Sidelink positioning method, apparatus, and user equipment

Abstract

The application discloses a sidelink positioning method and device and user equipment, relates to the technical field of sidelink, and is applied to a first user equipment. The method comprises the following steps: performing a first transmission on an unlicensed frequency band, wherein the first transmission comprises a sidelink positioning reference signal (SL PRS) transmission. Thus, the problem of limited sidelink dedicated spectrum can be solved, and high-precision positioning of the sidelink is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sidelink, and particularly to a sidelink positioning method and device and user equipment. BACKGROUND

[0002] Sidelink, especially its typical application of vehicle to everything (V2X) application, needs to know the accurate position of user equipment, especially mobile terminal (including on board unit (OBU), vulnerable road users (VRU) and the like). The conventional positioning mode is based on global navigation satellite system (GNSS) or enhanced GNSS positioning, but in the area where GNSS signal coverage is poor (such as urban canyons) and the area without GNSS signal coverage (tunnel, underground parking lot, underground coal mine, underground transportation channel and the like), other positioning technologies need to be used to guarantee the positioning performance.

[0003] Cellular vehicle to vehicle (C-V2X) includes long term evolution vehicle to vehicle (LTE-V2X) and new radio vehicle to vehicle (NR-V2X), supports sidelink and cellular network uplink and downlink communication, and C-V2X equipment can communicate with a base station in cellular network signal coverage; in cellular network signal coverage and out of coverage, C-V2X can communicate through sidelink.

[0004] 3GPP Release 16 has carried out research and standardization of NR Positioning. In the coverage of cellular network, the base station transmits cell-specific downlink positioning reference signal (PRS) signals, and the terminal transmits uplink sounding reference signal (SRS) signals used for positioning. Correspondingly, the terminal can measure the time difference of reference signals (RSTD), or measure the reference signal received power (RSRP) of the downlink positioning reference signal (DL PRS), or measure the time difference between the terminal receiving the DL PRS and transmitting the SRS; the base station can measure the relative time of arrival (RTOA) of the uplink, the RSRP of the SRS, the time difference between the SRS received by the 5G base station (gNB) and the DL PRS transmitted by the gNB, and the angle measurement value. Through processing the measurement values, the position of the user equipment (UE) is calculated.

[0005] However, the application scenarios of V2X need to support communication in the coverage of the cellular network or out of the coverage. In the coverage of the cellular network, special positioning technology needs to be designed for the sidelink to realize the position determination of the user equipment.

[0006] At present, 3GPP has not carried out standardization work on sidelink positioning technology. SUMMARY

[0007] The purpose of the present application is to provide a sidelink positioning method and device, a vehicle and a roadside device, thereby solving the problem of limitations in vehicle networking positioning in the prior art.

[0008] In a first aspect, an embodiment of the present application provides a sidelink positioning method applied to a first user equipment, the method comprising:

[0009] performing first transmission on an unlicensed frequency band, the first transmission comprising sidelink positioning reference signal (SL PRS) transmission.

[0010] Optionally, the method further comprises:

[0011] transmitting the following at least one on a dedicated frequency band:

[0012] resource occupation information on the unlicensed frequency band;

[0013] indication information of the SL PRS transmission;

[0014] information for positioning.

[0015] Optionally, the first transmission further comprises at least one of:

[0016] the first preamble transmission;

[0017] the indication information transmission of the SL PRS transmission;

[0018] the information transmission for positioning.

[0019] Optionally, performing the first preamble transmission on the unlicensed band comprises:

[0020] performing the first preamble transmission after a first listen-before-talk (LBT) monitoring succeeds, and before the SL PRS is transmitted.

[0021] Optionally, performing the first preamble transmission comprises at least one of:

[0022] performing the first preamble transmission on a first frequency domain resource, single or repeatedly;

[0023] performing the first preamble transmission on a time domain, single or repeatedly, before reaching a next N time domain resource boundary, N being an integer and N≥1.

[0024] Optionally, the first frequency domain resource comprises at least one of:

[0025] a frequency domain resource with a resource set as a scheduling granularity;

[0026] a frequency domain resource with a sub-channel as a scheduling granularity;

[0027] a frequency domain resource with a physical resource block (PRB) as a scheduling granularity;

[0028] a frequency domain resource with a comb resource block as a scheduling granularity;

[0029] a frequency domain resource with a frequency domain resource combination as a scheduling granularity.

[0030] Optionally, performing the first preamble transmission repeatedly on a time domain comprises:

[0031] performing the first preamble transmission repeatedly on a time domain, continuously;

[0032] or, performing the first preamble transmission repeatedly on a time domain, intermittently, wherein a transmission interval of two adjacent first preamble transmissions is less than a minimum monitoring time of a first LBT.

[0033] Optionally, the first preamble transmission comprises at least one of:

[0034] system information;

[0035] broadcast information;

[0036] synchronization signal;

[0037] synchronization information;

[0038] positioning information.

[0039] Optionally, the system information or the broadcast information of the first preamble transmission is used to indicate at least one of:

[0040] first indication information;

[0041] direct frame number (DFN);

[0042] second indication information used to indicate that the transmission frequency band of the positioning information comprises a license-exempt frequency band and / or a dedicated frequency band.

[0043] Optionally, the first indication information is used to indicate configuration parameters of SL PRS and / or resource occupation information after first LBT, comprising at least one of:

[0044] sequence type;

[0045] sequence index;

[0046] comb size;

[0047] starting point of occupied time domain resources;

[0048] number of occupied time domain resources;

[0049] occupation time;

[0050] frequency domain resource size;

[0051] time pattern and number of SL PRS repeated transmission;

[0052] resource information allocated by the first user equipment to at least one second user equipment;

[0053] resource information allocated by the first user equipment to itself and at least one second user equipment.

[0054] Optionally, in the case where the second indication information indicates that the transmission frequency band of the positioning information comprises the license-exempt frequency band and the dedicated frequency band, the second indication information further indicates at least one of the following corresponding to the dedicated frequency band:

[0055] frequency band;

[0056] carrier;

[0057] bandwidth part, BWP;

[0058] resource pool;

[0059] time domain resource;

[0060] frequency domain resource.

[0061] Optionally, performing the first transmission on the unlicensed frequency band comprises:

[0062] The first user equipment performs the first transmission using the transmission resource on the unlicensed frequency band after the first LBT monitoring is successful.

[0063] Optionally, performing the first transmission using the transmission resource on the unlicensed frequency band comprises:

[0064] The first user equipment occupies a plurality of transmission resources to perform the first transmission, and the interval between two continuous transmission resources occupied is not more than a first time interval.

[0065] The first time interval is less than the minimum monitoring time of the first LBT and can support the execution of a single first transmission.

[0066] Optionally, performing the first transmission on the unlicensed frequency band comprises:

[0067] The first user equipment allocates transmission resources for itself and / or at least one second user equipment adjacent to it after the first LBT monitoring is successful, and performs the first transmission on the unlicensed frequency band, wherein the first transmission comprises indication information of the transmission resources allocated for itself and / or at least one second user equipment adjacent to it.

[0068] Optionally, the interval between two continuous transmission resources allocated by the first user equipment for itself and / or at least one second user equipment adjacent to it is not more than a first time interval.

[0069] The first time interval is less than the minimum monitoring time of the first LBT and can support the execution of a single first transmission.

[0070] Optionally, the first user equipment allocates transmission resources for itself and / or at least one second user equipment adjacent to it comprises:

[0071] Allocating transmission resources for itself and / or at least one second user equipment adjacent to it using a resource pattern combination, the resource pattern combination being used to indicate the resource position of the first transmission performed by itself and / or at least one second user equipment adjacent to it.

[0072] In a second aspect, the embodiments of the present application further provide a sidelink positioning method, applied to a second user equipment, the method comprising:

[0073] performing a first transmission on an unlicensed frequency band, the first transmission comprising a sidelink positioning reference signal (SL PRS) transmission.

[0074] Optionally, the method further comprises:

[0075] transmitting at least one of the following on a dedicated frequency band:

[0076] resource occupation information on the unlicensed frequency band;

[0077] indication information of the SL PRS transmission;

[0078] information for positioning.

[0079] Optionally, the first transmission further comprises at least one of the following:

[0080] a second preamble transmission;

[0081] indication information transmission of the SL PRS transmission;

[0082] information transmission for positioning.

[0083] Optionally, the second preamble transmission satisfies at least one of the following requirements:

[0084] the second preamble transmission is a preamble sequence;

[0085] the second preamble transmission time is less than or equal to a time threshold value.

[0086] Optionally, performing the first transmission on the unlicensed frequency band comprises:

[0087] the second user equipment determines a transmission resource within the resources indicated by the at least one first user equipment to be occupied, and performs the first transmission.

[0088] Optionally, the second user equipment determines a transmission resource within the resources indicated by the at least one first user equipment to be occupied, and performs the first transmission, comprising:

[0089] performing the first transmission according to the transmission resource allocated to itself by the first user equipment.

[0090] Optionally, the second user equipment determines a transmission resource within the resources indicated by the at least one first user equipment to be occupied, and performs the first transmission, comprising:

[0091] determining transmission resources in resources of the at least one first user equipment indicated occupation time which are not indicated as occupied;

[0092] performing the first transmission on the selected transmission resources.

[0093] Optionally, the second user equipment determines transmission resources in resources of the at least one first user equipment indicated occupation time which are adjacent to the resources, and the method further comprises, before performing the first transmission:

[0094] performing a second LBT, the second LBT has a smaller listening time than the minimum listening time of the first LBT.

[0095] In a third aspect, the embodiments of the present application also provide a sidelink positioning method, applied to a third user equipment, the method comprising:

[0096] performing reception of a first transmission on an unlicensed frequency band, the first transmission comprising SL PRS transmission;

[0097] measuring the SL PRS in the first transmission.

[0098] Optionally, the method further comprises:

[0099] receiving at least one of the following on a dedicated frequency band:

[0100] resource occupation information on the unlicensed frequency band;

[0101] indication information of the SL PRS transmission;

[0102] information for positioning.

[0103] Optionally, the first transmission further comprises at least one of:

[0104] preamble transmission;

[0105] indication information transmission of the SL PRS transmission;

[0106] information transmission for positioning.

[0107] Optionally, the method further comprises:

[0108] determining a position of the third user equipment relative to a user equipment performing the first transmission, or determining an absolute position of the third user equipment, according to the measurement result of the SL PRS.

[0109] In a fourth aspect, the embodiments of the present application further provide a user equipment, comprising a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the sidelink positioning method according to the first aspect, or the sidelink positioning method according to the second aspect, or the sidelink positioning method according to the third aspect when executing the computer program.

[0110] In a fifth aspect, the embodiments of the present application further provide a sidelink positioning apparatus applied to a first user equipment, comprising:

[0111] A first transmission module is configured to perform a first transmission on an unlicensed frequency band, and the first transmission comprises a sidelink positioning reference signal (SL PRS) transmission.

[0112] In a sixth aspect, the embodiments of the present application further provide a sidelink positioning apparatus applied to a second user equipment, comprising:

[0113] A first transmission module is configured to perform a first transmission on an unlicensed frequency band, and the first transmission comprises a sidelink positioning reference signal (SL PRS) transmission.

[0114] In a seventh aspect, the embodiments of the present application further provide a sidelink positioning apparatus applied to a third user equipment, comprising:

[0115] A first receiving module is configured to perform a first transmission on an unlicensed frequency band, and the first transmission comprises a SL PRS transmission.

[0116] A measurement module is configured to measure the SL PRS in the first transmission.

[0117] In an eighth aspect, the embodiments of the present application further provide a computer readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the sidelink positioning method according to the first aspect, or the sidelink positioning method according to the second aspect, or the sidelink positioning method according to the third aspect.

[0118] The above technical solutions of the present application have at least the following beneficial effects:

[0119] The sidelink positioning method according to the embodiments of the present application performs a first transmission comprising a SL PRS transmission on an unlicensed frequency band, so that the user equipment at the receiving end can perform sidelink technology-based positioning based on the SL PRS, solves the problem of the limitation that the existing vehicle networking positioning mainly relies on GNSS, and solves the problem of the limitation of sidelink dedicated spectrum, and realizes high-precision positioning of sidelink. BRIEF DESCRIPTION OF DRAWINGS

[0120] Figure 1Figure 1 is a flowchart of a sidelink positioning method according to an embodiment of the present application;

[0121] Figure 2 Figure 2 is a schematic diagram of resources for performing a first transmission on an unlicensed band according to an embodiment of the present application;

[0122] Figure 3 Figure 3 is a schematic diagram of transmission resources on an unlicensed band and a dedicated band according to an embodiment of the present application;

[0123] Figure 4 Figure 4 is a schematic diagram of resources for performing a first preamble transmission according to an embodiment of the present application;

[0124] Figure 5 Figure 5 is a schematic diagram of resources for performing a first transmission when a user equipment performs LBT according to an embodiment of the present application;

[0125] Figure 6 Figure 6 is a schematic diagram of resources allocated by a first user equipment for itself and a second user equipment according to an embodiment of the present application;

[0126] Figure 7 Figure 7 is a schematic diagram of resources allocated by a first user equipment for itself and other user equipment on interval time domain resources and providing available resources to user equipment without allocated resources according to an embodiment of the present application;

[0127] Figure 8 Figure 8 is a schematic diagram of resources allocated by a first user equipment for itself and other user equipment on continuous time domain resources and providing available resources to user equipment without allocated resources according to an embodiment of the present application;

[0128] Figure 9 Figure 9 is a schematic diagram of resources allocated by a first user equipment for itself and other user equipment on interval time domain resources and providing available resources to user equipment without allocated resources according to an embodiment of the present application;

[0129] Figure 10 Figure 10 is a schematic diagram of resources allocated by a first user equipment for itself and other user equipment on continuous time domain resources and providing available resources to user equipment without allocated resources according to an embodiment of the present application;

[0130] Figure 11 Figure 11 is a flowchart of a sidelink positioning method according to another embodiment of the present application;

[0131] Figure 12 Figure 12 is a flowchart of a sidelink positioning method according to another embodiment of the present application;

[0132] Figure 13 Figure 13 is a schematic diagram of a sidelink positioning apparatus according to an embodiment of the present application;

[0133] Figure 14Fig. 2 is a structural schematic diagram of a sidelink positioning device according to an embodiment of the present application;

[0134] Figure 15 Fig. 3 is a structural schematic diagram of a sidelink positioning device according to another embodiment of the present application;

[0135] Figure 16 Fig. 4 is a structural schematic diagram of a user equipment according to an embodiment of the present application. DETAILED DESCRIPTION

[0136] In order to make the technical problems to be solved, technical solutions and advantages of the present application clearer, specific embodiments will be described in detail below with reference to the accompanying drawings. In the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of embodiments of the present application. Therefore, it should be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of known functions and configurations have been omitted for clarity and conciseness.

[0137] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0138] In various embodiments of the present application, it should be understood that the size of the serial number of the following processes does not mean the order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0139] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0140] As shown in Figure 1 The present application provides a sidelink positioning method, which is applied to a first user equipment. The first user equipment is a user equipment applied to a typical application scenario (vehicle networking application scenario) in the field of sidelink technology, i.e., the first user equipment is a vehicle networking communication equipment supporting sidelink positioning, such as a road side unit (RSU), an OBU, a VRU, etc. The method comprises the following steps.

[0141] At step 101, a first transmission is performed on the unlicensed frequency band, and the first transmission includes a sidelink positioning reference signal (SL PRS) transmission.

[0142] The sidelink positioning method of the embodiments of the present application performs the first transmission including the SL PRS transmission on the unlicensed frequency band, so that the user equipment at the receiving end can perform sidelink technology-based positioning based on the SL PRS, solves the problem of the limitation that the existing vehicle networking positioning mainly relies on GNSS, and solves the problem of the limitation of the sidelink dedicated spectrum, and realizes high-precision positioning of the sidelink.

[0143] Further, as an optional implementation manner, as shown in Figure 3 The method further includes:

[0144] Transmitting the following at least one on the dedicated frequency band:

[0145] Resource occupation information on the unlicensed frequency band;

[0146] Indication information of the SL PRS transmission;

[0147] Information for positioning.

[0148] Further, as another optional implementation manner, as shown in Figure 2 The first transmission further includes:

[0149] First preamble transmission;

[0150] Indication information transmission of the SL PRS transmission;

[0151] Information transmission for positioning.

[0152] Here, it should be noted that the first preamble transmission is the transmission of the first preamble signal / information, and the first preamble signal / information is the preamble information / signal for indicating the unlicensed frequency band positioning resource; the indication information of the SL PRS transmission can also be referred to as the control information of the SL PRS transmission; the information for positioning is the positioning information related to the SL PRS transmission device, wherein the SL PRS transmission device can be the first user equipment.

[0153] Specifically, the first preamble signal / information includes the positioning information, or the related positioning information (information for positioning) transmitted together with the SL PRS, and specifically includes at least one of the following, but is not limited thereto:

[0154] Priority of the SL PRS;

[0155] Priority of the position information of the first user equipment;

[0156] Confidence of the position information of the first user equipment;

[0157] a type of the SL PRS;

[0158] sixth indication information, used for indicating SCI configuration information of the SL PRS resource;

[0159] an interaction mode of the SL PRS;

[0160] first information.

[0161] Specifically, the indication information of the SL PRS transmission includes at least one of the following, but is not limited thereto:

[0162] a frequency band;

[0163] a channel;

[0164] a carrier;

[0165] a bandwidth part (BWP);

[0166] a resource pool;

[0167] a time domain resource location;

[0168] a frequency domain resource location with a resource set as a scheduling granularity;

[0169] a frequency domain resource location with a subchannel as a scheduling granularity;

[0170] a frequency domain resource location with a comb resource block as a scheduling granularity;

[0171] a frequency domain resource location with a subchannel and an edge combination resource as a scheduling granularity;

[0172] a priority of the SL PRS;

[0173] a priority of location information of the first user equipment;

[0174] a confidence level of the location information of the first user equipment;

[0175] a type of the SL PRS;

[0176] an interaction mode of the SL PRS;

[0177] a format of the second SCI;

[0178] a format of the third SCI;

[0179] fourth indication information, used for indicating whether the second SCI and / or the third SCI is contained in the PSSCH;

[0180] first information.

[0181] The type of the SL PRS includes at least one of the following, but is not limited thereto:

[0182] PRS;

[0183] Carrier Phase Positioning Reference Signal (C-PRS).

[0184] The interaction mode of the SL PRS includes at least one of the following, but is not limited thereto:

[0185] Single way;

[0186] Single Way-Round Trip (SW-RT);

[0187] Two Way-Round Trip (TW-RT);

[0188] Symmetric Two Way-Round Trip (STW-RT).

[0189] In the case of meeting the first condition, the interaction mode of the SL PRS can be single way, wherein the first condition includes that the first user equipment maintains high-precision time synchronization with other anchor nodes; the number of other user equipments maintaining high-precision time synchronization with the first user equipment meets a preset number threshold; and the first user equipment determines at least one of a predicted time difference between a time and a reference time, that is, in the case that the first user equipment meets at least one of the above three conditions, the interaction mode of the SL PRS can be single way, so that the user equipment at the receiving end can perform positioning based on the manner of single way transmission of the SL PRS by the first user equipment.

[0190] In the case of meeting the second condition, the interaction mode of the SL PRS can be single way-round trip; that is, in the case that the first user equipment meets at least one of the following conditions: the first user equipment determines the frequency offset rate of a local timing device; the first user equipment determines the frequency offset value of the local timing device and the corresponding reference time; the first user equipment different antenna units do not have processing time offset; and the first user equipment determines the processing time deviation value of different antenna units, the interaction mode of the SL PRS can be single way-round trip, so that the user equipment at the receiving end can perform positioning based on the manner of single way-round trip transmission of the SL PRS by the first user equipment.

[0191] The first information includes at least one of the following, but is not limited thereto:

[0192] Position information of the first user equipment;

[0193] ID information of the first user equipment;

[0194] Position information of a neighboring user equipment;

[0195] ID information of a neighboring user equipment;

[0196] Source of the position information of a neighboring user equipment;

[0197] Confidence of the position information of a neighboring user equipment;

[0198] First indication information, used to indicate that the current positioning signal / information is used for absolute positioning or relative positioning;

[0199] Second indication information, used to indicate whether the first user equipment can serve as an anchor node;

[0200] Supporting auxiliary calculation of position;

[0201] Supporting self-calculation of position;

[0202] Third indication information, used to indicate whether the first user equipment is in high-precision time synchronization with other anchor nodes;

[0203] Information of other user equipment in high-precision time synchronization with the first user equipment;

[0204] Expected time difference between the maintenance time of the first user equipment and the reference time;

[0205] Frequency offset rate of the local timing device of the first user equipment;

[0206] Frequency offset value of the local timing device of the first user equipment and corresponding reference measurement time;

[0207] Whether different antenna units of the first user equipment have processing time offset;

[0208] Processing time offset value of different antenna units of the first user equipment.

[0209] Here, it needs to be noted that:

[0210] One, in a case where the position information of the first user equipment is a first value, the second indication information indicates that the first user equipment cannot serve as an anchor node, and the first user equipment can support relative positioning; here, it needs to be noted that, specifically, the first value can be 0, and specifically, for the indication of multiple bits, the first value is represented as all 0, that is, in a case where the position information of the first user equipment is 0, it is indicated that the first user equipment cannot serve as an anchor node, and the first user equipment performs relative positioning.

[0211] Two, in a case where the second indication information indicates that the first user equipment can serve as an anchor node, it is implicitly indicated that the first user equipment can support absolute positioning or UE-based positioning; or, in a case where the second indication information indicates that the first user equipment cannot serve as an anchor node, it is implicitly indicated that the first user equipment can support relative positioning or UE-assisted positioning.

[0212] Three, the calculation process of the frequency offset value of the local timing device of the first user equipment includes:

[0213] In a case where the first user equipment can receive a GNSS signal, in a first time, when a second pulse sent by a global navigation satellite system (GNSS) module is received once or the second pulse is continuously received multiple times, the frequency offset value of the local timing device of the first user equipment is calculated according to any one of the following:

[0214] The comparison result of the actual counting of the local timing crystal oscillator and the nominal frequency value of the local timing crystal oscillator;

[0215] The comparison result of the reference time and the actual timing of the local timing crystal oscillator.

[0216] That is, when the first user equipment can receive a GNSS signal, at least one offset measurement is performed within a certain time, specifically, within a certain time (reference time or 1 s), when the second pulse is continuously received once or multiple times, the actual timing of the local timing crystal oscillator within the reference time is compared with the nominal value of the crystal oscillator, or the reference time is compared with the actual timing of the local timing crystal oscillator, to obtain the frequency offset of the local timing device of the first user equipment.

[0217] Here, it also needs to be noted that the SCI is used to carry the first preamble information / signal and / or the indication information of SL PRS transmission, wherein the SCI only includes the first SCI, or the SCI includes at least one of the first SCI, the second SCI and the third SCI.

[0218] The time domain resource location includes at least one of, but is not limited to:

[0219] a time domain interval of a current SCI;

[0220] a time domain interval of a current SPI;

[0221] a time interval at which the SL PRS is repeatedly transmitted;

[0222] a number of times at which the SL PRS is repeatedly transmitted;

[0223] a transmission period of the SL PRS;

[0224] a time interval between a transmission period of a current SL PRS and a transmission period of a next SL PRS.

[0225] As an optional implementation, performing the first preamble transmission on the unlicensed frequency band includes:

[0226] performing the first preamble transmission after a first Listen Before Talk (LBT) monitoring is successful and before transmitting the SL PRS.

[0227] Here, it should be noted that the first LBT is an LBT that meets the monitoring time requirement of the unlicensed frequency band regulation of the device usage area.

[0228] As a specific implementation, as shown in Figure 4 the first preamble transmission is performed in at least one of the following ways:

[0229] performing the first preamble transmission on a first frequency domain resource once or repeatedly;

[0230] performing the first preamble transmission on a time domain once or repeatedly before reaching a next N time domain resource boundary, N is an integer and N≥1.

[0231] Specifically, the first frequency domain resource includes at least one of the following:

[0232] a frequency domain resource with a resource set as a scheduling granularity;

[0233] a frequency domain resource with a subchannel as a scheduling granularity;

[0234] a frequency domain resource with a physical resource block (PRB) as a scheduling granularity;

[0235] a frequency domain resource with a comb resource block as a scheduling granularity;

[0236] The frequency domain resource combination is taken as a scheduling granularity of a frequency domain resource.

[0237] As a specific implementation, the first preamble transmission is repeatedly performed in the time domain, including:

[0238] The first preamble transmission is repeatedly performed continuously in the time domain.

[0239] Alternatively, the first preamble transmission is repeatedly performed at intervals in the time domain, and a transmission interval of adjacent two times of the first preamble transmission is less than a minimum monitoring time of the first LBT.

[0240] In the specific implementation, the transmission interval of adjacent two times of the first preamble transmission is less than the minimum monitoring time of the first LBT, so that the monitoring result of the first LBT of other user equipment is a monitoring failure, and a resource collision phenomenon is avoided.

[0241] As an optional implementation, the first preamble transmission includes at least one of the following:

[0242] System information;

[0243] Broadcast information;

[0244] A synchronization signal;

[0245] Synchronization information;

[0246] Positioning information.

[0247] That is, the first preamble information / signal is in the form of a message, and is at least one of system information, broadcast information, a synchronization signal, synchronization information, and positioning information.

[0248] As a specific implementation, the system information or the broadcast information of the first preamble transmission is used to indicate at least one of the following:

[0249] First indication information;

[0250] A direct frame number (DFN);

[0251] Second indication information used to indicate that a frequency band in which the positioning information is transmitted includes a license-exempt frequency band and / or a dedicated frequency band.

[0252] In other words, the second indication information is used to indicate that the positioning information is transmitted only in the license-exempt frequency band, or is transmitted in the license-exempt frequency band and the dedicated frequency band, or is transmitted only in the dedicated frequency band.

[0253] Specifically, the first indication information is used to indicate configuration parameters of SL PRS and / or resource occupation information after the first LBT, and includes at least one of the following:

[0254] sequence type;

[0255] sequence index;

[0256] comb size;

[0257] start of occupied time domain resource;

[0258] number of occupied time domain resources;

[0259] occupied time;

[0260] frequency domain resource size;

[0261] time pattern and number of SL PRS repetitions;

[0262] resource information allocated by the first user equipment for at least one second user equipment;

[0263] resource information allocated by the first user equipment for itself and at least one second user equipment.

[0264] Here, it needs to be pointed out that the configuration parameters of the SL PRS include at least one of the sequence type, the sequence index and the comb size; the resource occupation information starting from the first LBT to the nearest available time domain resource boundary includes at least one of the number of occupied time domain resources, the occupied time, the frequency domain resource size, the time pattern and the number of SL PRS repetitions, the resource information allocated by the first user equipment for at least one second user equipment, and the resource information allocated by the first user equipment for itself and at least one second user equipment.

[0265] Here, it also needs to be pointed out that the second user equipment is a user equipment performing first transmission on the sidelink and not performing LBT.

[0266] Here, it also needs to be pointed out that the resource information allocated by the first user equipment for at least one second user equipment; and / or, the resource information allocated by the first user equipment for itself and at least one second user equipment can also be referred to as a resource pattern combination of the M nodes (about to) transmit SL PRS, specifically including at least one of the following:

[0267] a resource pattern combination of M1 user equipments (such as RSUs) adjacent to the first user equipment, wherein the N1 user equipments can or can not include the first user equipment;

[0268] a resource pattern combination of M2 user equipments (such as RSUs) and M3 user equipments (such as OBU) adjacent to the first user equipment, wherein the M3 user equipments can or can not include the first user equipment.

[0269] The resource pattern combination of the first user equipment and the M4 user equipments (such as OBU) in the vicinity.

[0270] wherein M1, M2, M3 and M4 are all positive integers.

[0271] As an optional implementation, in the case where the second indication information indicates that the transmission frequency band of the positioning information includes the unlicensed frequency band and the dedicated frequency band, the second indication information further indicates at least one of the following corresponding to the dedicated frequency band:

[0272] a frequency band;

[0273] a carrier;

[0274] a bandwidth part (BWP);

[0275] a resource pool;

[0276] a time domain resource;

[0277] a frequency domain resource.

[0278] As an optional implementation, performing the first transmission on the unlicensed frequency band includes:

[0279] The first user equipment performs the first transmission using the transmission resource on the unlicensed frequency band after successfully performing the first LBT listening.

[0280] That is, the first user equipment performs the transmission of the SL PRS, or performs the transmission of the SL PRS and at least one of the first preamble signal / information, the indication information of the SL PRS transmission and the information for positioning, using the transmission resource on the unlicensed frequency band after successfully performing the first LBT listening.

[0281] Here, it should be noted that the first user equipment is a user equipment performing the first LBT, such as Figure 5 As shown, in the case where multiple first user equipments perform sidelink positioning, each first user equipment respectively performs the first LBT and performs the first transmission using the transmission resource on the unlicensed frequency band after successfully performing the first LBT listening. Among them, Figure 5 UE1 and UE2 in the above represent different first user equipments.

[0282] As a specific implementation, performing the first transmission using the transmission resource on the unlicensed frequency band includes:

[0283] The first user equipment occupies multiple transmission resources to perform the first transmission, and the interval between the two continuous transmission resources occupied is not more than a first time interval.

[0284] The first time interval is less than a minimum monitoring time of the first LBT, and can support performing a single first transmission.

[0285] That is, performing the first transmission using the transmission resource on the unlicensed frequency band comprises:

[0286] The first user equipment occupies a plurality of transmission resources to perform the first transmission, and an interval between two continuous occupied resources is not more than a first time interval; the first time interval is less than a minimum monitoring time of LBT, and the first time interval can support performing a single first transmission.

[0287] Here, it should be noted that the interval between the two continuous occupied resources is an unoccupied resource, wherein the unoccupied resource is used for resource selection of the second user equipment, and is then used for the second user equipment to perform the first transmission.

[0288] In the specific implementation manner, after the first user equipment performs the first LBT, the resources are repeatedly occupied at a certain time interval, and are used for performing the first transmission. As shown in Figure 7 After the first user equipment performs the LBT, transmission is performed every 2 time domain resources, the length of a unit time domain resource is less than a minimum monitoring time of the first LBT of the unlicensed frequency band required by regulations, and the unit time domain resource can support performing a single first transmission. As shown in Figure 8 After the first user equipment performs the LBT, transmission is performed on each time domain resource, the length of a time domain resource on which transmission is not performed is less than a minimum monitoring time of the first LBT of the unlicensed frequency band required by regulations, and the time domain resource on which transmission is not performed can support performing a single first transmission. In this way, the unoccupied resource can be allocated to other UEs for use, or other UEs select the resource for transmission.

[0289] In the specific implementation, one is to set the interval between the two continuous transmission resources occupied by the first transmission to be less than the minimum monitoring time of the first LBT, so as to avoid the success of LBT monitoring of other user equipment, causing other user equipment to occupy the resources already occupied by the first user equipment, and causing resource collision; the other is to set the interval between the two continuous transmission resources occupied by the first transmission to be able to support the execution of a single first transmission, so that the first user equipment allocates resources for other user equipment in communication with the first user equipment and not performing LBT monitoring in the resources occupied by the first user equipment, or other user equipment in communication with the first user equipment and not performing LBT monitoring selects transmission resources in the unused resources, so as to realize the low-latency demand of sidelink positioning under high-mobility conditions, avoid the problem of large interval between multiple SL PRS transmission times and large positioning error caused by the rapid movement of vehicles, and support resource demand under different positioning modes and meet the low-latency demand of positioning signal interaction under different positioning modes.

[0290] As an optional implementation, as shown in Figure 6 performing the first transmission on the unlicensed frequency band includes:

[0291] After the first user equipment successfully performs the first LBT monitoring, the first user equipment allocates transmission resources for itself and / or at least one second user equipment in the vicinity, and performs the first transmission on the unlicensed frequency band, wherein the first transmission includes indication information of the transmission resources allocated for itself and / or at least one second user equipment in the vicinity.

[0292] Here, it should be noted that the allocated transmission resources are used for other user equipment to transmit SL PRS or feedback SL PRS.

[0293] The optional implementation provides allocated resources for multiple UEs after one UE performs the first LBT, realizes the low-latency demand of vehicle-to-everything positioning under high-mobility conditions, avoids the problem of large interval between multiple SL PRS transmission times and large positioning error caused by the rapid movement of vehicles, and supports resource demand under different positioning modes and meets the low-latency demand of positioning signal interaction under different positioning modes.

[0294] As an optional implementation, the interval between the two continuous transmission resources allocated by the first user equipment for itself and / or at least one second user equipment in the vicinity is not more than the first time interval.

[0295] The first time interval is less than the minimum monitoring time of the first LBT and can support the execution of a single first transmission.

[0296] It should be noted that the unoccupied resource is the interval between the two occupied continuous resources.

[0297] That is, the first user equipment allocates transmission resources for itself and / or at least one second user equipment in proximity, including:

[0298] The interval between the two allocated continuous resources is no more than a first time interval; the first time interval is less than the minimum listening time of LBT and can support the execution of a single first transmission.

[0299] The interval between the two occupied continuous resources is the unallocated resource of the first user equipment, which is used for selection by the second user equipment that has not obtained the allocated resource, and then used for the first transmission of the second user equipment.

[0300] As shown in Figure 9 The optional implementation can be that, after the first user equipment performs the first LBT, the first user equipment allocates, according to a configuration of transmitting 1 time per interval of 2 time domain resources, to itself and other adjacent user equipments for performing the first transmission, wherein the unit time domain resource length is less than the minimum listening time of the unlicensed band LBT required by the regulations of the device usage area.

[0301] As shown in Figure 10 The optional implementation can also be that, after the first user equipment performs the first LBT, each time domain resource on the continuous multiple time domain resources is allocated to the first user equipment and other adjacent user equipments for performing the first transmission, and the time domain resource length of each time domain resource on which no transmission is performed is less than the minimum listening time of the unlicensed band LBT required by the regulations and meets the demand of performing the first transmission.

[0302] In the optional implementation, one is to set the interval between the two continuous transmission resources occupied by the first transmission to be less than the minimum listening time of the first LBT, so as to avoid that other user equipments successfully perform LBT listening, cause other user equipments to occupy the resources already occupied by the first user equipment, and cause resource collision; the other is to set the interval between the two continuous transmission resources occupied by the first transmission to be able to support the execution of a single first transmission, so as to enable the first user equipment to allocate resources for other user equipments that communicate with the first user equipment and do not perform LBT listening in the resources occupied by the first user equipment, thus realizing the low latency demand of sidelink positioning under high mobility conditions, avoiding the problem that a plurality of SL PRS transmission times exist in a large interval and a vehicle moves quickly to cause an increase in positioning error, and supporting resource demand under different positioning modes and meeting the low latency demand of positioning signal interaction under different positioning modes.

[0303] As a specific implementation, the first user equipment allocates transmission resources for itself and / or at least one second user equipment in proximity, including:

[0304] allocating transmission resources for itself and / or at least one second user equipment in proximity using a resource pattern combination, the resource pattern combination being used to indicate a resource location for the first user equipment and / or at least one second user equipment in proximity to perform the first transmission.

[0305] The sidelink positioning method of the embodiment of the application, by performing the first transmission including the SL PRS on the unlicensed frequency band, one is to enable the user equipment to measure the SL PRS, to realize the positioning based on the sidelink technology, to support the positioning in the case without GNSS; the other is to perform the first transmission on the unlicensed frequency band, to solve the problem that the sidelink dedicated frequency band is limited, and the current spectrum allocation / planning cannot provide sufficient frequency resources, to realize the high-precision positioning; the third is that the embodiment of the application proposes different resource allocation modes in the case that the unlicensed frequency band cannot guarantee a low access delay of each UE, to realize that one UE provides allocated resources for multiple UEs after the first LBT, to realize the low-delay requirement of the sidelink positioning under the high-mobility condition, to avoid the problem that the multiple SL PRS transmission times of different UEs exist a large interval due to the LBT of different UEs, and the positioning error increases due to the fast movement of vehicles, and to support the resource requirement under different positioning modes, to meet the low-delay requirement of the positioning signal interaction under different positioning modes.

[0306] As shown in Figure 11 The embodiment of the application also provides a sidelink positioning method, applied to a second user equipment, the first user equipment being a user equipment applied to a typical application scenario (a vehicle networking application scenario) in the sidelink technology field, that is, the first user equipment being a vehicle networking communication equipment supporting the sidelink positioning, such as a road side unit (RSU), an OBU, a VRU, etc. The method includes:

[0307] Step 1101, performing a first transmission on an unlicensed frequency band, the first transmission including a sidelink positioning reference signal (SL PRS) transmission.

[0308] The sidelink positioning method of the embodiment of the application performs the first transmission including the SL PRS transmission on the unlicensed frequency band, to enable the user equipment at the receiving end to perform the positioning based on the sidelink technology based on the SL PRS, to solve the problem that the existing vehicle networking positioning mainly relies on GNSS, and the problem that the sidelink dedicated spectrum is limited, to realize the high-precision positioning of the sidelink.

[0309] Further, as an optional implementation, as shown inFigure 3 As shown in the method further comprises:

[0310] transmitting at least one of the following on the dedicated frequency band:

[0311] resource occupation information on the unlicensed frequency band;

[0312] indication information of the SL PRS transmission;

[0313] information for positioning.

[0314] Further, as another optional implementation, the first transmission further comprises:

[0315] second preamble transmission;

[0316] indication information transmission of the SL PRS transmission;

[0317] information transmission for positioning.

[0318] Here, it should be noted that the second preamble transmission is the transmission of the second preamble signal / information; the indication information of the SL PRS transmission can also be called the control information of the SL PRS transmission; the information for positioning is the positioning information related to the SL PRS transmission device, wherein the SL PRS transmission device can be the first user equipment.

[0319] Specifically, the second preamble transmission satisfies at least one of the following requirements:

[0320] The second preamble transmission is a preamble sequence;

[0321] The second preamble transmission time is less than or equal to a time threshold value.

[0322] As an optional implementation, the first transmission is performed on the unlicensed frequency band, comprising:

[0323] The second user equipment determines the transmission resource within the resource indicated by the at least one first user equipment in the adjacent occupation time to perform the first transmission.

[0324] That is, the second user equipment can not perform the second LBT listening, but determines the transmission resource within the resource indicated by the first user equipment in the occupation time to perform the first transmission.

[0325] Specifically, as shown in the method further comprises: Figure 6 , Figure 9 and Figure 10 The second user equipment determines the transmission resource within the resource indicated by the at least one first user equipment in the adjacent occupation time to perform the first transmission, comprising:

[0326] According to the transmission resource allocated to the second user equipment by the first user equipment, the first transmission is performed.

[0327] Specifically, as shown in Figure 7 and Figure 8 , the second user equipment determines the transmission resource in the resource indicated by the at least one first user equipment in the adjacent occupation time, and performs the first transmission, including:

[0328] In the resource indicated by the at least one first user equipment in the adjacent occupation time, the transmission resource is determined in the resource not indicated as occupied.

[0329] The first transmission is performed on the selected transmission resource.

[0330] Here, it should be noted that the resource of the occupation time indicated by the second user equipment includes but is not limited to the occupation time (Channel Occupation Time, COT), which can also be represented as the number of occupied time domain resources.

[0331] As an optional implementation, before the second user equipment determines the transmission resource in the resource indicated by the at least one first user equipment in the adjacent occupation time, and performs the first transmission, it further includes:

[0332] Performing a second LBT, the listening time of the second LBT is less than the minimum listening time of the first LBT; that is, the second user equipment only sends short preamble information, performs short LBT, and can perform fast access to realize low-latency first transmission.

[0333] Here, it should be noted that the difference between the second user equipment and the first user equipment is that the second user equipment can not perform LBT listening, but perform the first transmission based on the resource indicated by the nearby first user equipment. Therefore, the second user equipment can also implement the processes of other embodiments of the first user equipment (not related to LBT listening), and here, in order to avoid repetition, it will not be repeated.

[0334] As shown in Figure 12 , the present application also provides a sidelink positioning method, applied to a third user equipment, the method includes:

[0335] Step 1201, performing reception of a first transmission on an unlicensed frequency band, the first transmission including SL PRS transmission;

[0336] Step 1202, measuring the SL PRS in the first transmission.

[0337] The sidelink positioning method of the embodiment of the application performs first transmission including SL PRS transmission on an unlicensed frequency band, and measures the SL PRS in the first transmission, so that the positioning based on the sidelink technology is realized, the problem of the limitation that the existing vehicle networking positioning mainly relies on GNSS is solved, the problem of the limitation of the dedicated spectrum of the sidelink is solved, and the high-precision positioning of the sidelink is realized.

[0338] Further, as an optional implementation, the method further comprises:

[0339] transmitting the following at least one on the dedicated frequency band:

[0340] resource occupation information on the unlicensed frequency band;

[0341] indication information of the SL PRS transmission;

[0342] information for positioning.

[0343] Further, as an optional implementation, the first transmission further comprises the following at least one:

[0344] pilot transmission;

[0345] indication information transmission of the SL PRS transmission;

[0346] information transmission for positioning.

[0347] Here, it should be noted that the pilot transmission is the first pilot transmission or the second pilot transmission. The first pilot transmission is the transmission of the first pilot signal / information, and the first pilot signal / information is the pilot information / signal for indicating the unlicensed frequency band positioning resource. The indication information of the SL PRS transmission can also be called the control information of the SL PRS transmission. The information for positioning is the positioning information related to the SL PRS transmission device, wherein the SL PRS transmission device can be the first user equipment.

[0348] Here, it should be further noted that the related content of the pilot transmission, the indication information transmission of the SL PRS transmission and the information transmission for positioning has been described in the embodiment applied to the first user equipment, and to avoid repetition, it will not be repeated here.

[0349] Here, it should be further noted that the first pilot transmission comprises the following at least one:

[0350] system information;

[0351] broadcast information;

[0352] synchronization signal;

[0353] synchronization information;

[0354] Positioning information.

[0355] The system information or the broadcast information of the first preamble transmission is used to indicate at least one of the following:

[0356] First indication information;

[0357] Direct frame number (DFN);

[0358] Second indication information used to indicate that the frequency band of the positioning information transmission includes an unlicensed frequency band and / or a dedicated frequency band.

[0359] The first indication information is used to indicate configuration parameters of SL PRS and / or resource occupation information from the boundary of the nearest available time domain resource after the first LBT, including at least one of the following:

[0360] Sequence type;

[0361] Sequence index;

[0362] Comb size;

[0363] Number of occupied time domain resources;

[0364] Occupied time;

[0365] Frequency domain resource size;

[0366] Time pattern and number of SL PRS repeated transmission;

[0367] Resource information allocated by the first user equipment for at least one second user equipment;

[0368] Resource information allocated by the first user equipment for itself and at least one second user equipment.

[0369] In the case where the second indication information indicates that the transmission frequency band of the positioning information includes the unlicensed frequency band and the dedicated frequency band, the second indication information further indicates at least one of the following corresponding to the dedicated frequency band:

[0370] Frequency band;

[0371] Carrier;

[0372] Bandwidth part (BWP);

[0373] Resource pool;

[0374] Time domain resource;

[0375] Frequency domain resource.

[0376] Further, as an optional implementation, the method further comprises:

[0377] According to a measurement result of the SL PRS, a position of the third user equipment relative to a user equipment performing the first transmission is determined, or an absolute position of the third user equipment is determined.

[0378] Here, it needs to be noted that when the second indication information indicates that the user equipment performing the first transmission cannot serve as an anchor node, the third user equipment can determine the position relative to the user equipment performing the first transmission. When the second indication information indicates that the user equipment performing the first transmission can serve as an anchor node, the third user equipment can determine its absolute position.

[0379] As shown in FIG. 13, Figure 13 the embodiment of the present application further provides a sidelink positioning device applied to a first user equipment, comprising:

[0380] A first transmission module 1301 is configured to perform a first transmission on an unlicensed frequency band, wherein the first transmission comprises a sidelink positioning reference signal (SL PRS) transmission.

[0381] The sidelink positioning device of the embodiment of the present application performs the first transmission comprising the SL PRS transmission on the unlicensed frequency band by the first transmission module 1301, so that the user equipment of the receiving end can perform sidelink technology-based positioning based on the SL PRS, thereby solving the problem of the limitation that the existing vehicle networking positioning mainly relies on GNSS, and solving the problem of the limitation of sidelink dedicated spectrum, and realizing high-precision positioning of the sidelink.

[0382] Further, the device further comprises:

[0383] A second transmission module is configured to transmit at least one of the following on a dedicated frequency band:

[0384] Resource occupation information on the unlicensed frequency band;

[0385] Indication information of the SL PRS transmission;

[0386] Information for positioning.

[0387] Optionally, the first transmission further comprises at least one of the following:

[0388] First preamble transmission;

[0389] Indication information transmission of the SL PRS transmission;

[0390] Information transmission for positioning.

[0391] Optionally, the first transmission module 1301 is configured to perform the first preamble transmission after a first listen before talk (LBT) listening succeeds and before the SL PRS is transmitted.

[0392] Optionally, the first transmission module 1301 is configured to perform the first preamble transmission in at least one of the following manners:

[0393] performing the first preamble transmission once or repeatedly in the time domain before reaching the next N time domain resource boundaries, N being an integer and N≥1.

[0394] performing the first preamble transmission once or repeatedly in the time domain before reaching the next N time domain resource boundaries, N being an integer and N≥1.

[0395] Optionally, the first frequency domain resource comprises at least one of the following:

[0396] a frequency domain resource with a resource set as a scheduling granularity;

[0397] a frequency domain resource with a subchannel as a scheduling granularity;

[0398] a frequency domain resource with a physical resource block (PRB) as a scheduling granularity;

[0399] a frequency domain resource with a comb resource block as a scheduling granularity;

[0400] a frequency domain resource with a frequency domain resource combination as a scheduling granularity.

[0401] Optionally, when the first transmission module 1301 repeatedly performs the first preamble transmission in the time domain, it is specifically configured to:

[0402] repeatedly perform the first preamble transmission continuously in the time domain;

[0403] or repeatedly perform the first preamble transmission at intervals in the time domain, wherein a transmission interval between two adjacent first preamble transmissions is less than a minimum listening time of the first LBT.

[0404] Optionally, the first preamble transmission comprises at least one of the following:

[0405] system information;

[0406] broadcast information;

[0407] a synchronization signal;

[0408] synchronization information;

[0409] positioning information.

[0410] Optionally, the system information or the broadcast information of the first preamble transmission is configured to indicate at least one of the following:

[0411] first indication information;

[0412] a direct frame number (DFN);

[0413] The second indication information is used for indicating that the frequency band for transmitting the positioning information comprises a license-exempt frequency band and / or a dedicated frequency band.

[0414] Optionally, the first indication information is used for indicating the configuration parameter of the SL PRS and / or the resource occupation information after the first LBT, and comprises at least one of the following:

[0415] a sequence type;

[0416] a sequence index;

[0417] a comb size;

[0418] an occupation time domain resource start point;

[0419] an occupation time domain resource number;

[0420] an occupation time;

[0421] a frequency domain resource size;

[0422] a time pattern and a number of repetitions of the SL PRS;

[0423] resource information allocated by the first user equipment for at least one second user equipment;

[0424] resource information allocated by the first user equipment for itself and at least one second user equipment.

[0425] Optionally, in the case where the second indication information indicates that the frequency band for transmitting the positioning information comprises the license-exempt frequency band and the dedicated frequency band, the second indication information further indicates at least one of the following corresponding to the dedicated frequency band:

[0426] a frequency band;

[0427] a carrier;

[0428] a bandwidth part (BWP);

[0429] a resource pool;

[0430] a time domain resource;

[0431] a frequency domain resource.

[0432] Optionally, the first transmission module 1301 is further used for performing the first transmission by using the transmission resource on the license-exempt frequency band after the first user equipment successfully performs the first LBT.

[0433] Specifically, the first transmission module 1301 is specifically used for:

[0434] The first user equipment occupies a plurality of transmission resources to perform the first transmission, and an interval between two continuous transmission resources occupied is not more than a first time interval.

[0435] The first time interval is less than a minimum monitoring time of the first LBT, and can support performing a single first transmission.

[0436] Optionally, when the first transmission module 1301 performs the first transmission on the unlicensed frequency band, the first transmission module 1301 is specifically configured to:

[0437] After performing the first LBT monitoring successfully, the first transmission module 1301 allocates transmission resources for itself and / or at least one second user equipment in proximity, and performs the first transmission on the unlicensed frequency band, wherein the first transmission includes indication information of the transmission resources allocated for itself and / or at least one second user equipment in proximity.

[0438] Specifically, the first transmission module 1301 allocates transmission resources for the first user equipment and / or at least one second user equipment in proximity, and an interval between two continuous transmission resources is not more than a first time interval.

[0439] The first time interval is less than a minimum monitoring time of the first LBT, and can support performing a single first transmission.

[0440] Optionally, when the first transmission module 1301 allocates transmission resources for the first user equipment and / or at least one second user equipment in proximity, the first transmission module 1301 is specifically configured to:

[0441] The first transmission module 1301 allocates transmission resources for itself and / or at least one second user equipment in proximity by using a resource pattern combination, and the resource pattern combination is used to indicate resource positions of the first transmission performed by itself and / or at least one second user equipment in proximity.

[0442] As Figure 14 shown, the embodiment of the present application further provides a sidelink positioning apparatus, applied to a second user equipment, and including:

[0443] A first transmission module 1401 is configured to perform a first transmission on an unlicensed frequency band, and the first transmission includes a sidelink positioning reference signal (SL PRS) transmission.

[0444] The sidelink positioning apparatus of the embodiment of the present application, the first transmission module 1401 performs the first transmission including the SL PRS transmission on the unlicensed frequency band, so that a user equipment at a receiving end can perform sidelink technology-based positioning based on the SL PRS, solves the problem of the limitation that the existing vehicle networking positioning mainly relies on GNSS, and solves the problem of the limitation of the sidelink dedicated spectrum, and realizes high-precision positioning of the sidelink.

[0445] Further, the apparatus further comprises:

[0446] a second transmission module, configured to transmit at least one of the following on the dedicated frequency band:

[0447] resource occupation information on the unlicensed frequency band;

[0448] indication information of SL PRS transmission;

[0449] information for positioning.

[0450] Optionally, the first transmission further comprises at least one of the following:

[0451] second preamble transmission;

[0452] indication information transmission of SL PRS transmission;

[0453] information transmission for positioning.

[0454] Specifically, the second preamble transmission satisfies at least one of the following requirements:

[0455] the second preamble transmission is a preamble sequence;

[0456] the second preamble transmission time is less than or equal to a time threshold value.

[0457] Optionally, the first transmission module 1401, when used for performing the first transmission on the unlicensed frequency band, is further used for: determining transmission resources in resources of at least one first user equipment indicated occupation time in proximity, and performing the first transmission.

[0458] The first transmission module 1401, when determining transmission resources in resources of at least one first user equipment indicated occupation time in proximity, and performing the first transmission, is specifically used for:

[0459] performing the first transmission according to the transmission resources allocated to itself by the first user equipment.

[0460] The first transmission module 1401, when determining transmission resources in resources of at least one first user equipment indicated occupation time in proximity, and performing the first transmission, is further specifically used for:

[0461] determining transmission resources in resources of the at least one first user equipment indicated occupation time, in resources not indicated as occupied;

[0462] performing the first transmission on the selected transmission resources.

[0463] The first transmission module 1401 determines a transmission resource in a resource indicated by at least one first user equipment in a proximity in an occupation time, and before performing the first transmission, is further used for:

[0464] performing a second LBT, a listening time of the second LBT being less than a minimum listening time of the first LBT.

[0465] As shown in Figure 15 The embodiments of the present application also provide a sidelink positioning apparatus, applied to a third user equipment, comprising:

[0466] A first receiving module 1501 is used for performing receiving of a first transmission on an unlicensed frequency band; the first transmission comprises SL PRS transmission;

[0467] A measurement module 1502 is used for measuring the SL PRS in the first transmission.

[0468] The sidelink positioning apparatus of the embodiments of the present application, the first receiving module 1501 performs the first transmission comprising SL PRS transmission on the unlicensed frequency band, the first transmission comprises SL PRS transmission; the measurement module 1502 measures the SL PRS in the first transmission, thus realizing positioning based on the sidelink technology, solving the problem of the limitation that the existing vehicle networking positioning mainly relies on GNSS, and the problem of the limitation of the sidelink dedicated spectrum, and realizing high-precision positioning of the sidelink.

[0469] Further, the apparatus further comprises:

[0470] A second receiving module is used for receiving at least one of the following on a dedicated frequency band:

[0471] Resource occupation information on the unlicensed frequency band;

[0472] Indication information of the SL PRS transmission;

[0473] Information for positioning.

[0474] Optionally, the first transmission further comprises at least one of the following:

[0475] Preamble transmission;

[0476] Indication information transmission of the SL PRS transmission;

[0477] Information transmission for positioning.

[0478] Further, the apparatus further comprises:

[0479] The determining module is configured to determine a position of the third user equipment relative to a user equipment performing the first transmission, or determine an absolute position of the third user equipment, according to the measurement result of the SL PRS.

[0480] As shown in Figure 16 the present application also provides a user equipment, which comprises a transceiver 1610, a memory 1620, a processor 1600, and a computer program stored in the memory 1620 and running on the processor 1600, and the processor 1600 implements each process of the sidelink positioning method embodiment applied to the first user equipment as described above, or each process of the sidelink positioning method embodiment applied to the second user equipment as described above, and details are not described herein to avoid repetition.

[0481] In the above Figure 16 , the bus architecture can include any number of interconnected buses and bridges, which are specifically linked by various circuits of one or more processors represented by the processor 1600 and the memory represented by the memory 1620. The bus architecture can also link various other circuits such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art, and thus, further description thereof is not provided herein. The bus interface provides an interface. The transceiver 1610 can be a plurality of elements, i.e., including a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. The user interface 1630 can also be an interface capable of connecting the required devices externally and internally, including but not limited to a keypad, a display, a speaker, a microphone, a joystick, etc. The processor 1600 is responsible for managing the bus architecture and general processing, and the memory 1620 can store data used by the processor 1600 in performing operations.

[0482] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by instructing the relevant hardware by a computer program including instructions for performing part or all of the steps of the above-mentioned method; and the computer program can be stored in a readable storage medium, which can be any form of storage medium.

[0483] In addition, the embodiments of the present application further provide a computer readable storage medium, and the program is stored on the readable storage medium. The program is executed by the processor to realize each process of the sidelink positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein. The computer readable storage medium is, for example, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, etc.

[0484] In addition, it should be noted that in the device and method of the present application, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombination should be considered as equivalent solutions of the present application. Moreover, the steps of performing the above series of processes can naturally be executed in the order described or in chronological order, but it is not necessary to be executed in chronological order, and some steps can be executed in parallel or independently of each other. It can be understood by those skilled in the art that all or any steps or components of the method and device of the present application can be realized in hardware, firmware, software or a combination thereof in any computing device (including processors, storage media, etc.) or network of computing devices, which can be realized by those skilled in the art using their basic programming skills after reading the description of the present application.

[0485] Therefore, the purpose of the present application can also be realized by running a program or a group of programs on any computing device. The computing device can be a commonly known general-purpose device. Therefore, the purpose of the present application can also be realized only by providing a program product containing program code for realizing the method or device. That is, such a program product also constitutes the present application, and the storage medium storing such a program product can also constitute the present application. Obviously, the storage medium can be any commonly known storage medium or any storage medium developed in the future.

[0486] Finally, it should be noted that in this document, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0487] The above are preferred embodiments of the present application, it should be pointed out that, for those skilled in the technical field, without departing from the principles described in the present application, can also make a number of improvements and refinements, these improvements and refinements should also be considered as the scope of protection of the present application.

Claims

1. A method for locating a direct link, characterized in that, Applied to a first user equipment, the method includes: A first transmission is performed on an unlicensed frequency band, the first transmission including a direct link positioning reference signal (SL PRS) transmission; The first transmission, performed on the unlicensed frequency band, includes: After successfully performing the first LBT listening, the first user equipment uses the transmission resources on the unlicensed frequency band to perform the first transmission; The first transmission is performed using transmission resources on the unlicensed frequency band, including: The first user equipment occupies multiple transmission resources to perform the first transmission, and the interval between two consecutive transmission resources occupied does not exceed a first time interval; Wherein, the first time interval is less than the minimum listening time of the first LBT; Alternatively, the first time interval is less than the minimum listening time of the first LBT and is capable of supporting a single execution of the first transmission.

2. The method according to claim 1, characterized in that, The method further includes: Transmitting at least one of the following on a dedicated frequency band: Resource usage information on unlicensed frequency bands; Indication information transmitted by SL PRS; Information used for location.

3. The method according to claim 1 or 2, characterized in that, The first transmission further includes at least one of the following: First preamble transmission; SL PRS transmission of indication information; Information transmission used for positioning.

4. The method according to claim 3, characterized in that, Performing the first preamble transmission on the unlicensed frequency band includes: After the first Listen-Before-Speak LBT successfully listens, and before transmitting the SL PRS, the first preamble transmission is performed.

5. The method according to claim 4, characterized in that, The first preamble transmission shall be performed in at least one of the following ways: The first preamble transmission is performed once or repeatedly on the first frequency domain resource; Before reaching the next N time-domain resource boundaries, the first preamble transmission is performed once or repeatedly in the time domain, where N is an integer and N≥1.

6. The method according to claim 5, characterized in that, The first frequency domain resource includes at least one of the following: Frequency domain resources with resource sets as the scheduling granularity; Frequency domain resources with sub-channels as the scheduling granularity; Frequency domain resources with Physical Resource Blocks (PRBs) as the scheduling granularity; Frequency domain resources with comb-tooth resource blocks as the scheduling granularity; Frequency domain resources are scheduled at the level of frequency domain resource combination.

7. The method according to claim 5, characterized in that, Repeating the first preamble transmission in the time domain includes: The first preamble transmission is executed continuously and repeatedly in the time domain; Alternatively, the first preamble transmission may be repeated at time intervals in the time domain, wherein the transmission interval between two consecutive first preamble transmissions is less than the minimum listening time of the first LBT.

8. The method according to claim 3, characterized in that, The first preamble transmission includes at least one of the following: System information; Broadcast information; Synchronization signal; Synchronize information; Location information.

9. The method according to claim 8, characterized in that, The system information or broadcast information transmitted in the first preamble is used to indicate at least one of the following: First instruction message; Direct Frame Number (DFN); The second indication information is used to indicate that the frequency band for transmitting the location information includes unlicensed frequency bands and / or dedicated frequency bands.

10. The method according to claim 9, characterized in that, The first indication information is used to indicate the configuration parameters of the SL PRS and / or the resource usage information after the first LBT, including at least one of the following: Sequence type; Sequence index; Comb tooth size; Starting point of occupied time domain resources; Number of time-domain resources occupied; Time occupied; Frequency domain resource size; SL PRS retransmission time pattern and number of times; The first user equipment allocates resource information to at least one second user equipment; The resource information allocated by the first user equipment to itself and at least one second user equipment.

11. The method according to claim 9, characterized in that, When the second indication information indicates that the transmission frequency band of the location information includes the unlicensed frequency band and the dedicated frequency band, the second indication information also indicates at least one of the following corresponding to the dedicated frequency band: Frequency band; carrier wave; Bandwidth portion BWP; Resource pool; Time-domain resources; Frequency domain resources.

12. The method according to claim 1, characterized in that, Performing the first transmission on the unlicensed frequency band includes: After the first user equipment successfully performs the first LBT listening, it allocates transmission resources to itself and / or at least one nearby second user equipment and performs a first transmission on the unlicensed frequency band, wherein the first transmission includes indication information of the transmission resources allocated to itself and / or at least one nearby second user equipment.

13. The method according to claim 12, characterized in that, In the transmission resources allocated by the first user equipment to itself and / or at least one adjacent second user equipment, the interval between two consecutive transmission resources does not exceed the first time interval; The first time interval is less than the minimum listening time of the first LBT and is capable of supporting a single first transmission.

14. The method according to claim 13, characterized in that, The first user equipment allocates transmission resources to itself and / or at least one nearby second user equipment, including: A resource pattern combination is used to allocate transmission resources to itself and / or at least one nearby second user equipment, the resource pattern combination being used to indicate the resource location where itself and / or at least one nearby second user equipment performs the first transmission.

15. A method for locating a direct link, characterized in that, Applied to a second user equipment, the method includes: A first transmission is performed on an unlicensed frequency band, the first transmission including a direct link positioning reference signal (SL PRS) transmission; The first transmission, performed on the unlicensed frequency band, includes: The second user equipment determines the transmission resources within the time of occupancy indicated by at least one adjacent first user equipment, and performs the first transmission; Wherein, the second user equipment determines transmission resources within a resource occupancy period indicated by at least one adjacent first user equipment, and performs the first transmission, including: Within the resources for which the at least one first user equipment indicates the occupied time, the transmission resources are determined from the resources that are not indicated to be occupied; Perform the first transmission on the selected transmission resource.

16. The method according to claim 15, characterized in that, The method further includes: Transmitting at least one of the following on a dedicated frequency band: Resource usage information on unlicensed frequency bands; Indication information transmitted by SL PRS; Information used for location.

17. The method according to claim 15 or 16, characterized in that, The first transmission further includes at least one of the following: Second preamble transmission; SL PRS transmission of indication information; Information transmission used for positioning.

18. The method according to claim 17, characterized in that, The second preamble transmission satisfies at least one of the following requirements: The second preamble transmission is a preamble sequence; The second preamble transmission time is less than or equal to the time threshold.

19. The method according to claim 18, characterized in that, The second user equipment determines transmission resources within a resource occupancy period indicated by at least one adjacent first user equipment, and performs the first transmission, including: The first transmission is performed according to the transmission resources allocated to it by the first user equipment.

20. The method according to claim 15, characterized in that, The second user equipment determines transmission resources within a time-occupied period indicated by at least one adjacent first user equipment, and before performing the first transmission, further includes: Execute the second LBT, the second LBT listening time is less than the minimum listening time of the first LBT.

21. A method for locating a direct link, characterized in that, Applied to a third user equipment, the method includes: Reception of a first transmission performed on an unlicensed frequency band, the first transmission including SL PRS transmission; The SL PRS in the first transmission is measured; Wherein, the first transmission is a transmission performed by the first user equipment after successfully performing the first LBT listening, occupying multiple transmission resources, wherein the interval between two consecutive occupied transmission resources does not exceed a first time interval; wherein the first time interval is less than the minimum listening time of the first LBT; or, the first time interval is less than the minimum listening time of the first LBT and can support the execution of a single first transmission. Alternatively, the first transmission may be a transmission performed by a second user equipment on resources that are not indicated to be occupied, within a resource occupied for a time indicated by at least one adjacent first user equipment.

22. The method according to claim 21, characterized in that, The method further includes: Receive at least one of the following on a dedicated frequency band: Resource usage information on unlicensed frequency bands; Indication information transmitted by SL PRS; Information used for location.

23. The method according to claim 21 or 22, characterized in that, The first transmission further includes at least one of the following: Preamble transmission; SL PRS transmission of indication information; Information transmission used for positioning.

24. The method according to claim 21 or 22, characterized in that, The method further includes: Based on the measurement results of the SL PRS, the position of the third user equipment relative to the user equipment performing the first transmission is determined, or the absolute position of the third user equipment is determined.

25. A user equipment comprising a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the through-link location method as described in any one of claims 1 to 14, or the through-link location method as described in any one of claims 15 to 20, or the through-link location method as described in any one of claims 21 to 24.

26. A direct-link positioning device, characterized in that, Applied to the first user equipment, including: A first transmission module is configured to perform a first transmission on an unlicensed frequency band, the first transmission including a direct link positioning reference signal (SL PRS) transmission; The first transmission module is further configured to: after successfully performing the first LBT listening, use the transmission resources on the unlicensed frequency band to perform the first transmission; When the first transmission module performs the first transmission using transmission resources on the unlicensed frequency band, it is specifically used to: occupy multiple transmission resources to perform the first transmission, wherein the interval between two consecutive transmission resources occupied does not exceed a first time interval; Wherein, the first time interval is less than the minimum listening time of the first LBT; Alternatively, the first time interval is less than the minimum listening time of the first LBT and is capable of supporting a single execution of the first transmission.

27. A direct-link positioning device, characterized in that, Applied to second user equipment, including: A first transmission module is configured to perform a first transmission on an unlicensed frequency band, the first transmission including a direct link positioning reference signal (SL PRS) transmission; The first transmission module is further configured to: determine transmission resources within the time of occupancy indicated by at least one adjacent first user equipment, and execute the first transmission; Wherein, the first transmission module determines transmission resources within the resource occupancy time indicated by at least one adjacent first user equipment, and specifically performs the first transmission as follows: Within the resources for which the at least one first user equipment indicates the occupied time, the transmission resources are determined from the resources that are not indicated to be occupied; Perform the first transmission on the selected transmission resource.

28. A direct-link positioning device, characterized in that, Applied to third-party user equipment, including: A first receiving module is configured to receive a first transmission on an unlicensed frequency band; the first transmission includes SL PRS transmission. A measurement module is used to measure the SL PRS during the first transmission; Wherein, the first transmission is a transmission performed by the first user equipment after successfully performing the first LBT listening, occupying multiple transmission resources, wherein the interval between two consecutive occupied transmission resources does not exceed a first time interval; wherein the first time interval is less than the minimum listening time of the first LBT; or, the first time interval is less than the minimum listening time of the first LBT and can support the execution of a single first transmission. Alternatively, the first transmission may be a transmission performed by a second user equipment on resources that are not indicated to be occupied, within a resource occupied for a time indicated by at least one adjacent first user equipment.

29. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the through-link location method as described in any one of claims 1 to 14, or the through-link location method as described in any one of claims 15 to 20, or the through-link location method as described in any one of claims 21 to 24.

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