Sidelink, sl, positioning methods and apparatuses

Abstract

The method comprises the following steps: in response to the fact that no SL positioning reference signal (SL-PRS) to be received is measured in a process of SL positioning, sending indication information to a base station, or sending the indication information to a location management function (LMF) network element, or sending the indication information to a second terminal device. Thus, the first terminal device can send the indication information in the case where the SL-PRS cannot be measured, so as to avoid the failure of the SL positioning process and the failure of positioning.

Description

TECHNICAL FIELD

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

[0002] In the prior art, in the process of SL (Sidelink) positioning of a terminal device, the SL PRS (positioning reference signal) may not be measured, and in the case that the SL PRS cannot be measured, the process of SL positioning cannot be performed, which causes positioning failure, which is a problem to be solved. SUMMARY

[0003] Embodiments of the present disclosure provide a SL positioning method and device, in the case that a first terminal device cannot measure SL PRS, the first terminal device can send indication information to avoid the process of SL positioning from being unable to be performed and to avoid positioning failure.

[0004] In a first aspect, embodiments of the present disclosure provide a SL positioning method, the method is performed by a first terminal device, and the method comprises: in response to not measuring SL PRS (positioning reference signal) to be received in the process of SL positioning, sending indication information to a base station, or sending the indication information to a LMF (location management function) network element, or sending the indication information to a second terminal device.

[0005] In the technical solution, the terminal device, in response to not measuring SL PRS (positioning reference signal) to be received in the process of SL positioning, sends indication information to a base station, or sends the indication information to a LMF (location management function) network element, or sends the indication information to a second terminal device. Thus, in the case that the first terminal device cannot measure SL PRS, the first terminal device can send indication information to avoid the process of SL positioning from being unable to be performed and to avoid positioning failure.

[0006] In a second aspect, embodiments of the present disclosure provide another SL positioning method, the method is performed by a base station, or a LMF (location management function) network element, or a second terminal device, and the method comprises: receiving indication information sent by a first terminal device, wherein the indication information is sent by the first terminal device in the case that the first terminal device does not measure SL PRS (positioning reference signal) to be received in the process of SL positioning.

[0007] In a third aspect, an embodiment of the present disclosure provides a communication apparatus having part or all of the functions of the first terminal device in the method described in the first aspect, for example, the communication apparatus can have part or all of the functions in some or all of the embodiments of the present disclosure, or can have the functions of implementing any one of the embodiments of the present disclosure independently. The functions can 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.

[0008] In an implementation manner, the communication apparatus can include a transceiver module and a processing module, and the processing module is configured to support the communication apparatus to perform the corresponding functions in the above method. The transceiver module is configured to support the communication apparatus to communicate with other devices. The communication apparatus can further include a storage module coupled to the transceiver module and the processing module, and the storage module stores computer programs and data necessary for the communication apparatus.

[0009] In an implementation manner, the communication apparatus includes a transceiver module configured to send indication information to a base station, or send the indication information to a location management function (LMF) network element, or send the indication information to a second terminal device, in response to not measuring a SL positioning reference signal (PRS) that needs to be received in a process of SL positioning.

[0010] In a fourth aspect, an embodiment of the present disclosure provides another communication apparatus having part or all of the functions of the base station or the LMF network element or the second terminal device in the method examples described in the second aspect, for example, the communication apparatus can have part or all of the functions in some or all of the embodiments of the present disclosure, or can have the functions of implementing any one of the embodiments of the present disclosure independently. The functions can 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.

[0011] In an implementation manner, the communication apparatus can include a transceiver module and a processing module, and the processing module is configured to support the communication apparatus to perform the corresponding functions in the above method. The transceiver module is configured to support the communication apparatus to communicate with other devices. The communication apparatus can further include a storage module coupled to the transceiver module and the processing module, and the storage module stores computer programs and data necessary for the communication apparatus.

[0012] In an implementation manner, the communication apparatus includes a transceiver module configured to receive indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device in a case where the first terminal device does not measure a SL PRS that needs to be received in a process of SL positioning.

[0013] In a fifth aspect, the embodiments of the present disclosure provide a communication device, which comprises a processor, and the processor executes a method in the first aspect when invoking a computer program in a memory.

[0014] In a sixth aspect, the embodiments of the present disclosure provide a communication device, which comprises a processor, and the processor executes a method in the second aspect when invoking a computer program in a memory.

[0015] In a seventh aspect, the embodiments of the present disclosure provide a communication device, which comprises a processor and a memory, and the memory stores a computer program; the processor executes the computer program stored in the memory, so that the communication device executes the method in the first aspect.

[0016] In an eighth aspect, the embodiments of the present disclosure provide a communication device, which comprises a processor and a memory, and the memory stores a computer program; the processor executes the computer program stored in the memory, so that the communication device executes the method in the second aspect.

[0017] In a ninth aspect, the embodiments of the present disclosure provide a communication device, which comprises a processor and an interface circuit, the interface circuit is configured to receive code instructions and transmit the code instructions to the processor, and the processor is configured to run the code instructions so that the device executes the method in the first aspect.

[0018] In a tenth aspect, the embodiments of the present disclosure provide a communication device, which comprises a processor and an interface circuit, the interface circuit is configured to receive code instructions and transmit the code instructions to the processor, and the processor is configured to run the code instructions so that the device executes the method in the second aspect.

[0019] In an eleventh aspect, the embodiments of the present disclosure provide a sidelink (SL) positioning system, which comprises the communication device in the third aspect and the communication device in the fourth aspect, or the communication device in the fifth aspect and the communication device in the sixth aspect, or the communication device in the seventh aspect and the communication device in the eighth aspect, or the communication device in the ninth aspect and the communication device in the tenth aspect.

[0020] In a twelfth aspect, the embodiments of the present disclosure provide a computer readable storage medium, which is configured to store instructions for the first terminal device, and the instructions are configured to make the first terminal device execute the method in the first aspect when the instructions are executed.

[0021] In a thirteenth aspect, an embodiment of the present application provides a readable storage medium for storing instructions for a base station or an LMF network element or a second terminal device, which when executed, cause the base station or the LMF network element or the second terminal device to perform the method of the second aspect.

[0022] In a fourteenth aspect, the present disclosure further provides a computer program product including a computer program which, when executed on a computer, causes the computer to perform the method of the first aspect.

[0023] In a fifteenth aspect, the present disclosure further provides a computer program product including a computer program which, when executed on a computer, causes the computer to perform the method of the second aspect.

[0024] In a sixteenth aspect, the present disclosure provides a chip system including at least one processor and an interface for supporting a first terminal device to implement functions related to the first aspect, such as determining or processing at least one of data and information involved in the above method. In a possible design, the chip system further includes a memory for storing computer programs and data necessary for the first terminal device. The chip system can be composed of a chip, or include a chip and other discrete devices.

[0025] In a seventeenth aspect, the present disclosure provides a chip system including at least one processor and an interface for supporting a base station or an LMF network element or a second terminal device to implement functions related to the second aspect, such as determining or processing at least one of data and information involved in the above method. In a possible design, the chip system further includes a memory for storing computer programs and data necessary for the base station or the LMF network element or the second terminal device. The chip system can be composed of a chip, or include a chip and other discrete devices.

[0026] In an eighteenth aspect, the present disclosure provides a computer program which, when executed on a computer, causes the computer to perform the method of the first aspect.

[0027] In a nineteenth aspect, the present disclosure provides a computer program which, when executed on a computer, causes the computer to perform the method of the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background art, the drawings needed to be used in the embodiments of the present application or the background art will be described below.

[0029] Figure 1 is an architecture diagram of a communication system provided by an embodiment of the present application;

[0030] Figure 2 FIG. 1 is a schematic diagram of a DL-TDOA-based positioning method according to an embodiment of the present disclosure;

[0031] Figure 3 FIG. 2 is a flowchart of a sidelink SL positioning method according to an embodiment of the present disclosure;

[0032] Figure 3A FIG. 3 is a flowchart of a sidelink SL positioning method according to an embodiment of the present disclosure;

[0033] Figure 4 FIG. 4 is a flowchart of another sidelink SL positioning method according to an embodiment of the present disclosure;

[0034] Figure 5 FIG. 5 is a flowchart of yet another sidelink SL positioning method according to an embodiment of the present disclosure;

[0035] Figure 6 FIG. 6 is a flowchart of yet another sidelink SL positioning method according to an embodiment of the present disclosure;

[0036] Figure 7 FIG. 7 is a flowchart of yet another sidelink SL positioning method according to an embodiment of the present disclosure;

[0037] Figure 8 FIG. 8 is a flowchart of yet another sidelink SL positioning method according to an embodiment of the present disclosure;

[0038] Figure 9 FIG. 9 is a flowchart of yet another sidelink SL positioning method according to an embodiment of the present disclosure;

[0039] Figure 10 FIG. 10 is a flowchart of yet another sidelink SL positioning method according to an embodiment of the present disclosure;

[0040] Figure 11 FIG. 11 is a flowchart of yet another sidelink SL positioning method according to an embodiment of the present disclosure;

[0041] Figure 12 FIG. 12 is a structural diagram of a communication apparatus according to an embodiment of the present disclosure;

[0042] Figure 13 FIG. 13 is a structural diagram of another communication apparatus according to an embodiment of the present disclosure;

[0043] Figure 14 FIG. 14 is a structural diagram of a chip according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] In order to better understand the sidelink SL positioning method and device disclosed by the embodiments of the present disclosure, the communication system to which the embodiments of the present disclosure are applicable will be described first.

[0045] The exemplary embodiments will be described in detail herein below with reference to the accompanying drawings. The following description is only related to the drawings when the drawings are referred to. Identical numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0046] The terms used in the present disclosure are merely for the purpose of describing particular embodiments and are not intended to limit the present disclosure. The singular forms "a," "an," and "the" used in the present 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" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0047] It should be understood that although the terms first, second, third, etc. can be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another type of information. For example, the first information can also be referred to as the second information without departing from the scope of the present disclosure, and similarly, the second information can also be referred to as the first information. Depending on the context, for example, the word "if" as used herein can be interpreted as "when" or "upon determining" or "in response to determining".

[0048] 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 for analysis, stored data, displayed data, etc.) and signals involved in the present disclosure are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0049] Please refer to Figure 1 , Figure 1 is a schematic diagram of a communication system provided by the embodiments of the present disclosure, as Figure 1 shown, the communication system can include but is not limited to one (radio) access network ((R)AN), one terminal device and one core network device. The access network devices communicate with each other through wired or wireless means, for example, through Figure 1The 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.

[0050] 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.

[0051] 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 in the terminal devices.

[0052] A (radio) access network ((R)AN) is configured to provide access network functions for authorized terminal devices in a specific area, and can use different quality transmission tunnels according to the level of the terminal device, the demand of the service, and the like. The (R)AN can manage radio resources, provide access services for terminal devices, and further complete the forwarding of control information and / or data information between the terminal device and the core network (CN). The access network device in the embodiments of the present disclosure is a device configured to provide wireless communication functions for terminal devices, and can also be referred to as a network device. For example, the access network device can include a next generation node base station (gNB) in a 5G system, an evolved node B (eNB) in a long term evolution (LTE) system, a radio network controller (RNC), a node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (for example, a home evolved node B, or a home node B, HNB), a base band unit (BBU), a transmitting and receiving point (TRP), a transmitting point (TP), a pico, a mobile switching center, or a network device in a future network, and the like. It can be understood that the embodiments of the present disclosure do not limit the specific type of the access network device. In systems of different wireless access technologies, the device with the function of the access network device can have different names.

[0053] The core network device can be 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 one of the following: an LMF (Location Management Function) network element, an E-SMLC (Enhanced Serving Mobile Location Centre), a SUPL (Secure User Plane Location), and a SUPL SLP (SUPL Location Platform).

[0054] It can be understood that the communication system described in the embodiments of the present disclosure is for more clearly illustrating the technical solutions of the embodiments of the present disclosure, and does not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Those skilled in the art can know that, with the evolution of system architecture and the appearance of new business scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0055] In addition, in order to facilitate the understanding of the embodiments of the present disclosure, the following points are explained.

[0056] First, in the embodiments of the present disclosure, “for indicating” can include direct indication and indirect indication. When describing that a certain information is for indicating A, it can include that the information directly indicates A or indirectly indicates A, and it does not mean that A must be carried in the information.

[0057] The information indicated by the information is called to-be-indicated information. In the specific implementation process, there are many ways to indicate the to-be-indicated information, for example, but not limited to, the to-be-indicated information can be directly indicated, such as the to-be-indicated information itself or the index of the to-be-indicated information. The to-be-indicated information can also be indirectly indicated by indicating other information, where the other information and the to-be-indicated information have an association relationship. The to-be-indicated information can also be only indicated in part, and the other part of the to-be-indicated information is known or agreed in advance. For example, the indication of a specific information can also be achieved by means of the arrangement order of each information agreed in advance (for example, specified by a protocol), thereby reducing the indication overhead to a certain extent.

[0058] The to-be-indicated information can be sent as a whole, or can be sent separately into multiple sub-information, and the sending period and / or sending occasion of the sub-information can be the same or different. The specific sending method is not limited by the present disclosure. The sending period and / or sending occasion of the sub-information can be predefined, for example, predefined according to a protocol.

[0059] Second, the embodiments of the present disclosure enumerate a plurality of embodiments to clearly illustrate the technical solutions of the embodiments of the present disclosure. Of course, those skilled in the art can understand that the plurality of embodiments provided by the embodiments of the present disclosure can be executed alone, or can be executed together after being combined with the method of other embodiments of the present disclosure, or can be executed alone or together after being combined with some methods in other related technologies; the present disclosure does not limit this.

[0060] In the embodiments of the present disclosure, the SL (Sidelink) positioning between terminal devices includes absolute positioning, relative positioning, and ranging. The absolute positioning refers to determining the absolute coordinates of a terminal device, the relative positioning refers to determining the coordinates of a terminal device relative to a reference point, and the ranging refers to determining the distance and / or angle of a terminal device relative to a reference point.

[0061] Among them, the ranging usually only involves ranging between two terminal devices, but the absolute positioning and the relative positioning may involve multiple auxiliary terminal devices participating in the positioning.

[0062] As shown in FIG. 1, the DL-TDOA (DownLink-Time Difference Of Arrival) based positioning method is used. A terminal device (UE) can determine the specific position of the terminal device relative to RSUs by measuring the positioning signals (SL PRS (positioning reference signal)) sent by multiple RSUs (Road Side Unit), for example, greater than or equal to 3 RSUs. Figure 2 Figure 2 In addition to DL-TDOA, the positioning scheme also includes 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 position coordinates based on the absolute position information of the RSU, such as GPS (global positioning system), the positioning result is relative positioning. Otherwise, it is absolute positioning. The terminal device participating in the relative positioning / absolute positioning is the positioning auxiliary terminal device, also called anchor terminal device. Corresponding to the positioning auxiliary terminal device is the terminal device to be positioned.

[0063] Among them, if the positioning only involves two terminal devices, they are each other's positioning auxiliary terminal device.

[0064] ​Among them, there are different types of positioning auxiliary terminal devices, such as RSU type positioning auxiliary terminal devices, which belong to a kind of infrastructure, which can provide positioning services by cooperating with other RSUs; such as ordinary terminal devices can also be used as positioning auxiliary terminal devices, which are difficult to assist other terminal devices to provide positioning services; in addition, some positioning auxiliary terminal devices have GPS and other location information, which can assist other terminal devices to perform absolute positioning; other positioning auxiliary terminal devices may not have GPS and other location information.

[0065] In the related art, in the process of SL (Sidelink, also known as sidelink) positioning, the terminal device may not be able to measure the SL PRS (positioning reference signal), and in the case where the SL PRS cannot be measured, the process of SL positioning cannot be performed, which will cause positioning failure, which is a problem to be solved.

[0066] Based on this, in the embodiments of the present disclosure, a sidelink SL positioning method is provided, and in the case where the first terminal device does not measure the SL PRS to be received in the process of SL positioning, the first terminal device can send indication information to the base station, or send indication information to the LMF network element, or send indication information to the second terminal device. Therefore, in the case where the first terminal device does not measure the SL PRS to be received in the process of SL positioning, the first terminal device can send indication information to avoid the process of SL positioning from being unable to proceed and avoid positioning failure.

[0067] Next, a sidelink SL positioning method and device provided by the present disclosure will be described in detail in combination with the accompanying drawings.

[0068] Please refer to Figure 3 , Figure 3 is a flowchart of a sidelink SL positioning method provided by the embodiments of the present disclosure.

[0069] As Figure 3 indicated, the method is performed by the first terminal device, and the method can include but is not limited to the following steps:

[0070] S31: In response to not measuring the SL PRS to be received in the process of SL positioning, sending indication information to the base station, or sending indication information to the LMF network element, or sending indication information to the second terminal device.

[0071] In the embodiments of the present disclosure, in the case where the first terminal device does not measure the SL PRS to be received in the process of SL positioning, the first terminal device can send indication information to the base station.

[0072] In the embodiments of the present disclosure, in a case where the first terminal device does not measure the SL PRS to be received in the process of SL positioning, the first terminal device can send indication information to the LMF network element.

[0073] In the embodiments of the present disclosure, in a case where the first terminal device does not measure the SL PRS to be received in the process of SL positioning, the first terminal device can send indication information to the second terminal device.

[0074] The process of SL positioning of the first terminal device can be a process of SL-RTT (Round Trip Time) positioning, or a process of SL-TDOA (Time Difference Of Arrival) positioning, or a process of SL-AOA (Angle Of Arrival) positioning, or a process of SL-AOD (Angle Of Departure) positioning, etc., and the embodiments of the present disclosure do not make specific limitations thereto.

[0075] In the embodiments of the present disclosure, the first terminal device can be a terminal device to be positioned, or an anchor terminal device; and the second terminal device can be a terminal device to be positioned, or a terminal device responsible for positioning calculation.

[0076] Exemplarily, as shown in FIG. 1, the first terminal device can be a terminal device to be positioned, or an anchor terminal device. Figure 3A

[0077] In a case where the first terminal device is a terminal device to be positioned, the second terminal device can also be a terminal device to be positioned, or the second terminal device can also be a terminal device responsible for positioning calculation.

[0078] In a case where the first terminal device is an anchor terminal device, the second terminal device can also be a terminal device to be positioned, or the second terminal device can also be a terminal device responsible for positioning calculation.

[0079] It can be understood that there are various reasons why the first terminal device does not measure the SL PRS to be received in the process of SL positioning, for example, the first terminal device does not receive the SL PRS, the first terminal device does not receive enough SL PRS, the first terminal device has no SL PRS configuration information, etc.

[0080] ​Based on this, in the embodiments of the present disclosure, the indication information sent by the first terminal device can be used to indicate that no SL PRS needs to be received is measured, or can also be used to indicate that part or any SL PRS cannot be measured, or can also be used to indicate that there is no SL PRS configuration information, and the like. In this case, the situation that the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning can be adjusted, and the SL positioning process cannot be performed, and the positioning failure can be avoided.

[0081] In some embodiments, the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device, and in the case that the first terminal device does not detect any SL PRS sent by the anchor terminal device, the indication information is used to indicate that any anchor terminal device cannot be measured or is used to indicate that any SL PRS cannot be measured.

[0082] In the embodiments of the present disclosure, the first terminal device can be a terminal device to be positioned or an anchor terminal device, and the first terminal device needs to receive the SL PRS sent by the anchor terminal device. At this time, the second terminal device can be a terminal device to be positioned or a terminal device responsible for positioning calculation.

[0083] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning, wherein the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device, and in the case that the first terminal device does not measure the SL PRS that needs to be received, the first terminal device does not detect any SL PRS sent by the anchor terminal device. The indication information sent by the first terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that any SL PRS cannot be measured.

[0084] Exemplarily, the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device, and in the case that the first terminal device does not measure the SL PRS that needs to be received, the first terminal device does not detect any SL PRS sent by the anchor terminal device. The indication information sent by the first terminal device to the base station can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that any SL PRS cannot be measured.

[0085] For example, the SL PRS to be received includes the SL PRS sent by the anchor terminal device. If the SL PRS to be received is not measured, and the first terminal device cannot detect any SL PRS sent by the anchor terminal device, the indication information sent by the first terminal device to the LMF network element can be used to indicate that no anchor terminal device can be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that no SL PRS can be measured.

[0086] For example, the SL PRS to be received includes the SL PRS sent by the anchor terminal device. If the SL PRS to be received is not measured and the first terminal device cannot detect any SL PRS sent by the anchor terminal device, the indication information sent by the first terminal device to the second terminal device can be used to indicate that no anchor terminal device can be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that no SL PRS can be measured.

[0087] In some embodiments, the SL PRS to be received includes SL PRS sent by the anchor terminal device. If the first terminal device cannot detect SL PRS sent by some anchor terminal devices, the indication information is used to indicate that some anchor terminal devices cannot be measured or to indicate that some SL PRS cannot be measured.

[0088] In this embodiment of the disclosure, the first terminal device does not measure the required SLPRS during the SL positioning process. The required SL PRS includes the SL PRS sent by the anchor terminal device. If the required SLPRS is not measured because the first terminal device cannot detect some of the SL PRS sent by the anchor terminal device, the indication information sent by the first terminal device can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that some SL PRS cannot be measured.

[0089] For example, the SL PRS to be received includes the SL PRS sent by the anchor terminal device. If the SL PRS to be received is not measured and the first terminal device cannot detect the SL PRS sent by some anchor terminal devices, the indication information sent by the first terminal device to the base station can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that some SL PRS cannot be measured.

[0090] Exemplarily, the SL PRS to be received includes the SL PRS sent by the anchor terminal device, in the case that the SL PRS to be received is not measured as part of the SL PRS sent by the anchor terminal device that is not detected by the first terminal device, the indication information sent by the first terminal device to the LMF network element can be used to indicate that part of the anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that part of the SL PRS cannot be measured.

[0091] Exemplarily, the SL PRS to be received includes the SL PRS sent by the anchor terminal device, in the case that the SL PRS to be received is not measured as part of the SL PRS sent by the anchor terminal device that is not detected by the first terminal device, the indication information sent by the first terminal device to the second terminal device can be used to indicate that part of the anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that part of the SL PRS cannot be measured.

[0092] In some embodiments, the SL PRS to be received includes the SL PRS sent by the target terminal device, in the case that the SL PRS sent by the target terminal device is not detected by the first terminal device, the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured.

[0093] In the embodiments of the present disclosure, the first terminal device can be a terminal device to be positioned, or an anchor terminal device, and the first terminal device needs to receive the SL PRS sent by the target terminal device, at this time, the second terminal device can be a terminal device to be positioned, or a terminal device responsible for positioning calculation.

[0094] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes the SL PRS sent by the target terminal device, in the case that the SL PRS to be received is not measured as part of the SL PRS sent by the target terminal device that is not detected by the first terminal device, the indication information sent by the first terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that the SL PRS cannot be measured.

[0095] Exemplarily, the SL PRS to be received includes the SL PRS sent by the target terminal device, in the case that the SL PRS to be received is not measured as part of the SL PRS sent by the target terminal device that is not detected by the first terminal device, the indication information sent by the first terminal device to the base station can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that the SL PRS cannot be measured.

[0096] Exemplarily, the SL PRS to be received includes the SL PRS sent by the target terminal device, in the case that the SL PRS to be received is not measured, which is that the SL PRS sent by the target terminal device is not detected by the first terminal device, the indication information sent by the first terminal device to the LMF network element can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that the SL PRS cannot be measured.

[0097] Exemplarily, the SL PRS to be received includes the SL PRS sent by the target terminal device, in the case that the SL PRS to be received is not measured, which is that the SL PRS sent by the target terminal device is not detected by the first terminal device, the indication information sent by the first terminal device to the second terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that the SL PRS cannot be measured.

[0098] In some embodiments, in the case that the first terminal device lacks the SL PRS configuration information, the indication information is used to indicate that there is no SL PRS configuration information.

[0099] It can be understood that the first terminal device needs to receive the SL PRS according to the SL PRS configuration information, in the case that the SL PRS configuration information is lacking, the first terminal device cannot determine the SL PRS to be received, which will lead to that the SL PRS to be received cannot be measured.

[0100] Based on this, in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, it can be that the SL PRS configuration information is lacking in the process of SL positioning, which leads to that the SL PRS to be received cannot be determined.

[0101] In the embodiments of the present disclosure, in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, the first terminal device lacks the SL PRS configuration information, which leads to that the SL PRS to be received is not measured, the indication information sent by the first terminal device can be used to indicate that there is no SL PRS configuration information.

[0102] Exemplarily, in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, the first terminal device lacks the SL PRS configuration information, which leads to that the SL PRS to be received is not measured, the indication information sent by the first terminal device to the base station can be used to indicate that there is no SL PRS configuration information.

[0103] Exemplarily, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and the indication information sent by the first terminal device to the LMF network element can be used to indicate that there is no SL PRS configuration information in the case that the first terminal device lacks the SL PRS configuration information, resulting in that the SL PRS to be received is not measured.

[0104] Exemplarily, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and the indication information sent by the first terminal device to the second terminal device can be used to indicate that there is no SL PRS configuration information in the case that the first terminal device lacks the SL PRS configuration information, resulting in that the SL PRS to be received is not measured.

[0105] In some embodiments, the SL PRS to be received is not measured in the process of SL positioning, including at least one of the following:

[0106] The sufficient SL PRS is not received in the process of SL-TDOA positioning;

[0107] The sufficient SL PRS is not received in the process of SL-AOA positioning.

[0108] It can be understood that the reason why the first terminal device does not measure the SL PRS to be received in the process of SL positioning can be that the first terminal device does not receive the sufficient SL PRS. For example, at least three SL PRS are required in the process of SL-TDOA positioning, and the first terminal device only receives one or two SL PRS; for another example, at least three SL PRS are required in the process of SL-AOA positioning, and the first terminal device only receives one or two SL PRS, and the like.

[0109] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, which can be that the sufficient SL PRS is not received in the process of SL-TDOA positioning.

[0110] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, which can be that the sufficient SL PRS is not received in the process of SL-AOA positioning.

[0111] It should be noted that the above embodiments are not exhaustive, but only illustrate some embodiments, and the above embodiments can be implemented alone or in combination with each other. The above embodiments are only illustrative and not specific limitations on the protection scope of the embodiments of the present disclosure.

[0112] In some embodiments, the first terminal device sends the indication information to the LMF network element, including:

[0113] sending the indication information to the LMF network element through a Provide Location Information message in an SL LPP message; or

[0114] sending the indication information to the LMF network element through a Provide Location Information message in an LPP message.

[0115] In the embodiments of the present disclosure, the first terminal device sends the indication information to the LMF network element in the case that the SL positioning reference signal PRS to be received is not measured during the SL positioning, which can be sent to the LMF network element through a Provide Location Information message in an SL LPP (LTE Positioning Protocol) message.

[0116] In the embodiments of the present disclosure, the first terminal device sends the indication information to the LMF network element in the case that the SL positioning reference signal PRS to be received is not measured during the SL positioning, which can be sent to the LMF network element through a Provide Location Information message in an LPP message.

[0117] In some embodiments, the first terminal device sends the indication information to the second terminal device, including:

[0118] sending the indication information to the second terminal device through a Provide Location Information message in an SL LPP message; or

[0119] sending the indication information to the second terminal device through a Provide Location Information message in an LPP message.

[0120] In the embodiments of the present disclosure, the first terminal device sends the indication information to the second terminal device in the case that the SL positioning reference signal PRS to be received is not measured during the SL positioning, which can be sent to the second terminal device through a Provide Location Information message in an SL LPP (LTE Positioning Protocol) message.

[0121] In the embodiments of the present disclosure, the first terminal device sends the indication information to the second terminal device in the case that the SL positioning reference signal PRS to be received is not measured during the SL positioning, which can be sent to the second terminal device through a Provide Location Information message in an LPP message.

[0122] In some embodiments, the first terminal device measures the measurable SL PRS to obtain a measurement result in response to the existence of the partially measurable SL PRS; and reports the measurement result to a base station, or reports the measurement result to an LMF network element, or reports the measurement result to a second terminal device.

[0123] It can be understood that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein there may be part of the measurable SL PRS, in this case, the first terminal device can measure the measurable SL PRS to obtain a measurement result, and report the measurement result, or the first terminal device can also not report the measurement result, that is, all the measurement results are not reported.

[0124] Exemplarily, the first terminal device measures the measurable SL PRS to obtain a measurement result in the case that there is part of the measurable SL PRS, and reports the measurement result to the base station.

[0125] Exemplarily, the first terminal device measures the measurable SL PRS to obtain a measurement result in the case that there is part of the measurable SL PRS, and reports the measurement result to the LMF network element.

[0126] Exemplarily, the first terminal device measures the measurable SL PRS to obtain a measurement result in the case that there is part of the measurable SL PRS, and reports the measurement result to the second terminal device.

[0127] In some embodiments, the first terminal device performs at least one of the following in response to sending the measurement report to the second terminal device through the PC5-S message, or sending the measurement report to the base station through the RRC message:

[0128] In the case that there is no measurement result to be reported, cancel sending the measurement report;

[0129] In the case that there is no measurement result to be reported, send the measurement report, wherein the measurement report is empty;

[0130] In the case that there is no measurement result to be reported, send the measurement report, wherein the measurement report indicates no measurement result;

[0131] In the case that there is no measurement result to be reported, send the measurement report, wherein the measurement report indicates that the SL PRS cannot be measured;

[0132] In the case that there is a measurement result to be reported, send the measurement report, wherein the measurement report includes the measurement result to be reported;

[0133] In the case that there is a measurement result to be reported, send the measurement report, wherein the measurement report includes the measurement result to be reported, and information indicating the SL PRS that cannot be measured;

[0134] In a case where there is no reportable measurement result, the measurement report is not sent.

[0135] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the second terminal device through the PC5-S message, if there is no reportable measurement result, the first terminal device can cancel sending the measurement report to the second terminal device.

[0136] For example, the first terminal device needs to measure only one SL PRS but cannot measure it, or the first terminal device needs to measure multiple SL PRSs and cannot measure all of them. In this case, there is no reportable measurement result, and the first terminal device can cancel sending the measurement report to the second terminal device.

[0137] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the second terminal device through the PC5-S message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the second terminal device, where the measurement report is empty.

[0138] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the second terminal device through the PC5-S message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the second terminal device, where the measurement report indicates no measurement result.

[0139] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the second terminal device through the PC5-S message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the second terminal device, where the measurement report indicates no measurement result.

[0140] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the second terminal device through the PC5-S message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the second terminal device, where the measurement report indicates no measurement result.

[0141] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the second terminal device through the PC5-S message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the second terminal device, where the measurement report indicates no measurement result.

[0142] Exemplarily, the measurement report indicates information of the unmeasurable SL PRS, the resource identity of the unmeasurable SL PRS can be provided in the measurement report, and / or the terminal device identity information of the terminal device sending the unmeasurable SL PRS is provided, for example, a sidelink source layer 2 ID, and / or the serving cell of the terminal device sending the unmeasurable SL PRS is provided.

[0143] In the embodiment of the present disclosure, when the first terminal device sends the measurement report to the second terminal device through the PC5-S message, if there is a reportable measurement result, the first terminal device can send the measurement report to the second terminal device, wherein the measurement report includes the reportable measurement result and indicates that part of the SL PRS cannot be measured.

[0144] In the embodiment of the present disclosure, when the first terminal device sends the measurement report to the base station through the RRC (Radio Resource Control) message, if there is no reportable measurement result, the first terminal device can cancel sending the measurement report to the base station.

[0145] Exemplarily, the first terminal device only needs to measure one SL PRS but cannot measure it, or the first terminal device needs to measure multiple SL PRSs, all of which cannot be measured, in which case there is no reportable measurement result, and the first terminal device can cancel sending the measurement report to the base station.

[0146] In the embodiment of the present disclosure, when the first terminal device sends the measurement report to the base station through the RRC message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the base station, wherein the measurement report is empty.

[0147] In the embodiment of the present disclosure, when the first terminal device sends the measurement report to the base station through the RRC message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the base station, wherein the measurement report indicates no measurement result.

[0148] In the embodiment of the present disclosure, when the first terminal device sends the measurement report to the base station through the RRC message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the base station, wherein the measurement report indicates that the SL PRS cannot be measured.

[0149] In the embodiment of the present disclosure, when the first terminal device sends the measurement report to the base station through the RRC message, if there is a reportable measurement result, the first terminal device can send the measurement report to the base station, wherein the measurement report includes the reportable measurement result.

[0150] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the base station through an RRC message, if there is a reportable measurement result, the first terminal device can send the measurement report to the base station, wherein the measurement report includes the reportable measurement result and information indicating the SL PRS that cannot be measured.

[0151] Exemplarily, the information indicating the SL PRS that cannot be measured in the measurement report can provide the resource identifier of the SL PRS that cannot be measured, and / or provide the terminal device identifier information of the terminal device sending the SL PRS that cannot be measured, such as a sidelink source layer 2 ID, and / or provide the serving cell of the terminal device sending the SL PRS that cannot be measured.

[0152] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the base station through an RRC message, if there is a reportable measurement result, the first terminal device can send the measurement report to the base station, wherein the measurement report includes the reportable measurement result and information indicating that part of the SL PRS cannot be measured.

[0153] It should be noted that the above embodiments are not exhaustive, but only illustrate some embodiments, and the above embodiments can be implemented alone or in combination with each other. The above embodiments are only illustrative and not specific limitations on the protection scope of the embodiments of the present disclosure.

[0154] In some embodiments, the first terminal device triggers a measurement reporting process based on an SL-RRC message or an RRC message in response to being unable to measure the SL PRS, or triggers a location reporting process based on an SL LPP message or an LPP message in response to being unable to measure the SL PRS.

[0155] In the embodiments of the present disclosure, the first terminal device triggers a measurement reporting process based on an SL-RRC message or an RRC message in response to being unable to measure the SL PRS, or triggers a location reporting process based on an SL LPP message or an LPP message in response to being unable to measure the SL PRS. The measurement report reported by the first terminal device can indicate no measurement result, or can indicate that the SL PRS cannot be measured, or the measurement report can be empty, and the like.

[0156] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received that is not measured triggers a measurement reporting process based on an SL-RRC message in the case of being unable to measure the SL PRS.

[0157] The first terminal device triggers a measurement reporting procedure based on an SL-RRC message, which can be sending an SL-RRC message to the second terminal device for the measurement reporting procedure.

[0158] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and triggers a measurement reporting procedure based on an RRC message in the case of not being able to measure the SL PRS.

[0159] The first terminal device triggers a measurement reporting procedure based on an RRC message, which can be sending an RRC message to the base station for the measurement reporting procedure.

[0160] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and triggers a location reporting procedure based on an SL LPP message in the case of not being able to measure the SL PRS.

[0161] The first terminal device triggers a measurement reporting procedure based on an SL LPP message, which can be sending an SL LPP message to the second terminal device for the location reporting procedure.

[0162] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and triggers a location reporting procedure based on an LPP message in the case of not being able to measure the SL PRS.

[0163] The first terminal device triggers a measurement reporting procedure based on an LPP message, which can be sending an LPP message to the second terminal device for the location reporting procedure.

[0164] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and triggers a location reporting procedure based on an SL LPP message in the case of not being able to measure the SL PRS.

[0165] The first terminal device triggers a measurement reporting procedure based on an SL LPP message, which can be sending an SL LPP message to the LMF device for the location reporting procedure.

[0166] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and triggers a location reporting procedure based on an LPP message in the case of not being able to measure the SL PRS.

[0167] The first terminal device triggers a SL-RRC message-based measurement reporting procedure or an RRC message-based measurement reporting procedure in a case where the first terminal device fails to measure the SL PRS.

[0168] It can be understood that, in a case where the first terminal device fails to measure the SL PRS, the first terminal device triggers a SL-RRC message-based measurement reporting procedure or an RRC message-based measurement reporting procedure to directly trigger the measurement reporting procedure to carry the indication without triggering the measurement reporting procedure based on other reasons of the first terminal device itself.

[0169] It can be understood that, in a case where the first terminal device fails to measure the SL PRS, the first terminal device triggers a SL LPP message-based location reporting procedure or an LPP message-based location reporting procedure to directly trigger the location reporting procedure to carry the indication without triggering the measurement reporting procedure based on other reasons of the first terminal device itself.

[0170] By implementing the embodiments of the present disclosure, in a case where the first terminal device fails to measure the SL PRS in the process of SL positioning, the first terminal device sends the indication information to the base station, or sends the indication information to the location management function LMF network element, or sends the indication information to the second terminal device. Therefore, in a case where the first terminal device fails to measure the SL PRS, the first terminal device can send the indication information to avoid the SL positioning procedure from failing to proceed and to avoid positioning failure.

[0171] Please refer to Figure 4 , Figure 4 is a flowchart of another SL positioning method provided by the embodiments of the present disclosure.

[0172] As shown in Figure 4 , the method is performed by the first terminal device, and the method can include but is not limited to the following steps:

[0173] S41: In response to a case where the first terminal device fails to measure the SL PRS in the process of SL positioning, the terminal device sends the indication information to the base station, or sends the indication information to the LMF network element, or sends the indication information to the second terminal device.

[0174] The related description of S41 can be referred to the related description in the above embodiments, which will not be repeated here.

[0175] S42: In response to a case where there is a partially measurable SL PRS, the terminal device measures the measurable SL PRS to obtain a measurement result.

[0176] S43: The terminal device reports the measurement result to the base station, or reports the measurement result to the LMF network element, or reports the measurement result to the second terminal device.

[0177] It can be understood that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein there may be partially measurable SL PRS, in which case the first terminal device can measure the measurable SL PRS to obtain measurement results and report the measurement results, or the first terminal device can also not report the measurement results, that is, none of the measurement results are reported.

[0178] Exemplarily, the first terminal device measures the measurable SL PRS to obtain measurement results in the case where there is partially measurable SL PRS, and reports the measurement results to the base station.

[0179] Exemplarily, the first terminal device measures the measurable SL PRS to obtain measurement results in the case where there is partially measurable SL PRS, and reports the measurement results to the LMF network element.

[0180] Exemplarily, the first terminal device measures the measurable SL PRS to obtain measurement results in the case where there is partially measurable SL PRS, and reports the measurement results to the second terminal device.

[0181] The content indicated by the indication information can be referred to the related description in the above embodiments, which will not be repeated here.

[0182] It should be noted that in the embodiments of the present disclosure, S41 to S43 can be implemented alone or in combination with any other step in the embodiments of the present disclosure, for example, in combination with S31 in the embodiments of the present disclosure, and the present disclosure does not make any limitation on this.

[0183] By implementing the embodiments of the present disclosure, in the case where the first terminal device does not measure the SL PRS to be received in the process of SL positioning, the first terminal device sends indication information to the base station, or sends indication information to the location management function LMF network element, or sends indication information to the second terminal device, and in response to the existence of partially measurable SL PRS, measures the measurable SL PRS to obtain measurement results; reports the measurement results to the base station, or reports the measurement results to the LMF network element, or reports the measurement results to the second terminal device. Therefore, in the case where the first terminal device cannot measure the SL PRS, the first terminal device can send indication information to avoid that the SL positioning process cannot be performed and to avoid positioning failure, and in the case where there is partially measurable SL PRS, the first terminal device can report the measurement results.

[0184] Please refer to Figure 5 , Figure 5 is a flowchart of another sidelink SL positioning method provided by the embodiments of the present disclosure.

[0185] As Figure 5As shown, the method is executed by the first terminal device, and the method may include, but is not limited to, the following steps:

[0186] S51: In response to the failure to measure the required SL positioning reference signal PRS during SL positioning, an indication message is sent to the LMF network element through the location information provision message in the SL LPP message or LPP message.

[0187] In this embodiment of the disclosure, if the first terminal device fails to measure the required SL positioning reference signal PRS during the SL positioning process, it can send an indication message to the LMF network element. This indication message can be sent to the LMF network element through the location information provision message in the SL LPP (LTE Positioning Protocol) message.

[0188] In this embodiment of the disclosure, if the first terminal device fails to measure the required SL positioning reference signal PRS during SL positioning, it can send indication information to the LMF network element. This indication information can be sent to the LMF network element through the location information provision message in the LPP message.

[0189] The content indicated by the instruction information can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0190] It should be noted that in the embodiments of this disclosure, S51 can be implemented alone or in combination with any other step in the embodiments of this disclosure, such as in combination with S31 and / or S41 to S43 in the embodiments of this disclosure. The embodiments of this disclosure do not limit this.

[0191] By implementing the embodiments of this disclosure, if the first terminal device fails to measure the required SL PRS during SL positioning, it sends an indication message to the LMF network element via a location information provision message in an SL LPP message or LPP message. Therefore, the first terminal device can send an indication message to the LMF network element when it cannot measure the SL PRS, thus preventing the SL positioning process from failing and avoiding positioning failure.

[0192] Please see Figure 6 , Figure 6 This is a flowchart of another side-link SL positioning method provided in the embodiments of this disclosure.

[0193] 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:

[0194] S61: In response to not measuring the SL positioning reference signal PRS that needs to be received in the process of performing SL positioning, sending indication information to the second terminal device through a Provide Location Information message in an SL LPP message or an LPP message.

[0195] In the embodiment of the present disclosure, in the case that the first terminal device does not measure the SL positioning reference signal PRS that needs to be received in the process of performing SL positioning, the indication information sent to the second terminal device can be sent to the second terminal device through a Provide Location Information message in an SL LPP (LTE Positioning Protocol) message.

[0196] In the embodiment of the present disclosure, in the case that the first terminal device does not measure the SL positioning reference signal PRS that needs to be received in the process of performing SL positioning, the indication information sent to the second terminal device can be sent to the second terminal device through a Provide Location Information message in an LPP message.

[0197] The content indicated by the indication information can refer to the related description in the above embodiments, which will not be repeated here.

[0198] It should be noted that in the embodiment of the present disclosure, S61 can be implemented alone, or can be implemented in combination with any one of the other steps in the embodiment of the present disclosure, for example, in combination with S31 and / or S41 to S43 in the embodiment of the present disclosure, and the embodiment of the present disclosure does not make any limitation in this regard.

[0199] By implementing the embodiment of the present disclosure, in the case that the first terminal device does not measure the SL PRS that needs to be received in the process of performing SL positioning, the indication information is sent to the second terminal device through a Provide Location Information message in an SL LPP message or an LPP message. Therefore, in the case that the first terminal device cannot measure the SL PRS, the indication information can be sent to the second terminal device, so as to avoid that the SL positioning flow cannot be performed and the positioning fails.

[0200] Please refer to Figure 7 , Figure 7 is a flowchart of another sidelink SL positioning method provided by the embodiment of the present disclosure.

[0201] As Figure 7 shown, the method is performed by a first terminal device, and the method can include but is not limited to the following steps:

[0202] S71: In response to not measuring the SL positioning reference signal PRS that needs to be received in the process of performing SL positioning, sending indication information to the second terminal device.

[0203] The related description of S71 can be referred to the related description in the above embodiments, and will not be described here.

[0204] S72: in response to sending the measurement report to the second terminal device through the PC5-S message, performing at least one of the following:

[0205] canceling sending the measurement report in the case that there is no measurement result available to be reported;

[0206] sending the measurement report in the case that there is no measurement result available to be reported, wherein the measurement report is empty;

[0207] sending the measurement report in the case that there is no measurement result available to be reported, wherein the measurement report indicates no measurement result;

[0208] sending the measurement report in the case that there is no measurement result available to be reported, wherein the measurement report indicates that no SL PRS is measured;

[0209] sending the measurement report in the case that there is measurement result available to be reported, wherein the measurement report includes the measurement result available to be reported;

[0210] sending the measurement report in the case that there is measurement result available to be reported, wherein the measurement report includes the measurement result available to be reported, and information indicating that SL PRS cannot be measured;

[0211] sending the measurement report in the case that there is measurement result available to be reported, wherein the measurement report includes the measurement result available to be reported, and information indicating that part of SL PRS cannot be measured.

[0212] In the embodiments of the present disclosure, in the case that the first terminal device sends the measurement report to the second terminal device by sending the PC5-S message to the second terminal device, if there is no measurement result available to be reported, the first terminal device can cancel sending the measurement report to the second terminal device.

[0213] Exemplarily, the first terminal device needs to measure only one SL PRS but cannot measure, or the first terminal device needs to measure multiple SL PRSs and all cannot be measured, in which case, there is no measurement result available to be reported, and the first terminal device can cancel sending the measurement report to the second terminal device.

[0214] In the embodiments of the present disclosure, in the case that the first terminal device sends the measurement report to the second terminal device by sending the PC5-S message to the second terminal device, if there is no measurement result available to be reported, the first terminal device can also send the measurement report to the second terminal device, wherein the measurement report is empty.

[0215] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is no measurement result that can be reported, the first terminal device can also send a measurement report to the second terminal device, wherein the measurement report indicates no measurement result.

[0216] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is no measurement result that can be reported, the first terminal device can also send a measurement report to the second terminal device, wherein the measurement report indicates no measurement result.

[0217] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is a measurement result that can be reported, the first terminal device can send a measurement report to the second terminal device, wherein the measurement report includes the measurement result that can be reported.

[0218] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is a measurement result that can be reported, the first terminal device can send a measurement report to the second terminal device, wherein the measurement report includes the measurement result that can be reported, and information indicating that the SL PRS cannot be measured.

[0219] Exemplarily, the information indicating that the SL PRS cannot be measured in the measurement report can provide resource identification of the SL PRS that cannot be measured, and / or provide terminal device identification information, such as a sidelink source layer 2 ID, of the terminal device that sends the SL PRS that cannot be measured, and / or provide a serving cell of the terminal device that sends the SL PRS that cannot be measured.

[0220] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is a measurement result that can be reported, the first terminal device can send a measurement report to the second terminal device, wherein the measurement report includes the measurement result that can be reported, and information indicating that part of the SL PRS cannot be measured.

[0221] It should be noted that the above embodiments are not exhaustive, and only some embodiments are shown, and the above embodiments can be implemented alone or in combination with each other. The above embodiments are only used as an example and do not specifically limit the protection scope of the embodiments of the present disclosure.

[0222] The content indicated by the indication information can be referred to the related description in the above embodiments, which will not be repeated here.

[0223] It should be noted that in the embodiments of the present disclosure, S71 and S72 can be implemented alone or in combination with any other steps in the embodiments of the present disclosure, for example, in combination with S31 and / or S41 to S43 and / or S61 in the embodiments of the present disclosure, and the embodiments of the present disclosure do not make any limitations in this regard.

[0224] By implementing the embodiments of the present disclosure, the first terminal device can send indication information to the second terminal device in the case where the SL PRS cannot be measured, so as to avoid the SL positioning process from failing to proceed, avoid positioning failure, and also send a measurement report to the second terminal device.

[0225] Please refer to Figure 8 , Figure 8 is a flowchart of another sidelink SL positioning method provided by the embodiments of the present disclosure.

[0226] As Figure 8 indicated, the method is performed by a first terminal device, and the method can include but is not limited to the following steps:

[0227] S81: in response to not measuring a required SL positioning reference signal PRS in a process of performing SL positioning, sending indication information to a base station.

[0228] The related description of S81 can be referred to the related description in the above embodiments, and will not be repeated here.

[0229] S82: in response to sending a measurement report to the base station through an RRC message, performing at least one of the following:

[0230] canceling sending the measurement report in the case where there is no measurable result;

[0231] sending the measurement report in the case where there is no measurable result, wherein the measurement report is empty;

[0232] sending the measurement report in the case where there is no measurable result, wherein the measurement report indicates no measurement result;

[0233] sending the measurement report in the case where there is no measurable result, wherein the measurement report indicates that the SL PRS cannot be measured;

[0234] sending the measurement report in the case where there is a measurable result, wherein the measurement report includes the measurable result;

[0235] sending the measurement report in the case where there is a measurable result, wherein the measurement report includes the measurable result and information indicating the SL PRS that cannot be measured;

[0236] In a case where there is a reportable measurement result, sending a measurement report, wherein the measurement report includes the reportable measurement result and indicates that part of the SL PRS cannot be measured.

[0237] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the base station in the manner of sending an RRC (Radio Resource Control) message to the base station, if there is no reportable measurement result, the first terminal device can cancel sending the measurement report to the base station.

[0238] For example, the first terminal device needs to measure only one SL PRS but cannot measure it, or the first terminal device needs to measure multiple SL PRSs and cannot measure all of them, in which case there is no reportable measurement result, and the first terminal device can cancel sending the measurement report to the base station.

[0239] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the base station through the RRC message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the base station, wherein the measurement report is empty.

[0240] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the base station through the RRC message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the base station, wherein the measurement report indicates no measurement result.

[0241] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the base station through the RRC message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the base station, wherein the measurement report indicates that the SL PRS cannot be measured.

[0242] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the base station through the RRC message, if there is a reportable measurement result, the first terminal device can send the measurement report to the base station, wherein the measurement report includes the reportable measurement result.

[0243] In the embodiments of the present disclosure, in a case where the first terminal device sends the measurement report to the base station through the RRC message, if there is a reportable measurement result, the first terminal device can send the measurement report to the base station, wherein the measurement report includes the reportable measurement result and information indicating the SL PRS that cannot be measured.

[0244] Exemplarily, the measurement report indicates information of the unmeasurable SL PRS, the resource identifier of the unmeasurable SL PRS can be provided in the measurement report, and / or the terminal device identifier information of the terminal device sending the unmeasurable SL PRS is provided, for example, a sidelink source layer 2 identifier (sidelink source layer 2 ID), and / or the serving cell of the terminal device sending the unmeasurable SL PRS is provided.

[0245] In the embodiments of the present disclosure, when the first terminal device sends the measurement report to the base station through the RRC message, if there is a measurable result that can be reported, the first terminal device can send the measurement report to the base station, wherein the measurement report includes the measurable result that can be reported, and indicates that part of the SL PRS cannot be measured.

[0246] It should be noted that the above embodiments are not exhaustive, but only illustrate some embodiments, and the above embodiments can be implemented alone or in combination with each other. The above embodiments are only illustrative and not specific limitations on the protection scope of the embodiments of the present disclosure.

[0247] The content indicated by the indication information can be referred to the related description in the above embodiments, which will not be repeated here.

[0248] It should be noted that in the embodiments of the present disclosure, S81 and S82 can be implemented alone or in combination with any other step in the embodiments of the present disclosure, for example, in combination with S31 and / or S41 to S43 and / or S61 in the embodiments of the present disclosure. The embodiments of the present disclosure do not make limitations on this.

[0249] By implementing the embodiments of the present disclosure, the first terminal device can send the indication information to the base station in the case that the SL PRS cannot be measured, so as to avoid that the SL positioning process cannot be performed, avoid positioning failure, and also send the measurement report to the base station.

[0250] Please refer to Figure 9 , Figure 9 is a flowchart of another sidelink SL positioning method provided by the embodiments of the present disclosure.

[0251] As Figure 9 shown, the method is performed by a base station, and the method can include but is not limited to the following steps:

[0252] S91: receiving the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device in the case that the first terminal device does not measure the SL PRS that needs to be received in the process of performing SL positioning.

[0253] In the embodiments of the present disclosure, the first terminal device can send indication information to the base station in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and the base station receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning.

[0254] In the embodiments of the present disclosure, the first terminal device can be a terminal device to be positioned or an anchor terminal device.

[0255] It can be understood that there are many reasons why the first terminal device does not measure the SL PRS to be received in the process of SL positioning, for example, the first terminal device does not receive the SL PRS, the first terminal device does not receive enough SL PRS, the first terminal device has no SL PRS configuration information, and the like.

[0256] Based on this, in the embodiments of the present disclosure, the indication information sent by the first terminal device can be used to indicate that the SL PRS to be received is not measured, or can also be used to indicate that part or any SL PRS cannot be measured, or can also be used to indicate that there is no SL PRS configuration information, and the like, in which case, the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning can be adjusted to avoid that the SL positioning process cannot be performed and to avoid positioning failure.

[0257] In some embodiments, the SL PRS to be received includes the SL PRS sent by the anchor terminal device, and in the case that the first terminal device does not detect any SL PRS sent by the anchor terminal device, the indication information is used to indicate that any anchor terminal device cannot be measured or is used to indicate that any SL PRS cannot be measured.

[0258] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes the SL PRS sent by the anchor terminal device, and in the case that the first terminal device does not measure the SL PRS to be received, the first terminal device sends the indication information, which can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that any SL PRS cannot be measured.

[0259] Exemplarily, the SL PRS to be received includes the SL PRS sent by the anchor terminal device, in a case where the SL PRS to be received is not measured by the first terminal device, the first terminal device sends the indication information to the base station, and the indication information can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that any SL PRS cannot be measured.

[0260] In some embodiments, the SL PRS to be received includes the SL PRS sent by the anchor terminal device, in a case where the SL PRS sent by part of the anchor terminal device is not detected by the first terminal device, the indication information is used to indicate that part of the anchor terminal device cannot be measured or to indicate that part of the SL PRS cannot be measured.

[0261] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes the SL PRS sent by the anchor terminal device, in a case where the SL PRS to be received is not measured by the first terminal device, the indication information sent by the first terminal device can be used to indicate that part of the anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that part of the SL PRS cannot be measured.

[0262] Exemplarily, the SL PRS to be received includes the SL PRS sent by the anchor terminal device, in a case where the SL PRS to be received is not measured by the first terminal device, the first terminal device sends the indication information to the base station, and the indication information can be used to indicate that part of the anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that part of the SL PRS cannot be measured.

[0263] In some embodiments, the SL PRS to be received includes the SL PRS sent by the target terminal device, in a case where the SL PRS sent by the target terminal device is not detected by the first terminal device, the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured.

[0264] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes the SL PRS sent by the target terminal device, and in the case that the first terminal device does not measure the SL PRS to be received, the indication information sent by the first terminal device to the base station can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that the SL PRS cannot be measured.

[0265] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes the SL PRS sent by the target terminal device, and in the case that the first terminal device does not measure the SL PRS to be received, the indication information sent by the first terminal device to the base station can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that the SL PRS cannot be measured.

[0266] In some embodiments, in the case that the first terminal device lacks SL PRS configuration information, the indication information is used to indicate that there is no SL PRS configuration information.

[0267] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and in the case that the first terminal device lacks SL PRS configuration information, resulting in that the first terminal device does not measure the SL PRS to be received, the indication information sent by the first terminal device can be used to indicate that there is no SL PRS configuration information.

[0268] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and in the case that the first terminal device lacks SL PRS configuration information, resulting in that the first terminal device does not measure the SL PRS to be received, the indication information sent by the first terminal device can be used to indicate that there is no SL PRS configuration information.

[0269] In some embodiments, the SL PRS to be received in the process of SL positioning includes at least one of the following:

[0270] In the process of SL-TDOA positioning, sufficient SL PRS is not received;

[0271] In the process of SL-AOA positioning, sufficient SL PRS is not received.

[0272] It can be understood that the reason why the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning can be that the first terminal device does not receive enough SL PRS. For example, in the process of SL-TDOA positioning, at least three SL PRS are needed, and the first terminal device only receives one or two SL PRS; for another example, in the process of SL-AOA positioning, at least three SL PRS are needed, and the first terminal device only receives one or two SL PRS, and the like.

[0273] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning can be that the first terminal device does not receive enough SL PRS in the process of SL-TDOA positioning.

[0274] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning can be that the first terminal device does not receive enough SL PRS in the process of SL-AOA positioning.

[0275] It should be noted that the above embodiments are not exhaustive, but only illustrate some embodiments, and the above embodiments can be implemented alone or in combination with each other. The above embodiments are only illustrative and not a specific limitation on the protection scope of the embodiments of the present disclosure.

[0276] In some embodiments, the base station also receives the measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device by measuring the measurable SL PRS in the case that there is part of the measurable SL PRS.

[0277] It can be understood that the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning, wherein there can be part of the measurable SL PRS, in which case the first terminal device can measure the measurable SL PRS to obtain a measurement result and report the measurement result, or the first terminal device can also not report the measurement result, that is, none of the measurement results are reported.

[0278] For example, the first terminal device measures the measurable SL PRS in the case that there is part of the measurable SL PRS to obtain a measurement result, and reports the measurement result to the base station, and the base station also receives the measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device by measuring the measurable SL PRS in the case that there is part of the measurable SL PRS.

[0279] In some embodiments, the base station receives a measurement report sent by the first terminal device; wherein the measurement report is sent by the first terminal device in a case that the first terminal device sends a measurement report to the base station through an RRC message, and there is no measurement result available for reporting or there is a measurement result available for reporting, and the measurement report includes at least one of the following:

[0280] the measurement report is empty;

[0281] the measurement report indicates no measurement result;

[0282] the measurement report indicates that no SL PRS is measured;

[0283] the measurement report includes a measurement result available for reporting;

[0284] the measurement report includes a measurement result available for reporting and information indicating that no SL PRS is measured;

[0285] the measurement report includes a measurement result available for reporting and information indicating that part of the SL PRS cannot be measured.

[0286] In the embodiments of the present disclosure, in a case that the first terminal device sends a measurement report to the base station through an RRC message, if there is no measurement result available for reporting, the first terminal device can also send a measurement report to the base station, wherein the measurement report is empty.

[0287] In the embodiments of the present disclosure, in a case that the first terminal device sends a measurement report to the base station through an RRC message, if there is no measurement result available for reporting, the first terminal device can also send a measurement report to the base station, wherein the measurement report indicates no measurement result.

[0288] In the embodiments of the present disclosure, in a case that the first terminal device sends a measurement report to the base station through an RRC message, if there is no measurement result available for reporting, the first terminal device can also send a measurement report to the base station, wherein the measurement report indicates that no SL PRS is measured.

[0289] In the embodiments of the present disclosure, in a case that the first terminal device sends a measurement report to the base station through an RRC message, if there is a measurement result available for reporting, the first terminal device can send a measurement report to the base station, wherein the measurement report includes the measurement result available for reporting.

[0290] In the embodiments of the present disclosure, in a case that the first terminal device sends a measurement report to the base station through an RRC message, if there is a measurement result available for reporting, the first terminal device can send a measurement report to the base station, wherein the measurement report includes the measurement result available for reporting and information indicating that no SL PRS is measured.

[0291] Exemplarily, the measurement report indicates information of the unmeasurable SL PRS, the resource identifier of the unmeasurable SL PRS can be provided in the measurement report, and / or the terminal device identifier information of the terminal device sending the unmeasurable SL PRS is provided, for example, a sidelink source layer 2 ID, and / or the serving cell of the terminal device sending the unmeasurable SL PRS is provided.

[0292] In the embodiments of the present disclosure, when the first terminal device sends the measurement report to the base station through the RRC message, if there is a reportable measurement result, the first terminal device can send the measurement report to the base station, wherein the measurement report includes the reportable measurement result and indicates that part of the SL PRS cannot be measured.

[0293] It should be noted that the above embodiments are not exhaustive, but only illustrate some embodiments, and the above embodiments can be implemented alone or in combination with each other. The above embodiments are only illustrative and not specific limitations on the protection scope of the embodiments of the present disclosure.

[0294] It should be noted that in the embodiments of the present disclosure, S91 can be implemented alone or in combination with any other step in the embodiments of the present disclosure, for example, in combination with S31 in the embodiments of the present disclosure, and the embodiments of the present disclosure do not make limitations on this.

[0295] By implementing the embodiments of the present disclosure, the base station receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device when the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning, thereby avoiding that the SL positioning process cannot be performed and avoiding positioning failure.

[0296] Please refer to Figure 10 , Figure 10 is a flowchart of another sidelink SL positioning method provided by the embodiments of the present disclosure.

[0297] As Figure 10 shown, the method is performed by the LMF network element, and the method can include but is not limited to the following steps:

[0298] S101: receiving indication information sent by a first terminal device, wherein the indication information is sent by the first terminal device when the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning.

[0299] In the embodiments of the present disclosure, the first terminal device can send indication information to the LMF network element in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning. The LMF network element receives the indication information sent by the first terminal device.

[0300] In the embodiments of the present disclosure, the first terminal device can be a terminal device to be positioned or an anchor terminal device.

[0301] It can be understood that there are many reasons why the first terminal device does not measure the SL PRS to be received in the process of SL positioning, for example, the first terminal device does not receive the SL PRS, the first terminal device does not receive enough SL PRS, the first terminal device has no SL PRS configuration information, and the like.

[0302] Based on this, in the embodiments of the present disclosure, the indication information sent by the first terminal device can be used to indicate that the SL PRS to be received is not measured, or can also be used to indicate that part or any SL PRS cannot be measured, or can also be used to indicate that there is no SL PRS configuration information, and the like. In this case, the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning can be adjusted to avoid that the SL positioning process cannot be performed and to avoid positioning failure.

[0303] In some embodiments, the SL PRS to be received includes the SL PRS sent by the anchor terminal device. In the case that the first terminal device does not detect any SL PRS sent by the anchor terminal device, the indication information is used to indicate that any anchor terminal device cannot be measured or is used to indicate that any SL PRS cannot be measured.

[0304] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes the SL PRS sent by the anchor terminal device. In the case that the first terminal device does not measure the SL PRS to be received, the first terminal device detects any SL PRS sent by the anchor terminal device. The indication information sent by the first terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that any SL PRS cannot be measured.

[0305] Exemplarily, the SL PRS to be received includes SL PRSs transmitted by anchor terminal devices, in a case where no SL PRS to be received is measured by the first terminal device, the SL PRSs transmitted by any anchor terminal device are not detected by the first terminal device, and the indication information sent by the first terminal device to the LMF network element can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that any SL PRS cannot be measured.

[0306] In some embodiments, the SL PRS to be received includes SL PRSs transmitted by anchor terminal devices, in a case where the first terminal device does not detect SL PRSs transmitted by part of the anchor terminal devices, the indication information is used to indicate that part of the anchor terminal devices cannot be measured or to indicate that part of the SL PRSs cannot be measured.

[0307] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes SL PRSs transmitted by anchor terminal devices, in a case where no SL PRS to be received is measured by the first terminal device, the SL PRSs transmitted by part of the anchor terminal devices are not detected by the first terminal device, and the indication information sent by the first terminal device can be used to indicate that part of the anchor terminal devices cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that part of the SL PRSs cannot be measured.

[0308] Exemplarily, the SL PRS to be received includes SL PRSs transmitted by anchor terminal devices, in a case where no SL PRS to be received is measured by the first terminal device, the SL PRSs transmitted by part of the anchor terminal devices are not detected by the first terminal device, and the indication information sent by the first terminal device to the LMF network element can be used to indicate that part of the anchor terminal devices cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that part of the SL PRSs cannot be measured.

[0309] In some embodiments, the SL PRS to be received includes SL PRSs transmitted by target terminal devices, in a case where the first terminal device does not detect SL PRSs transmitted by the target terminal devices, the indication information is used to indicate that the target terminal devices cannot be measured or to indicate that the SL PRSs cannot be measured.

[0310] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes the SL PRS sent by the target terminal device, and in the case that the first terminal device does not measure the SL PRS to be received, the indication information sent by the first terminal device to the LMF network element can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that the SL PRS cannot be measured.

[0311] Exemplarily, the SL PRS to be received includes the SL PRS sent by the target terminal device, and in the case that the first terminal device does not measure the SL PRS to be received, the indication information sent by the first terminal device to the LMF network element can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that the SL PRS cannot be measured.

[0312] In some embodiments, in the case that the first terminal device lacks SL PRS configuration information, the indication information is used to indicate that there is no SL PRS configuration information.

[0313] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and in the case that the first terminal device lacks SL PRS configuration information, the indication information sent by the first terminal device can be used to indicate that there is no SL PRS configuration information.

[0314] Exemplarily, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and in the case that the first terminal device lacks SL PRS configuration information, the indication information sent by the first terminal device to the LMF network element can be used to indicate that there is no SL PRS configuration information.

[0315] In some embodiments, the SL PRS to be received in the process of SL positioning is not measured, including at least one of:

[0316] In the process of SL-TDOA positioning, sufficient SL PRS is not received;

[0317] In the process of SL-AOA positioning, sufficient SL PRS is not received.

[0318] It can be understood that the reason why the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning can be that the first terminal device does not receive enough SL PRS. For example, in the process of SL-TDOA positioning, at least three SL PRS are needed, and the first terminal device only receives one or two SL PRS; for another example, in the process of SL-AOA positioning, at least three SL PRS are needed, and the first terminal device only receives one or two SL PRS, and the like.

[0319] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning can be that the first terminal device does not receive enough SL PRS in the process of SL-TDOA positioning.

[0320] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning can be that the first terminal device does not receive enough SL PRS in the process of SL-AOA positioning.

[0321] It should be noted that the above embodiments are not exhaustive, but only illustrate some embodiments, and the above embodiments can be implemented alone or in combination with each other. The above embodiments are only illustrative and not specific limitations on the protection scope of the embodiments of the present disclosure.

[0322] In some embodiments, the LMF network element also receives the measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device by measuring the measurable SL PRS in the case that there is part of the measurable SL PRS.

[0323] It can be understood that the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning, wherein there can be part of the measurable SL PRS, in which case the first terminal device can measure the measurable SL PRS to obtain a measurement result and report the measurement result, or the first terminal device can also not report the measurement result, that is, even if there is a measurement result, the measurement result is not reported.

[0324] Exemplarily, the first terminal device measures the measurable SL PRS to obtain a measurement result in the case that there is part of the measurable SL PRS, and reports the measurement result to the LMF network element, and the LMF network element also receives the measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device by measuring the measurable SL PRS in the case that there is part of the measurable SL PRS.

[0325] It should be noted that in the embodiments of the present disclosure, S101 can be implemented alone, or can be implemented in combination with any one of the other steps in the embodiments of the present disclosure, for example, in combination with S31 in the embodiments of the present disclosure, and the embodiments of the present disclosure do not make any limitations in this regard.

[0326] By implementing the embodiments of the present disclosure, the LMF network element receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, thereby avoiding that the SL positioning process cannot be performed and avoiding positioning failure.

[0327] Please refer to Figure 11 , Figure 11 is a flowchart of another sidelink SL positioning method provided by the embodiments of the present disclosure.

[0328] As Figure 11 indicated, the method is performed by the second terminal device, and the method can include but is not limited to the following steps:

[0329] S111: receiving indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning.

[0330] In the embodiments of the present disclosure, the first terminal device can send the indication information to the second terminal device in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and the second terminal device receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning.

[0331] In the embodiments of the present disclosure, the first terminal device can be a terminal device to be positioned or an anchor terminal device.

[0332] It can be understood that there are many reasons why the first terminal device does not measure the SL PRS to be received in the process of SL positioning, for example: the first terminal device does not receive the SL PRS, the first terminal device does not receive enough SL PRS, the first terminal device has no SL PRS configuration information, etc.

[0333] Based on this, in the embodiments of the present disclosure, the indication information sent by the first terminal device can be used to indicate that no SL PRS needs to be received is measured, or can also be used to indicate that part or any SL PRS cannot be measured, or can also be used to indicate that there is no SL PRS configuration information, and the like. In this case, the situation that the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning can be adjusted, so as to avoid that the SL positioning process cannot be performed, and to avoid positioning failure.

[0334] In some embodiments, the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device, and in the case that the first terminal device does not detect any SL PRS sent by the anchor terminal device, the indication information is used to indicate that any anchor terminal device cannot be measured or is used to indicate that any SL PRS cannot be measured.

[0335] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS that needs to be received in the process of SL positioning, wherein the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device, and in the case that the SL PRS that needs to be received is not measured, the first terminal device does not detect any SL PRS sent by the anchor terminal device, the indication information sent by the first terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that any SL PRS cannot be measured.

[0336] Exemplarily, the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device, and in the case that the SL PRS that needs to be received is not measured, the first terminal device does not detect any SL PRS sent by the anchor terminal device, the indication information sent by the first terminal device to the second terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that any SL PRS cannot be measured.

[0337] In some embodiments, the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device, and in the case that the first terminal device does not detect part of the SL PRS sent by the anchor terminal device, the indication information is used to indicate that part of the anchor terminal device cannot be measured or is used to indicate that part of the SL PRS cannot be measured.

[0338] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes the SL PRS sent by the anchor terminal device, and in the case that the SL PRS to be received is not measured is that part of the SL PRS sent by the anchor terminal device is not detected by the first terminal device, the indication information sent by the first terminal device can be used to indicate that part of the anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that part of the SL PRS cannot be measured.

[0339] Exemplarily, the SL PRS to be received includes the SL PRS sent by the anchor terminal device, and in the case that the SL PRS to be received is not measured is that part of the SL PRS sent by the anchor terminal device is not detected by the first terminal device, the indication information sent by the first terminal device to the second terminal device can be used to indicate that part of the anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that part of the SL PRS cannot be measured.

[0340] In some embodiments, the SL PRS to be received includes the SL PRS sent by the target terminal device, and in the case that the SL PRS sent by the target terminal device is not detected by the first terminal device, the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured.

[0341] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein the SL PRS to be received includes the SL PRS sent by the target terminal device, and in the case that the SL PRS to be received is not measured is that the SL PRS sent by the target terminal device is not detected by the first terminal device, the indication information sent by the first terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that the SL PRS cannot be measured.

[0342] Exemplarily, the SL PRS to be received includes the SL PRS sent by the target terminal device, and in the case that the SL PRS to be received is not measured is that the SL PRS sent by the target terminal device is not detected by the first terminal device, the indication information sent by the first terminal device to the second terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that the SL PRS cannot be measured.

[0343] In some embodiments, in the case that the first terminal device lacks the SL PRS configuration information, the indication information is used to indicate that there is no SL PRS configuration information.

[0344] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and the indication information sent by the first terminal device can be used to indicate that there is no SL PRS configuration information in the case that the first terminal device lacks SL PRS configuration information, resulting in that the SL PRS to be received is not measured.

[0345] Exemplarily, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, and the indication information sent by the first terminal device to the second terminal device can be used to indicate that there is no SL PRS configuration information in the case that the first terminal device lacks SL PRS configuration information, resulting in that the SL PRS to be received is not measured.

[0346] In some embodiments, the SL PRS to be received is not measured in the process of SL positioning, including at least one of the following:

[0347] Not enough SL PRS is received in the process of SL-TDOA positioning;

[0348] Not enough SL PRS is received in the process of SL-AOA positioning.

[0349] It can be understood that the reason why the first terminal device does not measure the SL PRS to be received in the process of SL positioning can be that the first terminal device does not receive enough SL PRS. For example, at least three SL PRS are required in the process of SL-TDOA positioning, and the first terminal device only receives one or two SL PRS; for another example, at least three SL PRS are required in the process of SL-AOA positioning, and the first terminal device only receives one or two SL PRS, and the like.

[0350] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, which can be that not enough SL PRS is received in the process of SL-TDOA positioning.

[0351] In the embodiments of the present disclosure, the first terminal device does not measure the SL PRS to be received in the process of SL positioning, which can be that not enough SL PRS is received in the process of SL-AOA positioning.

[0352] It should be noted that the above embodiments are not exhaustive, but only illustrate some embodiments, and the above embodiments can be implemented alone or in combination with each other. The above embodiments are only illustrative and not specific limitations on the protection scope of the embodiments of the present disclosure.

[0353] In some embodiments, the second terminal device further receives the measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device in the case that there is partially measurable SL PRS.

[0354] It can be understood that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, wherein there may be partially measurable SL PRS, in which case the first terminal device can measure the measurable SL PRS to obtain a measurement result and report the measurement result, or the first terminal device can also not report the measurement result, i.e., none of the measurement results are reported.

[0355] Exemplarily, the first terminal device measures the measurable SL PRS to obtain a measurement result in the case that there is partially measurable SL PRS, and reports the measurement result to the second terminal device, and the second terminal device further receives the measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device in the case that there is partially measurable SL PRS.

[0356] In some embodiments, the second terminal device receives the measurement report sent by the first terminal device; wherein the measurement report is sent by the first terminal device in the case that the first terminal device sends the measurement report to the second terminal device through the PC5-S message, and there is a reportable measurement result or there is no reportable measurement result, and the measurement report includes at least one of the following:

[0357] The measurement report is empty;

[0358] The measurement report indicates no measurement result;

[0359] The measurement report indicates that the SL PRS cannot be measured;

[0360] The measurement report includes the reportable measurement result;

[0361] The measurement report includes the reportable measurement result and information indicating that the SL PRS cannot be measured;

[0362] The measurement report includes the reportable measurement result and information indicating that part of the SL PRS cannot be measured.

[0363] In the embodiments of the present disclosure, in the case that the first terminal device sends the measurement report to the second terminal device through the PC5-S message, if there is no reportable measurement result, the first terminal device can also send the measurement report to the second terminal device, wherein the measurement report is empty.

[0364] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is no measurement result that can be reported, the first terminal device can also send a measurement report to the second terminal device, wherein the measurement report indicates no measurement result.

[0365] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is no measurement result that can be reported, the first terminal device can also send a measurement report to the second terminal device, wherein the measurement report indicates no measurement result.

[0366] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is a measurement result that can be reported, the first terminal device can send a measurement report to the second terminal device, wherein the measurement report includes the measurement result that can be reported.

[0367] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is a measurement result that can be reported, the first terminal device can send a measurement report to the second terminal device, wherein the measurement report includes the measurement result that can be reported, and information indicating that the SL PRS cannot be measured.

[0368] Exemplarily, the information indicating that the SL PRS cannot be measured can provide resource identification of the SL PRS that cannot be measured, and / or provide terminal device identification information, such as a sidelink source layer 2 ID, of the terminal device that sends the SL PRS that cannot be measured, and / or provide a serving cell of the terminal device that sends the SL PRS that cannot be measured.

[0369] In the embodiments of the present disclosure, in the case that the first terminal device sends a measurement report to the second terminal device through a PC5-S message, if there is a measurement result that can be reported, the first terminal device can send a measurement report to the second terminal device, wherein the measurement report includes the measurement result that can be reported, and information indicating that part of the SL PRS cannot be measured.

[0370] It should be noted that the above embodiments are not exhaustive, but only illustrate some embodiments, and the above embodiments can be implemented alone or in combination with each other. The above embodiments are only illustrative and not specific limitations on the protection scope of the embodiments of the present disclosure.

[0371] It should be noted that in the embodiments of the present disclosure, S111 can be implemented alone, or can be implemented in combination with any one of the other steps in the embodiments of the present disclosure, for example, in combination with S31 in the embodiments of the present disclosure, and the embodiments of the present disclosure do not make any limitations in this regard.

[0372] By implementing the embodiments of the present disclosure, the second terminal device receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device in the case that the first terminal device does not measure the SL PRS to be received in the process of SL positioning, thereby avoiding that the SL positioning process cannot be performed and avoiding positioning failure.

[0373] In the embodiments of the present disclosure, the method provided by the embodiments of the present disclosure is introduced from the perspective of the first terminal device, the base station, the LMF network element and the second terminal device respectively.

[0374] Please refer to Figure 12 A structural schematic diagram of a communication device 1 provided by the embodiments of the present disclosure is shown. Figure 12 The communication device 1 shown can include a transceiver module 11 and a processing module 12. The transceiver module can include a sending module and / or a receiving module, the sending module is used to implement the sending function, and the receiving module is used to implement the receiving function. The transceiver module can implement the sending function and / or the receiving function.

[0375] The communication device 1 can be the first terminal device, or a device in the first terminal device, or a device that can be used in matching with the first terminal device. Alternatively, the communication device 1 can be the base station, or a device in the base station, or a device that can be used in matching with the base station. Alternatively, the communication device 1 can be the LMF network element, or a device in the LMF network element, or a device that can be used in matching with the LMF network element. Alternatively, the communication device 1 can be the second terminal device, or a device in the second terminal device, or a device that can be used in matching with the second terminal device.

[0376] The communication device 1 is the first terminal device:

[0377] The device includes a transceiver module 11.

[0378] The transceiver module 11 is configured to, in response to not measuring the SL positioning reference signal (PRS) to be received in the process of SL positioning, send indication information to the base station, or send the indication information to the location management function (LMF) network element, or send the indication information to the second terminal device.

[0379] In some embodiments, the SL PRS required to be received comprises SL PRS transmitted by anchor terminal devices, and the indication information is used to indicate that no anchor terminal device can be measured or to indicate that no SL PRS can be measured in a case that no SL PRS transmitted by any anchor terminal device is detected by the first terminal device.

[0380] In some embodiments, the SL PRS required to be received comprises SL PRS transmitted by anchor terminal devices, and the indication information is used to indicate that part of anchor terminal devices can be measured or to indicate that part of SL PRS can be measured in a case that no SL PRS transmitted by part of anchor terminal devices is detected by the first terminal device.

[0381] In some embodiments, the SL PRS required to be received comprises SL PRS transmitted by target terminal devices, and the indication information is used to indicate that the target terminal device can be measured or to indicate that the SL PRS can be measured in a case that no SL PRS transmitted by the target terminal device is detected by the first terminal device.

[0382] In some embodiments, the indication information is used to indicate that no SL PRS configuration information in a case that the first terminal device lacks SL PRS configuration information.

[0383] In some embodiments, the SL PRS required to be received is not measured in a process of SL positioning, comprising at least one of:

[0384] In a process of SL-TDOA positioning, insufficient SL PRS is not received;

[0385] In a process of SL-AOA positioning, insufficient SL PRS is not received.

[0386] In some embodiments, the transceiver module 11 is further configured to send the indication information to the LMF network element through a Provide Location Information message in an SL LPP message; or send the indication information to the LMF network element through a Provide Location Information message in an LPP message.

[0387] In some embodiments, the transceiver module 11 is further configured to send the indication information to the second terminal device through a Provide Location Information message in an SL LPP message; or send the indication information to the second terminal device through a Provide Location Information message in an LPP message.

[0388] In some embodiments, the apparatus further comprises: a processing module 12 configured to measure the SL PRS that can be measured to obtain measurement results in response to the existence of part of the SL PRS that can be measured.

[0389] The transceiver module 11 is further configured to report the measurement result to a base station, or report the measurement result to an LMF network element, or report the measurement result to a second terminal device.

[0390] In some embodiments, the transceiver module 11 is further configured to, in response to sending the measurement report to the second terminal device through the PC5-S message, or sending the measurement report to the base station through the RRC message, perform at least one of the following:

[0391] cancel sending the measurement report in the case that there is no measurement result available to be reported;

[0392] send the measurement report in the case that there is no measurement result available to be reported, wherein the measurement report is empty;

[0393] send the measurement report in the case that there is no measurement result available to be reported, wherein the measurement report indicates no measurement result;

[0394] send the measurement report in the case that there is no measurement result available to be reported, wherein the measurement report indicates that no SL PRS is measured;

[0395] send the measurement report in the case that there is measurement result available to be reported, wherein the measurement report includes the measurement result available to be reported;

[0396] send the measurement report in the case that there is measurement result available to be reported, wherein the measurement report includes the measurement result available to be reported, and information indicating that no SL PRS is measured;

[0397] send the measurement report in the case that there is measurement result available to be reported, wherein the measurement report includes the measurement result available to be reported, and information indicating that part of SL PRS is not measured.

[0398] In some embodiments, the transceiver module 11 is further configured to, in response to being unable to measure the SL PRS, trigger a measurement reporting procedure based on the SL-RRC message or based on the RRC message; or in response to being unable to measure the SL PRS, trigger a location reporting procedure based on the SL LPP message or based on the LPP message.

[0399] The communication apparatus 1 is a base station, or an LMF network element, or a second terminal device:

[0400] The apparatus comprises a transceiver module 11.

[0401] The transceiver module 11 is configured to receive indication information sent by a first terminal device, wherein the indication information is sent by the first terminal device in the case that the first terminal device does not measure SL PRS that needs to be received in the process of performing SL positioning.

[0402] In some embodiments, the SL PRS required to be received includes SL PRS transmitted by the anchor terminal device, and the indication information is used to indicate that no anchor terminal device can be measured or to indicate that no SL PRS can be measured in a case where the first terminal device fails to detect any SL PRS transmitted by any anchor terminal device.

[0403] In some embodiments, the SL PRS required to be received includes SL PRS transmitted by the anchor terminal device, and the indication information is used to indicate that part of the anchor terminal device cannot be measured or to indicate that part of the SL PRS cannot be measured in a case where the first terminal device fails to detect part of the SL PRS transmitted by the anchor terminal device.

[0404] In some embodiments, the SL PRS required to be received includes SL PRS transmitted by the target terminal device, and the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured in a case where the first terminal device fails to detect SL PRS transmitted by the target terminal device.

[0405] In some embodiments, the indication information is used to indicate that there is no SL PRS configuration information in a case where the first terminal device lacks SL PRS configuration information.

[0406] In some embodiments, the SL PRS required to be received is not measured in the process of SL positioning, including at least one of the following:

[0407] In the process of performing sidelink time difference of arrival (SL-TDOA) positioning, insufficient SL PRS is not received;

[0408] In the process of performing sidelink angle of arrival (SL-AOA) positioning, insufficient SL PRS is not received.

[0409] In some embodiments, the transceiver module 11 is further configured to receive the measurement result reported by the first terminal device, wherein the measurement result is obtained by measuring the measurable SL PRS in a case where there is part of the measurable SL PRS.

[0410] As to the communication apparatus 1 in the above embodiments, the specific manners in which the respective modules perform operations have been described in detail in the embodiments of the method, and thus will not be described in detail here.

[0411] The communication apparatus 1 provided in the above embodiments of the present disclosure achieves the same or similar beneficial effects as the sidelink (SL) positioning method provided in some of the above embodiments, and thus will not be described in detail here.

[0412] Please refer to Figure 13 , Figure 13FIG. 10 is a structural schematic diagram of another communication apparatus 1000 provided by the embodiments of the present disclosure. The communication apparatus 1000 can be a base station, a first terminal device, a second terminal device, an LMF network element, a chip, a chip system, or a processor supporting the implementation of the above method by the base station or the LMF network element, or a chip, a chip system, or a processor supporting the implementation of the above method by the first terminal device or the second terminal device. The communication apparatus 1000 can be used to implement the method described in the above method embodiments, and details can be referred to the description in the above method embodiments.

[0413] The communication apparatus 1000 can include one or more processors 1001. The processor 1001 can be a general-purpose processor or a special-purpose processor, etc. For example, it can be a baseband processor or a central processor. The baseband processor can be used to process communication protocols and communication data, and the central processor can be used to control the communication apparatus (such as a network side device, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute a computer program, and process data of the computer program.

[0414] Optionally, the communication apparatus 1000 can further include one or more memories 1002, which can have a computer program 1004 stored thereon. The memory 1002 executes the computer program 1004 to enable the communication apparatus 1000 to perform the method described in the above method embodiments. Optionally, the memory 1002 can also store data. The communication apparatus 1000 and the memory 1002 can be separately arranged or integrated together.

[0415] Optionally, the communication apparatus 1000 can further include a transceiver 1005, an antenna 1006. The transceiver 1005 can be referred to as a transceiving unit, a transceiver, or a transceiving circuit, etc., and is used to realize the transceiving function. The transceiver 1005 can include a receiver and a transmitter. The receiver can be referred to as a receiver or a receiving circuit, etc., and is used to realize the receiving function. The transmitter can be referred to as a transmitter or a transmitting circuit, etc., and is used to realize the transmitting function.

[0416] Optionally, the communication apparatus 1000 can 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 runs the code instructions to enable the communication apparatus 1000 to perform the method described in the above method embodiments.

[0417] When the communication apparatus 1000 is a first terminal device, the transceiver 1005 is configured to perform S31 in any one of the methods described in the above method embodiments. Figure 3 When the communication apparatus 1000 is a second terminal device, the transceiver 1005 is configured to perform S41 and S43 in any one of the methods described in the above method embodiments. Figure 4 When the communication apparatus 1000 is an LMF network element, the transceiver 1005 is configured to perform S51 in any one of the methods described in the above method embodiments. Figure 5 When the communication apparatus 1000 is a base station, the transceiver 1005 is configured to perform S61 in any one of the methods described in the above method embodiments. Figure 6 Figure 7 ​S71 and S72 in FIG. 7; Figure 8 S81 and S82 in FIG. 8; the processor 1001 is configured to perform Figure 4 S42 in FIG. 4.

[0418] The communication apparatus 1000 is a base station: the transceiver 1005 is configured to perform Figure 9 S91 in FIG. 9.

[0419] The communication apparatus 1000 is an LMF network element: the transceiver 1005 is configured to perform Figure 10 S101 in FIG. 10.

[0420] The communication apparatus 1000 is a second terminal device: the transceiver 1005 is configured to perform Figure 11 S111 in FIG. 11.

[0421] In an implementation manner, the processor 1001 can include a transceiver for implementing the receiving and sending functions. For example, the transceiver can be a transceiver circuit, or an interface, or an interface circuit. The transceiver circuit, the interface, or the interface circuit for implementing the receiving and sending functions can be separate or integrated together. The transceiver circuit, the interface, or the interface circuit described above can be used for reading and writing of codes / data, or the transceiver circuit, the interface, or the interface circuit described above can be used for transmission or transfer of signals.

[0422] In an implementation manner, the processor 1001 can store a computer program 1003, and the computer program 1003 runs on the processor 1001, so that the communication apparatus 1000 can perform the methods described in the above method embodiments. The computer program 1003 can be fixed in the processor 1001, and in this case, the processor 1001 can be implemented by hardware.

[0423] In an implementation, the communication apparatus 1000 can include circuitry that can implement the functions of transmitting or receiving or communicating in the foregoing method embodiments. The processor and transceiver described in the present disclosure can be implemented on an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFIC), a mixed-signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), positive channel metal oxide semiconductor (PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0424] The communication apparatus in the above embodiments can be a terminal device or a network side device, but the scope of the communication apparatus described in the present disclosure is not limited thereto, and the structure of the communication apparatus can not be limited by Figure 13 The communication apparatus can be a standalone device or can be part of a larger device. For example, the communication apparatus can be:

[0425] (1) a standalone integrated circuit (IC), or a chip, or a chip system or subsystem;

[0426] (2) a set of one or more ICs, optionally including memory elements for storing data and computer program instructions;

[0427] (3) an ASIC, such as a Modem;

[0428] (4) a module that can be embedded within other devices;

[0429] (5) a receiver, a terminal device, a smart terminal device, a cellular phone, a wireless device, a handset, a mobile unit, a car device, a network device, a cloud device, an artificial intelligence device, etc.

[0430] (6) other, etc.

[0431] For the case where the communication device can be a chip or a chip system, see Figure 14 Fig. 34 is a structural diagram of a chip provided in embodiments of the present disclosure.

[0432] The chip 1100 includes a processor 1101 and an interface 1103. Among them, the number of processors 1101 can be one or more, and the number of interfaces 1103 can be multiple.

[0433] For the case where the chip is used to implement the functions of the first terminal device in the embodiments of the present disclosure:

[0434] The interface 1103 is configured to receive code instructions and transmit them to the processor.

[0435] The processor 1101 is configured to run the code instructions to perform the sidelink SL positioning method as described in some embodiments above.

[0436] For the case where the chip is used to implement the functions of the second terminal device in the embodiments of the present disclosure:

[0437] The interface 1103 is configured to receive code instructions and transmit them to the processor.

[0438] The processor 1101 is configured to run the code instructions to perform the sidelink SL positioning method as described in some embodiments above.

[0439] For the case where the chip is used to implement the functions of the base station in the embodiments of the present disclosure:

[0440] The interface 1103 is configured to receive code instructions and transmit them to the processor.

[0441] The processor 1101 is configured to run the code instructions to perform the sidelink SL positioning method as described in some embodiments above.

[0442] For the case where the chip is used to implement the functions of the LMF network element in the embodiments of the present disclosure:

[0443] The interface 1103 is configured to receive code instructions and transmit them to the processor.

[0444] The processor 1101 is configured to run the code instructions to perform the sidelink SL positioning method as described in some embodiments above.

[0445] Optionally, the chip 1100 further includes a memory 1102, and the memory 1102 is configured to store necessary computer programs and data.

[0446] Those skilled in the art can appreciate that the various illustrative logical blocks and steps listed in the embodiments of the present disclosure can be implemented by electronic hardware, computer software, or a combination of both. Whether the functions are implemented by hardware or software depends on the specific application and design requirements of the overall system. Those skilled in the art can use various methods to implement the functions described above for each specific application, but such implementation should not be construed as beyond the scope of protection of the embodiments of the present disclosure.

[0447] The embodiments of the present disclosure also provide a sidelink SL positioning system, which comprises the aforementioned Figure 12 communication apparatus as the first terminal device and the communication apparatus as the base station in the embodiments, or the system comprises the aforementioned Figure 12 communication apparatus as the first terminal device and the communication apparatus as the LMF network element in the embodiments, or the system comprises the aforementioned Figure 12 communication apparatus as the first terminal device and the communication apparatus as the second terminal device in the embodiments, or the system comprises the aforementioned Figure 13 communication apparatus as the first terminal device and the communication apparatus as the base station in the embodiments, or the system comprises the aforementioned Figure 13 communication apparatus as the first terminal device and the communication apparatus as the LMF network element in the embodiments, or the system comprises the aforementioned Figure 13 communication apparatus as the first terminal device and the communication apparatus as the second terminal device in the embodiments.

[0448] The present disclosure also provides a readable storage medium having instructions stored thereon, which, when executed by a computer, implement the functions of any of the method embodiments described above.

[0449] The present disclosure also provides a computer program product, which, when executed by a computer, implements the functions of any of the method embodiments described above.

[0450] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs. When the computer programs are loaded on a computer and executed, all or part of the processes or functions described in the embodiments of the present disclosure are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer programs can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer programs can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as high-density digital video disc (digital video disc, DVD)), or semiconductor media (such as solid state disk (solid state disk, SSD)) and the like.

[0451] Those of ordinary skill in the art can understand that the first, second, and the like various numerical designations involved in the present disclosure are only for the convenience of description and do not limit the scope of the embodiments of the present disclosure, nor represent the order of precedence.

[0452] At least one of the present disclosure can also be described as one or more, and the plurality can be two, three, four or more, and the present disclosure does not limit. In the embodiments of the present disclosure, for a technical feature, the technical features in the technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", and there is no order or size order between the technical features described by "first", "second", "third", "A", "B", "C" and "D".

[0453] The correspondence relationship shown in each table in the present disclosure can be configured or predefined. The values of the information in each table are merely examples, and other values can be configured, and the present disclosure does not limit. When configuring the correspondence relationship between the information and each parameter, it is not necessarily required to configure all the correspondence relationships shown in each table. For example, the correspondence relationship shown in some rows in the table in the present disclosure can also not be configured. For another example, the above tables can be appropriately deformed, for example, split, merged, and the like. The names of the parameters shown in the titles of the above tables can also use other names understandable by the communication device, and the values or representations of the parameters can also use other values or representations understandable by the communication device. The above tables can also use other data structures when implemented, for example, arrays, queues, containers, stacks, linear tables, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or the like.

[0454] The predefinition in the present disclosure can be understood as defining, predefining, storing, pre-storing, pre-negotiating, pre-configuring, solidifying, or pre-burning.

[0455] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized 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 realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0456] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0457] The above is merely a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A side-link SL positioning method, characterized in that, The method is executed by a first user equipment (UE) and includes: It was determined that the required SL positioning reference signal PRS was not measured during the SL positioning process; Send indication information, wherein, in the case that the first UE lacks SL PRS configuration information, the indication information is used to indicate that there is no SL PRS configuration information; The sending instruction information includes one of the following: Send indication information to the base station; Send indication information to the location management function (LMF) network element; Instruction information is sent to at least two of the second UE, the base station, and the LMF network element.

2. The method as described in claim 1, characterized in that, The required SL PRS includes SL PRS sent by the anchor UE. If the first UE cannot detect any SL PRS sent by any anchor UE, the indication information is used to indicate that no anchor UE can be measured or to indicate that no SL PRS can be measured.

3. The method as described in claim 1, characterized in that, The required SL PRS includes SL PRS sent by the anchor UE. If the first UE cannot detect SL PRS sent by some anchor UEs, the indication information is used to indicate that some anchor UEs cannot be measured or to indicate that some SL PRS cannot be measured.

4. The method as described in claim 1, characterized in that, The required SL PRS includes the SL PRS sent by the target UE. If the first UE cannot detect the SL PRS sent by the target UE, the indication information is used to indicate that the target UE cannot be measured or to indicate that the SL PRS cannot be measured.

5. The method as described in claim 1, characterized in that, The SLPRS that should be received was not measured during the SL positioning process, including at least one of the following: During the SL-TDOA positioning process, insufficient SL PRS were received; During the lateral link arrival angle (SL-AOA) positioning process, insufficient SL PRS were received.

6. The method according to any one of claims 1 to 5, characterized in that, Sending indication information to the LMF network element includes: The indication information is sent to the LMF network element via the Location Information Message in the SL Long Term Evolution (LTE) Location Protocol LPP message; or The indication information is sent to the LMF network element via the location information message in the LPP message.

7. The method according to any one of claims 1 to 5, characterized in that, Sending indication information to the second UE includes: The indication information is sent to the second UE via the location information message in the SL LPP message; or The indication information is sent to the second UE via the location information message in the LPP message.

8. The method as described in claim 1, characterized in that, The method further includes: The existence of partially measurable SL PRS is determined, and the measurable SL PRS is measured to obtain the measurement results; The measurement results are reported to the base station, the LMF network element, or the second UE.

9. The method as described in claim 1, characterized in that, The method further includes: Determine whether to send a measurement report to the second UE via a PC5-S message or to the base station via a Radio Resource Control (RRC) message, and perform at least one of the following: If no reportable measurement results are available, cancel sending the measurement report; If no reportable measurement results are available, the measurement report is sent, wherein the measurement report is empty; If no measurement result is available for reporting, the measurement report is sent, wherein the measurement report indicates that no measurement result is available; If no reportable measurement result is available, the measurement report is sent, wherein the measurement report indicates that SL PRS cannot be measured; If there are reportable measurement results, the measurement report is sent, wherein the measurement report includes the reportable measurement results; If a reportable measurement result exists, the measurement report is sent, wherein the measurement report includes the reportable measurement result and information indicating that the SL PRS cannot be measured; If reportable measurement results exist, the measurement report is sent, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.

10. The method as described in claim 1, characterized in that, The method further includes: If it is determined that SL PRS cannot be measured, a measurement reporting process based on SL-RRC messages or RRC messages is triggered; or If it is determined that SL PRS cannot be measured, a location reporting process based on SL LPP messages or LPP messages is triggered.

11. A side-link SL positioning method, characterized in that, The method is executed by a base station or a location management function (LMF) network element, or the method is executed by at least two of a base station, an LMF network element, and a second UE, including: The system receives an indication message sent by a first UE, wherein the indication message is sent by the first UE when it fails to measure the required SL PRS during SL positioning. In the case where the first UE lacks SL PRS configuration information, the indication message is used to indicate that there is no SL PRS configuration information.

12. The method as described in claim 11, characterized in that, The required SL PRS includes SL PRS sent by the anchor UE. If the first UE cannot detect any SL PRS sent by any anchor UE, the indication information is used to indicate that no anchor UE can be measured or to indicate that no SL PRS can be measured.

13. The method as described in claim 11, characterized in that, The required SL PRS includes SL PRS sent by the anchor UE. If the first UE cannot detect SL PRS sent by some anchor UEs, the indication information is used to indicate that some anchor UEs cannot be measured or to indicate that some SL PRS cannot be measured.

14. The method as described in claim 11, characterized in that, The required SL PRS includes the SL PRS sent by the target UE. If the first UE cannot detect the SL PRS sent by the target UE, the indication information is used to indicate that the target UE cannot be measured or to indicate that the SL PRS cannot be measured.

15. The method according to any one of claims 11 to 14, characterized in that, The failure to measure the required SL PRS during SL positioning includes at least one of the following: Insufficient SL PRS were received during the side-link time difference of arrival (SL-TDOA) positioning process. Insufficient SL PRS were received during the lateral link angle of arrival (SL-AOA) positioning process.

16. The method as described in claim 11, characterized in that, The method further includes: The measurement results reported by the first UE are received, wherein the measurement results are obtained by the first UE measuring the measurable SL PRS when there are partially measurable SL PRS.

17. A communication device, characterized in that, The device is applied to a first UE, and the device includes: The processing module is configured to determine that the required SL positioning reference signal PRS is not measured during the SL positioning process; The transceiver module is configured to send indication information, wherein, in the case that the first UE lacks SL PRS configuration information, the indication information is used to indicate that there is no SL PRS configuration information; And perform one of the following: Send indication information to the base station; Send indication information to the location management function (LMF) network element; Instruction information is sent to at least two of the second UE, the base station, and the LMF network element.

18. A communication device, characterized in that, The device is applied to a base station or an LMF network element, or the device is applied to at least two of a base station, an LMF network element, and a second UE, the device comprising: The transceiver module is configured to receive indication information sent by the first UE, wherein the indication information is sent by the first UE when it fails to measure the required SL PRS during SL positioning. In the case that the first UE lacks SL PRS configuration information, the indication information is used to indicate that there is no SL PRS configuration information.

19. A communication device, characterized in that, The device includes a processor and a memory, the memory storing computer instructions, the processor executing the computer instructions stored in the memory to cause the device to perform the method as claimed in any one of claims 1 to 10, or the processor executing the computer instructions stored in the memory to cause the device to perform the method as claimed in any one of claims 11 to 16.

20. A communication device, characterized in that, include: Processor and interface circuitry; The interface circuit is used to receive instructions and transmit them to the processor; The processor is configured to execute the instructions to perform the method as claimed in any one of claims 1 to 10, or to execute the instructions to perform the method as claimed in any one of claims 11 to 16.

21. A computer-readable storage medium storing instructions that, when executed, cause the method of any one of claims 1 to 10 to be implemented, or, when executed, cause the method of any one of claims 11 to 16 to be implemented.

22. A program product comprising at least one of a program and instructions, characterized in that, When at least one of the programs or instructions is executed by a communication device, it implements the method of any one of claims 1 to 10, 11 to 16.

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