A method and apparatus for transmitting a sidelink (SL) positioning reference signal (PRS)

Abstract

The method comprises the following steps: determining the transmission power of the SL PRS according to the path loss of a transmission path; and transmitting the SL PRS based on the transmission power. Thus, it is ensured that each positioning assistance device can receive the SL PRS, thereby achieving accurate and reliable positioning of the terminal device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of communication, and particularly relates to a sidelink SL positioning reference signal PRS transmission method and device. BACKGROUND

[0002] A terminal device can be positioned by transmitting a sidelink (SL) positioning reference signal (PRS). The SL PRS transmitted by the terminal device can need to be received by multiple positioning assistance devices, and how to determine the transmission power of the SL PRS needs to be clarified. SUMMARY

[0003] Embodiments of the present disclosure provide a sidelink SL positioning reference signal PRS transmission method and device, which determines the transmission power of the SL PRS according to the path loss of the transmission path, and then transmits the SL PRS, so as to ensure that each positioning assistance device can receive the SL PRS, and accurate and reliable positioning of the terminal device is achieved.

[0004] In a first aspect, embodiments of the present disclosure provide a sidelink SL positioning reference signal PRS transmission method, which is performed by a first terminal device, and the method comprises: determining the transmission power of the SL PRS according to the path loss of the transmission path; and transmitting the SL PRS based on the transmission power.

[0005] In the present disclosure, the first terminal device determines the transmission power of the SL PRS according to the path loss of the transmission path, and then transmits the SL PRS, so as to ensure that each positioning assistance device can receive the SL PRS, and accurate and reliable positioning of the terminal device is achieved.

[0006] In a second aspect, embodiments of the present disclosure provide a communication device, which comprises:

[0007] A processing module is configured to determine the transmission power of the SL PRS according to the path loss of the transmission path.

[0008] A transceiver module is configured to transmit the SL PRS based on the transmission power.

[0009] In a third aspect, embodiments of the present disclosure provide a communication device, which comprises a processor, and when the processor invokes a computer program in a memory, the method in the first aspect is executed.

[0010] In a fourth aspect, embodiments of the present disclosure provide a communication device, which comprises a processor and a memory, and the memory stores a computer program; the processor executes the computer program stored in the memory, so that the communication device executes the method in the first aspect.

[0011] In a fifth aspect, an embodiment of the present disclosure provides a communication device, comprising a processor and an interface circuit for receiving code instructions and transmitting to the processor, the processor being configured to run the code instructions to enable the device to perform the method of the first aspect.

[0012] In a sixth aspect, an embodiment of the present disclosure provides a communication system, comprising the communication device of the second aspect, or the communication device of the third aspect, or the communication device of the fourth aspect, or the communication device of the fifth aspect.

[0013] In a seventh aspect, an embodiment of the present disclosure provides a computer readable storage medium for storing instructions for the terminal device, when the instructions are executed, enabling the terminal device to perform the method of the first aspect.

[0014] In an eighth aspect, the present disclosure further provides a computer program product comprising a computer program, when executed on a computer, enabling the computer to perform the method of the first aspect.

[0015] In a ninth aspect, the present disclosure provides a chip system, comprising at least one processor and an interface for supporting the first terminal device to realize the functions involved in the first aspect, such as determining or processing at least one of the data and information involved in the above method. In a possible design, the chip system further comprises a memory, and the memory is configured to store the necessary computer programs and data of the terminal device. The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0016] In a tenth aspect, the present disclosure provides a computer program, when executed on a computer, enabling the computer to perform the method of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the background art, the drawings needed to be used in the embodiments of the present disclosure or the background art will be described below.

[0018] Figure 1 is a schematic diagram of a communication system architecture provided by an embodiment of the present disclosure;

[0019] Figure 2 is a flowchart of a sidelink SL positioning reference signal PRS transmission method provided by an embodiment of the present disclosure;

[0020] Figure 3FIG. 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure;

[0021] Figure 4 FIG. 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure;

[0022] Figure 5 FIG. 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure;

[0023] Figure 6 FIG. 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure;

[0024] Figure 7 FIG. 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure;

[0025] Figure 8 FIG. 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure;

[0026] Figure 9 FIG. 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure;

[0027] Figure 10 FIG. 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure;

[0028] Figure 11 FIG. 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure; DETAILED DESCRIPTION

[0029] For ease of understanding, first introduce the terms related to the present disclosure.

[0030] 1. Positioning assistance device

[0031] There are different types of positioning assistance devices, such as road side unit (RSU) type positioning assistance devices, which belong to a kind of infrastructure, which can provide positioning services by cooperating with other RSUs. For example, as shown in Figure 1 FIG. 1 is a schematic diagram of a communication system architecture according to an embodiment of the present disclosure. The terminal device 11 can determine the specific position of the terminal device relative to the RSU by measuring the PRS transmitted by the multiple (greater than or equal to 3) positioning assistance devices (RSU) through the SL link.

[0032] If the positioning result is not converted into absolute position coordinates based on absolute position information such as GPS of the RSU, the positioning result is relative positioning, and vice versa, which is absolute positioning. The RSU participating in relative positioning or absolute positioning is a positioning assistance device.

[0033] Alternatively, the terminal device can also be a positioning assistance device, which is difficult to assist in providing positioning services together with other UEs. In addition, some positioning assistance devices have position information such as global positioning system (GPS), which can assist other terminal devices in absolute positioning.

[0034] Please refer to Figure 1 , the communication system can include but is not limited to one terminal device, one positioning assistance device, Figure 1 The number and form of devices shown are only for example and do not constitute a limitation on the embodiments of the present disclosure, and in actual applications, two or more terminal devices and two or more positioning assistance devices can be included. Figure 1 The communication system shown takes one terminal device 11, three positioning assistance devices 12, 13, and 14 as an example.

[0035] It should be noted that the technical solutions of the embodiments of the present disclosure can be applied to various communication systems. For example: long term evolution (LTE) system, 5th generation (5G) mobile communication system, 5G new radio (NR) system, or other future new mobile communication systems, etc.

[0036] The terminal device 11 in the embodiments of the present disclosure is an entity for receiving or transmitting signals on the user side, such as a mobile phone. The terminal device can also be referred to as a terminal, a user equipment (UE), a mobile station (MS), a mobile terminal (MT), and the like. The terminal device can be a car, a smart car, a mobile phone, a wearable device, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in smart grid, a wireless terminal device in transportation safety, a wireless terminal device in smart city, a wireless terminal device in smart home, and the like. The embodiments of the present disclosure do not limit the specific technology and specific device form of the terminal device.

[0037] The positioning assistance device in the embodiments of the present disclosure can be an entity for transmitting or receiving signals. For example, the positioning assistance device can be an RSU, or the positioning assistance device can also be a terminal device, or the positioning assistance device can also be an evolved NodeB (eNB), a transmission reception point (TRP), a next generation NodeB (gNB) in an NR system, a base station in other future mobile communication systems, or an access node in a wireless fidelity (WiFi) system, and the like.

[0038] In the system, the terminal device can implement the technical solutions provided by the embodiments of the present disclosure Figures 2 to 7 The method shown in any embodiment.

[0039] It can be understood that the communication system described in the embodiments of the present disclosure is for more clearly illustrating the technical solutions of the embodiments of the present disclosure, and does not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. It can be known by those skilled in the art that, with the evolution of system architecture and the appearance of new business scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0040] The present disclosure is mainly directed to the problem of how to accurately determine the transmission power of SL PRS in the SL link positioning process, which may need to be received by multiple positioning assistance devices, proposes to determine the transmission power of SL PRS according to the actual path loss, and then transmit SL PRS based on the determined transmission power. Thus, it is ensured that each positioning assistance device can receive SL PRS, thereby realizing accurate and reliable positioning of the terminal device.

[0041] Please refer to Figure 2 , Figure 2 is a flowchart of a sidelink SL positioning reference signal PRS transmission method provided by an embodiment of the present disclosure, which is executed by a first terminal device. As Figure 2 shown, the method can include but is not limited to the following steps:

[0042] Step 201, determining the transmission power of SL PRS according to the path loss of the transmission path.

[0043] Optionally, the path loss of the transmission path includes the path loss of the downlink and / or the path loss of the SL link.

[0044] The path loss of the downlink, i.e. the path loss of the air interface between the terminal device and the network device, can also be referred to as the path loss of the Uu interface. Optionally, the path loss of the Uu interface can be determined by the terminal device according to the RSRP value of the received downlink signal and the transmission power value of the network device, and the present disclosure does not limit this.

[0045] In the present disclosure, in the scenario where the SL link and the uplink share the uplink frequency band, in order to avoid the interference of the uplink transmission on the SL PRS, the first terminal device can determine the transmission power of the SL PRS according to the path loss of the downlink at this time.

[0046] That is, the terminal device can determine the path loss of the Uu interface as the path loss of the transmission path; or it can also determine the path loss of the SL link as the path loss of the transmission path, or it can also select one from the path loss of the Uu interface and the path loss of the SL link according to the rules as the path loss of the transmission path, or it can also determine the path loss of the transmission path according to the rules from the path loss of the Uu interface and the path loss of the SL link, etc.; the present disclosure does not limit this.

[0047] Optionally, the terminal device can determine the path loss of the SL link according to a reference signal receiving power (RSRP) value of a demodulation reference signal (DMRS) of a physical SL shared channel (PSSCH) or a physical SL control channel (PSCCH).

[0048] For example, the terminal device B receives the DMRS in the PSSCH sent by the terminal device A (first terminal device) to calculate the SL RSRP, and sends the SL RSRP after layer 3 filtering to the terminal device A, and the terminal device A can obtain the path loss of the SL link between the terminal device A and the terminal device B by subtracting the SL RSRP from the PSSCH sending power.

[0049] Optionally, the terminal device A can also send the obtained SL link path loss to the terminal device B. That is, the terminal device can determine the path loss of the SL link by itself through calculation, or can receive the path loss of the SL link sent by other terminal devices.

[0050] Optionally, the terminal device can also determine the path loss of the SL link according to the RSRP value of the SL PRS. Alternatively, the terminal device can also determine the path loss of the SL link according to the DMRS of the SL synchronization signal block (SSB). Alternatively, the terminal device can also determine the path loss of the SL link according to the primary synchronization signal (PPS) of the SL SSB. Alternatively, the terminal device can also determine the path loss of the SL link according to the secondary synchronization signal (SSS) of the SL SSB.

[0051] For example, the terminal device B receives the SL PRS sent by the terminal device A (first terminal device) to calculate the SL RSRP, and sends the SL RSRP after layer 3 filtering to the terminal device A, and the terminal device A can obtain the path loss of the SL link between the terminal device A and the terminal device B by subtracting the SL RSRP from the PSSCH sending power. Then, the terminal device A can also send the path loss of the SL link between the terminal device A and the terminal device B to the terminal device B.

[0052] Step 202, sending the SL PRS based on the sending power.

[0053] In the present disclosure, after determining the transmission power, the first terminal device can transmit the SL PRS based on the transmission power, so as to ensure that the positioning assistance device can receive the PRS, thereby realizing the positioning of the terminal device.

[0054] Optionally, the first terminal device can transmit the SL PRS at the determined transmission power, or at a power value not lower than the determined transmission power, which is not limited in the present disclosure.

[0055] In the present disclosure, the first terminal device first determines the transmission power of the SL PRS according to the path loss of the transmission path, and then transmits the SL PRS based on the determined transmission power. In this way, it is ensured that each positioning assistance device can receive the SL PRS, thereby realizing accurate and reliable positioning of the terminal device.

[0056] Please refer to Figure 3 , Figure 3 is another flowchart of a method for transmitting a sidelink SL positioning reference signal PRS provided by an embodiment of the present disclosure, which is executed by a first terminal device. As shown in Figure 3 , the method can include but is not limited to the following steps:

[0057] Step 301: determining the transmission power of the SL PRS according to the path loss of the SL link between the first terminal device and a plurality of positioning assistance devices.

[0058] Optionally, the plurality of positioning assistance devices can be devices receiving the SL PRS transmitted by the first terminal device. The plurality of positioning assistance devices can be other terminal devices, or can also be RSUs, which are not limited in the present disclosure.

[0059] Optionally, the terminal device A (the first terminal device) can determine how many positioning assistance devices need to receive the SL PRS transmitted by the terminal device A according to the previous positioning negotiation process. For example, for SL time difference of arrival (TDOA) positioning, angle of arrival (AOA) positioning, and angle of departure (AOD) positioning methods, the terminal device A transmits the SL PRS signal to a plurality of positioning assistance devices (usually greater than or equal to 3), and the plurality of positioning assistance devices respectively calculate the arrival time or arrival angle or RSRP of the SL PRS, and finally calculate the position of UE A based on the result.

[0060] Optionally, the first terminal device can determine the minimum value of the multiple transmission powers respectively determined according to the path losses of the multiple SL links as the transmission power of the SL PRS, or determine the maximum value of the multiple transmission powers respectively determined according to the path losses of the multiple SL links as the transmission power of the SL PRS.

[0061] For example, there are three positioning assistance devices receiving the SL PRS sent by the first terminal device (terminal device A), which are terminal device B, terminal device C and terminal device D. The terminal device A determines the transmission power value P1 according to the path loss of the SL link between the terminal device A and the terminal device B, determines the transmission power value P2 according to the path loss of the SL link between the terminal device A and the terminal device C, and determines the transmission power value P3 according to the path loss of the SL link between the terminal device A and the terminal device D, where P1 < P2 < P3. The terminal device can determine P1 as the transmission power of the SL PRS, or can also determine P3 as the transmission power of the SL PRS, which is not limited in the disclosure. Optionally, the first terminal device can also determine the path loss value corresponding to the first terminal device according to the path losses of the multiple SL links and the weight values corresponding to each SL link, and then determine the transmission power of the SL PRS according to the path loss value.

[0062] Referring to the above example, if the path loss of the SL link between the terminal device A and the terminal device B is S1, the corresponding weight value is a, the path loss of the SL link between the terminal device A and the terminal device C is S2, the corresponding weight value is b, and the path loss of the SL link between the terminal device A and the terminal device D is S1, the corresponding weight value is c, then the path loss value can be determined as a*S1+b*S2+c*S3.

[0063] Optionally, the weight value corresponding to each SL link can be configured by the network device, or determined by the first terminal device based on the type of the positioning assistance device, and the like, which is not limited in the disclosure.

[0064] Step 302, transmitting the SL PRS based on the transmission power.

[0065] The specific implementation process of the above step 302 can refer to the detailed description of any embodiment of the disclosure, which will not be repeated here.

[0066] In the disclosure, the first terminal device determines the transmission power of the SL PRS according to the path losses of the SL links between the first terminal device and multiple positioning assistance devices, and then transmits the SL PRS based on the determined transmission power. Therefore, it is ensured that each positioning assistance device can receive the SL PRS, thereby realizing accurate and reliable positioning of the terminal device.

[0067] Please refer to Figure 4 , Figure 4FIG. 3 is a flow diagram of another method for transmitting sidelink (SL) positioning reference signal (PRS) according to an embodiment of the present disclosure. The method is performed by a first terminal device. As shown in FIG. 3, the method can include, but is not limited to, the following steps. Figure 4

[0068] In step 401, one or more transmission powers are determined according to the path loss of the downlink and the path loss of the SL link between the first terminal device and one or more positioning assistance devices.

[0069] In the present disclosure, the first terminal device can determine one transmission power according to the path loss of the downlink, and determine one or more transmission powers based on the path loss of the SL link between the first terminal device and one or more positioning assistance devices, i.e., the first terminal device can determine multiple transmission powers.

[0070] The specific implementation of the first terminal device based on the path loss of the downlink and the path loss of the SL link can refer to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0071] In step 402, the minimum or maximum of the multiple transmission powers is determined as the transmission power of the SL PRS.

[0072] For example, the first terminal device determines a transmission power P1 according to the path loss of the downlink, a transmission power P2 according to the path loss of the SL link between the first terminal device and the positioning assistance device 1, a transmission power P3 according to the path loss of the SL link between the first terminal device and the positioning assistance device 2, and a transmission power P4 according to the path loss of the SL link between the first terminal device and the positioning assistance device 3, and P1>P2>P3>P4. Then, the first terminal device can determine P1 as the transmission power of the SL PRS, or determine P4 as the transmission power of the SL PRS.

[0073] For another example, the first terminal device determines a transmission power P1 according to the path loss of the downlink, the path loss S1 of the SL link between the first terminal device and the positioning assistance device 1 with a corresponding weight a, the path loss S2 of the SL link between the first terminal device and the positioning assistance device 2 with a corresponding weight b, and the path loss S3 of the SL link between the first terminal device and the positioning assistance device 3 with a corresponding weight c, determines a total path loss value S according to the path loss and the weight of each SL link, and further determines a transmission power P2, and P1<P2. Then, the first terminal device can determine P1 as the transmission power of the SL PRS, or determine P2 as the transmission power of the SL PRS, which is not limited in the present disclosure.

[0074] In step 403, the SL PRS is transmitted based on the transmission power.

[0075] The specific implementation of step 403 can refer to the detailed description of any embodiment of the present disclosure, which will not be repeated here. ​

[0076] In the present disclosure, the first device can determine a plurality of transmission powers according to the path loss of the downlink and the path loss of the SL link between the one or more positioning assistance devices, then determine the minimum or maximum value of the plurality of transmission powers as the transmission power of the SL PRS, and then transmit the SL PRS based on the determined transmission power. In this way, it is ensured that each positioning assistance device can receive the SL PRS, thereby achieving accurate and reliable positioning of the terminal device.

[0077] Please refer to Figure 5 , Figure 5 is a flowchart of another sidelink SL positioning reference signal PRS transmission method provided by an embodiment of the present disclosure, which is executed by a first terminal device. As shown in Figure 5 , the method can include but is not limited to the following steps:

[0078] Step 501, determine power control configuration information.

[0079] In the present disclosure, the power control configuration information can be used to indicate the manner in which the first terminal device calculates the SL PRS transmission power.

[0080] Optionally, the power control configuration information can be pre-set in the first terminal device, which is not limited in the present disclosure.

[0081] Optionally, the first terminal device can also receive the power control configuration information transmitted by the second terminal device.

[0082] Optionally, the first terminal device can receive the power control configuration information transmitted by the second terminal device in any of the following ways: SL long term evolution positioning protocol (LPP) message, PC5-S message, radio resource control (RRC) message, and SL control information (SCI).

[0083] Alternatively, the first terminal device can also receive the power control configuration information transmitted by the network device.

[0084] Optionally, the first terminal device can receive the power control configuration information transmitted by the network device through the LPP message.

[0085] Alternatively, the first terminal device can also receive the power control configuration information transmitted by the location management function (LMF) device.

[0086] Optionally, the first terminal device receives the power control configuration information sent by the LMF in any of the following ways:

[0087] The system broadcast message, the RRC reconfiguration message, the RRC release message, the downlink control information (DCI), and the medium access control (MAC) control element (CE).

[0088] In step 502, it is determined whether to calculate the transmission power of the SL PRS based on the path loss of the SL link and / or the path loss of the downlink according to the power control configuration information.

[0089] Optionally, the power control configuration information can indicate that the first terminal device calculates the transmission power of the SL PRS based on the path loss of one SL link, or that the first terminal device calculates the transmission power of the SL PRS based on the path loss of multiple SL links, or that the first terminal device calculates the transmission power of the SL PRS based on the path loss of the downlink, or that the first terminal device calculates the transmission power of the SL PRS based on the path loss of the SL link and the path loss of the downlink, and the like, which are not limited in the present disclosure.

[0090] In step 503, in response to the power control configuration information indicating that the transmission power of the SL PRS is calculated based on the path loss of the SL link and the path loss of the downlink, the minimum or maximum of the transmission powers calculated based on the path loss of the SL link and the path loss of the DL link, respectively, is determined as the transmission power of the SL PRS.

[0091] In the present disclosure, if the power control configuration information indicates that the transmission power of the SL PRS is calculated based on the path loss of the SL link and the path loss of the downlink, the first terminal device can calculate the transmission power of one SL PRS based on the path loss of the downlink, and calculate the transmission power of one or more SL PRSs based on the path loss of one or more SL links, and then determine the minimum or maximum of the calculated multiple transmission powers as the transmission power of the SL PRS.

[0092] Wherein, the way and process in which the first terminal device calculates the transmission power of one or more SL PRSs based on the path loss of one or more SL links can refer to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0093] In step 504, the SL PRS is transmitted based on the transmission power.

[0094] The specific implementation of the above step 504 can refer to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0095] In the present disclosure, the first terminal device first determines the power control configuration information, and in the case that the power control configuration information indicates that the transmission power of the SL PRS is calculated based on the path loss of the SL link and the path loss of the downlink, the minimum or maximum of the transmission power respectively calculated based on the path loss of the SL link and the path loss of the downlink is determined as the transmission power of the SL PRS, and then the SL PRS is transmitted based on the determined transmission power. In this way, it is ensured that each positioning assistance device can receive the SL PRS, thereby realizing accurate and reliable positioning of the terminal device.

[0096] Please refer to Figure 6 , Figure 6 is a flowchart of another method for transmitting a sidelink (SL) positioning reference signal (PRS) provided by an embodiment of the present disclosure. As shown in Figure 6 , the method can include but is not limited to the following steps:

[0097] Step 601: Determine the power control configuration information.

[0098] The specific implementation of steps 601 and 602 can refer to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0099] Step 602: Determine whether to calculate the path loss of the transmission path based on multiple SL links according to the power control configuration information.

[0100] Optionally, the power control configuration information can include an information field specifically indicating whether to calculate the path loss of the transmission path based on multiple SL links, so that the first terminal device can determine whether to calculate the path loss based on multiple SL links according to the value of the information field. For example, if the information field takes the value 1, it indicates that the path loss is calculated based on multiple SL links, otherwise it indicates that the path loss is not calculated based on multiple SL links, and the present disclosure does not limit this.

[0101] Optionally, the first terminal device can also determine whether the path of the transmission path can be calculated based on multiple SL links according to the number of identification information of the SL link included in the power control configuration information.

[0102] For example, if the power control configuration information includes identification information of multiple SL links, the first terminal device can determine that the power control configuration information indicates that the path loss is calculated based on multiple SL links; if it only includes identification information of one SL link, it indicates that the path loss is calculated based on the one SL link, and the present disclosure does not limit this.

[0103] The identification information of the SL link can be an SL layer 2 source identification (SL layer 2 source ID) and / or an SL layer 2 destination ID.

[0104] In step 603, in response to the identification information of the multiple SL links being contained in the power control configuration information, it is determined that the power control configuration information indicates that the path loss of the transmission path is calculated based on the multiple SL links.

[0105] In the present disclosure, if the identification information of the multiple SL links is contained in the power control configuration information, the first terminal device can determine that the power control configuration information indicates that the path loss of the transmission path is calculated based on the multiple SL links.

[0106] In step 604, the transmission power of the SL PRS is determined according to the path loss of the multiple SL links in the power control configuration information.

[0107] In step 605, the SL PRS is transmitted based on the transmission power.

[0108] The specific implementation of steps 604 and 605 can refer to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0109] In the present disclosure, the first terminal device first determines the power control configuration information, and in the case where the power control configuration information indicates that the transmission power of the SL PRS is calculated based on the path loss of the multiple SL links, the transmission power of the SL PRS is calculated according to the path loss of the multiple SL links, and then the SL PRS is transmitted based on the determined transmission power. Therefore, it is ensured that each positioning assistance device can receive the SL PRS, thereby achieving accurate and reliable positioning of the terminal device.

[0110] Please refer to Figure 7 , Figure 7 is a flowchart of another sidelink (SL) positioning reference signal (PRS) transmission method provided by an embodiment of the present disclosure, which is performed by a first terminal device. As shown in Figure 7 , the method can include but is not limited to the following steps:

[0111] In step 701, the power control configuration information is determined.

[0112] The specific implementation of step 701 can refer to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0113] In step 702, in response to the identification information of one SL link being contained in the power control configuration information, it is determined that the power control configuration information indicates that the path loss of the transmission path is not calculated based on the multiple SL links.

[0114] In step 703, the transmission power of the SL PRS is determined according to the path loss of one SL link in the power control configuration information.

[0115] In the present disclosure, if the power control configuration information only contains the identification information of one SL link, the first terminal device can calculate the transmission power of the SL PRS based on the path loss of the one SL link.

[0116] In step 704, the SL PRS is transmitted based on the transmission power.

[0117] The specific implementation process of the above steps 702-704 can refer to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0118] In the present disclosure, the first terminal device first determines the power control configuration information. In the case where the power control configuration information only contains the identification information of one SL link, the first terminal device can calculate the transmission power of the SL PRS based on the path loss of the one SL link, and then transmit the SL PRS based on the determined transmission power. In this way, it is ensured that each positioning assistance device can receive the SL PRS, thereby achieving accurate and reliable positioning of the terminal device.

[0119] Please refer to Figure 8 , Figure 8 is a flowchart of another method for transmitting sidelink (SL) positioning reference signal (PRS) provided by an embodiment of the present disclosure. The method is performed by a first terminal device. As shown in Figure 8 , the method can include but is not limited to the following steps:

[0120] In step 801, power control configuration information is determined.

[0121] The specific implementation of the above step 801 can refer to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0122] In step 802, in response to the power control configuration information indicating that the path loss of the transmission path is not calculated based on multiple SL links and the power control configuration information containing the identification information of multiple SL links, the transmission power of the SL PRS is determined according to the path loss of one SL link in the multiple SL links.

[0123] In the present disclosure, the power control configuration information contains an information field specially used to indicate whether to calculate the path loss based on multiple SL links. The first terminal device can determine whether to calculate the path loss based on multiple SL links according to the value of the information field.

[0124] If the information indicates that the path loss is calculated based on multiple SL links, and the power control configuration information contains identification information of multiple SL links, the first terminal device determines the transmission power of the SL PRS according to the path loss of one SL link in the multiple SL links.

[0125] Optionally, the first terminal device can calculate the path loss of the transmission path according to any one SL link in the multiple SL links.

[0126] Alternatively, the first terminal device can also calculate the path loss of the transmission path according to a specified SL link in the multiple SL links. The specified SL link is the link between the first terminal device and a specified positioning assistance device, and the specified positioning assistance device is a device that receives the SL PRS and has only an SL unicast connection with the first terminal device.

[0127] That is, if the power control configuration information contains identification information of multiple SL links, the first terminal device can first determine the positioning assistance device corresponding to the identification information of each SL link, and then determine the number and form of the link between the first terminal device and each positioning assistance device. If the first terminal device has only an SL unicast connection with any positioning assistance device, the any positioning assistance device can be determined as the specified positioning assistance device, and the transmission power of the SL PRS can be calculated based on the path loss of the SL link between the first terminal device and the specified positioning assistance device.

[0128] Optionally, if the information field in the power control configuration information indicates that the path loss is not calculated based on multiple SL links, and the power control configuration information contains identification information of only one SL link, the first terminal device can also determine the transmission power of the SL PRS according to the path loss of the one SL link.

[0129] Step 803: transmitting the SL PRS based on the transmission power.

[0130] The specific implementation process of the above step 803 can refer to the detailed description of any embodiment of the present disclosure, which will not be described here.

[0131] In the present disclosure, the first terminal device first determines the power control configuration information. In the case where the power control configuration information indicates that the path loss is not calculated based on multiple SL links, and the power control configuration information contains identification information of multiple SL links, the first terminal device can determine the transmission power of the SL PRS according to the path loss of one SL link in the multiple SL links, and then transmit the SL PRS based on the determined transmission power. Thus, it is ensured that each positioning assistance device can receive the SL PRS, thereby realizing accurate and reliable positioning of the terminal device.

[0132] It should be noted that the foregoing multiple embodiments of the present disclosure can be implemented alone or in combination, and the present disclosure does not limit the embodiments.

[0133] Please refer to Figure 9 A structural schematic diagram of a communication apparatus provided by the embodiments of the present disclosure is shown. Figure 9 The communication apparatus 900 shown can include a processing module 901 and a transceiver module 902. The transceiver module 902 can include a sending module and / or a receiving module, the sending module is used to implement the sending function, and the receiving module is used to implement the receiving function, and the transceiver module 902 can implement the sending function and / or the receiving function.

[0134] It can be understood that the communication apparatus 900 can be a first terminal device, or an apparatus in the first terminal device, or an apparatus that can be used in matching with the first terminal device.

[0135] The communication apparatus 900 is at the first terminal device side, wherein:

[0136] The processing module 901 is configured to determine the sending power of the SL PRS according to the path loss of the transmission path.

[0137] The transceiver module 902 is configured to send the SL PRS based on the sending power.

[0138] Optionally, the path loss of the transmission path includes the path loss of the downlink or the path loss of the SL link.

[0139] Optionally, the processing module 901 is further configured to:

[0140] determine the path loss of the SL link according to a reference signal received power (RSRP) value of a demodulation reference signal (DMRS) of a physical SL shared channel (PSSCH) or a physical SL control channel (PSCCH); or

[0141] determine the path loss of the SL link according to an RSRP value of the SL PRS; or

[0142] determine the path loss of the SL link according to a DMRS of a SL synchronization signal block (SSB); or

[0143] determine the path loss of the SL link according to a primary synchronization signal (PSS) of the SL SSB; or

[0144] determine the path loss of the SL link according to a secondary synchronization signal (SSS) of the SL SSB.

[0145] Optionally, the processing module 901 is further configured to determine the sending power of the SL PRS according to the path loss of the SL link between the first terminal device and a plurality of positioning assistance devices.

[0146] Optionally, the plurality of positioning assistance devices are devices that receive the SL PRS transmitted by the first terminal device.

[0147] Optionally, the processing module 901 is further configured to:

[0148] determine, as the transmission power of the SL PRS, a minimum value of a plurality of transmission powers respectively determined according to path losses of the plurality of SL links; or

[0149] determine, as the transmission power of the SL PRS, a maximum value of a plurality of transmission powers respectively determined according to path losses of the plurality of SL links.

[0150] Optionally, the processing module 901 is further configured to:

[0151] determine, according to the path losses of the plurality of SL links and a weight value corresponding to each of the SL links, a path loss value corresponding to the first terminal device;

[0152] determine, according to the path loss value, the transmission power of the SL PRS.

[0153] Optionally, the processing module 901 is further configured to:

[0154] determine a plurality of transmission powers according to a path loss of a downlink and path losses of SL links between the first terminal device and one or more positioning assistance devices;

[0155] determine, as the transmission power of the SL PRS, a minimum value or a maximum value of the plurality of transmission powers.

[0156] Optionally, the processing module 901 is further configured to:

[0157] determine, according to the power control configuration information, whether to calculate the transmission power of the SL PRS based on a path loss of an SL link; and / or

[0158] determine, according to the power control configuration information, whether to calculate the transmission power of the SL PRS based on a path loss of a downlink.

[0159] Optionally, the processing module 901 is further configured to:

[0160] in response to the power control configuration information indicating that the transmission power of the SL PRS is calculated based on a path loss of an SL link and a path loss of a downlink, determine, as the transmission power of the SL PRS, a minimum value or a maximum value of transmission powers respectively calculated according to the path loss of the SL link and the path loss of the downlink.

[0161] Optionally, the processing module 901 is further configured to:

[0162] determine whether to calculate the path loss of the transmission path based on multiple SL links according to the power control configuration information.

[0163] Optionally, the processing module 901 is further configured to:

[0164] in response to the identification information of multiple SL links being contained in the power control configuration information, determine that the power control configuration information indicates to calculate the path loss of the transmission path based on the multiple SL links; or

[0165] in response to the identification information of one link being contained in the power control configuration information, determine that the power control configuration information indicates not to calculate the path loss of the transmission path based on multiple SL links.

[0166] Optionally, the processing module 901 is further configured to:

[0167] in response to the power control configuration information indicating not to calculate the path loss of the transmission path based on multiple SL links, and the identification information of one SL link being contained in the power control configuration information, determine the transmission power of the SL PRS according to the path loss of the one SL link; or

[0168] in response to the power control configuration information indicating not to calculate the path loss of the transmission path based on multiple SL links, and the identification information of multiple SL links being contained in the power control configuration information, determine the transmission power of the SL PRS according to the path loss of one SL link in the multiple SL links.

[0169] Optionally, the processing module 901 is further configured to:

[0170] calculate the path loss of the transmission path according to any one of the multiple SL links; or

[0171] calculate the path loss of the transmission path according to a specified SL link in the multiple SL links, wherein the specified SL link is a link between the first terminal device and a specified positioning assistance device, and the specified positioning assistance device is a terminal device that receives the SL PRS and has only an SL unicast connection with the first terminal device.

[0172] Optionally, the transceiver module 902 is further configured to:

[0173] receive power control configuration information sent by a second terminal device; or

[0174] receive power control configuration information sent by a network device; or

[0175] receive power control configuration information sent by a location management function (LMF) device.

[0176] Optionally, the transceiver 902 is further configured to:

[0177] The power configuration control information sent by the second terminal device is received in any of the following ways:

[0178] SL long term evolution positioning protocol LPP message, PC5-S message, radio resource control RRC message, and SL control information SCI.

[0179] Optionally, the transceiver 902 is further configured to:

[0180] The power control configuration information sent by the network device is received through an LPP message.

[0181] Optionally, the transceiver 902 is further configured to:

[0182] The power control configuration information sent by the LMF is received in any of the following ways:

[0183] System broadcast message, radio resource control RRC reconfiguration message, RRC release message, downlink control information DCI, and media access control MAC control element CE.

[0184] In the present disclosure, the first terminal device first determines the transmission power of the SL PRS according to the path loss of the transmission path, and then transmits the SL PRS based on the determined transmission power. In this way, it is ensured that each positioning assistance device can receive the SL PRS, thereby achieving accurate and reliable positioning of the terminal device.

[0185] Please refer to Figure 10 , Figure 10 is another structural schematic diagram of a communication device provided by the embodiment of the present disclosure. The communication device 1000 can be a first terminal device, or a chip, chip system, or processor supporting the first terminal device to implement the above method. The device can be used to implement the method described in the above method embodiment, and specific reference can be made to the description in the above method embodiment.

[0186] The communication device 1000 can include one or more processors 1001. The processor 1001 can be a general-purpose processor or a special-purpose processor, etc. For example, it can be a baseband processor or a central processor. The baseband processor can be used to process communication protocols and communication data, and the central processor can be used to control the communication device (such as a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute a computer program, and process data of the computer program.

[0187] Optionally, the communication apparatus 1000 can further include one or more memories 1002, which can store computer programs 1004. The processor 1001 executes the computer programs 1004 to cause the communication apparatus 1000 to perform the methods described in the above method embodiments. Optionally, the memories 1002 can also store data. The communication apparatus 1000 and the memories 1002 can be separately arranged, or integrated together.

[0188] Optionally, the communication apparatus 1000 can further include a transceiver 1005, an antenna 1006. The transceiver 1005 can be referred to as a transceiving unit, a transceiver, or a transceiving circuit, etc., and is configured to implement a transceiving function. The transceiver 1005 can include a receiver and a transmitter. The receiver can be referred to as a receiver, a receiving circuit, etc., and is configured to implement a receiving function. The transmitter can be referred to as a transmitter, a transmitting circuit, etc., and is configured to implement a transmitting function.

[0189] Optionally, the communication apparatus 1000 can further include one or more interface circuits 1007. The interface circuit 1007 is configured to receive code instructions and transmit the code instructions to the processor 1001. The processor 1001 executes the code instructions to cause the communication apparatus 1000 to perform the methods described in the above method embodiments.

[0190] The communication apparatus 1000 is a first device. The processor 1001 is configured to perform steps 201 in the method 2000, Figure 2 steps 301 in the method 3000, etc. The transceiver 1005 is configured to perform steps 202 in the method 2000, or Figure 3 steps 302 in the method 3000, etc. Figure 2 Figure 3 In an implementation manner, the processor 1001 can include a transceiver for implementing a receiving and transmitting function. For example, the transceiver can be a transceiving circuit, or an interface, or an interface circuit. The transceiving circuit, the interface, or the interface circuit for implementing the receiving and transmitting function can be separate, or integrated together. The transceiving circuit, the interface, or the interface circuit can be configured to read and write code / data, or the transceiving circuit, the interface, or the interface circuit can be configured to transmit or transfer signals.

[0191] In an implementation manner, the processor 1001 can store a computer program 1003. The computer program 1003 is executed on the processor 1001, and can cause the communication apparatus 1000 to perform the methods described in the above method embodiments. The computer program 1003 can be fixed in the processor 1001. In this case, the processor 1001 can be implemented by hardware.

[0192] In an implementation manner, the processor 1001 can store a computer program 1003. The computer program 1003 is executed on the processor 1001, and can cause the communication apparatus 1000 to perform the methods described in the above method embodiments. The computer program 1003 can be fixed in the processor 1001. In this case, the processor 1001 can be implemented by hardware.

[0193] ​In an implementation, the communication apparatus 1000 can include circuitry that can implement the functions of transmitting or receiving or communicating in the foregoing method embodiments. The processor and transceiver described in the present disclosure can be implemented on an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFIC), a mixed-signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), positive channel metal oxide semiconductor (PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0194] The communication apparatus described in the above embodiments can be a network device or a smart relay, but the scope of the communication apparatus described in the present disclosure is not limited thereto, and the structure of the communication apparatus can not be limited by Figure 10 The communication apparatus can be a standalone device or can be part of a larger device. For example, the communication apparatus can be:

[0195] (1) a standalone integrated circuit (IC), or a chip, or a chip system or subsystem;

[0196] (2) a set of one or more ICs, optionally including a storage component for storing data, computer programs, etc.

[0197] (3) an ASIC, such as a Modem;

[0198] (4) a module that can be embedded in other devices;

[0199] (5) a receiver, a terminal device, a smart terminal device, a cellular phone, a wireless device, a handset, a mobile unit, a car-mounted device, a network device, a cloud device, an artificial intelligence device, etc.

[0200] (6) other, etc.

[0201] For the case that the communication device can be a chip or a chip system, refer to Figure 11 The chip shown in the structural diagram of the chip. Figure 11 The chip shown includes a processor 111 and an interface 113. Among them, the number of processors 1101 can be one or more, and the number of interfaces 113 can be multiple.

[0202] For the case that the chip is used to implement the functions of the first terminal device in the embodiments of the present disclosure:

[0203] The interface 1103 is configured to perform step 202 in Figure 2 , or configured to perform step 302 in Figure 3 , etc.

[0204] Optionally, the chip further includes a memory 1102, and the memory 1102 is configured to store necessary computer programs and data.

[0205] Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiments of the present disclosure can be implemented by electronic hardware, computer software, or a combination of the two. Whether the function is implemented by hardware or software depends on the specific application and design requirements of the whole system. Those skilled in the art can use various methods to implement the functions described for each specific application, but such implementation should not be understood as beyond the scope of protection of the embodiments of the present disclosure.

[0206] The present disclosure also provides a readable storage medium having instructions stored thereon, which, when executed by a computer, implement the functions of any of the above method embodiments.

[0207] The present disclosure also provides a computer program product, which, when executed by a computer, implements the functions of any of the above method embodiments.

[0208] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs. When the computer programs are loaded on a computer and executed, all or part of the processes or functions described in the embodiments of the present disclosure are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer programs can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer programs can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as high-density digital video disc (digital video disc, DVD)), or semiconductor media (such as solid state disk (solid state disk, SSD)) and the like.

[0209] Those skilled in the art can understand that the first, second, etc. various numerical numbers involved in the present disclosure are only for the convenience of description, and do not limit the scope of the embodiments of the present disclosure, nor represent the order of precedence.

[0210] At least one of the present disclosure can also be described as one or more, and the plurality can be two, three, four or more, which is not limited by the present disclosure. In the embodiments of the present disclosure, for a technical feature, the technical features in the technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D". There is no order or size order between the technical features described by "first", "second", "third", "A", "B", "C" and "D".

[0211] The correspondence relationship shown in each table in the present disclosure can be configured or predefined. The values of the information in each table are merely examples, and other values can be configured, and the present disclosure is not limited thereto. When configuring the correspondence relationship between the information and each parameter, it is not necessarily required to configure all the correspondence relationships shown in each table. For example, the correspondence relationship shown in some rows in the table in the present disclosure can also not be configured. For another example, the above tables can be appropriately deformed, for example, split, merged, and the like. The names of the parameters shown in the titles of the above tables can also use other names understandable by the communication device, and the values or representations of the parameters can also use other values or representations understandable by the communication device. The above tables can also use other data structures when implemented, for example, arrays, queues, containers, stacks, linear tables, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or the like.

[0212] The predefinition in the present disclosure can be understood as definition, predefinition, storage, prestorage, prenegotiation, preconfiguration, solidification, or pre-burning.

[0213] Those skilled in the art can appreciate that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0214] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0215] The above is merely a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A method for transmission of a sidelink (SL) positioning reference signal (PRS), comprising: The method is performed by a first terminal device, and the method comprises: determining a transmission power of a SL PRS according to a path loss of a downlink and a path loss of one or more SL links between the first terminal device and one or more positioning assistance devices, wherein the path loss of the SL link is determined based on a reference signal received power (RSRP) value of a SL PRS; transmitting the SL PRS based on the transmission power of the SL PRS; The method further comprises: determining whether to calculate a path loss of a transmission path based on a plurality of SL links according to a value of an information field specified in power control configuration information, wherein the path loss of the transmission path comprises a path loss of a downlink and / or a path loss of a SL link.

2. The method of claim 1, wherein: the path loss of the SL link is further determined based on at least one of: a RSRP value of a demodulation reference signal (DMRS) of a physical SL shared channel (PSSCH) or a physical SL control channel (PSCCH); a DMRS of a SL synchronization signal block (SSB); a primary synchronization signal (PSS) of a SL SSB; a secondary synchronization signal (SSS) of a SL SSB.

3. The method of claim 1, wherein, The method further comprises: determining the transmission power of the SL PRS according to path losses of SL links between the first terminal device and a plurality of positioning assistance devices.

4. The method of claim 3, wherein, The plurality of positioning assistance devices are devices that receive the SL PRS transmitted by the first terminal device.

5. The method of claim 3, wherein, The determining the transmission power of the SL PRS according to path losses of SL links between the first terminal device and a plurality of positioning assistance devices comprises: determining a minimum value of a plurality of transmission powers respectively determined according to path losses of the plurality of SL links as the transmission power of the SL PRS; or determining a maximum value of a plurality of transmission powers respectively determined according to path losses of the plurality of SL links as the transmission power of the SL PRS.

6. The method of claim 3, wherein, The determining the transmission power of the SL PRS according to path losses of SL links between the first terminal device and a plurality of positioning assistance devices comprises: determining a path loss value corresponding to the first terminal device according to path losses of the plurality of SL links and a weight value corresponding to each of the SL links; determining the transmission power of the SL PRS according to the path loss value.

7. The method of claim 1, wherein, Further comprising: determining whether to calculate the transmission power of the SL PRS based on a path loss of a SL link according to power control configuration information; and / or determining whether to calculate the transmission power of the SL PRS based on a path loss of a downlink according to the power control configuration information.

8. The method of claim 7, wherein, Further comprising: in response to the power control configuration information indicating that the transmission power of the SL PRS is calculated based on a path loss of a SL link and a path loss of a downlink, determining a minimum value or a maximum value of transmission powers respectively calculated according to the path loss of the SL link and the path loss of the downlink as the transmission power of the SL PRS.

9. The method of claim 1, wherein, Further comprising: in response to the power control configuration information containing identification information of a plurality of SL links, determining that the power control configuration information indicates that the path loss of the transmission path is calculated based on the plurality of SL links; or In response to the power control configuration information containing identification information of one SL link, determining that the power control configuration information indicates not to calculate the path loss of the transmission path based on multiple SL links.

10. The method of claim 1, wherein, The determining whether to calculate the path loss of the transmission path based on multiple SL links according to a value of a specified information field in the power control configuration information includes: In response to the power control configuration information indicating not to calculate the path loss of the transmission path based on multiple SL links, and the power control configuration information containing identification information of one SL link, determining the transmission power of the SL PRS according to the path loss of the one SL link; or, In response to the power control configuration information indicating not to calculate the path loss of the transmission path based on multiple SL links, and the power control configuration information containing identification information of multiple SL links, determining the transmission power of the SL PRS according to the path loss of one SL link in the multiple SL links.

11. The method of claim 10, wherein, The determining the transmission power of the SL PRS according to the path loss of one SL link in the multiple SL links includes: calculating the path loss of the transmission path according to any one of the multiple SL links; or, calculating the path loss of the transmission path according to a specified SL link in the multiple SL links, wherein the specified SL link is a link between the first terminal device and a specified positioning assistance device, and the specified positioning assistance device is a terminal device that receives the SL PRS and has only an SL unicast connection with the first terminal device.

12. The method of any one of claims 7-11, wherein, Further comprising: receiving power control configuration information sent by a second terminal device; or, receiving power control configuration information sent by a network device; or, receiving power control configuration information sent by a location management function (LMF) device.

13. The method of claim 12, wherein: the power control configuration information sent by the second terminal device is received in any of the following ways: an SL long term evolution positioning protocol (LPP) message, a PC5-S message, a radio resource control (RRC) message, and SL control information (SCI).

14. The method of claim 12, wherein: the power control configuration information sent by the network device is received in an LPP message.

15. The method of claim 12, wherein: the power control configuration information sent by the LMF is received in any of the following ways: a system broadcast message, a radio resource control (RRC) reconfiguration message, an RRC release message, a downlink control information (DCI), and a medium access control (MAC) control element (CE).

16. A method for transmitting a sidelink, SL, positioning reference signal, PRS, characterized in that, The method is performed by a positioning assistance device, and the method comprises: receive SL PRS, the SL PRS is transmitted by the first terminal device based on the transmission power of the SL PRS, the transmission power of the SL PRS is determined by the first terminal according to the path loss of the downlink and the path loss of the SL link between the first terminal device and one or more positioning assistance devices, wherein the path loss of the SL link is determined based on the reference signal received power RSRP value of the SL PRS, whether the first terminal device calculates the path loss of the transmission path based on multiple SL links is determined according to the value of the specified information field in the power control configuration information, and the path loss of the transmission path includes the path loss of the downlink and / or the path loss of the SL link.

17. The method of claim 16, wherein, The path loss of the SL link is also determined based on at least one of the following: The RSRP value of the demodulation reference signal DMRS of the physical SL shared channel PSSCH or the physical SL control channel PSCCH; The DMRS of the SL synchronization signal block SSB; The primary synchronization signal PSS of the SL SSB; The secondary synchronization signal SSS of the SL SSB.

18. The method of any one of claims 16-17, wherein, The positioning assistance device includes at least one of the following: Roadside unit RSU, terminal device, base station, and transmission point TRP.

19. A method for transmitting a sidelink, SL, positioning reference signal, PRS, characterized in that, executed by a communication system, the communication system includes a first terminal device and a positioning assistance device, The first terminal device determines the transmission power of the SL PRS according to the path loss of the downlink and the path loss of the SL link between the first terminal device and one or more positioning assistance devices; Transmit SL PRS to the positioning assistance device based on the transmission power of the SL PRS; Wherein the path loss of the SL PRS link is determined based on the reference signal received power RSRP value of the SL PRS; The first terminal device also determines whether to calculate the path loss of the transmission path based on multiple SL links according to the value of the specified information field in the power control configuration information, and the path loss of the transmission path includes the path loss of the downlink and / or the path loss of the SL link.

20. The method of claim 19, wherein, The path loss of the SL link is also determined based on at least one of the following: The RSRP value of the demodulation reference signal DMRS of the physical SL shared channel PSSCH or the physical SL control channel PSCCH; The DMRS of the SL synchronization signal block SSB; The primary synchronization signal PSS of the SL SSB; The secondary synchronization signal SSS of the SL SSB.

21. The method of any one of claims 19-20, wherein, The positioning assistance device includes at least one of the following: Roadside unit RSU, terminal device, base station, and transmission point TRP.

22. A communications device, characterized by It includes: A processing module for determining the transmission power of the SL PRS according to the path loss of the downlink and the path loss of the SL link between the first terminal device and one or more positioning assistance devices; Transmitting module, for transmitting SL PRS based on the transmission power of the SL PRS; Wherein the path loss of the SL link is determined based on the reference signal received power RSRP value of the SL PRS; The processing module is further configured to determine, according to a value of a specified information field in the power control configuration information, whether to calculate path loss of a transmission path based on multiple SL links, the path loss of the transmission path including path loss of a downlink and / or path loss of an SL link.

23. The communications apparatus of claim 22, wherein The processing module is further configured to determine the path loss of the SL link based on at least one of the following: a reference signal received power (RSRP) value of a demodulation reference signal (DMRS) of a physical SL shared channel (PSSCH) or a physical SL control channel (PSCCH); a DMRS of an SL synchronization signal block (SSB); a primary synchronization signal (PSS) of an SL SSB; a secondary synchronization signal (SSS) of an SL SSB.

24. A communications device, characterized by The transceiver is configured to receive an SL PRS transmitted by a first terminal device based on a transmission power of the SL PRS, the transmission power of the SL PRS being determined by the first terminal according to path loss of a downlink and path loss of an SL link between the first terminal device and one or more positioning assistance devices, wherein the path loss of the SL link is determined based on a reference signal received power (RSRP) value of the SL PRS, and whether the first terminal device calculates path loss of a transmission path based on multiple SL links is determined according to a value of a specified information field in power control configuration information, the path loss of the transmission path including path loss of the downlink and / or path loss of the SL link. The path loss of the SL link is further determined based on at least one of the following:

25. The communications apparatus of claim 24, wherein a reference signal received power (RSRP) value of a demodulation reference signal (DMRS) of a physical SL shared channel (PSSCH) or a physical SL control channel (PSCCH); a DMRS of an SL synchronization signal block (SSB); a primary synchronization signal (PSS) of an SL SSB; a secondary synchronization signal (SSS) of an SL SSB. The apparatus includes a processor and a memory, the memory storing a computer program, and the processor executes the computer program stored in the memory to cause the apparatus to perform the method of any one of claims 1-18.

26. A communications device, characterized by The communication system includes a first terminal device and a positioning assistance device, the first terminal device performing the method of any one of claims 1-15, and the positioning assistance device performing the method of any one of claims 16-18.

27. A communication system, characterized by 28. A computer-readable storage medium storing instructions that, when executed by a computer, cause the method of any one of claims 1-18 to be implemented. The computer program product, when executed by a computer, causes the method of any one of claims 1-18 to be implemented.

29. A computer program product, characterised in that, ​

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