A group positioning method, apparatus, device and storage medium

Abstract

The present disclosure provides a group positioning method, device, equipment and storage medium. The method comprises: in response to the first UE determining to perform sidelink (SL) group positioning with a target UE group, initiating a group positioning procedure with the target UE group; and the target UE group comprises at least two second UEs. The method of the present disclosure can effectively reduce the interaction signaling, improve the interaction efficiency, and further improve the positioning efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to group positioning methods, apparatus, devices and storage media. Background Technology

[0002] In communication systems, sidelink (SL) communication is introduced to enable direct communication between user equipment (UEs). Furthermore, for UEs connected via SL, they typically need to perform SL group positioning with a group of UEs. Therefore, a method for SL group positioning is urgently needed. Summary of the Invention

[0003] The group location method, apparatus, device, and storage medium disclosed herein are intended to provide a group location method with less signaling interaction and higher efficiency.

[0004] In a first aspect, embodiments of this disclosure provide a group positioning method, which is executed by a first UE, including:

[0005] In response to determining that a sidelink SL group location is to be performed with a target UE group, a group location procedure with the target UE group is initiated, wherein the target UE group includes at least two second UEs.

[0006] In this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of these messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0007] Secondly, embodiments of this disclosure provide a group positioning method, which is executed by a second UE, including:

[0008] Establish an SLPP or RSPP session with the first UE, wherein the second UE is connected to the first UE via the side link SL.

[0009] Thirdly, embodiments of this disclosure provide a communication device configured in a first UE, comprising:

[0010] The processing module is configured to initiate a group positioning process with the target UE group in response to determining that a sidelink SL group positioning is required with the target UE group, wherein the target UE group includes at least two second UEs.

[0011] Fourthly, embodiments of this disclosure provide a communication device configured in a first UE, comprising:

[0012] The processing module is used to establish an SLPP or RSPP session with the first UE, wherein the second UE is connected to the first UE via a side link SL.

[0013] Fifthly, embodiments of this disclosure provide a communication device including a processor that, when the processor invokes a computer program in memory, executes the method described in any one of the first to second aspects.

[0014] In a sixth aspect, embodiments of this disclosure provide a communication device including a processor and a memory, the memory storing a computer program; the processor executes the computer program stored in the memory to cause the communication device to perform the method described in any one of the first to second aspects.

[0015] In a seventh aspect, embodiments of this disclosure provide a communication device including a processor and an interface circuit. The interface circuit is configured to receive code instructions and transmit them to the processor, which is configured to execute the code instructions to cause the device to perform the method described in any one of the first to second aspects.

[0016] Eighthly, embodiments of this disclosure provide a communication system, the system including the communication device described in any one of the third to fourth aspects, or the system including the communication device described in the fifth aspect, or the system including the communication device described in the sixth aspect, or the system including the communication device described in the seventh aspect.

[0017] Ninthly, embodiments of the present invention provide a computer-readable storage medium for storing instructions for use by the network device described above, which, when executed, cause the terminal device to perform the method described in any one of the first to second aspects.

[0018] In a tenth aspect, this disclosure also provides a computer program product including a computer program, which, when run on a computer, causes the computer to perform the methods described in any one of the first to second aspects.

[0019] Eleventhly, this disclosure provides a chip system including at least one processor and an interface for supporting network devices in implementing the functions involved in the methods described in any one of the first to second aspects, such as determining or processing at least one of the data and information involved in the aforementioned methods. In one possible design, the chip system further includes a memory for storing computer programs and data necessary for source and slave nodes. The chip system may be composed of chips or may include chips and other discrete devices.

[0020] In a twelfth aspect, this disclosure provides a computer program that, when run on a computer, causes the computer to perform the methods described in any one of the first to second aspects. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0022] Figure 1 This is a schematic diagram of the architecture of a communication system provided in an embodiment of the present disclosure;

[0023] Figure 2 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0024] Figure 3 This is a flowchart illustrating a group location method provided in yet another embodiment of the present disclosure;

[0025] Figure 4 A flowchart illustrating a group location method provided in yet another embodiment of this disclosure;

[0026] Figure 5 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0027] Figure 6 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0028] Figure 7 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0029] Figure 8 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0030] Figure 9 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0031] Figure 10 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0032] Figure 11 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0033] Figure 12 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0034] Figure 13 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0035] Figure 14 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0036] Figure 15 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0037] Figure 16 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0038] Figure 17 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0039] Figure 18 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0040] Figure 19 This is a schematic diagram of the structure of a communication device provided in one embodiment of the present disclosure;

[0041] Figure 20 This is a schematic flowchart of a group location method provided in another embodiment of the present disclosure;

[0042] Figure 21 This is a block diagram of a user equipment provided in one embodiment of the present disclosure;

[0043] Figure 22 This is a block diagram of a network-side device provided in one embodiment of the present disclosure. Detailed Implementation

[0044] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this disclosure as detailed in the appended claims.

[0045] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. The singular forms “a” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0046] It should be understood that although the terms first, second, third, etc., may be used to describe various information in embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of embodiments of this disclosure, and similarly, second information may also be referred to as first information. Depending on the context, the words “if” and “suppose” as used herein may be interpreted as “when”, “when”, or “in response to a determination”.

[0047] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0048] To facilitate understanding, the terminology used in this application will be introduced first.

[0049] 1. Fifth-generation mobile networks (5G)

[0050] 5G is a new generation of broadband mobile communication technology with high speed and low latency, and it is the network infrastructure for realizing the interconnection of people, machines and things.

[0051] 2. Sidelink (SL)

[0052] Links for direct communication between terminal devices.

[0053] To better understand the group positioning method disclosed in this disclosure, the communication system to which this disclosure applies will be described first.

[0054] Please see Figure 1 , Figure 1 This is a schematic diagram of the architecture of a communication system provided in an embodiment of the present disclosure. The communication system may include, but is not limited to, two UEs. Figure 1 The number and form of devices shown are for illustrative purposes only and do not constitute a limitation on the embodiments of this disclosure. In actual applications, two or more UEs may be included. Figure 1The communication system shown is an example including a first UE11 and two second UE12, wherein the two second UE12 can be used to form a UE group.

[0055] It should be noted that the technical solutions of this disclosure can be applied to various communication systems. For example, Long Term Evolution (LTE) systems, 5th Generation (5G) mobile communication systems, 5G New Radio (NR) systems, or other future new mobile communication systems.

[0056] In the embodiments of this disclosure, the first UE11 and the second UE12 can be entities on the user side used to receive or transmit signals, such as mobile phones. UE can also be referred to as terminal equipment, user equipment (UE), mobile station (MS), mobile terminal equipment (MT), etc. UE can be a car with communication capabilities, a smart car, a mobile phone, a wearable device, a tablet computer, a computer with wireless transceiver capabilities, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a wireless terminal device in a smart home, etc. The embodiments of this disclosure do not limit the specific technology or device form used by the UE.

[0057] It is understood that the communication system described in the embodiments of this disclosure is for the purpose of more clearly illustrating the technical solutions of the embodiments of this disclosure, and does not constitute a limitation on the technical solutions provided in the embodiments of this disclosure. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this disclosure are also applicable to similar technical problems.

[0058] As described above, one possible group positioning method involves the first UE interacting one-to-one with each of the second UEs in the UE group (e.g., the first UE interacting one-to-one with each of the second UEs, and the second UEs interacting one-to-one with each other) to determine the positioning location and / or ranging distance between the first UE and the second UEs in the UE group, thereby achieving SL group positioning and / or SL group ranging. However, this method involves a large number of signaling interactions and is inefficient. Therefore, this disclosure provides a group positioning method with fewer signaling interactions and higher efficiency.

[0059] The group positioning method, apparatus, device, and storage medium provided in the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0060] It should be noted that in this disclosure, any group location method provided in any embodiment can be executed alone, any implementation method in the embodiment can also be executed alone, or combined with other embodiments, or possible implementation methods in other embodiments can be executed together, or combined with any technical solution in related technologies. It is understood that all the above-mentioned combination schemes are within the protection scope of this disclosure.

[0061] Figure 2 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a first UE, such as... Figure 2 As shown, this group positioning method may include the following steps:

[0062] Step 201: In response to the first UE determining that it needs to perform sidelink (SL) group positioning with the target UE group, initiate the group positioning process with the target UE group.

[0063] In one embodiment of this disclosure, the target UE group may include at least two second UEs. Furthermore, the first UE may be connected to the second UEs via an SL link, and different second UEs may also be connected to each other via SL links.

[0064] Furthermore, in one embodiment of this disclosure, the aforementioned "determining to perform SL group positioning with the target UE group" may include: when the first UE receives a group positioning request sent by the higher layer of the first UE, determining that the first UE wants to perform group positioning with the target UE group. For example, when the Sidelink Positioning Protocol (SLPP) layer and / or the Ranging and Sidelink Positioning Protocol (RSPP) layer of the first UE receives a group positioning request sent by the higher layer of the first UE, determining that the first UE wants to perform group positioning with the target UE group.

[0065] The term "senior level" as used above may include at least one of the following:

[0066] Application layer;

[0067] Long Term Evolution Positioning Protocol (LPP) layer;

[0068] PC5-Signalling (PC5-S) layer;

[0069] Non-access stratum (NAS);

[0070] Proximity-based Service (Prose) layer;

[0071] Vehicle-to-everything (V2X) layer.

[0072] The aforementioned "group location request" may include at least one of the following:

[0073] Group identifier (ID) of the target UE group;

[0074] The group location service quality (QoS) parameters corresponding to the target UE group;

[0075] ID information of each second UE in the target UE group.

[0076] Furthermore, in one embodiment of this disclosure, the aforementioned "the higher layers of the first UE sending the group location request to the SLPP layer and / or RSPP layer" may include: the higher layers directly sending the group location request to the SLPP layer and / or RSPP layer, and / or, other higher layers besides the PC5-S layer first sending the group location request to the PC5-S layer, and the PC5-S layer then sending the group location request to the SLPP layer and / or RSPP layer.

[0077] Furthermore, in one embodiment of this disclosure, the above-mentioned "triggering group location process with target UE group" may include: the first UE establishing an SLPP or RSPP session with the target UE group, that is, the first UE establishing an SLPP or RSPP session with the second UE in the target UE group so that the first UE can subsequently interact with at least one second UE in the target UE group to exchange the group location required messages, thereby realizing group location.

[0078] It should be noted that, in one embodiment of this disclosure, when the first UE interacts with at least one second UE to exchange group positioning messages, at least some of the messages are multicast from the first UE to the second UE. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process. This effectively reduces interaction signaling, improves interaction efficiency, and thus improves positioning efficiency.

[0079] The specific details of how the first UE initiates the group location process with the target UE group will be explained in subsequent embodiments.

[0080] In summary, in the group positioning method provided by the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0081] Figure 3 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a first UE, such as... Figure 3 As shown, this group positioning method may include the following steps:

[0082] Step 301: In response to the first UE receiving a group location request sent by the higher layer of the first UE, determine that the first UE wants to perform group location with the target UE group.

[0083] For a detailed description of step 301, please refer to the above embodiments; this disclosure will not repeat it here.

[0084] Specifically, in some implementations, in response to the first UE's SLPP layer and / or PSPP layer receiving a group location request sent by the first UE's higher layer, it is determined that the first UE wants to perform group location with the target UE group.

[0085] It should be understood that Figure 3 The methods described herein may be implemented alone or in combination with the foregoing embodiments, and this disclosure does not impose any limitations on this.

[0086] In summary, in the group positioning method provided by the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0087] Figure 4 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a first UE, such as... Figure 4 As shown, this group positioning method may include the following steps:

[0088] Step 401: Initiate a group discovery process to discover at least one second UE in the target UE group.

[0089] The discovery process can be initiated by at least one of the SLPP layer, RSPP layer, and higher layers of the first UE.

[0090] In one embodiment of this disclosure, step 401 may be performed before “initiating the group location process with the target UE group”, and by performing step 401, a second UE in the target UE group can be discovered, thereby facilitating the subsequent successful initiation of the group location process with the target UE group.

[0091] In one embodiment of this disclosure, the aforementioned initiating group discovery process may include:

[0092] Listen for the first discovery message sent by the second UE;

[0093] Upon receiving a first discovery message from the second UE, it is determined that the second UE has been discovered.

[0094] Specifically, when the first UE hears the first discovery message sent by the second UE, the first UE can determine that it has discovered the second UE; otherwise, the first UE determines that it has not discovered the second UE.

[0095] In one embodiment of this disclosure, the first discovery message may be broadcast by a second UE.

[0096] Furthermore, in one embodiment of this disclosure, the aforementioned first discovery message sent by the second UE may include:

[0097] The first discovery message sent by the second UE is monitored by listening to the SL receive resource pool;

[0098] The SL receiving resource pool may include at least one of the following:

[0099] The first SL receiving resource pool is a receiving resource pool dedicated to UE discovery.

[0100] The second SL receiving resource pool is a general SL receiving resource pool.

[0101] Optionally, the SL receiving resource pool may be pre-configured or configured to the first UE by a network device, which may include a base station and / or an LMF. However, it should be understood that the first UE may also obtain the SL receiving resource pool from the network device or other network elements through other means, and this disclosure does not limit this.

[0102] Furthermore, in another embodiment of this disclosure, the aforementioned initiating group discovery process may include:

[0103] Based on the group ID of the target UE group, a second discovery message is multicast to the second UE in the target UE group;

[0104] Listen for the response message sent by the second UE;

[0105] Upon receiving a response message from the second UE, it is determined that the second UE has been detected.

[0106] Specifically, the first UE can send a second discovery message to discover a possible second UE. In response to receiving the second discovery message, the second UE can send a response message to the first UE, which may be, for example, the first discovery message described above.

[0107] Furthermore, in one embodiment of this disclosure, the method of monitoring the response message sent by the second UE is similar to that of monitoring the first discovery message, and will not be described again here.

[0108] Furthermore, in one embodiment of this disclosure, the aforementioned multicast second discovery message may include:

[0109] The second discovery message is sent via resource pool multicast using SL;

[0110] The SL sending resource pool may include at least one of the following:

[0111] The first SL transmission resource pool is a dedicated transmission resource pool for UE discovery.

[0112] The second SL sending resource pool is a general SL receiving resource pool.

[0113] Optionally, the SL transmission resource pool may be pre-configured or configured to the first UE by a network device, which may include a base station and / or an LMF. However, it should be understood that the first UE may also obtain the SL transmission resource pool from the network device or other network elements in other ways, and this disclosure does not limit this.

[0114] It should be noted that, in one embodiment of this disclosure, the aforementioned "group discovery process" can be initiated by at least one of the SLPP layer, RSPP layer, and higher layers. Specifically, when the group discovery process is initiated by the SLPP layer or RSPP layer, the SLPP layer or RSPP layer can initiate the process after receiving a group location request from the higher layer. Furthermore, the SLPP layer or RSPP layer can store the ID of the discovered second UE so that the group location process can be performed subsequently based on the discovered second UE ID. When the group discovery process is initiated by a higher layer, the higher layer can initiate the process before or after sending a group location request to the SLPP layer and / or RSPP layer. Furthermore, the higher layer can directly send the ID of the discovered second UE to the SLPP layer or RSPP layer, or send it to the SLPP layer or RSPP layer via the PC5-S layer, so that the SLPP layer or RSPP layer can perform the group location process subsequently based on the discovered second UE ID.

[0115] It should be understood that Figure 4 The methods described herein may be implemented alone or in combination with the foregoing embodiments, and this disclosure does not impose any limitations on this.

[0116] In summary, in the group positioning method provided by the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0117] Figure 5 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a first UE, such as... Figure 5As shown, this group positioning method may include the following steps:

[0118] Step 501: Establish an SLPP or RSPP session with the target UE group.

[0119] In one embodiment of this disclosure, establishing an SLPP or RSPP session with the target UE group may include: establishing an SLPP or RSPP session with a second UE in the target UE group. The first UE can interact with the second UE through this SLPP or RSPP session to exchange the necessary messages for location, thereby achieving group location.

[0120] It should be understood that Figure 5 The methods described herein may be implemented alone or in combination with the foregoing embodiments, and this disclosure does not impose any limitations on this.

[0121] In summary, in the group positioning method provided by the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0122] Figure 6 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a first UE, such as... Figure 6 As shown, this group positioning method may include the following steps:

[0123] Step 601: Multicast an SLPP or RSPP message to the second UE in the target UE group. The SLPP or RSPP message is used to trigger the establishment of an SLPP or RSPP session between the first UE and the second UE.

[0124] In one embodiment of this disclosure, the SLPP or RSPP message may include at least one of the following:

[0125] Capability-related messages (such as SLPP or RSPP capability transmission messages);

[0126] Location-related messages (such as SLPP or RSPP location information transmission messages);

[0127] Messages related to auxiliary information.

[0128] Among them, the aforementioned "capability-related messages" can be location capability-related messages of the first UE and / or location capability-related messages of the second UE.

[0129] The aforementioned "location information related messages" can be messages related to the location of the first UE, and / or messages related to the location of the second UE.

[0130] The aforementioned "assistance information related messages" can be messages used to assist in group location.

[0131] Furthermore, in one embodiment of this disclosure, the aforementioned "multicast" transmission method may include: a first UE multicasting the SLPP or RSPP message to a second UE in the target UE group based on the group ID of the target UE group. Specifically, the group ID can be mapped to the Layer 2destination ID (Layer 2 target ID) corresponding to the target UE group; that is, the SLPP or RSPP message can be mapped to the Layer 2destination ID corresponding to the target UE group based on the group ID. The group ID is an application layer ID, and the Layer 2destination ID is carried in the Medium Access Control (MAC) layer or the Physical Layer (PHY). Each UE group actively detects the SL data corresponding to its Layer 2destination ID. Thus, the second UE in the target UE group can receive the multicast message from the first UE by detecting the SL data corresponding to the Layer 2destination ID of the target UE group.

[0132] Furthermore, in one embodiment of this disclosure, if the ID of the target UE group is not provided, the SLPP or RSPP message can be multicast to the second UE in the target UE group based on the service type corresponding to the requested group location. Specifically, the service type can be mapped to the Layer 2destination ID corresponding to the target UE group; that is, the SLPP or RSPP message can be mapped to the Layer 2destination ID corresponding to the target UE group based on the service type. Thus, the second UE in the target UE group can receive the message multicast by the first UE by detecting the SL data corresponding to the Layer 2destination ID of the target UE group. The aforementioned service type can be determined based on the group location request, such as being included in the group location request.

[0133] The aforementioned "mapping" can be performed by at least one of the SLPP layer, RSPP layer, and PC5-S layer.

[0134] It should be understood that Figure 6 The methods described herein may be implemented alone or in combination with the foregoing embodiments, and this disclosure does not impose any limitations on this.

[0135] In summary, in the group positioning method provided by the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0136] Figure 7 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a first UE, such as... Figure 7 As shown, this group positioning method may include the following steps:

[0137] Step 701: Interact with at least one second UE to receive the group location required message in order to perform group location.

[0138] In one embodiment of this disclosure, the aforementioned "message required for group positioning with at least one second UE" may include at least one of the following:

[0139] The first method involves sending all messages required for group positioning to the second UE via multicast.

[0140] By sending all messages required for group positioning to the second UE via multicast, the signaling required for interaction can be greatly reduced, interaction efficiency can be improved, and thus positioning efficiency can be improved.

[0141] The second method involves sending the first type of message in the group positioning message to the second UE using unicast, and sending messages other than the first type to the second UE using multicast.

[0142] In one embodiment of this disclosure, the first type of message may include: a message that needs to be sent specifically, such as a message that a first UE needs to send specifically to any second UE, such as a location-related message. Also, in one embodiment of this disclosure, messages sent via multicast may optionally be sent via unicast.

[0143] As a further example, in one embodiment of this disclosure, at least one of capability-related messages, location-related messages, auxiliary information-related messages, error messages, and abort messages can be sent via multicast or unicast.

[0144] The third method involves autonomously determining whether to send messages via multicast or unicast, and then sending the messages required by the corresponding group location according to the autonomously determined method.

[0145] For example, the first UE can independently determine whether capability-related messages are sent via multicast or unicast.

[0146] As can be seen from the above, in this disclosure, when the first UE and the target UE group perform group positioning, at least some of the messages are transmitted via multicast, thereby effectively reducing the interactive signaling required for communication, shortening the interaction time, and improving the interaction efficiency.

[0147] In summary, in the group positioning method provided by the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0148] It should be understood that Figure 7 The methods described herein may be implemented alone or in combination with the foregoing embodiments, and this disclosure does not impose any limitations on this.

[0149] Figure 8 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a first UE, such as... Figure 8 As shown, this group positioning method may include the following steps:

[0150] Step 801: Instruct the second UE on the transmission method when sending the group positioning required message.

[0151] The transmission method can include multicast transmission or unicast transmission.

[0152] Furthermore, in one embodiment of this disclosure, the aforementioned transmission method for instructing the second UE to send a group positioning required message may include: each message sent by the first UE to the second UE includes first indication information, which is used to indicate the transmission method when the second UE sends a response message to the message; the transmission method indicated by the first indication information includes unicast or multicast.

[0153] In one embodiment of this disclosure, the first indication information can be a bit code. When the first indication information is a first value (such as 1), it can indicate a unicast transmission mode; when the first indication information is a second value (such as 0), it can indicate a multicast transmission mode.

[0154] For example, assuming that the first indication information included in the capability-related message sent by the first UE to the second UE is a first value, then when the second UE sends a response message of the capability-related message back to the first UE, the response message can be sent back in a unicast manner.

[0155] Optionally, in another embodiment of this disclosure, the transmission method when instructing the second UE to send a group positioning required message may include: sending a second indication information to the second UE, the second indication information being used to instruct: after receiving the second indication information, the second UE to send the group positioning required message to the first UE using the transmission method indicated by the second indication information; the transmission method indicated by the second indication information includes unicast or multicast.

[0156] It should be noted that after the second UE receives the second indication information, it can use the sending method indicated by the second indication information to send the group positioning required message to the first UE until the second UE receives a new second indication information again. Then the second UE can use the sending method indicated by the new second indication information to send the group positioning required message to the first UE.

[0157] In one embodiment of this disclosure, the second indication information can be a bit code. When the second indication information is a third value (such as 1), it can indicate a unicast transmission mode; when the second indication information is a fourth value (such as 0), it can indicate a multicast transmission mode.

[0158] For example, suppose the first UE sends a second indication message to the second UE, and this second indication message has a third value. After receiving the second indication message, the second UE can use unicast to send the group positioning message required by the first UE. Then, after a period of time, the first UE sends a new second indication message to the second UE, and this new second indication message has a fourth value. After receiving this new second indication message, the second UE can use multicast to send the group positioning message required by the first UE.

[0159] It should be understood that Figure 7 The methods described herein may be implemented alone or in combination with the foregoing embodiments, and this disclosure does not impose any limitations on this.

[0160] In summary, in the group positioning method provided by the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0161] Figure 9 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a first UE, such as... Figure 9 As shown, this group positioning method may include the following steps:

[0162] Step 901: Terminate or suspend the SLPP or RSPP session with the second UE.

[0163] In one embodiment of this disclosure, when the first UE performs group positioning with the target UE group, there may be a situation where the first UE cannot interact normally with some of the second UEs. For example, the second UE may not have the ability to respond to messages sent by the first UE, or the SL link between the first UE and the second UE may be abnormal, or the communication quality between the first UE and the second UE may be low. In this case, the SLPP or RSPP session with the second UE may be terminated or suspended to prevent the first UE from still trying to interact and communicate with the second UE, thus avoiding the consumption of useless interaction signaling.

[0164] In one embodiment of this disclosure, the aforementioned termination or suspension of the SLPP or RSPP session with the second UE may include at least one of the following:

[0165] In response to the first UE determining, based on information (such as capability information) sent by the second UE, that the second UE cannot participate in the group positioning process, the SLPP or RSPP session with the second UE is terminated or suspended.

[0166] In response to the first UE receiving a message from the second UE indicating to terminate or suspend the SLPP or RSPP session, the first UE terminates or suspends the SLPP or RSPP session with the second UE.

[0167] In response to the first UE receiving a message from the second UE requesting the termination or suspension of the SLPP or RSPP session, the first UE terminates or suspends the SLPP or RSPP session with the second UE.

[0168] In response to the first UE receiving an Error message sent by the second UE, the SLPP or RSPP session with the second UE is terminated or suspended.

[0169] It should be noted that, in one embodiment of this disclosure, the aforementioned message indicating termination or suspension of the SLPP or RSPP session, the message requesting termination or suspension of the SLPP or RSPP session, and the Error message may be sent to the first UE when the second UE determines that it cannot or is unable to respond to the first UE's message (e.g., it cannot provide the assistance-related information or location-related information requested by the first UE). The Error message may also indicate the reason why the second UE sent the Error message. For example, if the Error message is sent by the second UE to the first UE because the second UE cannot respond to the message sent by the first UE, then the Error message may indicate: the second UE cannot respond to the message sent by the first UE, and / or indicate the specific reason why the second UE cannot respond to the message sent by the first UE.

[0170] Furthermore, it should be noted that if the first UE receives a message from the second UE requesting the termination or suspension of the SLPP or RSPP session, the first UE can respond to the second UE by accepting or rejecting the request message. When the first UE accepts the request message, it is considered that the first UE agrees to terminate or suspend the SLPP or RSPP session with the second UE. In this case, when the second UE receives feedback from the first UE indicating acceptance of the request message, the second UE can terminate or suspend the SLPP or RSPP session with the first UE. Conversely, if the first UE rejects the request message, it is considered that the first UE does not agree to terminate or suspend the SLPP or RSPP session with the second UE. In this case, when the second UE receives feedback from the first UE indicating rejection of the request message, the second UE cannot terminate or suspend the SLPP or RSPP session with the first UE. Alternatively, the second UE may also independently decide to terminate or suspend the SLPP or RSPP session with the first UE.

[0171] Furthermore, in one embodiment of this disclosure, the termination of the SLPP or RSPP session described above may include: the first UE no longer receiving or sending any information related to the terminated SLPP or RSPP session.

[0172] The aforementioned suspension of an SLPP or RSPP session may include: the SLPP or RSPP session is no longer active. In this case, the first UE no longer sends any information related to the suspended SLPP or RSPP session, but receives information related to the suspended SLPP or RSPP session.

[0173] Furthermore, in one embodiment of this disclosure, for the target UE group, the termination or suspension of the SLPP or RSPP session of some of the second UEs does not affect the interaction between other second UEs and the first UE based on the SLPP or RSPP session, that is, it does not affect the activation of other UEs in the SLPP or RSPP session.

[0174] In summary, in the group positioning method provided by the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0175] Figure 10 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a first UE, such as... Figure 10 As shown, this group positioning method may include the following steps:

[0176] Step 1001: Send a third indication message to the second UE, which is used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE.

[0177] In one embodiment of this disclosure, when the first UE determines to terminate or suspend the SLPP or RSPP session with the second UE, the first UE may send the aforementioned third indication information to the second UE to instruct the second UE to also terminate or suspend the SLPP or RSPP session with the first UE.

[0178] Optionally, in one embodiment of this disclosure, sending the third indication information to the second UE may include at least one of the following:

[0179] The third instruction information is unicast to the second UE;

[0180] The multicast third indication information includes the ID of the second UE that needs to be terminated or suspended in the SLPP or RSPP session. This second UE ID can be the SL layer 2 ID (sideline layer 2 identifier) ​​corresponding to the second UE, and / or the UE application layer ID (UE application layer identifier) ​​corresponding to the second UE.

[0181] In summary, in the group positioning method provided by the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0182] Figure 11 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a second UE, such as... Figure 11 As shown, this group positioning method may include the following steps:

[0183] Step 1101: Establish an SLPP or RSPP session with the first UE. The second UE connects to the first UE via SL.

[0184] The second UE and at least one other second UE constitute a target UE group for group positioning with the first UE.

[0185] Furthermore, in one embodiment of this disclosure, the SLPP or RSPP session can specifically be used for information required for interactive group positioning. It should be noted that, in one embodiment of this disclosure, when providing information required for interactive group positioning, at least a portion of the information is multicast by the second UE. This second UE multicast transmission can be understood as the second UE multicasting information to other second UEs in the target UE group (and / or itself) and to the first UE. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0186] Furthermore, for a detailed description of step 1101, please refer to the above embodiment description.

[0187] In summary, in the group positioning method provided by the embodiments of this disclosure, the second UE establishes an SLPP or RSPP session with the first UE, and the first UE connects to the second UE via SL. This SLPP or RSPP session is used to exchange information required for group positioning. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, when exchanging information required for group positioning, at least some of the information is multicast by the second UE. This multicast transmission by the second UE can be understood as the second UE multicasting information to other second UEs (and / or itself) in the target UE group. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0188] Figure 12 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a second UE, such as... Figure 12 As shown, this group positioning method may include the following steps:

[0189] Step 1201: Receive an SLPP or RSPP message sent by the first UE. The SLPP or RSPP message is used to trigger the establishment of an SLPP or RSPP session between the first UE and the second UE.

[0190] For a detailed description of step 1201, please refer to the above embodiment.

[0191] In summary, in the group positioning method provided by the embodiments of this disclosure, the second UE establishes an SLPP or RSPP session with the first UE, and the first UE connects to the second UE via SL. This SLPP or RSPP session is used to exchange information required for group positioning. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, when exchanging information required for group positioning, at least some of the information is multicast by the second UE. This multicast transmission by the second UE can be understood as the second UE multicasting information to other second UEs (and / or itself) in the target UE group. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0192] Figure 13 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a second UE, such as... Figure 13 As shown, this group positioning method may include the following steps:

[0193] Step 1301: Interact with the group to receive the necessary messages for group location.

[0194] Optionally, the aforementioned interaction group positioning message may be: the interaction group positioning message between the second UE and the first UE, and / or the interaction group positioning message between the second UE and other second UEs in the target UE group.

[0195] Furthermore, the messages required for locating the aforementioned interaction group may include at least one of the following:

[0196] Send the group location message via unicast;

[0197] The sending method is determined based on the instruction of the first UE when the sending group locates the required message;

[0198] The first type of message in the group positioning message is sent using unicast, and the other types of messages are sent using multicast.

[0199] It can autonomously determine whether to send messages via multicast or unicast, and send the required messages to the corresponding group according to the autonomously determined method.

[0200] It should be noted that the "first type of message" mentioned above can be a message that needs to be sent in a specific way, such as a message that the second UE needs to send to the first UE or other second UEs. For example, the first type of message can be a capability-related message and / or a message related to auxiliary information.

[0201] The aforementioned "transmission method when determining the message required for group positioning based on the indication of the first UE" may include:

[0202] In response to the first UE including first indication information in the message sent, a response message is sent using the sending method indicated by the first indication information; the sending method indicated by the first indication information includes unicast or multicast; and / or

[0203] Upon receiving the second indication information sent by the first UE, the group positioning required message is sent using the sending method indicated by the second indication information; the sending method indicated by the second indication information includes unicast or multicast.

[0204] Furthermore, for a detailed description of step 1301, please refer to the above embodiment description.

[0205] In summary, in the group positioning method provided by the embodiments of this disclosure, the second UE establishes an SLPP or RSPP session with the first UE, and the first UE connects to the second UE via SL. This SLPP or RSPP session is used to exchange information required for group positioning. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, when exchanging information required for group positioning, at least some of the information is multicast by the second UE. This multicast transmission by the second UE can be understood as the second UE multicasting information to other second UEs (and / or itself) in the target UE group. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0206] Figure 14 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a second UE, such as... Figure 14 As shown, this group positioning method may include the following steps:

[0207] Step 1401: In response to the second UE's inability to respond to the message sent by the first UE, perform at least one of the following operations: send a message to the first UE indicating the termination or suspension of the SLPP or RSPP session, send a message to the first UE requesting the termination or suspension of the SLPP or RSPP session, or send an Error message to the first UE.

[0208] For a detailed description of step 1401, please refer to the above embodiment.

[0209] In summary, in the group positioning method provided by the embodiments of this disclosure, the second UE establishes an SLPP or RSPP session with the first UE, and the first UE connects to the second UE via SL. This SLPP or RSPP session is used to exchange information required for group positioning. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, when exchanging information required for group positioning, at least some of the information is multicast by the second UE. This multicast transmission by the second UE can be understood as the second UE multicasting information to other second UEs (and / or itself) in the target UE group. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0210] Figure 15 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a second UE, such as... Figure 15 As shown, this group positioning method may include the following steps:

[0211] Step 1501: In response to the second UE's inability to respond to the message sent by the first UE, terminate or suspend the SLPP or RSPP session with the first UE.

[0212] For a detailed description of step 1501, please refer to the above embodiment.

[0213] In summary, in the group positioning method provided by the embodiments of this disclosure, the second UE establishes an SLPP or RSPP session with the first UE, and the first UE connects to the second UE via SL. This SLPP or RSPP session is used to exchange information required for group positioning. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, when exchanging information required for group positioning, at least some of the information is multicast by the second UE. This multicast transmission by the second UE can be understood as the second UE multicasting information to other second UEs (and / or itself) in the target UE group. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0214] Figure 16This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a second UE, such as... Figure 16 As shown, this group positioning method may include the following steps:

[0215] Step 1601: Receive a third indication message sent by the first UE, the third indication message being used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE.

[0216] Step 1602: Determine whether to terminate or suspend the SLPP or RSPP session with the first UE based on the third indication information.

[0217] Optionally, determining whether to terminate or suspend the SLPP or RSPP session with the first UE based on the third indication information may include at least one of the following:

[0218] In response to the fact that the ID of the second UE is not included in the third indication information, the SLPP or RSPP session with the first UE is terminated or suspended;

[0219] In response to the third indication information including the ID of the second UE, determine whether the ID of the second UE included in the third indication information is its own ID; if so, terminate or suspend the SLPP or RSPP session with the first UE.

[0220] Furthermore, for a detailed description of step 1601, please refer to the above embodiment description.

[0221] In summary, in the group positioning method provided by the embodiments of this disclosure, the second UE establishes an SLPP or RSPP session with the first UE, and the first UE connects to the second UE via SL. This SLPP or RSPP session is used to exchange information required for group positioning. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, when exchanging information required for group positioning, at least some of the information is multicast by the second UE. This multicast transmission by the second UE can be understood as the second UE multicasting information to other second UEs (and / or itself) in the target UE group. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0222] Figure 17 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a second UE, such as... Figure 17 As shown, this group positioning method may include the following steps:

[0223] Step 1701: Send a first discovery message to the first UE so that the first UE can discover the second UE.

[0224] For a detailed description of step 1701, please refer to the above embodiment.

[0225] In summary, in the group positioning method provided by the embodiments of this disclosure, the second UE establishes an SLPP or RSPP session with the first UE, and the first UE connects to the second UE via SL. This SLPP or RSPP session is used to exchange information required for group positioning. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, when exchanging information required for group positioning, at least some of the information is multicast by the second UE. This multicast transmission by the second UE can be understood as the second UE multicasting information to other second UEs (and / or itself) in the target UE group. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0226] Figure 18 This is a flowchart illustrating a group location method provided in an embodiment of the present disclosure. The method is executed by a second UE, such as... Figure 18 As shown, this group positioning method may include the following steps:

[0227] Step 1801: Receive the second discovery message sent by the first UE;

[0228] Step 1802: Send a response message to the first UE.

[0229] For a detailed description of steps 1801-1802, please refer to the above embodiment description.

[0230] In summary, in the group positioning method provided by the embodiments of this disclosure, the second UE establishes an SLPP or RSPP session with the first UE, and the first UE connects to the second UE via SL. This SLPP or RSPP session is used to exchange information required for group positioning. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, when exchanging information required for group positioning, at least some of the information is multicast by the second UE. This multicast transmission by the second UE can be understood as the second UE multicasting information to other second UEs (and / or itself) in the target UE group. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0231] The following is a specific example of the group location method disclosed herein.

[0232] Optionally, in one embodiment of this disclosure, UE A (i.e., the aforementioned first UE) determines that it needs to perform group positioning with a group of UEs (i.e., the aforementioned target UE group) and initiates a positioning process to the group of UEs.

[0233] Optionally, in one embodiment of this disclosure, the UE A determines that it needs to perform group positioning with a group of UEs, including the UE A's upper layer requesting group positioning.

[0234] Example: The upper layer can be the application layer, PC5-S layer, or NAS layer. The upper layer indicates to the SLPP / RSPP layer that group location needs to be performed, or the upper layer requests group location from the PC5-S layer and provides relevant information, such as group ID, group location QoS parameters, and ID information of each group member.

[0235] Optionally, in one embodiment of this disclosure, the SLPP / RSPP layer or upper layer initiates a group discovery process to discover UEs belonging to that group.

[0236] Example 1: After receiving a group location request from the upper layer, the SLPP / RSPP layer initiates a group discovery process. During the group discovery process, the UE can listen to discovery messages sent by group member UEs (i.e., the aforementioned second UE), or it can proactively send discovery messages via multicast ID. The network or pre-configured messages can be configured with a dedicated SL receive resource pool or use a general receive resource pool to allow the UE to listen to discovery messages; similarly, the network or pre-configured messages can be configured with a dedicated SL send resource pool or use a general send resource pool to allow the UE to send discovery messages.

[0237] Example 2: Before requesting the group location process from SLPP / RSPP or PC5-S, the upper layer first initiates a group discovery process, the details of which are the same as above. The upper layer informs SLPP / RSPP or PC5-S of the discovered group member IDs.

[0238] Optionally, in one embodiment of this disclosure, UE A initiates a location procedure to the group of UEs, which includes establishing an SLPP / RSPP session with the group of UEs.

[0239] Optionally, in one embodiment of this disclosure, UE A sends an SLPP / RSPP message that triggers the establishment of an SLPP / RSPP session to the group of UEs via multicast.

[0240] Example: This SLPP / RSPP message can be an SLPP / RSPP capability transmission message, an SLPP / RSPP location information transmission message, or an auxiliary information transmission message. It is transmitted using multicast, for example, mapping a group ID to a multicast Layer2destination ID. If no group ID is provided, the service type can be mapped to a multicast Layer2destination ID. This mapping can be performed by SLPP / RSPP or PC5-S.

[0241] Optionally, in one embodiment of this disclosure, after triggering session establishment, UE A may send messages to group member UEs in the following ways:

[0242] -Method 1: Use multicast for all.

[0243] -Method 2: Multicast is used for specific message types, while unicast is used for other messages.

[0244] Example: Messages for capability interaction, auxiliary information interaction, error messages, abort messages, and location information interaction can be sent via multicast or unicast. For messages sent via multicast, the UE can optionally also send them via unicast.

[0245] -Method 3: UE A can freely decide which message uses unicast and which message uses multicast.

[0246] Optionally, in one embodiment of this disclosure, when a group member UE sends a message to UE A, there are several ways:

[0247] -Method 1: All messages are sent via unicast.

[0248] -Method 2: Determine whether to use unicast or multicast based on the indication of UE A.

[0249] Example: UE A can indicate whether to use unicast or multicast per message, such as indicating whether to use unicast or multicast in a request message; UE A can also switch unicast or multicast on or off, for example, after sending multicast configuration, member UEs will use multicast to send messages until they receive unicast configuration.

[0250] -Method 3: Determine whether to use unicast or multicast based on message type. For example, multicast is used for capability interaction messages and auxiliary information interaction messages.

[0251] Optionally, in one embodiment of this disclosure, UE A may instruct a group member UE to terminate or suspend the session.

[0252] Example: A message indicating session termination / pause can be sent to the UE via unicast or multicast. For the latter, the UE's identifier needs to be included in the message. The identifier can be the SL layer 2 ID or the UE application layer ID.

[0253] Example: After receiving a session termination / pause instruction from UE A, a member UE terminates / pauses the session.

[0254] Example: After terminating a session, the UE will no longer receive or send any information related to that session.

[0255] Example: The session pause means that the session is no longer active. After pausing the session, the UE can receive messages from that session, but will no longer send messages.

[0256] Example: The termination or suspension of a group member UE's session does not affect the activity of other UEs in that session.

[0257] Optionally, in one embodiment of this disclosure, after receiving capability information sent by a group member, if UE A believes that the UE cannot participate in the subsequent group positioning process, UE A sends a session termination or suspension message to the group member UE.

[0258] Optionally, in one embodiment of this disclosure, a member UE instructs or requests UE A to terminate or suspend the session.

[0259] Example: After receiving the application, UE A responds by accepting or rejecting the request.

[0260] Optionally, in one embodiment of this disclosure, when a member UE is unable to respond to a request from UE A, such as being unable to provide the auxiliary information or location information requested by UE A, the member UE instructs or requests UE A to terminate or suspend the session.

[0261] Optionally, in one embodiment of this disclosure, when a member UE is unable to respond to a request from UE A, such as being unable to provide the auxiliary information or location information requested by UE A, the member UE sends an Error message to UE A.

[0262] Example: Group member UEs can specify the reason in the error message. Group UE A can terminate or suspend the session of the group member UE upon receiving an error. Group member UEs can either terminate or suspend the session directly, or wait for instructions from UE A.

[0263] Figure 19 This is a schematic diagram of the structure of a communication device provided in an embodiment of the present disclosure, as shown below. Figure 19 As shown, the device may include:

[0264] The processing module is configured to initiate a group positioning process with the target UE group in response to determining that a sidelink SL group positioning is required with the target UE group, wherein the target UE group includes at least two second UEs.

[0265] In summary, in the communication apparatus provided in the embodiments of this disclosure, in response to a first UE determining that it needs to perform SL group positioning with a target UE group, the first UE initiates a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange group positioning messages, at least some of the messages are multicast by the first UE to the second UEs of the target UE group. That is, during the group positioning process between the first UE and the target UE group, the first UE does not interact with each of the second UEs in a one-to-one manner throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0266] Optionally, in one embodiment of this disclosure, the processing module is further configured to:

[0267] In response to the first UE receiving a group location request sent by the higher layer of the first UE, it is determined that the first UE wants to perform group location with the target UE group.

[0268] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0269] The group location request is received through the Side Link Positioning Protocol (SLPP) layer of the first UE, and / or the Ranging and Side Link Positioning Protocol (RSPP) layer.

[0270] Optionally, in one embodiment of this disclosure, the group location request includes at least one of the following:

[0271] The group identifier ID of the target UE group;

[0272] The group location service quality (QoS) parameters corresponding to the target UE group;

[0273] The ID of the second UE in the target UE group.

[0274] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0275] Initiate a group discovery process to discover at least one second UE in the target UE group.

[0276] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0277] The group discovery process is initiated by at least one of the SLPP layer, RSPP layer, and higher layers of the first UE.

[0278] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0279] Listen for the first discovery message sent by the second UE;

[0280] In response to receiving a first discovery message sent by the second UE, it is determined that the second UE has been discovered.

[0281] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0282] Based on the group ID of the target UE group, a second discovery message is multicast to the second UE in the target UE group;

[0283] Listen for the response message sent by the second UE;

[0284] Upon receiving a response message from the second UE, it is determined that the second UE has been detected.

[0285] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0286] By monitoring the SL receive resource pool, the first discovery message or response message sent by the second UE can be listened to.

[0287] The SL receiving resource pool includes at least one of the following:

[0288] The first SL receiving resource pool is a receiving resource pool dedicated to UE discovery.

[0289] The second SL receiving resource pool is a general SL receiving resource pool.

[0290] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0291] The second discovery message is sent via resource pool multicast using SL;

[0292] The SL transmission resource pool includes at least one of the following:

[0293] The first SL transmission resource pool is a dedicated transmission resource pool for UE discovery.

[0294] The second SL sending resource pool is a general SL receiving resource pool.

[0295] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0296] Establish an SLPP or RSPP session with the target UE group.

[0297] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0298] A multicast SLPP or RSPP message is sent to the second UE in the target UE group. The SLPP or RSPP message is used to trigger the establishment of an SLPP or RSPP session between the first UE and the second UE.

[0299] Optionally, in one embodiment of this disclosure, the SLPP or RSPP message includes at least one of the following:

[0300] Messages related to abilities;

[0301] Location-related messages;

[0302] Messages related to auxiliary information.

[0303] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0304] The system interacts with at least one second UE to receive the required group location messages in order to perform group location.

[0305] Optionally, in one embodiment of this disclosure, the device is further used for at least one of the following:

[0306] All messages required for group positioning are sent to the second UE via multicast.

[0307] The first type of message in the group positioning message is sent to the second UE using unicast, and the other messages are sent to the second UE using multicast.

[0308] It can autonomously determine whether to send messages via multicast or unicast, and send the required messages to the corresponding group according to the autonomously determined method.

[0309] Optionally, in one embodiment of this disclosure, the first type of message includes: a message that needs to be sent specifically.

[0310] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0311] The method of sending the group location-required message to the second UE.

[0312] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0313] Each message sent by the first UE to the second UE includes first indication information. The first indication information is used to indicate the sending method when the second UE sends a response message to the message. The sending method indicated by the first indication information includes unicast or multicast.

[0314] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0315] Send a second indication message to the second UE. The second indication message is used to instruct the second UE to send the group positioning required message to the first UE using the sending method indicated by the second indication message after receiving the second indication message. The sending method indicated by the second indication message includes unicast or multicast.

[0316] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0317] Terminate or suspend the SLPP or RSPP session with the second UE.

[0318] Optionally, in one embodiment of this disclosure, the device is further used for at least one of the following:

[0319] In response to the first UE determining, based on the information sent by the second UE, that the second UE cannot participate in the group positioning process, the SLPP or RSPP session with the second UE is terminated or suspended.

[0320] In response to the first UE receiving a message from the second UE indicating to terminate or suspend the SLPP or RSPP session, the first UE terminates or suspends the SLPP or RSPP session with the second UE.

[0321] In response to the first UE receiving a message from the second UE requesting the termination or suspension of the SLPP or RSPP session, the first UE terminates or suspends the SLPP or RSPP session with the second UE.

[0322] In response to the first UE receiving an Error message sent by the second UE, the SLPP or RSPP session with the second UE is terminated or suspended.

[0323] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0324] A third indication message is sent to the second UE, the third indication message being used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE.

[0325] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0326] The third indication information is unicast to the second UE;

[0327] The third instruction information is multicast, and the third instruction information includes the ID of the second UE that needs to terminate or suspend the SLPP or RSPP session.

[0328] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0329] No longer receive or send any information related to the terminated SLPP or RSPP session;

[0330] And the suspension of the SLPP or RSPP session includes:

[0331] No longer send any information related to the suspended SLPP or RSPP session, but receive information related to the suspended SLPP or RSPP session.

[0332] Figure 20 This is a schematic diagram of the structure of a communication device provided in an embodiment of the present disclosure, as shown below. Figure 20 As shown, the device may include:

[0333] The processing module is used to establish an SLPP or RSPP session with the first UE, wherein the second UE is connected to the first UE via a side link SL.

[0334] In summary, in the communication device provided in the embodiments of this disclosure, the second UE establishes an SLPP or RSPP session with the first UE, and the first UE connects to the second UE via SL. The SLPP or RSPP session is used to exchange information required for group positioning. Therefore, this disclosure provides a group positioning method for realizing group positioning between UEs. Furthermore, in the method of this disclosure, when exchanging information required for group positioning, at least some of the information is multicast by the second UE. This multicast transmission by the second UE can be understood as the second UE multicasting information to other second UEs (and / or itself) in the target UE group. That is, during the group positioning process between the first UE and the target UE group, the second UE does not interact one-to-one with each of the other second UEs in the target UE group throughout the entire process, thereby effectively reducing interaction signaling, improving interaction efficiency, and thus improving positioning efficiency.

[0335] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0336] The system receives an SLPP or RSPP message sent by the first UE, which is used to trigger the second UE to establish an SLPP or RSPP session between the first UE and the second UE.

[0337] Optionally, in one embodiment of this disclosure, the SLPP or RSPP message includes at least one of the following:

[0338] Messages related to abilities;

[0339] Location-related messages;

[0340] Messages related to auxiliary information.

[0341] Optionally, in one embodiment of this disclosure, the second UE and at least one other second UE constitute a target UE group for group positioning with the first UE.

[0342] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0343] The system interacts with the first UE to receive the necessary group location information in order to perform group location.

[0344] Optionally, in one embodiment of this disclosure, the device is further used for at least one of the following:

[0345] Send the group location message via unicast;

[0346] The sending method is determined based on the instruction of the first UE when the sending group locates the required message;

[0347] The first type of message in the group positioning message is sent using unicast, and the other types of messages are sent using multicast.

[0348] It can autonomously determine whether to send messages via multicast or unicast, and send the required messages to the corresponding group according to the autonomously determined method.

[0349] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0350] In response to the message sent by the first UE including first indication information, a response message is sent using the sending method indicated by the first indication information; the sending method indicated by the first indication information includes unicast or multicast.

[0351] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0352] Upon receiving the second indication information sent by the first UE, the group positioning required message is sent using the sending method indicated by the second indication information; the sending method indicated by the second indication information includes unicast or multicast.

[0353] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0354] In response to the second UE's inability to respond to a message sent by the first UE, perform at least one of the following operations:

[0355] Send a message to the first UE indicating to terminate or suspend the SLPP or RSPP session;

[0356] Send a message to the first UE requesting the termination or suspension of the SLPP or RSPP session;

[0357] Send an Error message to the first UE.

[0358] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0359] In response to the second UE's inability to respond to messages sent by the first UE, the SLPP or RSPP session with the first UE is terminated or suspended.

[0360] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0361] The third indication information sent by the first UE is received, which is used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE;

[0362] Based on the third indication information, determine whether to terminate or suspend the SLPP or RSPP session with the first UE.

[0363] Optionally, in one embodiment of this disclosure, the device is further used for at least one of the following:

[0364] In response to the fact that the ID of the second UE is not included in the third indication information, the SLPP or RSPP session with the first UE is terminated or suspended;

[0365] In response to the third indication information including the ID of the second UE, determine whether the ID of the second UE included in the third indication information is its own ID; if so, terminate or suspend the SLPP or RSPP session with the first UE.

[0366] Optionally, in one embodiment of this disclosure, terminating an SLPP or RSPP session includes:

[0367] No longer receive or send any information related to the terminated SLPP or RSPP session;

[0368] And the suspension of the SLPP or RSPP session includes:

[0369] No longer send any information related to the suspended SLPP or RSPP session, but receive information related to the suspended SLPP or RSPP session.

[0370] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0371] A first discovery message is sent to the first UE so that the first UE can discover the second UE.

[0372] Optionally, in one embodiment of this disclosure, the apparatus is further configured to:

[0373] Receive the second discovery message sent by the first UE;

[0374] Send a response message to the first UE.

[0375] Please see Figure 21 , Figure 21 This is a schematic diagram of the structure of a communication device 2100 provided in an embodiment of this application. The communication device 2100 can be a network device, a terminal device, a chip, chip system, or processor that supports the implementation of the above methods in a network device, or a chip, chip system, or processor that supports the implementation of the above methods in a terminal device. This device can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0376] The communication device 2100 may include one or more processors 2101. The processor 2101 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control the communication device (e.g., base station, baseband chip, terminal equipment, terminal equipment chip, DU or CU, etc.), execute computer programs, and process data from the computer programs.

[0377] Optionally, the communication device 2100 may further include one or more memories 2102, which may store a computer program 2104. The processor 2101 executes the computer program 2104 to cause the communication device 2100 to perform the method described in the above method embodiments. Optionally, the memory 2102 may also store data. The communication device 2100 and the memory 2102 may be provided separately or integrated together.

[0378] Optionally, the communication device 2100 may also include a transceiver 2105 and an antenna 2106. The transceiver 2105 may be referred to as a transceiver unit, transceiver, or transceiver circuit, etc., and is used to implement the transmission and reception functions. The transceiver 2105 may include a receiver and a transmitter. The receiver may be referred to as a receiver or receiving circuit, etc., and is used to implement the receiving function; the transmitter may be referred to as a transmitter or transmitting circuit, etc., and is used to implement the transmitting function.

[0379] Optionally, the communication device 2100 may further include one or more interface circuits 21021. Interface circuit 2107 is used to receive code instructions and transmit them to processor 2101. Processor 2101 executes the code instructions to cause the communication device 2100 to perform the methods described in the above method embodiments.

[0380] In one implementation, the processor 2101 may include a transceiver for implementing receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit can be used for reading and writing code / data, or it can be used for transmitting or relaying signals.

[0381] In one implementation, processor 2101 may store computer program 2103, which runs on processor 2101 and enables communication device 2100 to execute the methods described in the above method embodiments. Computer program 2103 may be embedded in processor 2101; in this case, processor 2101 may be implemented in hardware.

[0382] In one implementation, the communication device 2100 may include circuitry capable of performing the functions of transmitting, receiving, or communicating as described in the foregoing method embodiments. The processor and transceiver described in this application can be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), electronic devices, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal-oxide-semiconductor (CMOS), n-metal-oxide-semiconductor (NMOS), positive-channel metal-oxide-semiconductor (PMOS), bipolar junction transistors (BJTs), bipolar CMOS (BiCMOS), silicon-germanium (SiGe), gallium arsenide (GaAs), etc.

[0383] The communication device described in the above embodiments may be a network device or a terminal device, but the scope of the communication device described in this application is not limited thereto, and the structure of the communication device may vary. Figure 21 The communication device may be a standalone device or part of a larger device. For example, the communication device may be:

[0384] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0385] (2) A collection of one or more ICs, optionally including storage components for storing data and computer programs;

[0386] (3) ASIC, such as modem;

[0387] (4) Modules that can be embedded in other devices;

[0388] (5) Receivers, terminal equipment, smart terminal equipment, cellular phones, wireless equipment, handheld devices, mobile units, vehicle-mounted equipment, network equipment, cloud equipment, artificial intelligence equipment, etc.

[0389] (6) Others, etc.

[0390] For cases where the communication device can be a chip or a chip system, please refer to [link / reference]. Figure 22 The diagram shows the structure of the chip. Figure 22 The chip shown includes a processor 2201 and an interface 2202. There can be one or more processors 2201, and multiple interfaces 2202.

[0391] Optionally, the chip also includes a memory 2203, which is used to store necessary computer programs and data.

[0392] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0393] This application also provides a readable storage medium having instructions stored thereon that, when executed by a computer, implement the functions of any of the above method embodiments.

[0394] This application also provides a computer program product that, when executed by a computer, implements the functions of any of the above method embodiments.

[0395] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program can be transferred from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0396] Those skilled in the art will understand that the various numerical designations such as "first," "second," etc., involved in this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application, nor do they indicate the order of sequence.

[0397] At least one in this application can also be described as one or more, and multiple can be two, three, four or more, and this application does not impose any limitation. In the embodiments of this application, for a technical feature, the technical features in that technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", and there is no order or size among the technical features described by "first", "second", "third", "A", "B", "C" and "D".

[0398] The correspondences shown in the tables of this application can be configured or predefined. The values ​​of the information in each table are merely examples and can be configured to other values; this application is not limited to these values. When configuring the correspondences between information and parameters, it is not necessarily required to configure all the correspondences shown in each table. For example, the correspondences shown in some rows of the tables in this application may not be configured. Furthermore, appropriate modifications and adjustments can be made based on the above tables, such as splitting, merging, etc. The names of the parameters shown in the headings of the above tables can also use other names that the communication device can understand, and the values ​​or representations of the parameters can also be other values ​​or representations that the communication device can understand. In the implementation of the above tables, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or hash tables, etc.

[0399] The term "predefined" in this application can be understood as definition, pre-defined, stored, pre-stored, pre-negotiated, pre-configured, solidified, or pre-burned.

[0400] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0401] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0402] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A group positioning method, characterized in that, The method is executed by the first UE and includes: In response to determining that a side-link SL group location is to be performed with a target UE group, a group location procedure with the target UE group is initiated, wherein the target UE group includes at least two second UEs; Instructing the second UE on the transmission method when the second UE sends the group positioning required message; The method of sending the group positioning required message to the second UE when instructing the second UE includes: Send a second indication message to the second UE. The second indication message is used to instruct the second UE to send the group positioning required message to the first UE using the sending method indicated by the second indication message after receiving the second indication message. The sending method indicated by the second indication message includes unicast or multicast. The method further includes: In response to the first UE receiving a message from the second UE requesting the termination or suspension of the SLPP or RSPP session, the first UE accepts or rejects the second UE's request. When the first UE accepts the second UE's request, it terminates or suspends the SLPP or RSPP session with the second UE. When the first UE rejects the second UE's request, it does not terminate or suspend the SLPP or RSPP session with the second UE. The method further includes: The first UE multicasts an SLPP or RSPP message to the second UE in the target UE group according to the service type corresponding to the requested group location. The SLPP or RSPP message is used to trigger the establishment of an SLPP or RSPP session between the first UE and the second UE. The SLPP or RSPP message is mapped to the Layer 2 destination ID corresponding to the target UE group based on the service type. The second UE in the target UE group receives the message multicast by the first UE by detecting the SL data corresponding to the Layer 2 destination ID of the target UE group. The service type is determined based on the group location request. The method further includes at least one of the following: The first type of message in the group positioning message is sent to the second UE using unicast, and the other messages are sent to the second UE using multicast. It can autonomously determine whether to send messages via multicast or unicast, and send the required messages to the corresponding group according to the autonomously determined method. The first type of message includes: messages that need to be sent in a targeted manner; The suspension of the SLPP or RSPP session includes: ceasing to send any information related to the suspended SLPP or RSPP session, but receiving information related to the suspended SLPP or RSPP session; The termination or suspension of some second UE's SLPP or RSPP sessions does not affect the interaction between other second UEs and the first UE based on the terminated or suspended SLPP or RSPP sessions.

2. The method as described in claim 1, characterized in that, The determination of whether to perform SL group positioning with the target UE group includes: In response to the first UE's SLPP layer and / or RSPP layer receiving a group location request sent by a higher layer of the first UE, it is determined that the first UE needs to perform group location with a target UE group; wherein, the higher layer is used to directly send the group location request to the SLPP layer and / or RSPP layer, or, other higher layers except the PC5-S layer first send the group location request to the PC5-S layer, and the PC5-S layer then sends the group location request to the SLPP layer and / or RSPP layer.

3. The method as described in claim 2, characterized in that, The method further includes: The group location request is received through the Side Link Positioning Protocol (SLPP) layer of the first UE, and / or the Ranging and Side Link Positioning Protocol (RSPP) layer.

4. The method as described in claim 2, characterized in that, The group location request includes at least one of the following: The group identifier ID of the target UE group; The group location service quality (QoS) parameters corresponding to the target UE group; The ID of the second UE in the target UE group.

5. The method as described in claim 1, characterized in that, The method further includes: Initiate a group discovery process to discover at least one second UE in the target UE group.

6. The method as described in claim 5, characterized in that, The initiating group discovery process includes: The group discovery process is initiated by the first UE through at least one of the SLPP layer, RSPP layer, and higher layers; Wherein, when the group discovery process is initiated by the SLPP layer or RSPP layer, the SLPP layer or RSPP layer initiates the group discovery process after receiving the group location request sent by the higher layer, and the SLPP layer or RSPP layer is also used to store the ID of the discovered second UE; or, when the group discovery process is initiated by the higher layer, the higher layer initiates the group discovery process before or after sending the group location request to the SLPP layer and / or RSPP layer, and the higher layer is also used to directly send the ID of the discovered second UE to the SLPP layer or RSPP layer, or the higher layer sends the ID of the discovered second UE to the SLPP layer or RSPP layer through the PC5-S layer, wherein the ID of the discovered second UE is used for the group location process.

7. The method as described in claim 5, characterized in that, The initiating group discovery process includes: Listen for the first discovery message sent by the second UE; In response to receiving a first discovery message sent by the second UE, it is determined that the second UE has been discovered.

8. The method as described in claim 5, characterized in that, The initiating group discovery process includes: Based on the group ID of the target UE group, a second discovery message is multicast to the second UE in the target UE group; Listen for the response message sent by the second UE; Upon receiving a response message from the second UE, it is determined that the second UE has been detected.

9. The method as described in claim 7 or 8, characterized in that, The monitoring of the first discovery message or response message sent by the second UE includes: By monitoring the SL receive resource pool, the first discovery message or response message sent by the second UE can be listened to. The SL receiving resource pool includes at least one of the following: The first SL receiving resource pool is a receiving resource pool dedicated to UE discovery. The second SL receiving resource pool is a general SL receiving resource pool.

10. The method as described in claim 8, characterized in that, The second multicast discovery message includes: The second discovery message is sent via resource pool multicast using SL; The SL transmission resource pool includes at least one of the following: The first SL transmission resource pool is a dedicated transmission resource pool for UE discovery. The second SL sending resource pool is a general SL sending resource pool.

11. The method as described in claim 1, characterized in that, The group location process for initiating the target UE group includes: Establish an SLPP or RSPP session with the target UE group.

12. The method as described in claim 1, characterized in that, The SLPP or RSPP message includes at least one of the following: Messages related to abilities; Location-related messages; Messages related to auxiliary information.

13. The method as described in claim 11, characterized in that, The method further includes: Interact with at least one second UE to receive the necessary group location messages for group location.

14. The method as described in claim 11, characterized in that, The method further includes: Terminate or suspend the SLPP or RSPP session with the second UE.

15. The method as described in claim 14, characterized in that, The method further includes at least one of the following: In response to the first UE determining, based on the information sent by the second UE, that the second UE cannot participate in the group positioning process, the SLPP or RSPP session with the second UE is terminated or suspended. In response to the first UE receiving a message from the second UE indicating to terminate or suspend the SLPP or RSPP session, the first UE terminates or suspends the SLPP or RSPP session with the second UE. In response to the first UE receiving an Error message sent by the second UE, the SLPP or RSPP session with the second UE is terminated or suspended, and the Error message is used to indicate the reason why the second UE sent the Error message.

16. The method as described in claim 14, characterized in that, The method further includes: A third indication message is sent to the second UE, the third indication message being used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE.

17. The method as described in claim 16, characterized in that, Sending the third indication information to the second UE includes: The third indication information is unicast to the second UE; or The third instruction information is multicast, and the third instruction information includes the ID of the second UE that needs to terminate or suspend the SLPP or RSPP session.

18. The method according to any one of claims 14-17, characterized in that, Terminating an SLPP or RSPP session includes: No longer receive or send any information related to the terminated SLPP or RSPP session.

19. The method as described in claim 1, characterized in that, The method of sending a group positioning message to the second UE when instructing the second UE to send such a message further includes: Each message sent by the first UE to the second UE includes first indication information. The first indication information is used to indicate the sending method when the second UE sends a response message to the message. The sending method indicated by the first indication information includes unicast or multicast.

20. A group positioning method, characterized in that, The method is executed by the second UE, including: Establish an SLPP or RSPP session with the first UE, wherein the second UE is connected to the first UE via the side link SL; The method further includes: The sending method is determined based on the instruction of the first UE when the sending group locates the required message; The method for determining the transmission mode of the message required for group positioning based on the indication of the first UE includes: Upon receiving the second indication information sent by the first UE, the group positioning required message is sent using the sending method indicated by the second indication information; the sending method indicated by the second indication information includes unicast or multicast. The method further includes: In response to the second UE's inability to respond to the message sent by the first UE, a message requesting the first UE to terminate or suspend the SLPP or RSPP session is sent. The method further includes: The system receives an SLPP or RSPP message multicast by the first UE to the second UE in the target UE group, with the service type corresponding to the requested group location. The SLPP or RSPP message is used to trigger the second UE to establish an SLPP or RSPP session between the first UE and the second UE. The first UE maps the SLPP or RSPP message to the Layer 2 destination ID corresponding to the target UE group based on the service type. The second UE in the target UE group receives the multicast message from the first UE by detecting the SL data corresponding to the Layer 2 destination ID of the target UE group. The service type is determined based on the group location request. The method further includes at least one of the following: The first UE will send the first type of message in the group positioning message using unicast, and send the other messages using multicast. The first UE autonomously determines the messages to be sent using multicast and the messages to be sent using unicast, and sends the messages required for group positioning according to the autonomously determined method. The first type of message includes: messages that need to be sent in a targeted manner; The suspension of the SLPP or RSPP session includes: ceasing to send any information related to the suspended SLPP or RSPP session, but receiving information related to the suspended SLPP or RSPP session; The termination or suspension of some second UE's SLPP or RSPP sessions does not affect the interaction between other second UEs and the first UE based on the terminated or suspended SLPP or RSPP sessions.

21. The method as described in claim 20, characterized in that, The SLPP or RSPP message includes at least one of the following: Messages related to abilities; Location-related messages; Messages related to auxiliary information.

22. The method as described in claim 20, characterized in that, The second UE and at least one other second UE constitute a target UE group for group positioning with the first UE.

23. The method as described in claim 20, characterized in that, The method further includes: The system interacts with the first UE to receive the necessary group location information in order to perform group location.

24. The method as described in claim 23, characterized in that, The message required for positioning the interaction group with the first UE also includes: Send the group location message via unicast.

25. The method as described in claim 23, characterized in that, The method further includes: In response to the second UE's inability to respond to a message sent by the first UE, perform at least one of the following operations: Send a message to the first UE indicating to terminate or suspend the SLPP or RSPP session; An Error message is sent to the first UE, the Error message indicating the reason why the second UE sent the Error message.

26. The method as described in claim 23, characterized in that, The method further includes: In response to the second UE's inability to respond to messages sent by the first UE, the SLPP or RSPP session with the first UE is terminated or suspended.

27. The method as described in claim 20, characterized in that, The method further includes: The third indication information sent by the first UE is received, which is used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE; Based on the third indication information, determine whether to terminate or suspend the SLPP or RSPP session with the first UE.

28. The method as described in claim 27, characterized in that, The step of determining whether to terminate or suspend the SLPP or RSPP session with the first UE based on the third indication information includes at least one of the following: In response to the fact that the ID of the second UE is not included in the third indication information, the SLPP or RSPP session with the first UE is terminated or suspended; In response to the third indication information including the ID of the second UE, determine whether the ID of the second UE included in the third indication information is its own ID; if so, terminate or suspend the SLPP or RSPP session with the first UE.

29. The method according to any one of claims 20-28, characterized in that, Terminating an SLPP or RSPP session includes: No longer receive or send any information related to the terminated SLPP or RSPP session.

30. The method as described in claim 20, characterized in that, The method further includes: A first discovery message is sent to the first UE so that the first UE can discover the second UE.

31. The method as described in claim 20, characterized in that, The method further includes: Receive the second discovery message sent by the first UE; Send a response message to the first UE.

32. The method as described in claim 20, characterized in that, The method for determining the transmission mode of the message required for group positioning based on the indication of the first UE further includes: In response to each message sent by the first UE including first indication information, a response message is sent using the sending method indicated by the first indication information; the sending method indicated by the first indication information includes unicast or multicast.

33. A communication device, characterized in that, Configured in a first UE, the device includes: The processing module is configured to initiate a group positioning process with the target UE group in response to determining that a side-link SL group positioning is required with the target UE group, wherein the target UE group includes at least two second UEs; The device is also configured to perform: Instructing the second UE on the transmission method when the second UE sends the group positioning required message; The method of sending the group positioning required message to the second UE when instructing the second UE includes: Send a second indication message to the second UE. The second indication message is used to instruct the second UE to send the group positioning required message to the first UE using the sending method indicated by the second indication message after receiving the second indication message. The sending method indicated by the second indication message includes unicast or multicast. The device is also used for: In response to the first UE receiving a message from the second UE requesting the termination or suspension of the SLPP or RSPP session, the first UE accepts or rejects the second UE's request. When the first UE accepts the second UE's request, it terminates or suspends the SLPP or RSPP session with the second UE. When the first UE rejects the second UE's request, it does not terminate or suspend the SLPP or RSPP session with the second UE. The device is also used for: The first UE multicasts an SLPP or RSPP message to the second UE in the target UE group according to the service type corresponding to the requested group location. The SLPP or RSPP message is used to trigger the establishment of an SLPP or RSPP session between the first UE and the second UE. The SLPP or RSPP message is mapped to the Layer 2 destination ID corresponding to the target UE group based on the service type. The second UE in the target UE group receives the message multicast by the first UE by detecting the SL data corresponding to the Layer 2 destination ID of the target UE group. The service type is determined based on the group location request. The device is further used for at least one of the following: The first type of message in the group positioning message is sent to the second UE using unicast, and the other messages are sent to the second UE using multicast. It can autonomously determine whether to send messages via multicast or unicast, and send the required messages to the corresponding group according to the autonomously determined method. The first type of message includes: messages that need to be sent in a targeted manner; The suspension of the SLPP or RSPP session includes: ceasing to send any information related to the suspended SLPP or RSPP session, but receiving information related to the suspended SLPP or RSPP session; The termination or suspension of some second UE's SLPP or RSPP sessions does not affect the interaction between other second UEs and the first UE based on the terminated or suspended SLPP or RSPP sessions.

34. A communication device, characterized in that, Configured in a second UE, the device includes: The processing module is used to establish an SLPP or RSPP session with the first UE, wherein the second UE is connected to the first UE through the side link SL; The device is also configured to perform: The sending method is determined based on the instruction of the first UE when the sending group locates the required message; The method for determining the transmission mode of the message required for group positioning based on the indication of the first UE includes: Upon receiving the second indication information sent by the first UE, the group positioning required message is sent using the sending method indicated by the second indication information; the sending method indicated by the second indication information includes unicast or multicast. The device is also used for: In response to the second UE's inability to respond to the message sent by the first UE, a message requesting the first UE to terminate or suspend the SLPP or RSPP session is sent. The device is also used for: The system receives an SLPP or RSPP message multicast by the first UE to the second UE in the target UE group, with the service type corresponding to the requested group location. The SLPP or RSPP message is used to trigger the second UE to establish an SLPP or RSPP session between the first UE and the second UE. The first UE maps the SLPP or RSPP message to the Layer 2 destination ID corresponding to the target UE group based on the service type. The second UE in the target UE group receives the multicast message from the first UE by detecting the SL data corresponding to the Layer 2 destination ID of the target UE group. The service type is determined based on the group location request. The device is further used for at least one of the following: The first UE will send the first type of message in the group positioning message using unicast, and send the other messages using multicast. The first UE autonomously determines the messages to be sent using multicast and the messages to be sent using unicast, and sends the messages required for group positioning according to the autonomously determined method. The first type of message includes: messages that need to be sent in a targeted manner; The suspension of the SLPP or RSPP session includes: ceasing to send any information related to the suspended SLPP or RSPP session, but receiving information related to the suspended SLPP or RSPP session; The termination or suspension of some second UE's SLPP or RSPP sessions does not affect the interaction between other second UEs and the first UE based on the terminated or suspended SLPP or RSPP sessions.

35. A communication device, characterized in that, The device includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to cause the device to perform the method as claimed in any one of claims 1 to 19, or the processor executes the computer program stored in the memory to cause the device to perform the method as claimed in any one of claims 20 to 32.

36. A communication device, characterized in that, include: Processor and interface circuitry, among which The interface circuit is used to receive code instructions and transmit them to the processor; The processor is configured to execute the code instructions to perform the method as described in any one of claims 1 to 19, or to execute the code instructions to perform the method as described in any one of claims 20 to 32.

37. A computer-readable storage medium for storing instructions that, when executed by a computer, cause the method of any one of claims 1 to 19 to be implemented, or when executed by a computer, cause the method of any one of claims 20 to 32 to be implemented.

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