Sidelink, sl, positioning methods and apparatuses

Abstract

The method comprises the following steps: in response to a specific event being met in a sidelink (SL) positioning process, determining to reselect a resource of an SL positioning reference signal (SL PRS), or determining to terminate the SL positioning process, or reporting indication information to a base station, or reporting indication information to a location management function (LMF) network element, or reporting indication information to a second terminal device. Thus, in the case that the specific event is met in the SL positioning process, the first terminal device can determine that the resource of the SL PRS may be unavailable or has become unavailable, and based on this, reselect the resource of the SL PRS, or terminate the SL positioning process, or send the indication information, thereby avoiding positioning failure.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to an SL positioning method and apparatus. Background Technology

[0002] In related technologies, during the SL (Sidelink) positioning process, the SL PRS (positioning reference signal) resources of the terminal device may be unavailable. However, the terminal device is unaware that the SL PRS resources are unavailable. If the terminal device continues to use the unavailable SL PRS resources to send SL PRS, it will lead to positioning failure. This is a problem that urgently needs to be solved. Summary of the Invention

[0003] This disclosure provides a sidelink (SL) positioning method and apparatus. A first terminal device can determine that the resources of the SL PRS may be unavailable or have been unavailable when a specific event is met during the SL positioning process. Based on this, it can reselect the resources of the SL PRS, terminate the SL positioning process, or send an indication message, thereby avoiding positioning failure.

[0004] In a first aspect, embodiments of this disclosure provide a sidelink (SL) positioning method, which is executed by a first terminal device. The method includes: in response to a specific event being met during SL positioning, determining to reselect resources for SL PRS, or determining to terminate the SL positioning process, or reporting indication information to a base station, or reporting indication information to a positioning management function (LMF) network element, or reporting indication information to a second terminal device.

[0005] In this technical solution, in response to a specific event occurring during SL positioning, the system determines whether to reselect SL PRS resources, terminate the SL positioning process, report indication information to the base station, report indication information to the positioning management function (LMF) network element, or report indication information to the second terminal device. Therefore, the first terminal device can determine that SL PRS resources may be unavailable or already unavailable when a specific event occurs during SL positioning, and based on this, reselect SL PRS resources, terminate the SL positioning process, or send indication information, thereby avoiding positioning failure.

[0006] Secondly, this disclosure provides another sidelink SL positioning method, which is executed by a base station, an LMF network element, or a second terminal device. The method includes: receiving indication information reported by a first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during the SL positioning process.

[0007] Thirdly, embodiments of this disclosure provide another side-link SL positioning method, which is executed by a third terminal device. The method includes: receiving reselected SL PRS resources sent by a first terminal device, wherein the reselected SL PRS resources are sent by the first terminal device when a specific event is met during SL positioning, determining that the SL PRS resources should be reselected; or...

[0008] Receive a termination location message sent by a first terminal device, wherein the termination location message is sent by the first terminal device when a specific event is met during the SL location process, determining to terminate the SL location process; or

[0009] The base station receives the reselected SL PRS resources, wherein the reselected SL PRS resources are sent by the base station upon receiving indication information reported by the first terminal device to reselect SL PRS resources, and the indication information is reported by the first terminal device to the base station when a specific event is met during SL positioning; or

[0010] The LMF network element receives the reselected SL PRS resources sent by the LMF network element, wherein the reselected SL PRS resources are sent by the LMF network element upon receiving an indication message reported by the first terminal device to reselect SL PRS resources, and the indication message is reported by the first terminal device to the LMF network element when a specific event is met during SL positioning; or

[0011] The second terminal device receives the reselected SL PRS resources sent by the second terminal device, wherein the reselected SL PRS resources are sent by the second terminal device after receiving the indication information reported by the first terminal device to reselect SL PRS resources, and the indication information is reported by the first terminal device to the second terminal device when a specific event is met during SL positioning.

[0012] Fourthly, embodiments of this disclosure provide a communication device that implements some or all of the functions of the first terminal device described in the first aspect above. For example, the communication device may have the functions of some or all of the embodiments in this disclosure, or it may have the functions of any one embodiment in this disclosure implemented individually. The functions may be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0013] In one implementation, the communication device may include a transceiver module and a processing module, the processing module being configured to support the communication device in performing the corresponding functions described in the above method. The transceiver module supports communication between the communication device and other devices. The communication device may also include a storage module, coupled to the transceiver module and the processing module, which stores necessary computer programs and data for the communication device.

[0014] In one implementation, the communication device includes: a transceiver module configured to, in response to a specific event occurring during SL positioning, determine resources for reselecting the SL positioning reference signal PRS, or determine to terminate the SL positioning process, or report indication information to a base station, or report indication information to a positioning management function (LMF) network element, or report indication information to a second terminal device.

[0015] Fifthly, embodiments of this disclosure provide another communication device that has some or all of the functions of a base station, LMF network element, or second terminal device as described in the examples of the methods described in the second aspect above. For example, the communication device may have the functions of some or all of the embodiments in this disclosure, or it may have the functions of any one embodiment in this disclosure implemented individually. The functions may be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0016] In one implementation, the communication device may include a transceiver module and a processing module, the processing module being configured to support the communication device in performing the corresponding functions described in the above method. The transceiver module is used to support communication between the communication device and other devices. The communication device may also include a storage module, which is coupled to the transceiver module and the processing module, and stores the necessary computer programs and data of the communication device.

[0017] In one implementation, the communication device includes a transceiver module configured to receive indication information reported by a first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during SL positioning.

[0018] Sixthly, embodiments of this disclosure provide another communication device that has some or all of the functions of a base station, LMF network element, or second terminal device as described in the examples of the methods described in the second aspect above. For example, the communication device may have the functions of some or all of the embodiments in this disclosure, or it may have the functions of implementing any one embodiment of this disclosure individually. The functions may be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0019] In one implementation, the communication device may include a transceiver module and a processing module, the processing module being configured to support the communication device in performing the corresponding functions described in the above method. The transceiver module is used to support communication between the communication device and other devices. The communication device may also include a storage module, which is coupled to the transceiver module and the processing module, and stores the necessary computer programs and data of the communication device.

[0020] In one implementation, the communication device includes: a transceiver module configured to receive reselected SL PRS resources sent by a first terminal device, wherein the reselected SL PRS resources are sent by the first terminal device when a specific event is met during SL positioning, determining that the SL PRS resources should be reselected; or

[0021] Receive a termination location message sent by a first terminal device, wherein the termination location message is sent by the first terminal device when a specific event is met during the SL location process, determining to terminate the SL location process; or

[0022] The base station receives the reselected SL PRS resources, wherein the reselected SL PRS resources are sent by the base station upon receiving indication information reported by the first terminal device to reselect SL PRS resources, and the indication information is reported by the first terminal device to the base station when a specific event is met during SL positioning; or

[0023] The LMF network element receives the reselected SL PRS resources sent by the LMF network element, wherein the reselected SL PRS resources are sent by the LMF network element upon receiving an indication message reported by the first terminal device to reselect SL PRS resources, and the indication message is reported by the first terminal device to the LMF network element when a specific event is met during SL positioning; or

[0024] The second terminal device receives the reselected SL PRS resources sent by the second terminal device, wherein the reselected SL PRS resources are sent by the second terminal device after receiving the indication information reported by the first terminal device to reselect SL PRS resources, and the indication information is reported by the first terminal device to the second terminal device when a specific event is met during SL positioning.

[0025] In a seventh aspect, 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 the first aspect.

[0026] Eighthly, 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 the second aspect above.

[0027] Ninthly, 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 the third aspect above.

[0028] In a tenth 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 the first aspect above.

[0029] Eleventhly, 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 the second aspect above.

[0030] In a twelfth aspect, embodiments of this disclosure provide a communication device including a processor and a 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 the third aspect above.

[0031] In a thirteenth 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 the first aspect above.

[0032] In a fourteenth 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 the second aspect above.

[0033] In a fifteenth 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 the third aspect above.

[0034] In a sixteenth aspect, embodiments of this disclosure provide a side-link (SL) positioning system, which includes the communication device described in the fourth aspect, the communication device described in the fifth aspect, and the communication device described in the sixth aspect; or, the system includes the communication device described in the seventh aspect, the communication device described in the eighth aspect, and the communication device described in the ninth aspect; or, the system includes the communication device described in the tenth aspect, the communication device described in the eleventh aspect, and the communication device described in the twelfth aspect; or, the system includes the communication device described in the thirteenth aspect, the communication device described in the fourteenth aspect, and the communication device described in the fifteenth aspect.

[0035] In a seventeenth aspect, embodiments of the present invention provide a computer-readable storage medium for storing instructions for use by the first terminal device, wherein when the instructions are executed, the first terminal device performs the method described in the first aspect.

[0036] In an eighteenth aspect, embodiments of the present invention provide a readable storage medium for storing instructions for use by the aforementioned base station, LMF network element, or second terminal device, wherein when the instructions are executed, the base station, LMF network element, or second terminal device performs the method described in the second aspect.

[0037] Nineteenthly, embodiments of the present invention provide a readable storage medium for storing instructions for use by the aforementioned third terminal device, wherein when the instructions are executed, the third terminal device performs the method described in the third aspect.

[0038] In a twentieth aspect, this disclosure also provides a computer program product including a computer program that, when run on a computer, causes the computer to perform the method described in the first aspect above.

[0039] In a twentieth aspect, this disclosure also provides a computer program product including a computer program that, when run on a computer, causes the computer to perform the method described in the second aspect above.

[0040] In a twentieth aspect, this disclosure also provides a computer program product including a computer program that, when run on a computer, causes the computer to perform the method described in the third aspect above.

[0041] In a twentieth aspect, this disclosure provides a chip system including at least one processor and an interface for supporting a first terminal device in implementing the functions involved in the first aspect, such as determining or processing at least one of the data and information involved in the above methods. In one possible design, the chip system further includes a memory for storing computer programs and data necessary for the first terminal device. The chip system may be composed of chips or may include chips and other discrete devices.

[0042] In a twentieth aspect, this disclosure provides a chip system including at least one processor and an interface for supporting a base station, an LMF network element, or a second terminal device in implementing the functions involved in the second aspect, such as determining or processing at least one of the data and information involved in the above methods. In one possible design, the chip system further includes a memory for storing necessary computer programs and data for the base station, LMF network element, or second terminal device. This chip system may be composed of chips or may include chips and other discrete devices.

[0043] In a twentieth aspect, this disclosure provides a chip system including at least one processor and an interface for supporting a third terminal device in implementing the functions involved in the third aspect, such as determining or processing at least one of the data and information involved in the above methods. In one possible design, the chip system further includes a memory for storing computer programs and data necessary for the third terminal device. The chip system may be composed of chips or may include chips and other discrete devices.

[0044] In a twentieth aspect, this disclosure provides a computer program that, when run on a computer, causes the computer to perform the method described in the first aspect above.

[0045] In a twentieth aspect, this disclosure provides a computer program that, when run on a computer, causes the computer to perform the method described in the second aspect above.

[0046] In a twentieth aspect, this disclosure provides a computer program that, when run on a computer, causes the computer to perform the method described in the third aspect above. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments or background art of this disclosure, the accompanying drawings used in the embodiments or background art of this disclosure will be described below.

[0048] Figure 1 This is an architecture diagram of a communication system provided in an embodiment of this disclosure;

[0049] Figure 2 This is a schematic diagram of a positioning method based on DL-TDOA provided in an embodiment of this disclosure;

[0050] Figure 3 This is a flowchart of a side-link SL positioning method provided in an embodiment of this disclosure;

[0051] Figure 4 This is a flowchart of another side-link SL positioning method provided in this embodiment of the disclosure;

[0052] Figure 5 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure;

[0053] Figure 6 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure;

[0054] Figure 7 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure;

[0055] Figure 8 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure;

[0056] Figure 9 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure;

[0057] Figure 10 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure;

[0058] Figure 11 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure;

[0059] Figure 12 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure;

[0060] Figure 13 This is a structural diagram of a communication device provided in an embodiment of this disclosure;

[0061] Figure 14 This is a structural diagram of another communication device provided in an embodiment of this disclosure;

[0062] Figure 15 This is a schematic diagram of the structure of a chip provided in an embodiment of this disclosure. Detailed Implementation

[0063] To better understand the side-link SL positioning method and apparatus disclosed in this disclosure, the communication system to which this disclosure is applicable will be described first.

[0064] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. Unless otherwise indicated, the same numerals in different drawings denote the same or similar elements in the following description relating to the drawings. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0065] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” 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.

[0066] It should be understood that although various information may be described in this disclosure using terms such as first, second, third, etc., such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, for example, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0067] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals involved in this disclosure are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0068] Please see Figure 1 , Figure 1 This is a schematic diagram of a communication system provided in an embodiment of this disclosure, such as... Figure 1 As shown, the communication system may include, but is not limited to, a radio access network (RAN), a terminal device, and a core network device. The access network devices communicate with each other via wired or wireless means, for example through... Figure 1 The Xn interfaces communicate with each other. Access network devices can cover one or more cells; for example, access network device 1 covers cells 1.1 and 1.2, and access network device 2 covers cell 2.1. Terminal devices can camp on an access network device in one of the cells, in a connected state. Furthermore, the terminal device can transition from a connected state to an inactive state (i.e., a disconnected state) through an RRC release process. A terminal device in a disconnected state can remain in its original cell and, based on its transmission parameters in the original cell, perform uplink and / or downlink transmissions with the access network device in that cell. A terminal device in a disconnected state can also move to a new cell and, based on its transmission parameters in the new cell, perform uplink and / or downlink transmissions with the access network device in the new cell.

[0069] It should be noted that, Figure 1 This is just an example framework diagram. Figure 1 The number of nodes, cells, and the status of terminal devices included are unlimited. Except... Figure 1 In addition to the functional nodes shown, other nodes may be included, such as gateway devices, application servers, etc., without restriction. Access network devices communicate with core network devices via wired or wireless means, such as through next-generation (NG) interfaces.

[0070] In this context, a terminal device is a user-side entity used to receive or transmit signals, such as a mobile phone. Terminal devices can also be called terminal equipment, user equipment (UE), mobile station (MS), mobile terminal (MT), etc. Terminal devices can be communication-enabled vehicles, smart cars, mobile phones, wearable devices, tablets, computers with wireless transceiver capabilities, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, wireless terminal devices in industrial control, wireless terminal devices in self-driving, wireless terminal devices in remote medical surgery, wireless terminal devices in smart grids, wireless terminal devices in transportation safety, wireless terminal devices in smart cities, wireless terminal devices in smart homes, and so on. The embodiments disclosed herein do not limit the specific technologies or device forms used by the terminal devices.

[0071] A radio access network (RAN) is used to provide network access functionality to authorized terminal devices in a specific area, and can use transmission tunnels of different qualities according to the terminal device's level and service requirements. For example, the RAN can manage radio resources, provide access services to terminal devices, and thus complete the forwarding of control information and / or data information between the terminal device and the core network (CN). The access network device in this embodiment is a device that provides wireless communication functionality to terminal devices, and can also be referred to as a network device. The access network equipment may include: next-generation node base stations (gNBs) in 5G systems, evolved node Bs (eNBs) in Long Term Evolution (LTE), radio network controllers (RNCs), node Bs (NBs), base station controllers (BSCs), base transceiver stations (BTSs), home base stations (e.g., home evolved node Bs, or home node Bs (HNBs)), base band units (BBUs), transmitting and receiving points (TRPs), transmitting points (TPs), small cell equipment (picos), mobile switching centers, or network equipment in future networks. It is understood that this disclosure does not limit the specific type of access network equipment. The names of devices with access network equipment functions may differ in systems using different wireless access technologies.

[0072] The core network equipment may include an AMF and / or a location management function network element. Optionally, the location management function network element includes a location server, which can be implemented as any of the following: an LMF (Location Management Function) network element, an E-SMLC (Enhanced Serving Mobile Location Centre), a SUPL (Secure User PlaneLocation), or a SUPL SLP (Secure User PlaneLocation Location Platform).

[0073] 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.

[0074] In addition, the following points are provided to facilitate understanding of the embodiments disclosed herein.

[0075] First, in this embodiment of the disclosure, "for indicating" can include both direct and indirect indication. When describing information as indicating A, it can include whether the information directly indicates A or indirectly indicates A, but does not necessarily mean that the information carries A.

[0076] The information indicated by the information is called the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as, but not limited to, directly indicating the information to be indicated, such as the information to be indicated itself or its index. It can also be indirectly indicated by indicating other information, where there is a relationship between the other information and the information to be indicated. It can also indicate only a part of the information to be indicated, while the other parts are known or pre-agreed upon. For example, the indication of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing the indication overhead to some extent.

[0077] The information to be instructed can be sent as a whole or divided into multiple sub-information messages, and the sending period and / or timing of these sub-information messages can be the same or different. This disclosure does not limit the specific sending method. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol.

[0078] Second, this disclosure provides multiple implementation methods to clearly illustrate the technical solutions of this disclosure. Of course, those skilled in the art will understand that the multiple embodiments provided in this disclosure can be executed individually, or in combination with the methods of other embodiments in this disclosure, or individually or in combination with some methods in other related technologies; this disclosure does not limit these aspects.

[0079] In this embodiment of the disclosure, the sidelink (SL) positioning between terminal devices includes absolute positioning, relative positioning, and ranging. Absolute positioning determines the absolute coordinates of the terminal device, relative positioning determines the coordinates of the terminal device relative to a reference point, and ranging determines the distance and / or angle of the terminal device relative to a reference point.

[0080] Among them, ranging usually only involves ranging between two terminal devices, but absolute positioning and relative positioning may involve multiple auxiliary terminal devices to participate in positioning.

[0081] like Figure 2 As shown, Figure 2 For positioning methods based on DL-TDOA (Downlink-Time Difference of Arrival), the terminal device (UE) determines its specific position relative to multiple RSUs (Road Side Units), such as three or more RSUs, by measuring the positioning signals (SL PRS) transmitted via the sidelink. Besides DL-TDOA, other positioning schemes include UL-TDOA (Uplink-Time Difference of Arrival), multiple RTT (Multi-Round Trip Time), AOA (Angle of Arrival), AOD (Angle of Departure), carrier phase positioning, etc. If the positioning result is not converted into absolute coordinates based on the absolute position information (such as GPS from the RSUs), then the positioning result is relative positioning. Otherwise, it is absolute positioning. The terminal device involved in relative / absolute positioning is called a positioning auxiliary terminal device, also known as an anchor terminal device. The counterpart to the positioning auxiliary terminal device is the terminal device being positioned.

[0082] If positioning involves only two terminal devices, then the two devices are each other's positioning auxiliary terminal devices.

[0083] Among them, there are different types of location-assisted terminal devices. For example, RSU-type location-assisted terminal devices are a kind of infrastructure that can provide location services by working with other RSUs. Ordinary terminal devices can also be used as location-assisted terminal devices, but they are difficult to work with other terminal devices to provide location services. In addition, some location-assisted terminal devices have GPS and other location information, which can assist other terminal devices in absolute positioning. Other location-assisted terminal devices may not have GPS and other location information.

[0084] In related technologies, during the SL positioning process, the SL PRS resources may become unavailable. If the terminal device continues to use unavailable SL PRS resources to send SL PRS, it will lead to positioning failure, which is an urgent problem to be solved.

[0085] Based on this, this embodiment of the disclosure provides a sidelink (SL) positioning method. When a specific event is met during SL positioning, the first terminal device determines whether to reselect SL PRS resources, terminate the SL positioning process, report indication information to the base station, report indication information to the LMF network element, or report indication information to the second terminal device. Thus, when a specific event is met during SL positioning, the first terminal device can determine that SL PRS resources may be unavailable or have already become unavailable. Based on this, the first terminal device can reselect SL PRS resources, terminate the SL positioning process, or report indication information, thereby avoiding positioning failure.

[0086] The following description, in conjunction with the accompanying drawings, details a side-link SL positioning method and apparatus provided in this disclosure.

[0087] Please see Figure 3 , Figure 3 This is a flowchart of a side-link SL positioning method provided in an embodiment of this disclosure.

[0088] like Figure 3 As shown, the method is executed by the first terminal device, and the method may include, but is not limited to, the following steps:

[0089] S31: In response to a specific event being met during SL positioning, determine to reselect SL PRS resources, or determine to terminate the SL positioning process, or report indication information to the base station, or report indication information to the positioning management function (LMF) network element, or report indication information to the second terminal device.

[0090] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device can determine to reselect the SL PRS resource.

[0091] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device can determine to terminate the SL positioning process.

[0092] In this embodiment of the present disclosure, if a specific event is met during the SL positioning process, the first terminal device may report indication information to the base station.

[0093] The first terminal device can report indication information to the base station via RRC (Radio Resource Control) messages.

[0094] In this embodiment of the present disclosure, if a specific event is met during the SL positioning process, the first terminal device may report indication information to the LMF network element.

[0095] The first terminal device can report indication information to the LMF network element through SL LPP (LTE Positioning Protocol) messages or LPP messages.

[0096] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device may report indication information to the second terminal device.

[0097] The first terminal device can report indication information to the second terminal device through SL LPP messages, PC5-S messages, or SL-RRC messages.

[0098] During the SL positioning process of the first terminal device, the location or measurement results are reported in a periodic manner, or an event-triggered manner, or a one-time manner, etc.

[0099] The SL positioning performed by the first terminal device can be SL-RTT (Round Trip Time) positioning, SL-TDOA (Time Difference Of Arrival) positioning, SL-AOA (Angle Of Arrival) positioning, or SL-AOD (Angle Of Departure) positioning, etc. This disclosure does not impose specific limitations on this.

[0100] In this embodiment of the disclosure, if the SL PRS resources are not selected autonomously by the first terminal device, but are allocated or configured by the base station, or by the LMF network element, or by the second terminal device, the first terminal device may report indication information to the base station, LMF network element, or second terminal device when a specific event is met during the SL positioning process. After receiving the indication information, the base station, LMF network element, or second terminal device may trigger the reselection of SL PRS resources.

[0101] For example, the base station allocates SL PRS resources to the first terminal device. When the first terminal device meets a specific event during SL positioning, it can report indication information to the base station. After receiving the indication information, the base station can trigger the reselection of SL PRS resources.

[0102] For example, the LMF network element allocates SL PRS resources to the first terminal device. When the first terminal device meets a specific event during SL positioning, it can report indication information to the LMF network element. After receiving the indication information, the LMF network element can trigger the reselection of SL PRS resources.

[0103] For example, the second terminal device allocates SL PRS resources to the first terminal device. When the first terminal device meets a specific event during SL positioning, it can report indication information to the second terminal device. After receiving the indication information, the second terminal device can trigger the reselection of SL PRS resources.

[0104] In this embodiment of the disclosure, the first terminal device may be a location-controlled terminal device or an anchor terminal device.

[0105] For example, the first terminal device can be as follows: Figure 2 The UE shown, or may also be as follows Figure 2 The image shown is an RSU-type positioning assistance UE, also known as an anchor terminal device.

[0106] It is understandable that if a specific event occurs during the SL positioning process of the first terminal device, it can be determined that the SL PRS resources may be unavailable or have become unavailable. The specific event may be the handover of the serving cell of the first terminal device, or the first terminal device leaving the area where the SL PRS resources are available, or the resource configuration of the SL PRS of the serving cell of the first terminal device changes, which may cause the SL PRS resources to become unavailable or have become unavailable, etc.

[0107] In some embodiments, a specific event includes at least one of the following:

[0108] First terminal equipment replacement service area;

[0109] The resource that sent the SL PRS is no longer valid;

[0110] The first terminal device changed from being outside the base station coverage to being within the base station coverage;

[0111] The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area;

[0112] The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached the threshold.

[0113] The first terminal device leaves the available area corresponding to the resource of SL PRS;

[0114] The resource configuration change of the SL PRS of the current serving cell of the first terminal device makes the resources for sending SL PRS no longer valid.

[0115] In some possible embodiments of this disclosure, during SL positioning, if the resources for sending SL PRS become invalid due to the first terminal device changing its serving cell, the first terminal device may determine that the SL PRS resources may be unavailable or have become unavailable.

[0116] In some possible embodiments of this disclosure, during SL positioning, if the first terminal device changes its serving cell and the transmission resources are no longer valid, the first terminal device can determine that the SL PRS resources are no longer available.

[0117] In some possible embodiments of this disclosure, during SL positioning, if the first terminal device changes from being outside the base station coverage to being within the base station coverage, the first terminal device may determine that the SL PRS resources may be unavailable or have become unavailable.

[0118] In some possible embodiments of this disclosure, during SL positioning, if the first terminal device changes from being outside the base station coverage to being within the base station coverage and the transmission resources are no longer valid, the first terminal device can determine that the SL PRS resources are unavailable.

[0119] In some possible embodiments of this disclosure, during SL positioning, if the first terminal device changes from being within the coverage area of ​​the base station to being outside the coverage area of ​​the base station, the first terminal device may determine that the resources of SL PRS may be unavailable or have become unavailable.

[0120] In some possible embodiments of this disclosure, during SL positioning, if the first terminal device changes from being within the coverage area of ​​the base station to being outside the coverage area of ​​the base station and the transmission resources are no longer valid, the first terminal device can determine that the resources of SL PRS are unavailable.

[0121] In this embodiment of the disclosure, when the first terminal device meets a specific event during the SL positioning process, if the specific event is that the first terminal device changes the serving cell, it can be determined that the SL PRS resources may be unavailable or have been unavailable. Based on this, the first terminal device can reselect the SL PRS resources, terminate the SL positioning process, or report the indication information, thereby avoiding positioning failure.

[0122] Among them, the first terminal device changes its serving cell due to cell selection / reselection / reconstruction / handover, or it can only consider the change of serving cell caused by cell reselection / cell reconstruction, without considering the change of serving cell caused by cell handover, and so on.

[0123] In this embodiment of the present disclosure, when the first terminal device meets a specific event during the SL positioning process, the specific event is that the first terminal device changes the serving cell and the resources for sending SL PRS are no longer valid. It can be determined that the SL PRS resources are unavailable. Based on this, the first terminal device can reselect SL PRS resources, terminate the SL positioning process, or report indication information, thereby avoiding positioning failure.

[0124] If, after the serving cell of the first terminal device changes, the resource pool for sending SL PRS has no corresponding resource pool configuration in the new serving cell, it can be determined that the SL PRS resources are unavailable. Alternatively, if a resource pool is configured, but there is no corresponding SL PRS resource configuration, it can be determined that the SL PRS resources are unavailable.

[0125] In this embodiment of the disclosure, when the first terminal device meets a specific event during the SL positioning process, the specific event is that the first terminal device changes from being outside the coverage of the base station to being inside the coverage of the base station. It can be determined that the SL PRS resources may be unavailable. Based on this, the first terminal device can reselect SL PRS resources, terminate the SL positioning process, or report indication information, thereby avoiding positioning failure.

[0126] In this embodiment of the present disclosure, when the first terminal device meets a specific event during the SL positioning process, the specific event is that the first terminal device changes from being outside the base station coverage to being inside the base station coverage and the resources for sending SL PRS are no longer valid. It can be determined that the SL PRS resources are unavailable. Based on this, the first terminal device can reselect SL PRS resources, terminate the SL positioning process, or report indication information, thereby avoiding positioning failure.

[0127] In this case, the pre-configured SLPRS transmission resources used by the first terminal device outside the base station coverage area are different from the SLPRS transmission resources of the serving cell when it is within the base station coverage area. For example, different SLPRS transmission resource pools are configured, which can determine that the SLPRS resources are no longer available.

[0128] In this embodiment of the present disclosure, when the first terminal device meets a specific event during the SL positioning process, the specific event is that the first terminal device changes from being within the coverage of the base station to being outside the coverage of the base station and the resources for sending SL PRS are no longer valid. It can be determined that the SL PRS resources are unavailable. Based on this, the first terminal device can reselect SL PRS resources, terminate the SL positioning process, or report indication information, thereby avoiding positioning failure.

[0129] Among them, the resources used by the first terminal device to transmit SL PRS within the base station coverage area are different from the pre-configured resources for transmitting SL PRS outside the base station coverage area. For example, different SL PRS transmission resource pools are configured, which can determine that the SL PRS resources are no longer available.

[0130] In this embodiment of the present disclosure, when the first terminal device meets a specific event during the SL positioning process, the specific event is that the number of times the SL PRS resource sent by the first terminal device is occupied reaches a threshold. It can be determined that the SL PRS resource may be unavailable. Based on this, the first terminal device can reselect the SL PRS resource, terminate the SL positioning process, or report the indication information, thereby avoiding positioning failure.

[0131] Among them, the first terminal device detects that the resource for sending SL PRS is occupied by other terminal devices, and the number of times X is occupied can be 1, 2, 3, ... N, where N is a threshold and N is a positive integer.

[0132] For example, if the number of times occupied X > 1, it could mean that the device has been occupied X times consecutively, or that the cumulative number of times it has been occupied is X. The specific value of the threshold for the number of times occupied can be set as needed, and this disclosure does not impose any restrictions on it.

[0133] In this embodiment of the present disclosure, when the first terminal device meets a specific event during the SL positioning process, the specific event is that the first terminal device leaves the available area corresponding to the SL PRS resource. It can be determined that the SL PRS resource is no longer available. Based on this, the first terminal device can reselect the SL PRS resource, terminate the SL positioning process, or report the indication information, thereby avoiding positioning failure.

[0134] The available areas corresponding to the resources of SL PRS can be indicated by a list of zone IDs or a list of cell IDs.

[0135] In this embodiment of the present disclosure, the first terminal device satisfies a specific event during the SL positioning process. The specific event is a change in the resource configuration of the SL PRS of the current serving cell of the first terminal device, which makes the resources for sending SL PRS no longer valid. In this case, it can be determined that the resources of SL PRS are unavailable. Based on this, the first terminal device can reselect the resources of SL PRS, terminate the SL positioning process, or report the indication information, thereby avoiding positioning failure.

[0136] It should be noted that the above embodiments are not exhaustive, but only illustrative of some embodiments. Furthermore, the above embodiments can be implemented individually or in combination. The above embodiments are only illustrative and are not intended to limit the scope of protection of the embodiments disclosed herein.

[0137] In some embodiments, the indication information includes at least one of the following:

[0138] Trigger the reported trigger event;

[0139] The resource indicated by SL PRS is unavailable;

[0140] Resource identifier indicating that SL PRS is unavailable;

[0141] Instructions and recommendations for SL PRS resources;

[0142] The identifier of the first terminal device;

[0143] The identifier of the cell currently served by the first terminal device.

[0144] In this embodiment of the present disclosure, if a specific event is met during the SL positioning process, the first terminal device may send an indication information of a triggering event, including trigger reporting, to the base station.

[0145] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device may send an indication message to the base station that the resource is unavailable, including an indication that the SL PRS is unavailable.

[0146] In this embodiment of the disclosure, when a specific event is met during the SL positioning process, the first terminal device may send indication information to the base station, including a resource identifier indicating that the SL PRS is unavailable.

[0147] In this embodiment of the disclosure, when a specific event is met during the SL positioning process, the first terminal device can send resource indication information, including an indication suggestion SL PRS, to the base station.

[0148] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device may send indication information including the identifier of the first terminal device to the base station.

[0149] In this embodiment of the disclosure, when a specific event is met during the SL positioning process, the first terminal device may send indication information, including the identifier of the current serving cell of the first terminal device, to the base station.

[0150] In this embodiment of the present disclosure, if a specific event is met during the SL positioning process, the first terminal device can send an indication message including the triggering event to the LMF network element.

[0151] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device may send an indication message to the LMF network element, including an indication that the SL PRS is unavailable.

[0152] In this embodiment of the disclosure, when a specific event is met during the SL positioning process, the first terminal device can send indication information, including a resource identifier indicating that the SL PRS is unavailable, to the LMF network element.

[0153] In this embodiment of the disclosure, when a specific event is met during the SL positioning process, the first terminal device can send resource indication information, including indication suggestions for SL PRS, to the LMF network element.

[0154] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device can send indication information including the identifier of the first terminal device to the LMF network element.

[0155] In this embodiment of the disclosure, when a specific event is met during the SL positioning process, the first terminal device can send indication information including the identifier of the current serving cell of the first terminal device to the LMF network element.

[0156] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device can send an indication message including a trigger event to the second terminal device.

[0157] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device may send an indication message to the second terminal device, including an indication that the SL PRS resource is unavailable.

[0158] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device may send indication information, including a resource identifier indicating that the SL PRS is unavailable, to the second terminal device.

[0159] In this embodiment of the disclosure, when a specific event is met during the SL positioning process, the first terminal device may send resource indication information, including indication suggestions for the SL PRS, to the second terminal device.

[0160] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device may send indication information including the identifier of the first terminal device to the second terminal device.

[0161] In this embodiment of the disclosure, when a specific event is met during the SL positioning process, the first terminal device may send indication information including the identifier of the current serving cell of the first terminal device to the second terminal device.

[0162] It should be noted that the above embodiments are not exhaustive, but only illustrative of some embodiments. Furthermore, the above embodiments can be implemented individually or in combination. The above embodiments are only illustrative and are not intended to limit the scope of protection of the embodiments disclosed herein.

[0163] Understandably, when a specific event is met during the SL positioning process, the first terminal device determines to reselect the SL PRS resource and can inform one or more third terminal devices that need to receive the SL PRS of the reselected SL PRS resource.

[0164] In some embodiments, in response to determining that the resources of the SL PRS have been reselected, the first terminal device sends the resources of the reselected SL PRS to the third terminal device that needs to receive the SL PRS.

[0165] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device determines to reselect the SL PRS resource and can send the reselected SL PRS resource to the third terminal device that needs to receive the SL PRS.

[0166] The third terminal device can be an anchor terminal device. The first terminal device can send the newly selected updated SL PRS resource configuration to the third terminal device that needs to receive the SL PRS, so that the third terminal device can subsequently receive the SL PRS sent by the first terminal device.

[0167] In the process of positioning by the first terminal device, if only one third terminal device is involved, the first terminal device and the third terminal device can serve as each other's anchor terminal devices.

[0168] In the process of positioning by the first terminal device, if multiple third terminal devices are involved, the first terminal device can be the terminal device to be positioned. The first terminal device, as the terminal device to be positioned, sends SI PRS to each third terminal device to achieve positioning.

[0169] Understandably, if a specific event is met during the SL positioning process, the first terminal device may determine to terminate the SL positioning process and may send an instruction to terminate the SL positioning process to one or more third terminal devices that participated in the SL positioning process.

[0170] In some embodiments, in response to determining the termination of the SL positioning process, the first terminal device sends a termination positioning message to the third terminal device participating in the SL positioning process.

[0171] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device may determine to terminate the SL positioning process and send a termination positioning message to the third terminal device participating in the SL positioning process.

[0172] Understandably, when a specific event is met during SL positioning, the first terminal device reports indication information to the base station. After receiving the indication information, the base station can reconfigure the resources of the reselected SL PRS for the first terminal device. When a specific event is met during SL positioning, the first terminal device reports indication information to the LMF network element. After receiving the indication information, the LMF network element can reconfigure the resources of the reselected SL PRS for the first terminal device. When a specific event is met during SL positioning, the first terminal device reports indication information to the second terminal device. After receiving the indication information, the second terminal device can reconfigure the resources of the reselected SL PRS for the first terminal device.

[0173] In some embodiments, the first terminal device receives configuration information sent by the base station, or receives configuration information sent by the LMF network element, or receives configuration information sent by the second terminal device, wherein the configuration information is used to indicate the resources of the reselected SL PRS.

[0174] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device reports indication information to the base station. After receiving the indication information, the base station can reselect SL PRS resources for the first terminal device. The first terminal device can also receive configuration information sent by the base station, which indicates the SL PRS resources that the first terminal device has reselected.

[0175] The first terminal device can receive configuration information sent by the base station via RRC messages.

[0176] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device reports indication information to the LMF network element. After receiving the indication information, the LMF network element can reselect SL PRS resources for the first terminal device. The first terminal device can also receive configuration information sent by the LMF network element based on the indication information, and the configuration information indicates the reselected SL PRS resources.

[0177] The first terminal device can receive configuration information sent by the LMF network element through SL LPP messages or LPP messages.

[0178] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device reports indication information to the second terminal device. After receiving the indication information, the second terminal device can reselect SL PRS resources for the first terminal device. The first terminal device can also receive configuration information sent by the second terminal device based on the indication information, which indicates the SL PRS resources reselected by the first terminal device.

[0179] The first terminal device can receive configuration information sent by the second terminal device through SL LPP messages, PC5-S messages, or SL-RRC messages.

[0180] In this embodiment of the disclosure, the first terminal device can perform signaling interaction with the base station, or the LMF network element, or the second terminal device through SL LPP messages, or PC5-S messages, or RRC messages, or SL-RRC messages, or LPP messages.

[0181] For example, the first terminal device can report indication information to the base station or receive configuration information sent by the base station through SL LPP messages, PC5-S messages, RRC messages, SL-RRC messages, or LPP messages.

[0182] For example, the first terminal device can report indication information to the LMF network element or receive configuration information sent by the LMF network element through SL LPP messages, PC5-S messages, RRC messages, SL-RRC messages, or LPP messages.

[0183] For example, the first terminal device can report instruction information to the second terminal device or receive configuration information sent by the second terminal device through SL LPP messages, PC5-S messages, RRC messages, SL-RRC messages, or LPP messages.

[0184] Specifically, for SL LPP messages or LPP messages, the first terminal device can interact by requesting and / or providing auxiliary information.

[0185] For example, the first terminal device may report instruction information to the base station or receive configuration information sent by the base station by requesting and / or providing auxiliary information.

[0186] For example, the first terminal device can report instruction information to the LMF network element or receive configuration information sent by the LMF network element by requesting and / or providing auxiliary information.

[0187] For example, the first terminal device may report instruction information to the second terminal device or receive configuration information sent by the second terminal device by requesting and / or providing auxiliary information.

[0188] By implementing the embodiments of this disclosure, when a specific event is met during SL positioning, the first terminal device determines whether to reselect SL PRS resources, terminate the SL positioning process, report indication information to the base station, report indication information to the Location Management Function (LMF) network element, or report indication information to the second terminal device. Therefore, the first terminal device can determine that SL PRS resources may be unavailable or already unavailable when a specific event is met during SL positioning, and based on this, reselect SL PRS resources, terminate the SL positioning process, or report indication information, thereby avoiding positioning failure. It should be understood that the above-described methods of reporting indication messages and sending configuration information are merely examples; reporting indication messages and sending configuration information through other possible signaling methods are also within the scope of this disclosure, and this disclosure does not impose any limitations on them.

[0189] Please see Figure 4 , Figure 4 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0190] like Figure 4 As shown, the method is executed by the first terminal device, and the method may include, but is not limited to, the following steps:

[0191] S41: In response to a specific event being met during SL positioning, determine the resource to be reselected for SL PRS.

[0192] The relevant description of S41 can be found in the relevant description in the above embodiments, and will not be repeated here.

[0193] The specific events include the relevant descriptions in the above embodiments, which will not be repeated here.

[0194] S42: Send the reselected SL PRS resources to the third terminal device that needs to receive the SL PRS.

[0195] Understandably, when a specific event is met during the SL positioning process, the first terminal device determines to reselect the SL PRS resource and can inform one or more third terminal devices that need to receive the SL PRS of the reselected SL PRS resource.

[0196] In this embodiment of the disclosure, when a specific event is met during the SL positioning process, the first terminal device determines to reselect the SL PRS resource and can send the reselected SL PRS resource to the third terminal device that needs to receive the SL PRS.

[0197] The third terminal device can be an anchor terminal device. The first terminal device can send the newly selected updated SL PRS resource configuration to the third terminal device that needs to receive the SL PRS, so that the third terminal device can subsequently receive the SL PRS sent by the first terminal device.

[0198] It should be noted that in the embodiments of this disclosure, S41 and S42 can be implemented individually or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0199] By implementing the embodiments of this disclosure, when a specific event is met during SL positioning, the first terminal device determines to reselect SL PRS resources and sends the reselected SL PRS resources to the third terminal device that needs to receive the SL PRS. Therefore, the first terminal device can determine that SL PRS resources may be unavailable or have already become unavailable when a specific event is met during SL positioning, and based on this, reselect SL PRS resources, thereby avoiding positioning failure.

[0200] Please see Figure 5 , Figure 5 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0201] like Figure 5 As shown, the method is executed by the first terminal device, and the method may include, but is not limited to, the following steps:

[0202] S51: In response to a specific event being met during SL positioning, determine the process of terminating SL positioning.

[0203] The relevant description of S51 can be found in the relevant description in the above embodiments, and will not be repeated here.

[0204] The specific events include the relevant descriptions in the above embodiments, which will not be repeated here.

[0205] S52: Send a termination positioning message to the third terminal device participating in the SL positioning process.

[0206] Understandably, if a specific event is met during the SL positioning process, the first terminal device may determine to terminate the SL positioning process and may send an instruction to terminate the SL positioning process to one or more third terminal devices that participated in the SL positioning process.

[0207] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device may determine to terminate the SL positioning process and send a termination positioning message to the third terminal device participating in the SL positioning process.

[0208] It should be noted that in the embodiments of this disclosure, S51 and S52 can be implemented individually or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0209] By implementing the embodiments of this disclosure, when a specific event is met during SL positioning, the first terminal device determines to terminate the SL positioning process and sends a termination positioning message to the third terminal device participating in the SL positioning process. Therefore, the first terminal device can determine that the SL PRS resources may be unavailable or already unavailable when a specific event is met during SL positioning, and based on this, determine to terminate the SL positioning process and send a termination positioning message to the third terminal device participating in the SL positioning process, thereby avoiding positioning failure.

[0210] Please see Figure 6 , Figure 6 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0211] like Figure 6 As shown, the method is executed by the first terminal device, and the method may include, but is not limited to, the following steps:

[0212] S61: In response to a specific event being met during SL positioning, report indication information to the base station.

[0213] The relevant description of S61 can be found in the relevant description in the above embodiments, and will not be repeated here.

[0214] The content of specific events and the content of indication information can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0215] S62: Receive configuration information sent by the base station, wherein the configuration information is used to indicate the resources of the reselected SL PRS.

[0216] It is understandable that when the first terminal device meets a specific event during SL positioning, it reports an indication information to the base station. After receiving the indication information, the base station can reconfigure the resources of the newly selected SL PRS for the first terminal device.

[0217] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device reports indication information to the base station. After receiving the indication information, the base station can reselect SL PRS resources for the first terminal device. The first terminal device can also receive configuration information sent by the base station, which indicates the reselected SL PRS resources.

[0218] The first terminal device can receive configuration information sent by the base station via RRC messages.

[0219] In this embodiment of the disclosure, the first terminal device can interact with the base station via signaling through SL LPP messages, PC5-S messages, RRC messages, SL-RRC messages, or LPP messages.

[0220] For example, the first terminal device can report indication information to the base station or receive configuration information sent by the base station through SL LPP messages, PC5-S messages, RRC messages, SL-RRC messages, or LPP messages.

[0221] Specifically, for communication via SL LPP or LPP messages, the first terminal device can interact by requesting and / or providing auxiliary information.

[0222] For example, the first terminal device may report instruction information to the base station or receive configuration information sent by the base station by requesting and / or providing auxiliary information.

[0223] It should be noted that in the embodiments of this disclosure, S61 and S62 can be implemented individually or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0224] By implementing the embodiments of this disclosure, when a specific event is met during SL positioning, the first terminal device reports indication information to the base station and receives configuration information sent by the base station. The configuration information indicates the resources of the reselected SL PRS. Therefore, the first terminal device can determine that the resources of the SL PRS may be unavailable or already unavailable when a specific event is met during SL positioning, and based on this, report indication information to the base station and receive configuration information sent by the base station. The configuration information indicates the resources of the reselected SL PRS, thereby avoiding positioning failure.

[0225] Please see Figure 7 , Figure 7 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0226] like Figure 7 As shown, the method is executed by the first terminal device, and the method may include, but is not limited to, the following steps:

[0227] S71: In response to a specific event being met during SL positioning, report indication information to the LMF network element.

[0228] The relevant description of S71 can be found in the relevant description in the above embodiments, and will not be repeated here.

[0229] The content of specific events and the content of indication information can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0230] S72: Receive configuration information sent by the LMF network element, wherein the configuration information is used to indicate the resources of the reselected SL PRS.

[0231] It is understandable that when the first terminal device meets a specific event during SL positioning, it reports an indication to the LMF network element. After receiving the indication, the LMF network element can reconfigure the resources of the newly selected SL PRS for the first terminal device.

[0232] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device reports indication information to the LMF network element. After receiving the indication information, the LMF network element can reselect SL PRS resources for the first terminal device. The first terminal device can also receive configuration information sent by the LMF network element based on the indication information, and the configuration information indicates the reselected SL PRS resources.

[0233] The first terminal device can receive configuration information sent by the LMF network element through SL LPP messages or LPP messages.

[0234] In this embodiment of the disclosure, the first terminal device can perform signaling interaction with the LMF network element through SL LPP messages, PC5-S messages, RRC messages, SL-RRC messages, or LPP messages.

[0235] For example, the first terminal device can report indication information to the LMF network element or receive configuration information sent by the LMF network element through SL LPP messages, PC5-S messages, RRC messages, SL-RRC messages, or LPP messages.

[0236] Specifically, for communication via SL LPP or LPP messages, the first terminal device can interact by requesting and / or providing auxiliary information.

[0237] For example, the first terminal device can report instruction information to the LMF network element or receive configuration information sent by the LMF network element by requesting and / or providing auxiliary information.

[0238] It should be noted that in the embodiments of this disclosure, S71 and S72 can be implemented individually or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0239] By implementing the embodiments of this disclosure, when a specific event is met during SL positioning, the first terminal device reports indication information to the LMF network element and receives configuration information sent by the LMF network element. The configuration information is used to indicate the resources of the reselected SL PRS. Therefore, the first terminal device can determine that the resources of the SL PRS may be unavailable or have already become unavailable when a specific event is met during SL positioning, and based on this, report indication information to the LMF network element and receive configuration information sent by the LMF network element. The configuration information is used to indicate the resources of the reselected SL PRS, thereby avoiding positioning failure.

[0240] Please see Figure 8 , Figure 8 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0241] like Figure 8 As shown, the method is executed by the first terminal device, and the method may include, but is not limited to, the following steps:

[0242] S81: In response to a specific event being met during SL positioning, an indication message is reported to the second terminal device.

[0243] The relevant description of S81 can be found in the relevant description in the above embodiments, and will not be repeated here.

[0244] The content of specific events and the content of indication information can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0245] S82: Receive configuration information sent by the second terminal device, wherein the configuration information is used to indicate the resources of the reselected SLPRS.

[0246] It is understandable that when the first terminal device meets a specific event during the SL positioning process, it reports an indication to the second terminal device. After receiving the indication, the second terminal device can reconfigure the resources of the newly selected SL PRS for the first terminal device.

[0247] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device reports indication information to the second terminal device. After receiving the indication information, the second terminal device can reselect SL PRS resources for the first terminal device. The first terminal device can also receive configuration information sent by the second terminal device based on the indication information, and the configuration information indicates the reselected SL PRS resources.

[0248] The first terminal device can receive configuration information sent by the second terminal device through SL LPP messages, PC5-S messages, or SL-RRC messages.

[0249] In this embodiment of the disclosure, the signaling interaction between the first terminal device and the second terminal device can be achieved through one or more of the following: SL LPP message, PC5-S message, RRC message, SL-RRC message, and LPP message.

[0250] For example, the first terminal device can report instruction information to the second terminal device or receive configuration information sent by the second terminal device through SL LPP messages, PC5-S messages, RRC messages, SL-RRC messages, or LPP messages.

[0251] Specifically, for communication via SL LPP or LPP messages, the first terminal device can interact by requesting and / or providing auxiliary information.

[0252] For example, the first terminal device may report instruction information to the second terminal device or receive configuration information sent by the second terminal device by requesting and / or providing auxiliary information.

[0253] In some possible implementations, when a specific event is met during the SL positioning process of the first terminal device, it sends indication information to the second terminal device. This can be done by sending a request for assistance information to the second terminal device via an SL LPP message or an LPP message, and the request for assistance information includes the indication information.

[0254] In some possible implementations, when a specific event is met during the SL positioning process of the first terminal device, an indication message is sent to the second terminal device. After receiving the indication message, the second terminal device can reselect SI PRS resources for the first terminal device according to the indication message and send the reselected SL PRS resources to the first terminal device.

[0255] The second terminal device can send configuration information to the first terminal device. The configuration information is used to indicate the resources of the reselected SL PRS.

[0256] The second terminal device sends configuration information to the first terminal device, which can be done by sending auxiliary information, including configuration information, through SL LPP messages or LPP messages.

[0257] In some possible implementations, when a specific event is met during the SL positioning process of the first terminal device, a request for assistance information is sent to the second terminal device via an SL LPP message or an LPP message. The request for assistance information includes indication information.

[0258] After receiving the instruction information, the second terminal device can send auxiliary information to the first terminal device through SL LPP messages or LPP messages. The auxiliary information includes configuration information.

[0259] The content indicated by the instruction information and the configuration information is the same as that of the aforementioned instructions, and will not be repeated here.

[0260] It should be noted that in the embodiments of this disclosure, S71 and S72 can be implemented individually or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0261] By implementing the embodiments of this disclosure, when a specific event is met during SL positioning, the first terminal device reports indication information to the second terminal device and receives configuration information sent by the second terminal device. The configuration information indicates the resources of the reselected SL PRS. Therefore, the first terminal device can determine that the resources of the SL PRS may be unavailable or already unavailable when a specific event is met during SL positioning, and based on this, reports indication information to the second terminal device and receives configuration information sent by the second terminal device, whereby the configuration information indicates the resources of the reselected SL PRS. This avoids positioning failure.

[0262] Please see Figure 9 , Figure 9 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0263] like Figure 9 As shown, this method is executed by the base station, and the method may include, but is not limited to, the following steps:

[0264] S91: Receive indication information reported by the first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during the SL positioning process.

[0265] The content of specific events and the content of indication information can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0266] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device can report indication information to the base station, thereby the base station can receive the indication information reported by the first terminal device.

[0267] In some embodiments, when a base station receives indication information reported by a first terminal device, it may reselect the resources of the SL PRS and send configuration information to the first terminal device, wherein the configuration information is used to indicate the reselected resources of the SL PRS.

[0268] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device reports indication information to the base station. After receiving the indication information, the base station can reselect SL PRS resources for the first terminal device. The first terminal device can also receive configuration information sent by the base station, which indicates the reselected SL PRS resources.

[0269] The first terminal device can receive configuration information sent by the base station via RRC messages.

[0270] In some embodiments, the base station sends the resources of the reselected SLPRS to a third terminal device participating in the SL positioning process.

[0271] In this embodiment of the disclosure, upon receiving indication information reported by the first terminal device, the base station can reselect the resources of the SL PRS; send configuration information to the first terminal device, wherein the configuration information is used to indicate the reselected SL PRS resources; and the base station can also send the reselected SL PRS resources to the third terminal device participating in the SL positioning process. This ensures that the SL positioning process can be performed accurately.

[0272] It should be noted that in the embodiments of this disclosure, S91 can be implemented alone or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0273] By implementing the embodiments of this disclosure, the base station receives indication information reported by the first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during SL positioning. Therefore, the first terminal device can determine that SL PRS resources may be unavailable or have become unavailable when a specific event is met during SL positioning, and based on this, report the indication information to the base station, thereby avoiding positioning failure.

[0274] Please see Figure 10 , Figure 10 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0275] like Figure 10 As shown, this method is executed by the LMF network element, and the method may include, but is not limited to, the following steps:

[0276] S101: Receive indication information reported by the first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during the SL positioning process.

[0277] The content of specific events and the content of indication information can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0278] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device can report indication information to the LMF network element, thereby the LMF network element can receive the indication information reported by the first terminal device.

[0279] In some embodiments, upon receiving indication information reported by the first terminal device, the LMF network element may reselect the resources of the SL PRS and send configuration information to the first terminal device, wherein the configuration information is used to indicate the reselected SL PRS resources.

[0280] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device reports indication information to the LMF network element. After receiving the indication information, the LMF network element can reselect SL PRS resources for the first terminal device. The first terminal device can also receive configuration information sent by the LMF network element, which indicates the reselected SL PRS resources.

[0281] The first terminal device can receive configuration information sent by the LMF network element through SL LPP messages or LPP messages.

[0282] In some embodiments, the LMF network element sends the resources of the reselected SL PRS to the third terminal device participating in the SL positioning process.

[0283] In this embodiment of the disclosure, upon receiving indication information reported by the first terminal device, the LMF network element can reselect the resources of the SL PRS; send configuration information to the first terminal device, wherein the configuration information is used to indicate the reselected SL PRS resources; and the LMF network element can also send the reselected SL PRS resources to the third terminal device participating in the SL positioning process. This ensures that the SL positioning process can be performed accurately.

[0284] It should be noted that in the embodiments of this disclosure, S101 can be implemented alone or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0285] By implementing the embodiments of this disclosure, the LMF network element receives indication information reported by the first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during SL positioning. Therefore, the first terminal device can determine that the SL PRS resources may be unavailable or have already become unavailable when a specific event is met during SL positioning, and based on this, report the indication information to the LMF network element, thereby avoiding positioning failure.

[0286] Please see Figure 11 , Figure 11 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0287] like Figure 11 As shown, the method is executed by a second terminal device, and the method may include, but is not limited to, the following steps:

[0288] S111: Receive indication information reported by the first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during the SL positioning process.

[0289] The content of specific events and the content of indication information can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0290] In this embodiment of the present disclosure, if a specific event is met during the SL positioning process, the first terminal device can report indication information to the second terminal device, thereby the second terminal device can receive the indication information reported by the first terminal device.

[0291] In some embodiments, when the second terminal device receives the indication information reported by the first terminal device, it may reselect the resources of the SL PRS and send configuration information to the first terminal device, wherein the configuration information is used to indicate the reselected resources of the SL PRS.

[0292] In this embodiment of the present disclosure, when a specific event is met during the SL positioning process, the first terminal device reports indication information to the second terminal device. After receiving the indication information, the second terminal device can reselect SL PRS resources for the first terminal device. The first terminal device can also receive configuration information sent by the second terminal device, which indicates the reselected SL PRS resources.

[0293] The first terminal device can receive configuration information sent by the second terminal device through SL LPP messages, PC5-S messages, or SL-RRC messages.

[0294] In some embodiments, the second terminal device sends the resources of the reselected SL PRS to the third terminal device participating in the SL positioning process.

[0295] In this embodiment of the disclosure, upon receiving the instruction information reported by the first terminal device, the second terminal device can reselect the SL PRS resources; send configuration information to the first terminal device, wherein the configuration information is used to indicate the reselected SL PRS resources; and the second terminal device can also send the reselected SL PRS resources to the third terminal device participating in the SL positioning process. This ensures that the SL positioning process can be performed accurately.

[0296] It should be noted that in the embodiments of this disclosure, S111 can be implemented alone or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0297] By implementing the embodiments of this disclosure, the second terminal device receives indication information reported by the first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during SL positioning. Therefore, the first terminal device can determine that SL PRS resources may be unavailable or have become unavailable when a specific event is met during SL positioning, and based on this, report indication information to the second terminal device, thereby avoiding positioning failure.

[0298] Please see Figure 12 , Figure 12 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0299] like Figure 12 As shown, this method is executed by a third terminal device, and the method may include, but is not limited to, the following steps:

[0300] S121: Receive the reselected SL PRS resources sent by the first terminal device, wherein the reselected SL PRS resources are sent by the first terminal device when a specific event is met during SL positioning, determining that the SL PRS resources should be reselected; or

[0301] Receive a termination positioning message sent by the first terminal device, wherein the termination positioning message is sent by the first terminal device when a specific event is met during the SL positioning process, determining to terminate the SL positioning process; or

[0302] The base station receives the reselected SL PRS resources, wherein the reselected SL PRS resources are sent by the base station upon receiving indication information reported by the first terminal device and reselecting SL PRS resources; the indication information is reported by the first terminal device to the base station when a specific event is met during SL positioning; or

[0303] The LMF network element receives the reselected SL PRS resources sent by the LMF network element. The reselected SL PRS resources are sent by the LMF network element upon receiving an indication message reported by the first terminal device, indicating that the SL PRS resources have been reselected. The indication message is reported by the first terminal device to the LMF network element when a specific event is met during SL positioning.

[0304] The second terminal device receives the reselected SL PRS resources sent by the second terminal device. The reselected SL PRS resources are sent by the second terminal device after receiving the indication information reported by the first terminal device and reselecting the SL PRS resources. The indication information is reported by the first terminal device to the second terminal device when a specific event is met during the SL positioning process.

[0305] The content of specific events and the content of indication information can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0306] Understandably, when a specific event is met during the SL positioning process, the first terminal device determines to reselect the SL PRS resource and can inform one or more third terminal devices that need to receive the SL PRS of the reselected SL PRS resource.

[0307] In this embodiment of the disclosure, when a specific event is met during SL positioning, the first terminal device determines to reselect SL PRS resources and can send the reselected SL PRS resources to the third terminal device that needs to receive the SL PRS. This avoids positioning failures.

[0308] The third terminal device can be an anchor terminal device. The first terminal device can send the newly selected updated SL PRS resource configuration to the third terminal device that needs to receive the SL PRS, so that the third terminal device can subsequently receive the SL PRS sent by the first terminal device.

[0309] Understandably, if a specific event is met during the SL positioning process, the first terminal device may determine to terminate the SL positioning process and may send an instruction to terminate the SL positioning process to one or more third terminal devices that participated in the SL positioning process.

[0310] In this embodiment of the disclosure, if a specific event is met during the SL positioning process, the first terminal device determines to terminate the SL positioning process and can send a termination positioning message to the third terminal device participating in the SL positioning process. This avoids positioning failure.

[0311] In this embodiment of the disclosure, upon receiving indication information reported by the first terminal device, the base station can reselect the resources of the SL PRS; send configuration information to the first terminal device, wherein the configuration information is used to indicate the reselected SL PRS resources; and the base station can also send the reselected SL PRS resources to the third terminal device participating in the SL positioning process. This ensures that the SL positioning process can be performed accurately. Therefore, positioning failure can be avoided.

[0312] In this embodiment of the disclosure, upon receiving indication information reported by the first terminal device, the LMF network element can reselect the resources of the SL PRS; send configuration information to the first terminal device, wherein the configuration information is used to indicate the reselected SL PRS resources; and the LMF network element can also send the reselected SL PRS resources to the third terminal device participating in the SL positioning process. This ensures that the SL positioning process can be performed accurately.

[0313] In this embodiment of the disclosure, upon receiving the instruction information reported by the first terminal device, the second terminal device can reselect the SL PRS resources; send configuration information to the first terminal device, wherein the configuration information is used to indicate the reselected SL PRS resources; and the second terminal device can also send the reselected SL PRS resources to the third terminal device participating in the SL positioning process. This ensures that the SL positioning process can be performed accurately.

[0314] It should be noted that in the embodiments of this disclosure, S121 can be implemented alone or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0315] In the embodiments provided above, the methods provided in the embodiments of this disclosure are described from the perspectives of a first terminal device, a base station, an LMF network element, a second terminal device, and a third terminal device.

[0316] Please see Figure 13 This is a schematic diagram of the structure of a communication device 1 provided in an embodiment of the present disclosure. Figure 13 The communication device 1 shown may include a transceiver module 11 and a processing module 12. The transceiver module may include a sending module and / or a receiving module. The sending module is used to implement the sending function, and the receiving module is used to implement the receiving function. The transceiver module can implement both sending and / or receiving functions.

[0317] Communication device 1 can be a first terminal device, a device within a first terminal device, or a device compatible with the first terminal device. Alternatively, communication device 1 can be a base station, a device within a base station, or a device compatible with a base station. Alternatively, communication device 1 can be an LMF network element, a device within an LMF network element, or a device compatible with an LMF network element. Alternatively, communication device 1 can be a second terminal device, a device within a second terminal device, or a device compatible with the second terminal device. Alternatively, communication device 1 can be a third terminal device, a device within a third terminal device, or a device compatible with the third terminal device.

[0318] Communication device 1 is the first terminal device:

[0319] The device includes a transceiver module 11 or a processing module 12.

[0320] Processing module 12 is configured to, in response to a specific event occurring during SL positioning, determine the resource for reselecting the SL positioning reference signal PRS, or determine to terminate the SL positioning process; or

[0321] The transceiver module 11 is configured to report indication information to the base station, or to the positioning management function (LMF) network element, or to the second terminal device in response to a specific event being met during SL positioning.

[0322] In some embodiments, a specific event includes at least one of the following:

[0323] First terminal equipment replacement service area;

[0324] The resources for sending SL PRS are no longer valid when the first terminal device changes its serving cell;

[0325] The first terminal device changed from being outside the base station coverage to being within the base station coverage;

[0326] The first terminal device changed from being outside the base station coverage to being inside the base station coverage, and the resources for sending SL PRS were no longer valid;

[0327] The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area, and the resources for sending SL PRS were no longer valid;

[0328] The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached the threshold.

[0329] The first terminal device leaves the available area corresponding to the resource of SL PRS;

[0330] The resource configuration change of the SL PRS of the current serving cell of the first terminal device makes the resources for sending SL PRS no longer valid.

[0331] In some embodiments, the indication information includes at least one of the following:

[0332] Trigger the reported trigger event;

[0333] The resource indicated by SL PRS is unavailable;

[0334] Resource identifier indicating that SL PRS is unavailable;

[0335] Instructions and recommendations for SL PRS resources;

[0336] The identifier of the first terminal device;

[0337] The identifier of the cell currently served by the first terminal device.

[0338] In some embodiments, the transceiver module 11 is further configured to send the reselected SL PRS resources to a third terminal device that needs to receive SL PRS in response to determining that the resources of the SL PRS have been reselected.

[0339] In some embodiments, the transceiver module 11 is further configured to send a termination positioning message to a third terminal device participating in the SL positioning process in response to determining the termination of the SL positioning process.

[0340] In some embodiments, the transceiver module 11 is further configured to receive configuration information sent by the base station, or to receive configuration information sent by the LMF network element, or to receive configuration information sent by the second terminal device, wherein the configuration information is used to indicate the resources of the reselected SL PRS.

[0341] Communication device 1 is a base station, an LMF network element, or a second terminal device.

[0342] The device includes a transceiver module 11.

[0343] The transceiver module 11 is configured to receive indication information reported by the first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during the SL positioning process.

[0344] In some embodiments, a specific event includes at least one of the following:

[0345] First terminal equipment replacement service area;

[0346] The resources for sending SL PRS are no longer valid when the first terminal device changes its serving cell;

[0347] The first terminal device changed from being outside the base station coverage to being within the base station coverage;

[0348] The first terminal device changed from being outside the base station coverage to being inside the base station coverage, and the resources for sending SL PRS were no longer valid;

[0349] The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area, and the resources for sending SL PRS were no longer valid;

[0350] The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached the threshold.

[0351] The first terminal device leaves the available area corresponding to the resource of SL PRS;

[0352] The resource configuration change of the SL PRS of the current serving cell of the first terminal device makes the resources for sending SL PRS no longer valid.

[0353] In some embodiments, the indication information includes at least one of the following:

[0354] Trigger the reported trigger event;

[0355] The resource indicated by SL PRS is unavailable;

[0356] Resource identifier indicating that SL PRS is unavailable;

[0357] Instructions and recommendations for SL PRS resources;

[0358] The identifier of the first terminal device;

[0359] The identifier of the cell currently served by the first terminal device.

[0360] In some embodiments, the device further includes a processing module 12;

[0361] Processing module 12 is configured to reselect resources for SL PRS;

[0362] The transceiver module 11 is also configured to send configuration information to the first terminal device, wherein the configuration information is used to indicate the resources of the reselected SL PRS.

[0363] In some embodiments, the transceiver module 11 is further configured to send the resources of the reselected SL PRS to a third terminal device participating in the SL positioning process.

[0364] Communication device 1 is a third terminal device:

[0365] The device includes a transceiver module 11.

[0366] Transceiver module 11 is configured to receive reselected SL PRS resources sent by the first terminal device, wherein the reselected SL PRS resources are sent by the first terminal device when a specific event is met during SL positioning, determining that the SL PRS resources should be reselected; or

[0367] Receive a termination positioning message sent by the first terminal device, wherein the termination positioning message is sent by the first terminal device when a specific event is met during the SL positioning process, determining to terminate the SL positioning process; or

[0368] The base station receives the reselected SL PRS resources, wherein the reselected SL PRS resources are sent by the base station upon receiving indication information reported by the first terminal device and reselecting SL PRS resources; the indication information is reported by the first terminal device to the base station when a specific event is met during SL positioning; or

[0369] The LMF network element receives the reselected SL PRS resources sent by the LMF network element. The reselected SL PRS resources are sent by the LMF network element upon receiving an indication message reported by the first terminal device, indicating that the SL PRS resources have been reselected. The indication message is reported by the first terminal device to the LMF network element when a specific event is met during SL positioning.

[0370] The second terminal device receives the reselected SL PRS resources sent by the second terminal device. The reselected SL PRS resources are sent by the second terminal device after receiving the indication information reported by the first terminal device and reselecting the SL PRS resources. The indication information is reported by the first terminal device to the second terminal device when a specific event is met during the SL positioning process.

[0371] In some embodiments, a specific event includes at least one of the following:

[0372] First terminal equipment replacement service area;

[0373] The resources for sending SL PRS are no longer valid when the first terminal device changes its serving cell;

[0374] The first terminal device changed from being outside the base station coverage to being within the base station coverage;

[0375] The first terminal device changed from being outside the base station coverage to being inside the base station coverage, and the resources for sending SL PRS were no longer valid;

[0376] The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area, and the resources for sending SL PRS were no longer valid;

[0377] The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached the threshold.

[0378] The first terminal device leaves the available area corresponding to the resource of SL PRS;

[0379] The resource configuration change of the SL PRS of the current serving cell of the first terminal device makes the resources for sending SL PRS no longer valid.

[0380] In some embodiments, the indication information includes at least one of the following:

[0381] Trigger the reported trigger event;

[0382] The resource indicated by SL PRS is unavailable;

[0383] Resource identifier indicating that SL PRS is unavailable;

[0384] Instructions and recommendations for SL PRS resources;

[0385] The identifier of the first terminal device;

[0386] The identifier of the cell currently served by the first terminal device.

[0387] Regarding the communication device 1 in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0388] The communication device 1 provided in the above embodiments of this disclosure achieves the same or similar beneficial effects as the side-link SL positioning method provided in some of the above embodiments, and will not be repeated here.

[0389] Please see Figure 14 , Figure 14 This is a schematic diagram of another communication device 1000 provided in this embodiment. The communication device 1000 can be a base station, a first terminal device, a second terminal device, an LMF network element, a third terminal device, or a chip, chip system, or processor that supports the base station or LMF network element in implementing the above methods. It can also be a chip, chip system, or processor that supports the first, second, or third terminal device in implementing the above methods. This communication device 1000 can be used to implement the methods described in the above method embodiments; please refer to the descriptions in the above method embodiments for details.

[0390] The communication device 1000 may include one or more processors 1001. The processor 1001 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., network-side equipment, baseband chip, terminal equipment, terminal equipment chip, DU or CU, etc.), execute computer programs, and process data from the computer programs.

[0391] Optionally, the communication device 1000 may further include one or more memories 1002, which may store a computer program 1004. The memories 1002 execute the computer program 1004 to cause the communication device 1000 to perform the methods described in the above method embodiments. Optionally, the memories 1002 may also store data. The communication device 1000 and the memories 1002 may be provided separately or integrated together.

[0392] Optionally, the communication device 1000 may further include a transceiver 1005 and an antenna 1006. The transceiver 1005 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 1005 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.

[0393] Optionally, the communication device 1000 may further include one or more interface circuits 1007. The interface circuit 1007 is used to receive code instructions and transmit them to the processor 1001. The processor 1001 executes the code instructions to cause the communication device 1000 to perform the method described in the above method embodiments.

[0394] Communication device 1000 is the first terminal device: transceiver 1005 is used to perform... Figure 3 S31 in; Figure 4 S42 in the middle; Figure 5 S52 in the middle; Figure 6 S61 and S62 in the text; Figure 7 S71 and S72 in the text; Figure 8 S81 and S82 in the processor 1001 are used to execute... Figure 3 S31 in; Figure 4 S41 in; Figure 5 S51 in the middle.

[0395] Communication device 1000 is a base station; transceiver 1005 is used for execution. Figure 9 S91 in the middle.

[0396] Communication device 1000 is an LMF network element: transceiver 1005 is used to perform... Figure 10 S101 in the middle.

[0397] Communication device 1000 is a second terminal device: transceiver 1005 is used to perform... Figure 11 S111 in the middle.

[0398] Communication device 1000 is a third terminal device: transceiver 1005 is used to perform... Figure 12 S121 in the middle.

[0399] In one implementation, the processor 1001 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.

[0400] In one implementation, processor 1001 may store computer program 1003, which runs on processor 1001 and causes communication device 1000 to execute the methods described in the above method embodiments. Computer program 1003 may be embedded in processor 1001, in which case processor 1001 may be implemented in hardware.

[0401] In one implementation, the communication device 1000 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 disclosure 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.

[0402] The communication device described in the above embodiments may be a terminal device or a network-side device, but the scope of the communication device described in this disclosure is not limited thereto, and the structure of the communication device may vary. Figure 14 The communication device may be a standalone device or part of a larger device. For example, the communication device may be:

[0403] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0404] (2) A collection of one or more ICs, optionally including storage components for storing data and computer programs;

[0405] (3) ASIC, such as modem;

[0406] (4) Modules that can be embedded in other devices;

[0407] (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.

[0408] (6) Others, etc.

[0409] For cases where the communication device can be a chip or a chip system, please refer to [link / reference]. Figure 15 This is a structural diagram of a chip provided in an embodiment of this disclosure.

[0410] Chip 1100 includes processor 1101 and interface 1103. The number of processors 1101 can be one or more, and the number of interfaces 1103 can be multiple.

[0411] Regarding the case where the chip is used to implement the functions of the first terminal device in the embodiments of this disclosure:

[0412] Interface 1103 is used to receive code instructions and transmit them to the processor.

[0413] Processor 1101 is configured to run code instructions to perform the side-link SL positioning method as described in some of the embodiments above.

[0414] Regarding the case where the chip is used to implement the functions of the second terminal device in the embodiments of this disclosure:

[0415] Interface 1103 is used to receive code instructions and transmit them to the processor.

[0416] Processor 1101 is configured to run code instructions to perform the side-link SL positioning method as described in some of the embodiments above.

[0417] Regarding the use of the chip to implement the functions of the base station in the embodiments of this disclosure:

[0418] Interface 1103 is used to receive code instructions and transmit them to the processor.

[0419] Processor 1101 is configured to run code instructions to perform the side-link SL positioning method as described in some of the embodiments above.

[0420] For cases where the chip is used to implement the function of the LMF network element in the embodiments of this disclosure:

[0421] Interface 1103 is used to receive code instructions and transmit them to the processor.

[0422] Processor 1101 is configured to run code instructions to perform the side-link SL positioning method as described in some of the embodiments above.

[0423] Regarding the case where the chip is used to implement the functions of the third terminal device in the embodiments of this disclosure:

[0424] Interface 1103 is used to receive code instructions and transmit them to the processor.

[0425] Processor 1101 is configured to run code instructions to perform the side-link SL positioning method as described in some of the embodiments above.

[0426] Optionally, chip 1100 may also include memory 1102, which is used to store necessary computer programs and data.

[0427] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this disclosure can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented in 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 disclosure.

[0428] This disclosure also provides a side-link (SL) positioning system, which includes the aforementioned... Figure 13 The embodiments include a communication device as a first terminal device, a communication device as a third terminal device, and a communication device as a base station; or, the system includes the aforementioned... Figure 13 The embodiments include a communication device as a first terminal device, a communication device as a third terminal device, and a communication device as an LMF network element; or, the system includes the aforementioned... Figure 13 The embodiments include a communication device as a first terminal device, a communication device as a third terminal device, and a communication device as a second terminal device; alternatively, the system includes the aforementioned components. Figure 14 The embodiments include a communication device as a first terminal device, a communication device as a third terminal device, and a communication device as a base station; or, the system includes the aforementioned... Figure 14 The embodiments include a communication device as a first terminal device, a communication device as a third terminal device, and a communication device as an LMF network element; or, the system includes the aforementioned... Figure 14 The embodiments include a communication device as a first terminal device, a communication device as a third terminal device, and a communication device as a second terminal device.

[0429] This disclosure 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.

[0430] This disclosure also provides a computer program product that, when executed by a computer, implements the functions of any of the above method embodiments.

[0431] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in 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 disclosure 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)).

[0432] Those skilled in the art will understand that the various numerical designations such as "first," "second," etc., used in this disclosure are merely for the convenience of description and are not intended to limit the scope of the embodiments of this disclosure, nor do they indicate the order of events.

[0433] At least one of the features described in this disclosure can also be described as one or more, and multiple features can be two, three, four or more, and this disclosure does not impose any limitations. In the embodiments of this disclosure, for a technical feature, the technical features in that technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", etc., and there is no sequential order or size order among the technical features described by "first", "second", "third", "A", "B", "C" and "D".

[0434] The correspondences shown in the tables of this disclosure can be configured or predefined. The values ​​of the information in each table are merely examples and can be configured to other values; this disclosure is not limiting. 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 disclosure 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 headers of the above tables can also be 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. When implementing 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.

[0435] The predefined terms in this disclosure can be understood as defined, predefined, stored, pre-stored, pre-negotiated, pre-configured, solidified, or pre-burned.

[0436] 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 disclosure.

[0437] Those skilled in the art will clearly 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.

[0438] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure 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 disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A side-link SL positioning method, characterized in that, The method is executed by a first terminal device and includes: In response to the fulfillment of a specific event during SL positioning, determine the resources for reselecting the SL positioning reference signal PRS; In response to determining that the resources of the SL PRS have been reselected, the resources of the reselected SL PRS are sent to the third terminal device that needs to receive the SL PRS. The specific event includes at least one of the following: The first terminal device changes its serving cell; The resource that sent the SL PRS is no longer valid; The first terminal device changed from being outside the base station coverage to being within the base station coverage; The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area; The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached a threshold. The first terminal device leaves the available area corresponding to the resource of SL PRS; The resource configuration of the SL PRS of the current serving cell of the first terminal device has been changed.

2. The method as described in claim 1, characterized in that, The method further includes performing at least one of the following operations: Determine the process for terminating SL positioning; The reporting instruction information includes at least one of the following: Report instruction information to the base station; Report instruction information to the LMF network element with location management function; Report instruction information to the second terminal device.

3. The method as described in claim 2, characterized in that, The indication information includes at least one of the following: Trigger the reported trigger event; The resource indicated by SL PRS is unavailable; Resource identifier indicating that SL PRS is unavailable; Instructions and recommendations for SL PRS resources; The identifier of the first terminal device; The identifier of the cell currently serving the first terminal device.

4. The method as described in claim 2, characterized in that, The method further includes: In response to the process of determining to terminate SL positioning, a termination positioning message is sent to the third terminal devices participating in SL positioning.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Receive configuration information, which indicates the resources of the reselected SL PRS; The received configuration information includes at least one of the following: Receive configuration information sent by the base station; Receive configuration information sent by LMF network elements; Receive configuration information sent by the second terminal device.

6. A side-link SL positioning method, characterized in that, The method is executed by a base station, an LMF network element, or a second terminal device, and includes: The method further includes receiving indication information reported by a first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during the SL positioning process, and the specific event is used by the first terminal device to determine to reselect SL PRS resources and send the reselected SL PRS resources to a third terminal device that needs to receive the SL PRS; or the indication information is used to trigger the reselection of SL PRS resources. The specific event includes at least one of the following: The first terminal device changes its serving cell; The resource that sent the SL PRS is no longer valid; The first terminal device changed from being outside the base station coverage to being within the base station coverage; The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area; The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached a threshold. The first terminal device leaves the available area corresponding to the resource of SL PRS; The resource configuration of the SL PRS of the current serving cell of the first terminal device has been changed.

7. The method as described in claim 6, characterized in that, The indication information includes at least one of the following: Trigger the reported trigger event; The resource indicated by SL PRS is unavailable; Resource identifier indicating that SL PRS is unavailable; Instructions and recommendations for SL PRS resources; The identifier of the first terminal device; The identifier of the cell currently serving the first terminal device.

8. The method of claim 6 or 7, characterized in that the method further comprises: Configuration information is sent to the first terminal device, wherein the configuration information is used to indicate the resources of the reselected SL PRS.

9. A side-link SL positioning method, characterized in that, The method is executed by a third terminal device and includes: Receive the reselected SL PRS resources sent by the first terminal device, wherein the reselected SL PRS resources are sent by the first terminal device when a specific event is met during SL positioning, determining that the SL PRS resources should be reselected; or The resource of the reselected SL PRS is sent by the base station, LMF or second terminal device, wherein the resource of the reselected SL PRS is sent by the base station, the LMF or the second terminal device when it receives the indication information reported by the first terminal device and reselects the resource of the SL PRS, and the indication information is reported by the first terminal device to the base station when a specific event is met during the SL positioning process. The specific event includes at least one of the following: The first terminal device changes its serving cell; The resource that sent the SL PRS is no longer valid; The first terminal device changed from being outside the base station coverage to being within the base station coverage; The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area; The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached a threshold. The first terminal device leaves the available area corresponding to the resource of SL PRS; The resource configuration of the SL PRS of the current serving cell of the first terminal device has been changed.

10. The method of claim 9, further comprising: The system receives a termination location message from a first terminal device, wherein the termination location message is sent by the first terminal device when a specific event is met during the SL location process, and the SL location process is determined to be terminated.

11. The method as described in claim 9 or 10, characterized in that, The indication information includes at least one of the following: Trigger the reported trigger event; The resource indicated by SL PRS is unavailable; Resource identifier indicating that SL PRS is unavailable; Instructions and recommendations for SL PRS resources; The identifier of the first terminal device; The identifier of the cell currently serving the first terminal device.

12. A communication device, characterized in that, The device includes: The processing module is configured to determine the resources for reselecting the SL positioning reference signal (PRS) in response to a specific event being met during SL positioning; wherein the specific event includes at least one of the following: First terminal equipment replacement service area; The resource that sent the SL PRS is no longer valid; The first terminal device changed from being outside the base station coverage to being within the base station coverage; The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area; The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached a threshold. The first terminal device leaves the available area corresponding to the resource of SL PRS; The resource configuration of the SL PRS of the current serving cell of the first terminal device has been changed; The transceiver module is configured to send the reselected SL PRS resources to a third terminal device that needs to receive the SL PRS in response to determining that the resources of the SL PRS have been reselected.

13. A communication device, characterized in that, The device includes: The transceiver module is configured to receive indication information reported by a first terminal device, wherein the indication information is sent by the first terminal device when a specific event is met during the SL positioning process, and the specific event is used by the first terminal device to determine to reselect SL PRS resources during the SL positioning process, and to send the reselected SL PRS resources to a third terminal device that needs to receive the SL PRS; or the processing module is configured to reselect SL PRS resources when the indication information is used to trigger the reselection of SL PRS resources, and the transceiver module is configured to send the reselected SL PRS resources to the third terminal device participating in the SL positioning process; The specific event includes at least one of the following: The first terminal device changes its serving cell; The resource that sent the SL PRS is no longer valid; The first terminal device changed from being outside the base station coverage to being within the base station coverage; The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area; The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached a threshold. The first terminal device leaves the available area corresponding to the resource of SL PRS; The resource configuration of the SL PRS of the current serving cell of the first terminal device has been changed.

14. A communication device, characterized in that, The device includes: The transceiver module is configured to receive reselected SL PRS resources sent by the first terminal device, wherein the reselected SL PRS resources are sent by the first terminal device when a specific event is met during SL positioning, determining that the SL PRS resources should be reselected; or The resource of the reselected SL PRS is sent by the base station, LMF or second terminal device, wherein the resource of the reselected SL PRS is sent by the base station, the LMF or the second terminal device when it receives the indication information reported by the first terminal device and reselects the resource of the SL PRS, and the indication information is reported by the first terminal device to the base station when a specific event is met during the SL positioning process. The specific event includes at least one of the following: The first terminal device changes its serving cell; The resource that sent the SL PRS is no longer valid; The first terminal device changed from being outside the base station coverage to being within the base station coverage; The first terminal device changed from being within the base station's coverage area to being outside the base station's coverage area; The number of times the resources for sending SL PRS by the first terminal device have been occupied has reached a threshold. The first terminal device leaves the available area corresponding to the resource of SL PRS; The resource configuration of the SL PRS of the current serving cell of the first terminal device has been changed.

15. A communication device, characterized in that, The device includes a processor and a memory, the memory storing a computer program, the processor executing the computer program stored in the memory to cause the device to perform the method as claimed in any one of claims 1 to 5, or the processor executing the computer program stored in the memory to cause the device to perform the method as claimed in any one of claims 6 to 8, or the processor executing the computer program stored in the memory to cause the device to perform the method as claimed in any one of claims 9 to 11.

16. A communication device, characterized in that, include: Processor and interface circuitry; 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 5, or to execute the code instructions to perform the method as described in any one of claims 6 to 8, or to execute the code instructions to perform the method as described in any one of claims 9 to 11.

17. A computer-readable storage medium for storing instructions that, when executed, cause the method of any one of claims 1 to 5 to be implemented, or when executed, cause the method of any one of claims 6 to 8 to be implemented, or when executed, cause the method of any one of claims 9 to 11 to be implemented.

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