path.

[0085] Relative power of the strongest path and / or median path and first path.

[0086] Power ratio of the first path and additional path.

[0087] Relative power of the additional path and first path.

[0088] Channel delay power spectrum.

[0089] Quantized delay power spectrum.

[0090] Channel impulse response.

[0091] Quantized channel impulse response.

[0092] K-factor factor.

[0093] (3b) Granularity indication of the first location information (e.g., RX-TX time measurement).

[0094] (3c) Line of sight (LOS) / not line of sight (NLOS) indication information.

[0095] Wherein, the LOS / NLOS indication information is used to indicate LOS / NLOS state information, quality or confidence information of LOS / NLOS identification, etc. In addition, the indication information can also represent whether the channel between the first terminal and the second terminal is LOS or NLOS, which is not limited here.

[0096] (3d) Spatial domain measurement information.

[0097] Wherein, the spatial domain measurement information includes at least one of the following:

[0098] Polarization information of antenna elements.

[0099] Polarization information of antenna elements.

[0100] Power / energy information of the first path on the antenna elements.

[0101] Maximum value of the first path power / energy on the same polarization direction antenna elements.

[0102] Minimum value of the first path power / energy on the same polarization direction antenna elements.

[0103] Reference value of the first path power / energy on the same polarization direction antenna elements.

[0104] Difference value between the maximum value and the minimum value of the first path power / energy on the same polarization direction antenna elements.

[0105] Reference range value of the first path power / energy on the same polarization direction antenna element.

[0106] Phase information of the first path on the antenna element.

[0107] Maximum value of the first path phase on the different polarization direction antenna element.

[0108] Minimum value of the first path phase on the different polarization direction antenna element.

[0109] Reference value of the first path phase on the different polarization direction antenna element.

[0110] Difference between the maximum and minimum values of the first path phase on the different polarization direction antenna element.

[0111] Reference range value of the first path phase on the different polarization direction antenna element.

[0112] Power / energy information of the additional path on the same polarization direction antenna element.

[0113] Maximum value of the additional path power / energy on the same polarization direction antenna element.

[0114] Minimum value of the additional path power / energy on the same polarization direction antenna element.

[0115] Reference value of the additional path power / energy on the same polarization direction antenna element.

[0116] Difference between the maximum and minimum values of the additional path power / energy on the same polarization direction antenna element.

[0117] Reference range value of the additional path power / energy on the same polarization direction antenna element.

[0118] Phase information of the additional path on the different polarization direction antenna element.

[0119] Maximum value of the additional path phase on the different polarization direction antenna element.

[0120] Minimum value of the additional path phase on the different polarization direction antenna element.

[0121] Reference value of the additional path phase on the different polarization direction antenna element.

[0122] Difference between the maximum and minimum values of the first path phase on the different polarization direction antenna element.

[0123] Reference range of the first path phase on the antenna elements with different polarization directions.

[0124] First characteristic of the first path power / energy on the antenna elements with the same polarization direction, wherein the first characteristic includes but is not limited to: whether continuous, whether less than a certain threshold, whether greater than a certain threshold.

[0125] Second characteristic of the first path phase on the antenna elements with different polarization directions, wherein the second characteristic includes but is not limited to: whether continuous, whether less than a certain threshold, whether greater than a certain threshold.

[0126] First characteristic of each additional path power / energy on the antenna elements with the same polarization direction, wherein the first characteristic includes but is not limited to: whether continuous, whether less than a certain threshold, whether greater than a certain threshold.

[0127] Second characteristic of each additional path phase on the antenna elements with different polarization directions, wherein the second characteristic includes but is not limited to: whether continuous, whether less than a certain threshold, whether greater than a certain threshold.

[0128] The first threshold and the second threshold can be set according to actual needs, which are not limited here.

[0129] (3e) Frequency domain measurement information.

[0130] The frequency domain measurement information can at least include the energy / power of each subcarrier of the frequency domain channel, the maximum value of the frequency domain channel energy / power, the minimum value of the frequency domain channel energy / power, the difference between the maximum and minimum values of the frequency domain channel energy / power, the reference value of the frequency domain channel energy / power, the reference range of the frequency domain channel energy / power, etc.

[0131] (3f) At least one of the Doppler shift, Doppler spread, delay spread, coherence time, and coherence bandwidth of the channel between the first terminal and the second terminal.

[0132] (3g) Signal-to-noise ratio (SNR) and signal-to-noise and interference ratio (SINR).

[0133] (3h) Measurement quality.

[0134] (3i) Speed information of the first terminal, including at least one of the speed size and direction of the first terminal. Here, the speed can be an absolute speed or a relative speed relative to the second terminal or a certain control node.

[0135] (4) time stamp information.

[0136] The time stamp information is associated with the first terminal measuring the first SL reference signal. For example, the time stamp information can represent time information associated with the current measurement result. In one implementation, the time stamp information can include at least (4a) or / and (4b).

[0137] (4a) The time stamp of the first terminal corresponding to the first SL reference signal, including at least one of the system frame number (SFN) number, the slot number, and the subframe number. In one implementation, the time stamp can be determined based on the timing of SL or the timing of uu (a certain control node, such as a serving cell).

[0138] (4b) The SL subframe time stamp corresponding to the second SL reference signal, including at least one of the subframe number and the SFN number of the SL subframe. In one implementation, the SL subframe can be replaced by an SL slot time stamp, or a terminal identifier associated with the time stamp or an identifier of a control node, etc.

[0139] (5) Calibration information.

[0140] The calibration information is associated with the first terminal measuring the first SL reference signal. In one implementation, the calibration information can include at least the following: for a certain RX-TX measurement result, whether the first terminal has calibrated the timing error of the reception RX (such as the first SL reference signal) and / or the transmission TX (such as the second SL reference signal), such as the RX group delay error and / or the TX group delay error; whether the previous group delay is added or extracted in the RX-TX measurement result; for multiple RX-TX measurement results; whether the same receiving antenna or antenna panel and / or corresponding antenna panel identifier information is used; the size of the RX and / or TX group delay error, etc.

[0141] (6) Relative distance information.

[0142] The relative distance information includes the distance information between the first terminal and the second terminal, the distance information between the first terminal or the second terminal and the control node, etc.

[0143] (7) Absolute position information.

[0144] The absolute position information includes the absolute position information of the first terminal, the second terminal, or the control node, etc.

[0145] (8) Relative position information.

[0146] The relative position information includes absolute position information of the first terminal, the second terminal, or the control node, etc.

[0147] The relative distance information, the relative position information, and the absolute position information described in the foregoing (6)-(8) are information associated with the measurement of the first SL reference signal by the first terminal. Optionally, the information described in the foregoing (6)-(8) can be used to assist the first terminal in measuring the first SL reference signal.

[0148] In a possible implementation manner, the information described in the foregoing (2), (4)-(8) can be actively acquired by the first terminal, or can be sent by other devices (such as a network side device, a second terminal, etc.), which is not limited herein.

[0149] (9) Target event information.

[0150] The target event information is used to indicate that the first location information reported by the first terminal is related to the target event. For example, when the first terminal reports the first location information, the associated target event information is contained in the first location information. The target event information can be referred to the description of Examples 1-6 in the subsequent method 300, which is not described herein again.

[0151] In an implementation manner, the target event information can be related to an event triggered report. For example, when the first terminal detects that a certain target event occurs, the first terminal reports the first location information, and the first location information contains the target event information, which is used to indicate which event is detected by the UE.

[0152] (10) Second location information request.

[0153] The second location information request is used to indicate that the second terminal reports the location information.

[0154] In an implementation manner, the first terminal requests the second terminal to further report the location information after receiving the first location information, such as relative distance information between the second terminal and the first terminal, absolute (or relative) position information of the second terminal, measurement result (such as RX-TX time difference information, etc.) of the second terminal, etc.

[0155] In the embodiment, the first terminal measures the first SL reference signal sent by the second terminal or the network side device, and reports the first location information, so as to realize terminal positioning. Thus, the SL technology can be adapted to other higher V2X services such as positioning services.

[0156] For example, the first terminal can be a vehicle, and the second terminal can be a pedestrian. Figure 3As shown, a flow diagram of a positioning method 300 on SL is provided in an example embodiment of the present application, which can be executed by a first terminal, for example, by hardware and / or software installed in the first terminal, and the method 300 includes at least the following S310-S320.

[0157] S310, reporting the first position information according to the first specified information.

[0158] In addition to the related description in method 200, as a possible implementation manner, the first specified information can include at least one of the following (1)-(6) in the implementation process of S310.

[0159] (1) Geographical position information.

[0160] The geographical position information includes but is not limited to the area information, latitude and longitude information, etc. of the first terminal and / or the second terminal.

[0161] (2) Measurement information.

[0162] In addition to the description in method 200, the measurement information can also include measured received power information, measurement quality, etc.

[0163] (3) Formation information.

[0164] The formation information can refer to whether the first terminal and the second terminal are in the same group or formation, etc. For example, when the first terminal and the second terminal are both vehicle-mounted terminals, whether the first terminal and the second terminal are in a vehicle fleet.

[0165] (4) Movement information.

[0166] The movement information includes movement distance and / or movement speed, such as the movement information of the first terminal or the second terminal.

[0167] (5) Whether the first position information request is received.

[0168] The first position information request is used to instruct the first terminal to report the first position information. In an implementation manner, the difference between the reporting time of the first position information and the receiving time of the first position information request is not greater than a fourth predetermined value, which can be agreed by protocol, indicated by network side equipment or reported by terminal capability.

[0169] (6) Synchronization information or Radio Resource Control (RRC) connection information between the first terminal and the second terminal.

[0170] Based on the foregoing description of the first specified information, the implementation process of S310 is introduced below in combination with different examples.

[0171] Example 1

[0172] In the case where the first specified information is the geographic location information, the reporting of the first location information according to the first specified information in S310 includes any one of the following (1)-(9).

[0173] (1) In the case where the distance between the second terminal and the first terminal meets a first condition, the first location information is reported, otherwise, the first location information is not reported.

[0174] Wherein, the first condition can be greater than, equal to or less than a predetermined value, in an implementation, the predetermined value can be determined according to the communication range value carried in the control information.

[0175] (2) In the case where the area where the first terminal is located and the area where the second terminal is located are the same, the first location information is reported, otherwise, the first location information is not reported.

[0176] For example, the first terminal and the terminal are both located in area A, then the first terminal does not report the first location information.

[0177] (3) In the case where the area identifier corresponding to the first terminal and the area identifier corresponding to the second terminal are the same, the first location information is reported, otherwise, the first location information is not reported.

[0178] (4) In the case where a specified operation is performed on the area identifier corresponding to the first terminal and the area identifier corresponding to the second terminal, and the operation result meets a second condition, the first location information is reported, otherwise, the first location information is not reported.

[0179] Wherein, the specified operation can be addition, subtraction, multiplication, division or modulo two operation, etc., and the second condition can be that the operation result is less than, equal to or greater than a certain threshold value, for example, when the operation result is less than a certain threshold, it can be determined that the second condition is met and the first location information is reported.

[0180] (5) In the case where the area where the second terminal is located and the area where the first terminal is located differ by a predetermined number of areas in a specified dimension, the first location information is reported, otherwise, the first location information is not reported.

[0181] Wherein, the specified dimension includes but is not limited to longitude and / or latitude, etc.

[0182] (6) In a case where the zone ID corresponding to the first terminal is a first predetermined value, the first location information is reported, otherwise, the first location information is not reported.

[0183] For example, assuming that the first predetermined value is 1, in a case where the zone ID corresponding to the first terminal is 1, the first location information is reported.

[0184] (7) In a case where the zone ID corresponding to the second terminal is a second predetermined value, the first location information is reported, otherwise, the first location information is not reported.

[0185] (8) In a case where the zone ID corresponding to the second terminal is carried in the specified control information received by the first terminal, the first location information is reported, otherwise, the first location information is not reported.

[0186] The specified control information includes but is not limited to Sidelink Control Information (SCI) and the like.

[0187] (9) In a case where the second terminal leaves a specified zone, the first location information is reported, otherwise, the first location information is not reported. The specified zone can be set according to requirements, which is not limited here.

[0188] It should be noted that the zone described in the foregoing (1)-(9) can be a zone defined in sidelink, and the zone ID described above can be a zone ID.

[0189] Example 2

[0190] In a case where the first specified information is the measurement information, the first terminal reports the first location information according to the first specified information in S310 can include any one of the following (1)-(5).

[0191] (1) In a case where the measurement information includes the RSRP of the first SL reference signal, and the RSRP of the first SL reference signal satisfies a third condition, the first location information is reported, otherwise, the first location information is not reported.

[0192] (2) In a case where the measurement information includes the RSRP of the specified control information corresponding to the second terminal, and the RSRP of the specified control information satisfies a fourth condition, the first location information is reported, otherwise, the first location information is not reported.

[0193] The specified control information can include but is not limited to SCI and the like.

[0194] (3) in a case where the measurement information comprises a RSRP of a specified channel corresponding to the second terminal, and the RSRP of the specified channel satisfies a fifth condition, reporting the first location information; otherwise, not reporting the first location information.

[0195] In an implementation manner, if the measurement of the RSRP is based on a measurement of a Demodulation Reference Signal (DMRS), the specified channel can be a Physical SideLink Control Channel (PSCCH) or a Physical SideLink Shared Channel (PSSCH), etc.

[0196] (4) in a case where the measurement information comprises a RSRP of a specified request signaling corresponding to the second terminal, and the RSRP of the specified request signaling satisfies a sixth condition, reporting the first location information; otherwise, not reporting the first location information.

[0197] The specified request signaling can comprise, but is not limited to, a location information request signaling or a measurement result request signaling, etc.

[0198] (5) in a case where the measurement information comprises a measurement quality of the first SL reference signal, and the measurement quality satisfies a seventh condition, reporting the first location information; otherwise, not reporting the first location information.

[0199] It should be noted that in the foregoing several implementation manners, the third condition, the fourth condition, the fifth condition, the sixth condition, and the seventh condition can be set according to requirements, for example, the third condition can be greater than, equal to, or not less than a certain threshold value, etc., and the present embodiment is not limited in this regard.

[0200] Example 3

[0201] In a case where the first specified information is the movement information, the reporting of the first location information according to the first specified information in S310 comprises any one of the following (1)-(3).

[0202] (1) in a case where the movement information comprises a movement distance, and the movement distance exceeds a third predetermined value, reporting the first location information; wherein the movement distance is a relative distance of a current terminal position relative to a first position, and the first position is a position of the second terminal at a time of last reporting of location information, and the reporting time is earlier than the reporting of the first location information. Optionally, the movement distance is a straight-line distance, etc.

[0203] For example, if the moving distance of the first terminal at the current reporting time exceeds a certain threshold compared with the moving distance at the last reporting time, the first location information is reported. Otherwise, the first location information is not reported.

[0204] (2) If the moving information includes moving speed, and the moving speed of the second terminal satisfies an eighth condition, the first location information is reported. Otherwise, the first location information is not reported.

[0205] The eighth condition can be that the moving speed of the first terminal exceeds or is less than a certain threshold, which is not limited in the embodiment.

[0206] (3) If the moving information includes moving speed, and the difference between the moving speed of the second terminal and the moving speed of the first terminal or a certain control node satisfies a ninth condition, the first location information is reported. Otherwise, the first location information is not reported.

[0207] The ninth condition can be that the speed of the first terminal relative to the second terminal exceeds or is less than a certain threshold, which is not limited in the embodiment.

[0208] Example 4

[0209] In the case that the first specified information is whether the first location information request is received, the reporting of the first location information according to the first specified information in S310 can include that the first terminal reports the first location information in the case that the first location information request is received.

[0210] In this embodiment, the first position information request can be transmitted by predetermined information, which can include any one of first SCI, second SCI, PSSCH, PC5-RRC, PC5-Medium Access Control-Control Element (MAC CE), LTE Positioning Protocol (LPP), MAC CE, RRC, Downlink Control Information (DCI), Non Access Stratum (NAS) signaling, PC5-NAS, PC5-LPP, wherein PC5 indicates the interface between terminals. Alternatively, the first position information request is transmitted simultaneously with the first SL reference signal; wherein the first position information request is carried in the payload of the first SL reference signal. Optionally, the first position information request can be unicast, broadcast or groupcast. Optionally, 'position information request' here can also mean 'position service request'.

[0211] In a possible implementation manner, the first position information request can carry at least one of (1)-(17) below.

[0212] (1) First position information request identifier.

[0213] The first position information request identifier is used to request the second terminal to report first position information.

[0214] In an implementation manner, the second position information can be indicated by 1 bit and transmitted by being carried in SCI (such as second SCI).

[0215] (2) Type of first position information.

[0216] The type of first position information includes but is not limited to at least one of position information, measurement result, event information, the position information can include but is not limited to relative distance information, relative position information, absolute position information, etc., the measurement result includes but is not limited to at least one of RX-TX time difference, SL reference signal time difference, reference signal received power, reference signal angle of arrival, etc., and the event information can refer to the description in method 300 regarding examples 1-6.

[0217] (3) Priority indication information.

[0218] The priority indication information can include a measured priority, a priority of the first SL reference signal, a priority of reporting the first position information, a priority of the first terminal or the second terminal, or the like.

[0219] In an implementation manner, if the first terminal can measure SL reference signals corresponding to multiple second terminals within a time interval, the SL reference signals can be measured according to the priority indication information.

[0220] (4) Reporting time requirement.

[0221] The reporting time requirement can be that the first terminal reports the first position information, that is, a measurement result, within a predetermined time after receiving the first position information request. The predetermined time can be set according to actual needs, which is not limited here.

[0222] (5) Quality of service (QoS) indication.

[0223] The quality of service indication can include an accuracy requirement indication, a measurement quality indication, or the like, which is not limited here.

[0224] (6) Whether to need LOS / NLOS indication.

[0225] (7) Whether to need additional paths.

[0226] In an implementation manner, in the case of needing additional paths, the first position information request can further include a number of needed additional paths, an identifier, or the like.

[0227] (8) Number of measurement results.

[0228] (9) Granularity of measurement results.

[0229] (10) Whether to need to report calibration information.

[0230] The calibration information can refer to the related description in the method 200, which is not repeated here.

[0231] (11) Whether to need to report identification information.

[0232] The identification information can refer to the related description in the method 200, which is not repeated here.

[0233] (12) Whether to include power measurement results.

[0234] The power measurement results can be, but are not limited to, RSRP, or the like.

[0235] (13) Position information reporting type.

[0236] The position information reporting type can include at least one of periodic reporting, aperiodic reporting, event-triggered reporting, and immediate reporting. Optionally, when the first terminal supports multiple reporting types, one of the reporting types can be indicated in the first position information request.

[0237] It should be noted that the aforementioned immediate reporting can be understood as the first terminal reporting the position information within a reporting time after receiving the first position information request.

[0238] The periodic reporting can be understood as reporting the first position information according to a predefined or indicated period. The first position information request can include parameters of the periodic reporting, such as a period, a number of periods, and the like.

[0239] The event-triggered reporting can be understood as the first terminal detecting the occurrence of an event and then reporting the position information. Optionally, the request signaling further includes parameters of the event-triggered reporting for assisting the first terminal in reporting the position information according to the event, including but not limited to a type indication of the event information, area information of a regional event, movement information of a movement event, a maximum and a minimum time interval between consecutive event reports, a maximum and / or a minimum event sampling interval (i.e., an interval at which the UE listens to the event), movement distance threshold information, and the like. Optionally, the event information is used by the first terminal to determine whether to report the position information.

[0240] The aperiodic reporting can be understood as the first terminal reporting the first position information in a non-periodic triggered manner, such as being triggered by a DCI or a second-level SCI.

[0241] (14) Report resource indication information corresponding to the first position information.

[0242] The report resource indication information can indicate a time domain position, a frequency domain position, modulation and coding scheme (MCS) information, a number of ports, and the like.

[0243] (15) Resource indication information of the first SL reference signal.

[0244] The resource indication information can indicate a time domain position, a frequency domain position, MCS information, a number of ports, sequence information, mapping information, and the like.

[0245] (16) A reporting manner of the first position information.

[0246] The reporting manner includes but is not limited to one of (16a)-(16c).

[0247] (16a) Unicast, groupcast or broadcast.

[0248] In an implementation, the reporting manner is consistent with the transmission manner of the first SL reference signal. For example, both the reporting manner and the first SL reference signal are transmitted in unicast manner.

[0249] In this case, the first location information request can also be transmitted in unicast, groupcast or broadcast manner, which is not limited herein.

[0250] (16b) Separate reporting or coupled reporting

[0251] In the case of coupled reporting of the first location information and other measurement signals, the process of reporting the first location information by the first terminal can include: reporting the first location information coupled with second designated information, the second designated information including at least one of SL-RSRP, SL-Channel State Information (CSI) and Hybrid automatic repeat request (HARQ).

[0252] (16c) Whether HARQ information needs to be reported

[0253] In the case of reporting HARQ information, the first terminal can send HARQ information to the second terminal or the control node before reporting the first location information, the HARQ information being used to indicate whether to perform or not to perform the step of reporting the first location information, the HARQ information being associated with the first SL reference signal and / or the first location information request. Optionally, the HARQ information is sent after the first terminal receives the first SL reference signal or the first location information request.

[0254] In an implementation, if the measurement quality corresponding to the first SL reference signal is not good or the measurement result is lower than a predetermined threshold, a negative acknowledgement (NACK) can be reported in the HARQ information, and accordingly, in the case of NACK in the HARQ information, the first terminal does not perform the step of reporting the first location information. In this case, the first terminal can also request the second terminal to retransmit the first SL reference signal based on the HARQ information.

[0255] If the measurement quality corresponding to the first SL reference signal is good or the measurement result is not lower than a predetermined threshold, a positive acknowledgement (ACK) can be reported in the HARQ information, and the step of reporting the first position information is performed when the HARQ information is ACK.

[0256] In addition, if the first terminal does not send HARQ information, the first terminal can not report the first position information.

[0257] Optionally, if the first terminal does not send HARQ information, the first terminal reports the first position. For example, the first terminal sends HARQ information, and the HARQ information only contains NACK, not NACK and ACK. Only when the first terminal feeds back the HARQ information of NACK, the terminal does not report the first position.

[0258] In addition, the HARQ information is associated with the first SL reference signal and / or the first position information request. That is, the first terminal determines whether to feed back the HARQ and / or the content in the HARQ information according to at least one of the measurement of the first SL reference signal, the measurement of the first position information request, and the indication of the first position information.

[0259] It should be noted that the HARQ information and the first position information can be reported based on a physical sidelink feedback channel (PSFCH). The PSFCH is a channel dedicated to sidelink ranging.

[0260] (17) Target event information, which is used by the first terminal to determine whether to report the first position information.

[0261] Example 5

[0262] In the case where the first specified information is synchronization information or RRC connection information between the first terminal and the second terminal, the reporting of the first position information according to the first specified information includes: reporting the first position information when the first terminal establishes synchronization with the second terminal, or when there is an RRC connection between the first terminal and the second terminal; otherwise, the first position information is not reported.

[0263] It can be understood that if the first terminal and the second terminal do not establish synchronization or have no RRC connection, it indicates that the first terminal does not expect to measure the first SL reference signal, and / or the first terminal does not expect to receive the first position information request, and / or does not expect to report the measurement result, etc.

[0264] Example 6

[0265] In a case where the first specified information is the platoon information, the reporting the first location information according to the first specified information comprises: reporting the first location information by the first terminal according to whether the first terminal is in the same group or platoon as the second terminal, and reporting the first location information if the first terminal is in the same group or platoon as the second terminal, and not reporting the first location information otherwise.

[0266] It should be noted that if the first terminal is in the same group or platoon as the second terminal, the first terminal and the second terminal share the same group ID or platoon ID.

[0267] It should be noted that in the foregoing examples 1-6, the first condition, the second condition, the region, the region identifier, the first predetermined value, and the like can be pre-defined by a protocol, can be configured by a resource pool of the second terminal, a control node, or another terminal, or can be carried in the first location information request (e.g., target event information in the first location information request). In addition, the foregoing first condition, second condition, region, region identifier, first predetermined value, and the like can be related to a service QoS parameter (e.g., PDB) of the first terminal or the second terminal, or related to a subcarrier spacing (SCS) of a bandwidth part (BWP) in which the first terminal or the second terminal is located, and the embodiments are not limited in this regard.

[0268] It should be noted that as a possible implementation, in addition to the foregoing reporting of the first location information according to the first specified information, the first terminal can also periodically report the first location information, and the like, and the embodiments are not limited in this regard.

[0269] S320, receiving fifth location information.

[0270] The fifth location information can be sent by the second terminal after receiving the second location information request sent by the first terminal, or can be reported based on specified information (see the foregoing first specified information), and the like, and the embodiments are not limited in this regard. In an implementation, the fifth location information comprises at least one of the following (1)-(3).

[0271] (1) Relative distance information between the second terminal and the first terminal.

[0272] (2) Absolute location information of the second terminal.

[0273] (3) Relative location information of the second terminal.

[0274] It can be understood that the second position information can include but is not limited to (1)-(3) described above.

[0275] In this embodiment, the first terminal reports the first position information based on the first designated signal after receiving the first SL reference signal, which can further improve the reliability of the positioning process on the SL and further meet the higher service requirements.

[0276] As shown in Figure 4 FIG. 4 is a flowchart of a positioning method 400 on the SL provided by an exemplary embodiment of the present application, which can be executed by the first terminal, for example, can be executed by hardware and / or software installed in the first terminal, and the method 400 includes at least the following S410-S430.

[0277] S410, receiving a first SL reference signal sent by a second terminal.

[0278] The implementation process of S410 can refer to the related description in the foregoing methods 200 and 300, and details are not described here to avoid repetition.

[0279] S420, reporting the first position information according to a designated reporting resource.

[0280] In addition to referring to the related description in the foregoing methods 200 and 300, as a possible implementation manner, the designated reporting resource is obtained by one of the following ways (1)-(4).

[0281] (1) Agreement.

[0282] For example, the agreement can pre-configure the designated reporting resource based on a resource pool, and indicate a certain resource or resource configuration through a first-level SCI. For another example, a plurality of periods can be configured or pre-configured by a PC5-RRC agreement, and a certain reporting resource or resource configuration can be indicated through a second-level SCI. For another example, a certain rule can be agreed according to the agreement, and the reporting resource is based on the information of the pre-configured reporting resource pool.

[0283] (2) Predefined correspondence.

[0284] The predefined correspondence represents the correspondence between the transmission resource corresponding to the first SL reference signal and the reporting resource corresponding to the first position information, and / or the predefined correspondence represents the correspondence between the identification information of the second terminal and the reporting resource corresponding to the first position information.

[0285] (3) Pre-configured resource pool or resource set;

[0286] In an implementation, the first terminal can configure the resource set or resource pool for sending the location information request before performing S420. In this case, the obtaining manner of the specified reporting resource by the first terminal from the preconfigured resource pool or resource set can include: mapping a candidate resource set (such as a time-frequency resource set, a code domain resource set, etc.) from the preconfigured resource pool or resource set according to at least one of the transmission resource corresponding to the first SL reference signal, the transmission resource corresponding to the first location information request, and the identification information of the first terminal; and mapping the specified reporting resource from the candidate resource set according to the identification information of the second terminal.

[0287] For example, the candidate resource position can be determined in the preconfigured resource set or resource pool according to the resource information of the first terminal (such as the time-frequency position of the SL reference signal of the first terminal, the sequence identification, the terminal identification, the sidelink reference signal resource identification, the group ID, the intra-group ID, etc.), and the specified reporting resource can be determined according to the resource information of the second terminal (such as the time-frequency position of the SL reference signal of the second terminal, the sequence identification, the terminal identification, the SL reference signal resource identification, the group ID, the intra-group ID, etc.).

[0288] It should be noted that in the determination of the specified reporting resource, if the first terminal determines a unique specified reporting resource in the preconfigured resource set or resource pool according to the resource information of the first terminal and / or the identification information of the first terminal, it is suitable for connection-oriented groupcast, and the identification of the first terminal (such as the group ID and / or the intra-group ID) is known to all terminals in the group.

[0289] If the first terminal performs resource sensing in the preconfigured resource pool or resource set before selecting the specified reporting resource, randomly maps or determines the specified reporting resource on the unoccupied resource, it is suitable for non-connection-oriented groupcast. The specified reporting resource can carry the identification of the first terminal or the resource information of the first terminal.

[0290] In another implementation, the configuration information of the resource pool or resource set can include at least one of the following (3a)-(3h).

[0291] (3a) Periodic information of the resource pool or resource set.

[0292] (3b) Time-frequency resource position of the resource pool or resource set.

[0293] (3c) Encoding manner of the specified reporting resource.

[0294] (3d) Modulation and coding scheme indication of the specified reporting resource.

[0295] (3e) The minimum time interval between the designated reporting resource and the first SL reference signal.

[0296] (3f) The minimum time interval between the designated reporting resource and the first location information request.

[0297] (3g) The size of the reporting resource corresponding to different terminals.

[0298] (3h) The number of ports supported by different reporting resources.

[0299] (4) Resource indication information.

[0300] In an implementation manner, the network side device can indicate by, but not limited to, RRC, MAC CE, DCI, etc., and the first terminal can indicate by MAC CE, PC5-RRC, first level SCI or second level SCI. In addition, the resource indication information can be carried on PSSCH. Optionally, the resource indication information can be carried in the first location request information.

[0301] The aforementioned way of obtaining the designated reporting resource based on (1)-(4) can be based on network indication or protocol agreement, which is not limited herein.

[0302] In addition, as a possible implementation manner, the way in which the first terminal obtains the designated reporting resource can be the same as or different from the way in which the second terminal obtains the transmission resource corresponding to the first SL reference signal or the transmission resource corresponding to the first location information request, which is not limited herein.

[0303] As another possible implementation manner, based on the aforementioned positioning method on SL, if the first terminal receives multiple third SL reference signals or location information requests, etc. in addition to the first SL reference signal within a certain time interval, resulting in that the first location information and at least one third location information (corresponding to the third SL reference signal) occupy the same reporting resource, in this case, the process of the first terminal reporting the first location information can include at least one of the following (1)-(4).

[0304] (1) Report each of the first location information and the at least one location information according to the priority information corresponding to the first location information and the at least one third location information, respectively.

[0305] (2) Report the first location information and the at least one third location information according to the terminal capability information of the first terminal.

[0306] (3) reporting the first location information and the at least one third location information according to the first location information and the at least one third location information respectively corresponding to a reporting time length.

[0307] In the foregoing (1)-(3), if the first SL reference signal and the third SL reference signal carry priority indication information, then according to the priority indication information, the reporting of a low priority is discarded or postponed (for example, the third location information is discarded or postponed). If the first SL reference signal and the third SL reference signal do not carry priority indication information or carry the same priority indication information, then the first terminal can report within its capability according to the terminal capability information (simultaneously reporting N measurement results), or the first terminal can select location information with a short reporting time requirement to report according to the reporting time length, as described in (3). Optionally, for a report beyond the UE capability, the terminal can discard or postpone the report.

[0308] It can be understood that the first terminal can report based on any one of (1)-(3) or in combination with any two or three of (1)-(3) when reporting, which is not limited in this embodiment.

[0309] As another possible implementation, if the first terminal receives a plurality of fourth SL reference signals and the like in addition to the first SL reference signal within a certain time interval, resulting in the first location information and at least one fourth location information (corresponding to the fourth SL reference signal) occupying the same reporting resource, then in this case, the process of the first terminal reporting the first location information can include: in the case that the first location information and the at least one fourth location information occupy the same reporting resource, selecting target location information (for example, location information corresponding to a closer SL reference signal) closest in time to the designated reporting resource from the first location information and the at least one fourth location information to report; wherein the fourth SL reference signal corresponding to the fourth location information and the first SL reference signal are SL reference signals received by the first terminal within a predetermined time length. Optionally, the fourth SL reference signal and the first SL reference signal come from the same terminal. Optionally, the predetermined time length can be agreed by a protocol, indicated by a network device, indicated by a second terminal, and the like.

[0310] It should be noted that based on the foregoing implementation manners given in this embodiment, at least one of the following (1)-(3) can be obtained through SL channel mapping, and channel information corresponding to the SL channel can be obtained through pre-configuration or network side device configuration, which is not limited herein.

[0311] (1) the transmission resource corresponding to the first SL reference signal.

[0312] The transmission resources may include, but are not limited to, at least one of the following: time-frequency location, sequence, sequence identifier, reference signal resource identifier, terminal identifier, identifier of the group to which the terminal belongs and / or identifier within the group, positioning group identifier and / or identifier within the positioning group, etc.

[0313] (2) The report resources corresponding to the first location information.

[0314] (3) The request signaling resources corresponding to the first location information request.

[0315] In this case, the SL channel can be configured in a first resource pool, which is different from the second resource pool. The first resource pool is used or dedicated to configuring SL positioning resources for terminal positioning, while the second resource pool is used to configure other communication resources besides the SL positioning resources.

[0316] In this embodiment, the SL channel can be obtained through pre-configuration, broadcasting, multicasting, unicasting, or configuration by the control node, and this embodiment does not impose any restrictions on this.

[0317] In this embodiment, after receiving the first SL reference signal, the first terminal reports the first location information according to the designated reporting resource, which can ensure the reliable execution of the positioning process on the SL, thereby enabling the SL technology to better adapt to other more advanced V2X services such as positioning services.

[0318] like Figure 5 The diagram shown is a flowchart of a positioning method 500 on an SL provided in an exemplary embodiment of this application. The method 500 can be executed by a second terminal or a network-side device, for example, by hardware and / or software installed in the second terminal or the network-side device. The method 500 includes at least the following steps S510.

[0319] S510, receiving first position information, wherein the first position information comprises at least one of: first measurement result obtained by the first terminal by measuring a first SL reference signal, the first SL reference signal being transmitted by a second terminal and / or a network side device; second measurement result obtained by the first terminal by measuring the first SL reference signal, the second measurement result being an additional measurement result other than the first measurement result; identification information; timestamp information; calibration information; relative distance information; absolute position information; relative position information; target event information, the target event information being used to indicate that the first terminal reports the first position information in relation to the target event; and a second position information request, the second position information request being used to indicate that the second terminal reports position information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute position information, and the relative position information are information associated with the first terminal measuring the first SL reference signal.

[0320] In a possible implementation manner, the first measurement result comprises a difference between a first time and a second time, the first time being a time at which the first terminal receives the first SL reference signal, and the second time being a time at which the first terminal transmits a second SL reference signal.

[0321] In another possible implementation manner, the first time at which the first terminal receives the first SL reference signal comprises a time at which the first terminal receives a specified path corresponding to a predetermined SL time unit, the specified path of the predetermined SL time unit being determined according to the first SL reference signal; and the second time at which the first terminal transmits a second SL reference signal comprises a time at which the first terminal transmits a target SL time unit, a transmission time of the target SL time unit and a time of receiving the predetermined SL time unit satisfying a predetermined requirement.

[0322] In yet another possible implementation manner, the second measurement result comprises at least one of an additional arrival path, a measurement result granularity, LOS / NLOS indication information, spatial domain measurement information, and frequency measurement information.

[0323] In yet another possible implementation manner, a first position information request is transmitted, the first position information request being used to indicate that a first terminal reports the first position information.

[0324] In a possible implementation form of the method, the first location information request carries at least one of the following: a first location information request identifier; a type of the first location information; priority indication information; a reporting time requirement; a quality of service indication; whether LOS / NLOS indication is required; whether additional paths are required; a number of measurement results; a granularity of measurement results; whether calibration information is required to be reported; whether identification information is required to be reported; whether power measurement results are included; a location information reporting type, the location information reporting type comprising at least one of periodic reporting, aperiodic reporting, and event-triggered reporting; reporting resource indication information corresponding to the first location information; resource indication information of the first SL reference signal; a reporting manner of the first location information; and target event information.

[0325] In a possible implementation form of the method, the first location information request is transmitted in a form of unicast, groupcast, or broadcast.

[0326] In a possible implementation form of the method, the first location information request is transmitted by predetermined information, the predetermined information comprising any one of first-level SCI, second-level SCI, PSSCH, PC5-RRC, PC5-MAC CE, LPP, MAC CE, RRC, and DCI.

[0327] In a possible implementation form of the method, the first location information request is transmitted simultaneously with the first SL reference signal, and the first location information request is carried in a payload of the first SL reference signal. Optionally, the first location information request can also be implicitly indicated by the first SL reference signal, that is, as long as the first terminal receives the SL reference signal, the first location information is reported.

[0328] In a possible implementation form of the method, after the first SL reference signal is transmitted, the method further comprises: receiving HARQ information, the HARQ information being used to indicate whether the first terminal reports or does not report the first location information, the HARQ information being associated with the first SL reference signal and / or the first location information request.

[0329] In a possible implementation form of the method, the HARQ information is used to indicate whether the first terminal reports or does not report the first location information, comprising at least one of the following: in a case where the HARQ information is NACK, the first terminal reports the first location information; and in a case where the HARQ information is ACK, the first terminal does not report the first location information.

[0330] In another possible implementation, after receiving the first position information, the method further includes: sending fifth position information; and wherein the fifth position information includes at least one of the following: relative distance information between the second terminal and the first terminal; absolute position information of the second terminal; and relative position information of the second terminal.

[0331] In another possible implementation, at least one of the following is mapped through an SL channel: a sending resource corresponding to the first SL reference signal; a reporting resource corresponding to the first position information; and a request signaling resource corresponding to the first position information request.

[0332] In another possible implementation, the SL channel is configured in a first resource pool, the first resource pool is different from a second resource pool, the first resource pool is used to configure SL positioning resources used for terminal positioning, and the second resource pool is used to configure other communication resources except the SL positioning resources.

[0333] It can be understood that each implementation manner given in this embodiment can refer to the related description in the foregoing methods 200-400, and thus will not be described here again to avoid repetition.

[0334] In addition, the SL positioning method 200, 300, 400, and 500 provided in the embodiments of this application can have an execution subject of a SL positioning apparatus or a control module in the SL positioning apparatus for executing the SL positioning method. In the subsequent part of the embodiments of this application, the SL positioning apparatus executing the SL positioning method is taken as an example to describe the SL positioning apparatus provided in the embodiments of this application.

[0335] As Figure 6As shown, a block structure diagram of a positioning apparatus 600 on SL is provided in an example embodiment of the present application, the apparatus 600 comprising a reporting module 610, reporting first position information, wherein the first position information comprises at least one of: first measurement results obtained by the first terminal by measuring a first SL reference signal for positioning, the first SL reference signal being transmitted by a second terminal and / or a network side device; second measurement results obtained by the first terminal by measuring the first SL reference signal, the second measurement results being additional measurement results other than the first measurement results; identification information; timestamp information; calibration information; relative distance information; absolute position information; relative position information; target event information, the target event information being used to indicate that the first terminal reports the first position information in relation to the target event; and a second position information request, the second position information request being used to instruct the second terminal to report position information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute position information, and the relative position information are information associated with the first terminal measuring the first SL reference signal.

[0336] In a possible implementation, the first measurement results comprise a difference between a first time and a second time, the first time being a time at which the first terminal receives the first SL reference signal, and the second time being a time at which the first terminal transmits a second SL reference signal.

[0337] In another possible implementation, the first time at which the first terminal receives the first SL reference signal comprises a time at which the first terminal receives a specified path of a predetermined SL time unit, the specified path of the predetermined SL time unit being determined according to the first SL reference signal; and the second time at which the first terminal transmits a second SL reference signal comprises a time at which the first terminal transmits a target SL time unit, a transmission time of the target SL time unit satisfying a predetermined requirement with respect to a time of receiving the predetermined SL time unit.

[0338] In another possible implementation, the second measurement results comprise at least one of: additional arrival paths, measurement result granularity, LOS / NLOS indication information, spatial domain measurement information, and frequency measurement information.

[0339] In a possible implementation, the reporting module 610 is configured to report the first location information according to first specified information, wherein the first specified information comprises at least one of the following: geographic location information; measurement information; platoon information; movement information comprising movement distance and / or movement speed; whether a first location information request is received; synchronization information or RRC connection information between the second terminal and the first terminal.

[0340] In a possible implementation, when the first specified information is the geographic location information, the reporting module 610 is configured to report the first location information in any of the following cases: when a distance between the second terminal and the first terminal meets a first condition; when an area where the first terminal is located and an area where the second terminal is located are the same; when an area identifier corresponding to the first terminal and an area identifier corresponding to the second terminal are the same; when a specified operation is performed on the area identifier corresponding to the first terminal and the area identifier corresponding to the second terminal, and a result of the operation meets a second condition; when the area where the first terminal is located and the area where the second terminal is located differ by a predetermined number of areas in a specified dimension; when the area identifier corresponding to the first terminal is a first predetermined value; when the area identifier corresponding to the second terminal is a second predetermined value; when the area identifier corresponding to the second terminal is carried in specified control information received by the first terminal; or when the second terminal leaves a specified area.

[0341] In a possible implementation, when the first specified information is the measurement information, the reporting module 610 is configured to report the first location information in any of the following cases: when the measurement information comprises RSRP of the first SL reference signal, and the RSRP of the first SL reference signal meets a third condition; when the measurement information comprises RSRP of specified control information corresponding to the second terminal, and the RSRP of the specified control information meets a fourth condition; when the measurement information comprises RSRP of a specified channel corresponding to the second terminal, and the RSRP of the specified channel meets a fifth condition; when the measurement information comprises RSRP of specified request signaling corresponding to the second terminal, and the RSRP of the specified request signaling meets a sixth condition; or when the measurement information comprises measurement quality of the first SL reference signal, and the measurement quality meets a seventh condition.

[0342] In a possible implementation, when the first specified information is the movement information, the reporting module 610 is configured to report the first position information in any of the following cases: when the movement information comprises a movement distance, and the movement distance exceeds a third predetermined value, wherein the movement distance is a relative distance of a current terminal position relative to a first position, and the first position is a position of the second terminal at a time when the second terminal last reported position information, and the reporting time is earlier than the reporting of the first position information; when the movement information comprises a movement speed, and a movement speed of the second terminal satisfies an eighth condition; when the movement information comprises a movement speed, and a difference between the movement speed of the second terminal and a movement speed of the first terminal satisfies a ninth condition.

[0343] In a possible implementation, when the first specified information is whether the first position information request is received, the reporting module 610 is configured to report the first position information in a case where the first position information request is received.

[0344] In a possible implementation, when the first specified information is synchronization information or RRC connection information between the second terminal, the reporting module 610 is configured to report the first position information in a case where the first terminal establishes synchronization with the second terminal, or in a case where there is an RRC connection between the first terminal and the second terminal.

[0345] In a possible implementation, the method further comprises: receiving a first position information request, wherein the first position information request carries at least one of the following: a first position information request identifier; a type of the first position information; priority indication information; reporting time requirement; quality of service indication; whether LOS / NLOS indication is required; whether additional path is required; a number of measurement results; granularity of measurement results; whether calibration information needs to be reported; whether identification information needs to be reported; whether power measurement results are included; a position information reporting type, the position information reporting type comprising at least one of periodic reporting, aperiodic reporting, and event triggered reporting; reporting resource indication information corresponding to the first position information; resource indication information of the first SL reference signal; and a reporting manner of the first position information.

[0346] In a possible implementation, the first position information request is transmitted in a form of unicast, groupcast, or broadcast.

[0347] In a possible implementation, the first location information request is transmitted through predetermined information, the predetermined information comprising any one of a first level SCI, a second level SCI, a PSSCH, a PC5-RRC, a PC5-MAC CE, an LPP, a MAC CE, an RRC, and a DCI.

[0348] In a possible implementation, the first location information request is transmitted simultaneously with the first SL reference signal; wherein the first location information request is carried in a payload of the first SL reference signal.

[0349] In a possible implementation, a difference between a reporting time of the first location information and a receiving time of the first location information request is not greater than a fourth predetermined value.

[0350] In a possible implementation, the reporting module 610 is further configured to transmit HARQ information, the HARQ information being used to indicate whether to perform or not to perform the step of reporting the first location information, the HARQ information being associated with the first SL reference signal and / or the first location information request.

[0351] In a possible implementation, the HARQ information is used to indicate whether to perform or not to perform the step of reporting the first location information, including at least one of the following: in a case where the HARQ information is a NACK, not performing the step of reporting the first location information; in a case where the HARQ information is an ACK, performing the step of reporting the first location information.

[0352] In a possible implementation, without transmitting the HARQ information, the terminal does not report the first location information, the HARQ information being associated with the first SL reference signal and / or the first location information request.

[0353] In a possible implementation, the reporting module 610 is configured to report the first location information according to a designated reporting resource, the designated reporting resource being obtained through one of the following: a protocol agreement; a predetermined correspondence relationship, the predetermined correspondence relationship representing a correspondence relationship between a transmission resource corresponding to the first SL reference signal and a reporting resource corresponding to the first location information, and / or the predetermined correspondence relationship representing a correspondence relationship between identification information of the second terminal and the reporting resource corresponding to the first location information; a preconfigured resource pool or resource set; and resource indication information, the resource indication information being transmitted by the first terminal or a network side device.

[0354] In a possible implementation, the manner of obtaining the specified reporting resource from the preconfigured resource pool or resource set comprises: mapping a candidate resource set from the preconfigured resource pool or resource set according to at least one of the following: a transmission resource corresponding to the first SL reference signal, a transmission resource corresponding to the first location information request, and identification information of the first terminal; and mapping the specified reporting resource from the candidate resource set according to the identification information of the second terminal.

[0355] In a possible implementation, the configuration information of the resource pool or resource set comprises at least one of the following: period information of the resource pool or resource set; time-frequency resource location of the resource pool or resource set; encoding manner of the specified reporting resource; modulation and coding scheme indication of the specified reporting resource; shortest time interval between the specified reporting resource and the first SL reference signal; shortest time interval between the specified reporting resource and the first location information request; size of reporting resources corresponding to different terminals; and port number supported by different reporting resources.

[0356] In a possible implementation, the reporting module 610 is configured to report the first location information and second specified information after coupling the first location information and the second specified information, and the second specified information comprises at least one of the following: SL-RSRP, SL-CSI, and HARQ.

[0357] In a possible implementation, the reporting module 610 is configured to, in a case where the first location information and at least one third location information occupy the same reporting resource, perform any one of the following: reporting each of the first location information and the at least one third location information according to priority information corresponding to the first location information and the at least one third location information, respectively; reporting the first location information and the at least one third location information according to terminal capability information of the first terminal; and reporting the first location information and the at least one third location information according to reporting time lengths corresponding to the first location information and the at least one third location information, respectively.

[0358] In a possible implementation, the reporting module 610 is configured to, in a case where the first location information and at least one fourth location information occupy the same reporting resource, select target location information closest to the specified reporting resource from the first location information and the at least one fourth location information to report, wherein the fourth SL reference signal corresponding to the fourth location information and the first SL reference signal are SL reference signals received by the first terminal within a predetermined time length.

[0359] In another possible implementation, the device 600 may further include a receiving module for receiving fifth location information; wherein the fifth location information includes at least one of the following: relative distance information between the second terminal and the first terminal; absolute location information of the second terminal; and relative location information of the second terminal.

[0360] Another possible implementation is that at least one of the following is obtained through SL channel mapping: the transmission resource corresponding to the first SL reference signal; the reporting resource corresponding to the first location information; and the request signaling resource corresponding to the first location information request.

[0361] In another possible implementation, the SL channel is configured in a first resource pool, which is different from the second resource pool. The first resource pool is used to configure SL positioning resources for terminal positioning, and the second resource pool is used to configure other communication resources besides the SL positioning resources.

[0362] In this embodiment, terminal positioning is achieved by measuring the first SL reference signal sent by the second terminal or network-side device and reporting the first location information. This enables SL technology to adapt to other more advanced V2X services such as location services.

[0363] like Figure 7 The diagram shown is a block structure schematic of a positioning device 700 on an SL provided in an exemplary embodiment of this application. The device 700 includes: a receiving module 710, configured to receive first location information, the first location information including at least one of the following: a first measurement result, the first measurement result being obtained by a first terminal through measuring a first SL reference signal used for positioning, the first SL reference signal being sent by a second terminal and / or a network-side device; a second measurement result, the second measurement result being an additional measurement result obtained by the first terminal through measuring the first SL reference signal, other than the first measurement result; identification information; timestamp information; calibration information; relative distance information; absolute location information; relative location information; target event information, the target event information being used to instruct the first terminal to report that the first location information is related to the target event; and a second location information request, the second location information request being used to instruct the second terminal to report the location information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute location information, and the relative location information are information associated with the first terminal measuring the first SL reference signal.

[0364] In a possible implementation, the first measurement result includes a difference between a first time and a second time, the first time being a time at which the first terminal receives the first SL reference signal, and the second time being a time at which the first terminal transmits a second SL reference signal.

[0365] In another possible implementation, the first time is a time at which the first terminal receives a specified path corresponding to a predetermined SL time unit, and the specified path of the predetermined SL time unit is determined according to the first SL reference signal; and the second time is a time at which the first terminal transmits a second SL reference signal, and the transmission time of a target SL time unit satisfies a predetermined requirement between the time of receiving the predetermined SL time unit and the time.

[0366] In another possible implementation, the second measurement result includes at least one of an additional arriving path, a measurement result granularity, LOS / NLOS indication information, spatial domain measurement information, and frequency measurement information.

[0367] In another possible implementation, the apparatus can further include a sending module configured to send a first location information request, the first location information request being used to instruct the first terminal to report the first location information.

[0368] In another possible implementation, the first location information request carries at least one of the following: a first location information request identifier; a type of the first location information; priority indication information; a reporting time requirement; quality of service indication; whether LOS / NLOS indication is needed; whether additional paths are needed; a number of measurement results; a granularity of the measurement result; whether calibration information needs to be reported; whether identification information needs to be reported; whether power measurement results are included; a location information reporting type, the location information reporting type including at least one of periodic reporting, aperiodic reporting, and event-triggered reporting; reporting resource indication information corresponding to the first location information; resource indication information of the first SL reference signal; a reporting manner of the first location information; and target event information.

[0369] In another possible implementation, the first location information request is transmitted in a form of unicast, groupcast, or broadcast.

[0370] In another possible implementation, the first location information request is transmitted by using predetermined information, the predetermined information including any one of first-level SCI, second-level SCI, PSSCH, PC5-RRC, PC5-MAC CE, LPP, MAC CE, RRC, and DCI.

[0371] In a possible implementation, the first location information request is transmitted simultaneously with the first SL reference signal; and the first location information request is carried in a payload of the first SL reference signal.

[0372] In a possible implementation, the receiving module 710 is further configured to receive HARQ information, the HARQ information being used to indicate whether the first terminal reports or does not report the reported first location information, and the HARQ information being associated with the first SL reference signal and / or the first location information request.

[0373] In a possible implementation, the HARQ information is used to indicate whether the first terminal reports or does not report the reported first location information, and the indication includes at least one of the following: in a case where the HARQ information is NACK, the first terminal reports the first location information; and in a case where the HARQ information is ACK, the first terminal does not report the first location information.

[0374] In a possible implementation, the sending module is further configured to receive fifth location information, and the fifth location information includes at least one of the following: relative distance information between the second terminal and the first terminal; absolute location information of the second terminal; and relative location information of the second terminal.

[0375] In a possible implementation, at least one of the following is obtained through SL channel mapping: a sending resource corresponding to the first SL reference signal; a reporting resource corresponding to the first location information; and a request signaling resource corresponding to the first location information request.

[0376] In a possible implementation, the SL channel is configured in a first resource pool, the first resource pool is different from a second resource pool, the first resource pool is used to configure SL positioning resources used for terminal positioning, and the second resource pool is used to configure other communication resources except the SL positioning resources.

[0377] In this embodiment, the first terminal measures the first SL reference signal sent by the second terminal or the network side device, and reports the first location information, so as to realize terminal positioning, thereby enabling the SL technology to adapt to other higher-level V2X services such as positioning services.

[0378] The positioning apparatus 600, 700 on SL in the embodiments of the present application can be an apparatus, or a component, an integrated circuit, or a chip in a terminal. The apparatus can be a mobile terminal, or a non-mobile terminal. Exemplarily, the mobile terminal can include, but is not limited to, the types of the terminal 11 listed above, and the non-mobile terminal can be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a cashier machine, a self-service machine, etc., which are not limited in the embodiments of the present application.

[0379] The positioning apparatus on SL in the embodiments of the present application can be an apparatus with an operating system. The operating system can be an Android operating system, an ios operating system, or other possible operating systems, which are not limited in the embodiments of the present application.

[0380] The positioning apparatus on SL provided in the embodiments of the present application can implement the processes of the method embodiments and achieve the same technical effects, and thus details are not repeated here. Figures 2 to 5

[0381] Figure 8 A hardware structure diagram of a terminal for implementing the embodiments of the present application. The terminal 800 includes, but is not limited to, a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, a display unit 806, a user input unit 807, an interface unit 808, a memory 809, and a processor 810, etc.

[0382] Those skilled in the art can understand that the terminal 800 can further include a power supply (for example, a battery) for supplying power to each component, and the power supply can be logically connected to the processor 810 through a power management system, so as to realize the functions of power management, such as charging, discharging, and power consumption management, through the power management system. Figure 8 The terminal structure shown in the embodiments of the present application does not constitute a limitation on the terminal, and the terminal can include more or less components than the diagram, or combine certain components, or different component arrangements, which are not repeated here.

[0383] ​It should be understood that in the embodiments of the present application, the input unit 804 can include a graphics processing unit (GPU) 1041 and a microphone 8042. The graphics processing unit 8041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 806 can include a display panel 8061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 807 includes a touch panel 8071 and other input devices 8072. The touch panel 8071 is also called a touch screen. The touch panel 8071 can include two parts of a touch detection device and a touch controller. The other input devices 8072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), trackballs, mice, joysticks, and the like, which will not be described here.

[0384] In the embodiments of the present application, the radio frequency unit 801 receives downlink data from a network side device and processes the data by the processor 810. In addition, the radio frequency unit 801 sends uplink data to the network side device. Generally, the radio frequency unit 801 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0385] The memory 809 can be used to store software programs or instructions and various data. The memory 809 can mainly include a storage program or instruction area and a storage data area, wherein the storage program or instruction area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), etc. In addition, the memory 809 can include a high-speed random access memory, and can also include a non-volatile memory, which can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. For example, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device.

[0386] The processor 810 can include one or more processing units; optionally, the processor 810 can integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface and application programs or instructions, etc., and the modem processor mainly processes wireless communication, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 810.

[0387] The radio frequency unit 801 is configured to obtain the first position information, wherein the first position information comprises at least one of the following: a first measurement result, the first measurement result being obtained by the first terminal by measuring a first SL reference signal, the first SL reference signal being transmitted by a second terminal and / or a network side device; a second measurement result, the second measurement result being an additional measurement result obtained by the first terminal by measuring the first SL reference signal in addition to the first measurement result; identification information; timestamp information; calibration information; relative distance information; absolute position information; relative position information; target event information, the target event information being used to indicate that the first terminal reports the first position information in relation to the target event; a second position information request, the second position information request being used to instruct the second terminal to report position information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute position information, and the relative position information are information associated with the measurement of the first SL reference signal by the first terminal.

[0388] In this embodiment, the terminal positioning is achieved by measuring the first SL reference signal transmitted by the second terminal or the network side device and reporting the first position information, so that the SL technology can be adapted to other higher-level V2X services such as positioning services.

[0389] As shown in Figure 9 The present application also provides a network side device. The network device 900 comprises an antenna 901, a radio frequency device 902, and a baseband device 903. The antenna 901 is connected to the radio frequency device 902. In the uplink direction, the radio frequency device 902 receives information through the antenna 901 and sends the received information to the baseband device 903 for processing. In the downlink direction, the baseband device 903 processes the information to be sent and sends it to the radio frequency device 902, which processes the received information and sends it out through the antenna 901.

[0390] The above frequency band processing device can be located in the baseband device 903, and the method performed by the network side device in the above embodiment can be implemented in the baseband device 903, which comprises a processor 904 and a memory 905.

[0391] The baseband device 903 may, for example, comprise at least one baseband board, and a plurality of chips are arranged on the baseband board, as shown in Figure 9 One of the chips is, for example, the processor 904, which is connected to the memory 905 to call the program in the memory 905 and perform the network device operation shown in the above method embodiment.

[0392] The baseband device 903 can further include a network interface 906 for interacting with the radio frequency device 902, which is, for example, a common public radio interface (CPRI).

[0393] Specifically, the network side device of the embodiment of the present application further includes instructions or programs stored in the memory 905 and executable on the processor 904, and the processor 904 invokes the instructions or programs in the memory 905 to perform the method executed by the modules shown in the above embodiments and achieve the same technical effects. To avoid repetition, details are not described herein. Figure 7 The modules shown in the above embodiments perform the method and achieve the same technical effects. To avoid repetition, details are not described herein.

[0394] The embodiment of the present application further provides a readable storage medium, and the readable storage medium stores programs or instructions, which are executed by a processor to implement various processes of the positioning method on SL and achieve the same technical effects. To avoid repetition, details are not described herein.

[0395] The processor is the processor in the terminal in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable memory (ROM), a random access memory (RAM), a magnetic disc or an optical disc, etc.

[0396] The embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface is coupled with the processor, and the processor is used to run programs or instructions of a network side device to implement various processes of the positioning method on SL and achieve the same technical effects. To avoid repetition, details are not described herein.

[0397] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system chip, a system on chip, a chip system or a system on chip, etc.

[0398] The embodiment of the present application further provides a computer program product, which includes a processor, a memory and programs or instructions stored in the memory and executable on the processor. When the programs or instructions are executed by the processor, various processes of the positioning method on SL are implemented and the same technical effects are achieved. To avoid repetition, details are not described herein.

[0399] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element. Furthermore, it is to be understood that the method and apparatus of the present application can be carried out by more than one process, method, article, or apparatus either simultaneously, concurrently, or with intervening action that are carried out at the same time, either in a simultaneous fashion or in a fashion that is interleaved in time. For example, the described methods can be performed in a different order from that described, and / or various steps can be combined or omitted, and / or additional steps can be added, without departing from the scope of the present application. Also, features described with respect to certain examples can be combined in other examples.

[0400] From the above description of the embodiments, it is apparent that the above-described method of the embodiments can be realized by means of software and general-purpose hardware platforms, and of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such an understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a number of instructions for causing a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the methods described in the various embodiments of the present application.

[0401] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative, rather than limiting, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims, and all of them belong to the protection scope of the present application.

Claims

1. A positioning method on a sidelink, SL, characterized by, The method is performed by a first terminal, and the method comprises: reporting first position information; wherein the first position information comprises first measurement results obtained by the first terminal by measuring a first SL reference signal for positioning, the first SL reference signal being transmitted by a second terminal and / or a network side device; the first measurement results comprise a difference between a first time and a second time, the first time being a time at which the first terminal receives the first SL reference signal, and the second time being a time at which the first terminal transmits a second SL reference signal; the first time at which the first terminal receives the first SL reference signal comprises: the first time being a time at which the first terminal receives a specified path corresponding to a predetermined SL time unit, the specified path of the predetermined SL time unit being determined according to the first SL reference signal; the second time at which the first terminal transmits the second SL reference signal comprises: the second time being a time at which the first terminal transmits a target SL time unit, a transmission time of the target SL time unit and a time of receiving the predetermined SL time unit satisfying a predetermined requirement.

2. The method of claim 1, wherein, The first position information further comprises at least one of: second measurement results obtained by the first terminal by measuring the first SL reference signal, the second measurement results being additional measurement results other than the first measurement results; identification information; timestamp information; calibration information; relative distance information; absolute position information; relative position information; target event information, the target event information being used to indicate that the first terminal reports the first position information in relation to a target event; a second position information request, the second position information request being used to instruct the second terminal to report position information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute position information, and the relative position information are information associated with the first terminal measuring the first SL reference signal.

3. The method of claim 2, wherein, The second measurement results comprise at least one of additional arrival paths, measurement result granularity, line of sight transmission LOS / non-line of sight transmission NLOS indication information, spatial domain measurement information, and frequency measurement information.

4. The method of claim 1, wherein, reporting first position information comprises: reporting the first position information according to first specified information; wherein the first specified information comprises at least one of: geographical position information; measurement information; platoon information; movement information, the movement information comprising a movement distance and / or a movement speed; whether a first position information request is received; synchronization information or radio resource control RRC connection information between the second terminal and the first terminal.

5. The method of claim 4, wherein, In a case where the first specified information is the geographical position information, reporting the first position information according to the first specified information comprises any one of: reporting the first position information in a case where a distance between the second terminal and the first terminal satisfies a first condition; reporting the first position information in a case where an area in which the first terminal is located and an area in which the second terminal is located are the same; report the first location information in a case where the area identifier corresponding to the first terminal and the area identifier corresponding to the second terminal are the same; report the first location information in a case where a designated operation is performed on the area identifier corresponding to the first terminal and the area identifier corresponding to the second terminal, and an operation result satisfies a second condition; report the first location information in a case where the area where the second terminal is located and the area where the first terminal is located differ by a predetermined number of areas in a designated dimension; report the first location information in a case where the area identifier corresponding to the first terminal is a first predetermined value; report the first location information in a case where the area identifier corresponding to the second terminal is a second predetermined value; report the first location information in a case where the area identifier corresponding to the second terminal is carried in designated control information received by the first terminal; report the first location information in a case where the second terminal leaves a designated area.

6. The method of claim 4, wherein, In a case where the first designated information is the measurement information, the first terminal reports the first location information according to the first designated information, including any one of the following: report the first location information in a case where the measurement information includes reference signal received power (RSRP) of the first SL reference signal, and the RSRP of the first SL reference signal satisfies a third condition; report the first location information in a case where the measurement information includes RSRP of designated control information corresponding to the second terminal, and the RSRP of the designated control information satisfies a fourth condition; report the first location information in a case where the measurement information includes RSRP of a designated channel corresponding to the second terminal, and the RSRP of the designated channel satisfies a fifth condition; report the first location information in a case where the measurement information includes RSRP of designated request signaling corresponding to the second terminal, and the RSRP of the designated request signaling satisfies a sixth condition; report the first location information in a case where the measurement information includes measurement quality of the first SL reference signal, and the measurement quality satisfies a seventh condition.

7. The method of claim 4, wherein, In a case where the first designated information is the movement information, the first terminal reports the first location information according to the first designated information, including any one of the following: report the first location information in a case where the movement information includes a movement distance, and the movement distance exceeds a third predetermined value; the movement distance is a relative distance of a current terminal position relative to a first position, and the first position is a position of the second terminal when the second terminal last reported location information, and the reporting time is earlier than the reporting of the first location information; report the first location information in a case where the movement information includes a movement speed, and a movement speed of the second terminal satisfies an eighth condition; report the first location information in a case where the movement information includes a movement speed, and a difference between the movement speed of the second terminal and a movement speed of the first terminal satisfies a ninth condition.

8. The method of claim 4, wherein, In a case that the first specified information is whether the first position information request is received, the reporting the first position information according to the first specified information comprises: In a case that the first position information request is received, reporting the first position information.

9. The method of claim 4, wherein, In a case that the first specified information is synchronization information or RRC connection information between the first terminal and the second terminal, the reporting the first position information according to the first specified information comprises: In a case that the first terminal establishes synchronization with the second terminal, or in a case that there is RRC connection between the first terminal and the second terminal, reporting the first position information.

10. The method of claim 1, wherein, Before the reporting the first position information, the method further comprises: receiving a first position information request, wherein the first position information request carries at least one of the following: a first position information request identifier; a type of the first position information; priority indication information; reporting time requirement; quality of service indication; whether LOS / NLOS indication is required; whether additional path is required; a number of measurement results; a granularity of measurement results; whether calibration information is required to be reported; whether identification information is required to be reported; whether power measurement results are included; a position information reporting type, the position information reporting type comprising at least one of periodic reporting, aperiodic reporting, and event triggered reporting; reporting resource indication information corresponding to the first position information; resource indication information of the first SL reference signal; a reporting manner of the first position information; and target event information.

11. The method of claim 10, wherein, The first position information request is transmitted through predetermined information, the predetermined information comprising any one of first stage sidelink control information (SCI), second stage SCI, physical sidelink shared channel (PSSCH), PC5-RRC, PC5-media access control control element (MAC CE), LTE positioning protocol (LPP), MAC CE, RRC, and downlink control information (DCI).

12. The method of claim 10, wherein, The first position information request is transmitted simultaneously with the first SL reference signal, wherein the first position information request is carried in a payload of the first SL reference signal.

13. The method of claim 10, wherein, A difference between a reporting time of the first position information and a receiving time of the first position information request is not greater than a fourth predetermined value.

14. The method of claim 1, wherein, The method further comprises: sending hybrid automatic repeat request (HARQ) information, the HARQ information being used to indicate whether to perform or not to perform the step of reporting the first position information, the HARQ information being associated with the first SL reference signal and / or the first position information request.

15. The method of claim 14, wherein, The HARQ information is used to indicate whether to perform or not to perform the step of reporting the first position information, comprising at least one of the following: in a case that the HARQ information is negative acknowledgement, not performing the step of reporting the first position information; in a case that the HARQ information is positive acknowledgement, performing the step of reporting the first position information.

16. The method of claim 1, wherein, The method further comprises: in a case that no HARQ information is sent, not reporting the first position information, the HARQ information being associated with the first SL reference signal and / or the first position information request.

17. The method of claim 1, wherein, reporting first location information, comprising: reporting the first location information according to a specified reporting resource; the specified reporting resource is obtained in the following way: agreement; a predetermined correspondence, the predetermined correspondence representing a correspondence between a transmission resource corresponding to the first SL reference signal and a reporting resource corresponding to the first location information, and / or a predetermined correspondence representing a correspondence between identification information of the second terminal and a reporting resource corresponding to the first location information; a preconfigured resource pool or resource set; resource indication information sent by the first terminal or network side device.

18. The method of claim 17, wherein, The way of obtaining the specified reporting resource through the preconfigured resource pool or resource set includes: According to at least one of the first SL reference signal corresponding to the transmission resource, the first location information request corresponding to the transmission resource, and the identification information of the first terminal, a candidate resource set is mapped from the preconfigured resource pool or resource set; According to the identification information of the second terminal, the specified reporting resource is mapped from the candidate resource set.

19. The method of claim 18, wherein, The configuration information of the resource pool or resource set includes at least one of the following: Periodic information of the resource pool or resource set; Time-frequency resource location of the resource pool or resource set; Encoding method of the specified reporting resource; Modulation and coding scheme indication of the specified reporting resource; The shortest time interval between the specified reporting resource and the first SL reference signal; The shortest time interval between the specified reporting resource and the first location information request; The size of the reporting resource corresponding to different terminals; The number of ports supported by different reporting resources.

20. The method of any one of claims 1-19, wherein, reporting first location information, comprising: Coupling the first location information and the second specified information and reporting, the second specified information including at least one of sidelink reference signal received power SL-RSRP, sidelink channel state information SL-CSI, and HARQ.

21. The method of any one of claims 1-19, wherein, reporting first location information, comprising: In the case where the first location information and at least one third location information occupy the same reporting resource, any of the following is performed: According to the priority information corresponding to the first location information and the at least one third location information respectively, the first location information and the at least one third location information are reported; According to the terminal capability information of the first terminal, the first location information and the at least one third location information are reported; According to the reporting time length corresponding to the first location information and the at least one third location information respectively, the first location information and the at least one third location information are reported.

22. The method of any one of claims 1-19, wherein, reporting first location information, comprising: In the case where the first location information and at least one fourth location information occupy the same reporting resource, the target location information closest to the specified reporting resource is selected from the first location information and at least one fourth location information for reporting; Wherein, the fourth SL reference signal corresponding to the fourth location information and the first SL reference signal are SL reference signals received by the first terminal within a predetermined time length.

23. The method of any one of claims 1-19, wherein, After reporting the first position information, the method further comprises: receiving fifth position information; wherein the fifth position information comprises at least one of: relative distance information between the second terminal and the first terminal; absolute position information of the second terminal; relative position information of the second terminal.

24. The method of any one of claims 1-19, wherein, at least one of the following is obtained through the SL channel mapping; transmission resource corresponding to the first SL reference signal; reporting resource corresponding to the first position information; request signaling resource corresponding to the first position information request.

25. The method of claim 24, wherein, The SL channel is configured in a first resource pool, the first resource pool is different from a second resource pool, the first resource pool is used to configure SL positioning resources for terminal positioning, and the second resource pool is used to configure other communication resources in addition to the SL positioning resources.

26. A method of positioning on a sidelink, SL, characterized by The method is performed by the second terminal or the network side device, and comprises: receiving first position information; wherein the first position information comprises first measurement results obtained by the first terminal by measuring first SL reference signals for positioning, the first SL reference signals being transmitted by the second terminal and / or the network side device; the first measurement results include a difference between a first time and a second time, the first time being a time at which the first terminal receives the first SL reference signal, and the second time being a time at which the first terminal transmits a second SL reference signal; the first time at which the first terminal receives the first SL reference signal comprises: the first time being a time at which the first terminal receives a specified diameter corresponding to a predetermined SL time unit, the specified diameter of the predetermined SL time unit being determined according to the first SL reference signal; the second time at which the first terminal transmits the second SL reference signal comprises: the second time being a time at which the first terminal transmits a target SL time unit, the transmission time of the target SL time unit and the time of receiving the predetermined SL time unit satisfying a predetermined requirement.

27. The method of claim 26, wherein, The first position information further comprises at least one of: second measurement results, the second measurement results being additional measurement results obtained by the first terminal by measuring the first SL reference signals in addition to the first measurement results; identification information; timestamp information; calibration information; relative distance information; absolute position information; relative position information; target event information, the target event information being used to indicate that the first terminal reports the first position information in relation to a target event; second position information request, the second position information request being used to indicate that the second terminal reports position information; wherein the identification information, the timestamp information, the calibration information, the relative distance information, the absolute position information, and the relative position information are information associated with the first terminal measuring the first SL reference signal.

28. The method of claim 27, wherein, The second measurement results comprise at least one of additional arrival diameters, measurement result granularity, line of sight transmission LOS / non-line of sight transmission NLOS indication information, spatial domain measurement information, and frequency measurement information.

29. The method of claim 26, wherein, The method further comprises: transmitting a first location information request, the first location information request being used to instruct a first terminal to report the first location information.

30. The method of claim 29, wherein, The first location information request carries at least one of the following: a first location information request identifier; a type of the first location information; priority indication information; reporting time requirement; quality of service indication; whether LOS / NLOS indication is required; whether additional path is required; a number of measurement results; a granularity of measurement results; whether calibration information is required to be reported; whether identification information is required to be reported; whether power measurement results are included; a location information reporting type, the location information reporting type including at least one of periodic reporting, aperiodic reporting, and event triggered reporting; reporting resource indication information corresponding to the first location information; resource indication information of the first SL reference signal; a reporting manner of the first location information; and target event information.

31. The method of claim 29, wherein, The first location information request is transmitted through predetermined information, the predetermined information including any one of first stage sidelink control information (SCI), second stage SCI, a physical sidelink shared channel (PSSCH), PC5-RRC, PC5-media access control control element (MAC CE), LTE positioning protocol (LPP), MAC CE, RRC, and downlink control information (DCI).

32. The method of claim 29, wherein, The first location information request is transmitted simultaneously with the first SL reference signal, and the first location information request is carried in a payload of the first SL reference signal.

33. The method of claim 26, wherein, The method further includes: receiving hybrid automatic repeat request (HARQ) information, the HARQ information being used to instruct the first terminal to report or not to report the first location information, the HARQ information being associated with the first SL reference signal and / or the first location information request.

34. The method of claim 33, wherein, The HARQ information is used to instruct the first terminal to report or not to report the first location information, including at least one of the following: In a case where the HARQ information is a negative acknowledgement, the first terminal reports the first location information. In a case where the HARQ information is a positive acknowledgement, the first terminal does not report the first location information.

35. The method of any one of claims 26-34, wherein, After receiving the first location information, the method further includes: transmitting fifth location information, the fifth location information including at least one of the following: relative distance information between the second terminal and the first terminal; absolute location information of the second terminal; and relative location information of the second terminal.

36. The method of any one of claims 26-34, wherein, At least one of the following is obtained through SL channel mapping: transmission resource corresponding to the first SL reference signal; reporting resource corresponding to the first location information; and request signaling resource corresponding to the first location information request.

37. The method of claim 36, wherein, The SL channel is configured in a first resource pool, the first resource pool being different from a second resource pool, the first resource pool being used to configure SL positioning resources for terminal positioning, and the second resource pool being used to configure other communication resources other than the SL positioning resources.

38. A positioning apparatus on a SL, characterized by The apparatus includes: reporting a first position information; wherein the first position information comprises a first measurement result, the first measurement result is obtained by the first terminal by measuring a first SL reference signal for positioning, the first SL reference signal is transmitted by a second terminal and / or a network side device; the first measurement result comprises a difference between a first time and a second time, the first time is a time when the first terminal receives the first SL reference signal, the second time is a time when the first terminal transmits a second SL reference signal; the first time is a time when the first terminal receives the first SL reference signal, comprising: the first time is a time when the first terminal receives a specified path corresponding to a predetermined SL time unit, the specified path of the predetermined SL time unit is determined according to the first SL reference signal; the second time is a time when the first terminal transmits a second SL reference signal, comprising: the second time is a time when the first terminal transmits a target SL time unit, a transmission time of the target SL time unit and a time of receiving the predetermined SL time unit satisfy a predetermined requirement.

39. A positioning apparatus on a SL, characterized by The device comprises: a receiving module for receiving a first position information, wherein the first position information comprises a first measurement result, the first measurement result is obtained by the first terminal by measuring a first SL reference signal for positioning, the first SL reference signal is transmitted by a second terminal and / or a network side device; the first measurement result comprises a difference between a first time and a second time, the first time is a time when the first terminal receives the first SL reference signal, the second time is a time when the first terminal transmits a second SL reference signal; the first time is a time when the first terminal receives the first SL reference signal, comprising: the first time is a time when the first terminal receives a specified path corresponding to a predetermined SL time unit, the specified path of the predetermined SL time unit is determined according to the first SL reference signal; the second time is a time when the first terminal transmits a second SL reference signal, comprising: the second time is a time when the first terminal transmits a target SL time unit, a transmission time of the target SL time unit and a time of receiving the predetermined SL time unit satisfy a predetermined requirement.

40. A terminal, characterized by comprises a processor, a memory and a program or instruction stored on the memory and executable on the processor, when the program or instruction is executed by the processor, the steps of the positioning method on the SL are realized, or the steps of the positioning method on the SL are realized.

41. A network-side device, comprising: comprises a processor, a memory and a program or instruction stored on the memory and executable on the processor, when the program or instruction is executed by the processor, the steps of the positioning method on the SL are realized.

42. A readable storage medium characterized by, The readable storage medium stores programs or instructions, which, when executed by a processor, implement the steps of the positioning method on the sidelink SL as claimed in any one of claims 1-25, or implement the steps of the positioning method on the sidelink SL as claimed in any one of claims 26-37.

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