Discovery method and apparatus, computer-readable storage medium, terminal

Abstract

A discovery method and device, a computer readable storage medium and a terminal device are provided. The method comprises: sending indication information through a direct link, the indication information comprising at least one of the following: first indication information, second indication information, a moving speed of the first terminal device, a moving direction of the first terminal device; wherein the first indication information is used to indicate a positioning type supported by the first terminal device, the positioning type comprising: absolute positioning and / or relative positioning and / or ranging, and the second indication information is used to indicate a type of the first terminal device. Through the scheme provided in the application, a suitable terminal device can be identified to participate in direct link positioning, so that better positioning effect can be achieved.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a discovery method and apparatus, a computer-readable storage medium, and a terminal. Background Technology

[0002] Within the 3rd Generation Partnership Project (3GPP), Release 18 (Rel-18) introduced Sidelink (SL) positioning technology for scenarios such as Vehicle-to-Everything (V2X), public safety, and the Industrial Internet of Things (IIoT). Specifically, positioning functionality is achieved by sending positioning reference signals through interfaces between terminals (e.g., PC5 interfaces).

[0003] In the application scenarios of SL positioning, it is first necessary to determine the appropriate terminal to execute the SL positioning method, and there is currently no relevant solution. Summary of the Invention

[0004] The technical problem addressed by this application is how to determine the appropriate terminal to perform direct link positioning.

[0005] To address the aforementioned technical problems, in a first aspect, embodiments of this application provide a first discovery method, the method being applied to a first terminal device, the method comprising: sending indication information via a direct link, the indication information including at least one of the following: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device; wherein, the first indication information is used to indicate the positioning type supported by the first terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second indication information is used to indicate the type of the first terminal device.

[0006] Optionally, the indication information further includes: third indication information, which is used to indicate that the first terminal device is sending a positioning reference signal.

[0007] Optionally, the first indication information includes: the absolute location information of the first terminal device, wherein the first indication information indicates that the positioning type supported by the first terminal device includes: absolute positioning.

[0008] Optionally, the indication information includes: a location service code, which is used to indicate the first indication information.

[0009] Optionally, sending the indication information via the direct link includes: sending a discovery notification message via the direct link, wherein the discovery notification message carries the indication information.

[0010] Optionally, sending the indication information via the direct link includes sending additional information via the direct link, the additional information being used to indicate at least one of the following: the second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device.

[0011] Therefore, in the solution provided by this application embodiment, the first terminal device sends location-related indication information through a direct link, enabling the second terminal device to obtain information such as the location type supported by the first terminal device and the type of terminal device during the discovery process. This allows the second terminal device to discover a suitable first terminal device as an anchor terminal to assist in positioning, avoiding poor positioning results due to the anchor terminal's inability to meet positioning requirements. Furthermore, through the above solution, the first terminal device notifies surrounding second terminal devices of location-related indication information during the discovery process without requiring additional signaling, thus reducing system overhead.

[0012] Secondly, embodiments of this application provide a second discovery method, which is applied to a second terminal device and includes: receiving indication information via a direct link, the indication information including at least one of the following: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device, wherein the first indication information is used to indicate the positioning type supported by the first terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second indication information is used to indicate the type of the first terminal device; and determining a first terminal device for locating the second terminal device based at least on the indication information.

[0013] Optionally, the indication information further includes: third indication information, which is used to indicate that the first terminal device is sending a positioning reference signal.

[0014] Optionally, the first indication information includes: the absolute location information of the first terminal device, wherein the first indication information indicates that the positioning type supported by the first terminal device includes: absolute positioning.

[0015] Optionally, the indication information includes: a location service code, which is used to indicate the first indication information.

[0016] Optionally, receiving indication information via a direct link includes receiving a discovery notification message via a direct link, wherein the discovery notification message carries the indication information.

[0017] Optionally, receiving indication information via the direct link includes receiving additional information via the direct link, the additional information being used to indicate at least one of the following: the second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device.

[0018] Optionally, before receiving the indication information via the direct link, the method further includes: monitoring a positioning reference signal. Receiving the indication information via the direct link includes: receiving the indication information when the positioning reference signal is not detected.

[0019] Optionally, determining the first terminal device for locating the second terminal device, at least according to the indication information, includes: determining the first terminal device for locating the second terminal device based on the indication information and / or the link conditions between the second terminal device and the first terminal device.

[0020] Optionally, the reference signal reception quality between the first terminal device and the second terminal device used for locating the second terminal device is greater than or equal to a first preset threshold.

[0021] Optionally, the reference signal receiving power between the first terminal device and the second terminal device used for locating the second terminal device is greater than or equal to a second preset threshold.

[0022] Optionally, the direct link between the first terminal device and the second terminal device used for locating the second terminal device is a line-of-sight path.

[0023] Optionally, determining the first terminal device for locating the second terminal device, at least according to the indication information, includes: determining a candidate first terminal device according to the received indication information, wherein the candidate first terminal device is a first terminal device whose location requirements for the second terminal device are met by the indication information.

[0024] Therefore, in the solution provided by this application embodiment, the second terminal device receives location-related indication information sent by the surrounding first terminal device through a direct link. This enables the second terminal device to obtain information such as the location type supported by the first terminal device and the type of the terminal device during the discovery process. This allows the second terminal device to discover a suitable first terminal device as an anchor terminal to assist in positioning, avoiding poor positioning results due to the anchor terminal's inability to meet positioning requirements. Furthermore, through the above solution, the first terminal device notifies the surrounding second terminal devices of the location-related indication information during the discovery process without requiring additional signaling, thus reducing system overhead.

[0025] Thirdly, embodiments of this application provide a third discovery method, which is applied to a first terminal device and includes: receiving request information via a direct link, the request information including at least one of the following: first request information, second request information, the moving speed of the second terminal device, and the moving direction of the second terminal device, wherein the first request information is used to indicate the desired positioning type of the second terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, the second request information is used to indicate the desired type of terminal device of the second terminal device; and determining, at least based on the request information, that the first terminal device is used to locate the second terminal device.

[0026] Optionally, it further includes: sending response information via the direct link, the response information being used to instruct the first terminal device to locate the second terminal device.

[0027] Optionally, the response information includes: third indication information, which indicates that the first terminal device is sending a positioning reference signal.

[0028] Optionally, the request information includes: a location service code, which is used to indicate the first request information.

[0029] Optionally, receiving request information via a direct link includes receiving a discovery request message via the direct link, wherein the discovery request message carries the request information.

[0030] Optionally, determining that the first terminal device is used to locate the second terminal device is based at least on the request information: determining that the first terminal device is used to locate the second terminal device is based on the request information and / or the link conditions between the second terminal device and the first terminal device.

[0031] Optionally, the reference signal reception quality between the first terminal device and the second terminal device used for locating the second terminal device is greater than or equal to a first preset threshold.

[0032] Optionally, the reference signal receiving power between the first terminal device and the second terminal device used for locating the second terminal device is greater than or equal to a second preset threshold.

[0033] Optionally, the direct link between the first terminal device and the second terminal device used for locating the second terminal device is a line-of-sight path.

[0034] Optionally, determining that the first terminal device is used to locate the second terminal device based at least on the request information includes: determining that the first terminal device meets the location requirements of the second terminal device based on the request information.

[0035] Therefore, in the solution provided by this application embodiment, the first terminal device receives location-related request information sent by surrounding second terminal devices through a direct link. During the discovery process, it can learn about the location needs of the second terminal devices, allowing suitable first terminal devices to respond promptly. This enables the second terminal device to promptly discover suitable first terminal devices as anchor terminals to assist in positioning, avoiding poor positioning results due to the anchor terminal's inability to meet positioning requirements. Furthermore, through the above solution, the second terminal device notifies surrounding first terminal devices of the location-related request information during the discovery process without requiring additional signaling, reducing system overhead.

[0036] Fourthly, embodiments of this application provide a fourth discovery method, which is applied to a second terminal device and includes: sending request information via a direct link, the request information including at least one of the following: first request information, second request information, the moving speed of the second terminal device, and the moving direction of the second terminal device; wherein, the first request information is used to indicate the desired positioning type of the second terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second request information is used to indicate the desired type of terminal device of the second terminal device.

[0037] Optionally, the request information includes: a location service code, which is used to indicate the first request information.

[0038] Optionally, sending request information via the direct link includes: sending a discovery request message via the direct link, wherein the discovery request message carries the request information.

[0039] Optionally, before sending the request information via the direct link, the method further includes: monitoring a positioning reference signal; sending the request information via the direct link includes: sending the request information via the direct link when the positioning reference signal is not detected.

[0040] Optionally, the method further includes: receiving response information via the direct link, the response information being used to instruct the first terminal device to locate the second terminal device.

[0041] Optionally, the response information includes: third indication information, which indicates that the first terminal device is sending a positioning reference signal.

[0042] Optionally, the method further includes: receiving response information via the direct link, the response information being used to instruct the first terminal device to meet the positioning requirements of the second terminal device; and determining the first terminal device for locating the second terminal device based on the response information and / or the link conditions between the second terminal device and the first terminal device.

[0043] Therefore, in the solution provided by this application embodiment, the second terminal device sends location-related request information through a direct link. During the discovery process, it can notify surrounding first terminal devices of the location-related information, allowing suitable first terminal devices to respond promptly. This enables the second terminal device to promptly discover suitable first terminal devices as anchor terminals to assist in positioning, avoiding poor positioning results due to anchor terminals failing to meet positioning requirements. Furthermore, through the above solution, the second terminal device notifies surrounding first terminal devices of the location-related request information during the discovery process without requiring additional signaling, thus reducing system overhead.

[0044] Fifthly, embodiments of this application provide a first discovery device, the device comprising: a first transmitting module, configured to transmit indication information via a direct link, the indication information including at least one of the following: first indication information, second indication information, moving speed of a first terminal device, and moving direction of the first terminal device; wherein, the first indication information is used to indicate the positioning type supported by the first terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second indication information is used to indicate the type of the first terminal device.

[0045] Sixthly, embodiments of this application provide a second discovery device, the device comprising: a first receiving module, configured to receive indication information via a direct link, the indication information including at least one of the following: first indication information, second indication information, moving speed of a first terminal device, and moving direction of the first terminal device, wherein the first indication information is used to indicate the positioning type supported by the first terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second indication information is used to indicate the type of the first terminal device; and a first determining module, configured to determine, at least based on the indication information, a first terminal device for locating a second terminal device.

[0046] In a seventh aspect, embodiments of this application provide a third discovery device, the device comprising: a second receiving module, configured to receive request information via a direct link, the request information including at least one of the following: first request information, second request information, a moving speed of a second terminal device, and a moving direction of the second terminal device, wherein the first request information is used to indicate the desired positioning type of the second terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second request information is used to indicate the desired type of terminal device of the second terminal device; and a second determining module, configured to determine, at least based on the request information, that a first terminal device is used to locate the second terminal device.

[0047] Eighthly, embodiments of this application provide a fourth discovery device, the device comprising: a second sending module, configured to send request information via a direct link, the request information including at least one of the following: first request information, second request information, moving speed of a second terminal device, and moving direction of the second terminal device; wherein, the first request information is used to indicate the desired positioning type of the second terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second request information is used to indicate the desired type of terminal device of the second terminal device.

[0048] Optionally, the device further includes: a third receiving module, the third receiving module being used to receive response information through the direct link, the response information being used to instruct the first terminal device to locate the second terminal device.

[0049] Ninthly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the discovery method described in any aspect to be performed.

[0050] In a tenth aspect, embodiments of this application also provide a terminal, including a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor executes the steps of the discovery method described in any of the preceding aspects when running the computer program.

[0051] Compared with the prior art, the technical solution of this application embodiment has the following beneficial effects:

[0052] In the scheme of this application embodiment, the second terminal device receives indication information sent by the first terminal device or sends request information to the first terminal device via a direct link. On one hand, the indication information includes at least one of the following: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device. The first indication information indicates the positioning type supported by the first terminal device, and the second indication information indicates the type of the first terminal device. Thus, the second terminal device can determine a suitable first terminal device as an anchor terminal for direct link positioning based on the indication information. On the other hand, the request information includes at least one of the following: first request information, second request information, the moving speed of the second terminal device, and the moving direction of the second terminal device. The first request information indicates the desired positioning type of the second terminal device, and the second request information indicates the desired type of terminal device. Thus, the first terminal device can determine whether it can serve as an anchor terminal for the second terminal device based on the request information. Through the above scheme, a suitable first terminal device can be identified as an anchor terminal to assist the second terminal device in positioning, avoiding situations where poor positioning results are caused by the anchor terminal failing to meet positioning requirements. Moreover, the above scheme can notify surrounding terminal devices of location-related information during the discovery process without adding extra signaling, thus reducing system overhead.

[0053] Furthermore, in the embodiment of this application, the indication information further includes: third indication information, which is used to indicate that the first terminal device is transmitting a positioning reference signal. This approach avoids repeatedly transmitting positioning reference signals, thus saving transmission resources of the direct link.

[0054] Furthermore, in the scheme of this application embodiment, before performing the discovery process, the second terminal device first detects whether there is a location reference signal being transmitted. This scheme can also avoid repeatedly sending location reference signals, which is beneficial to saving transmission resources of the direct link. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the uplink, downlink, and direct link in the embodiments of this application.

[0056] Figure 2 This is a schematic diagram illustrating an application scenario of a discovery method in an embodiment of this application;

[0057] Figure 3 This is a data interaction diagram of a discovery method in an embodiment of this application;

[0058] Figure 4 yes Figure 3 A schematic diagram illustrating data interaction in one specific implementation of a discovery method;

[0059] Figure 5 yes Figure 3 A schematic diagram illustrating data interaction of another specific implementation of a discovery method;

[0060] Figure 6 This is a data interaction diagram of another discovery method in an embodiment of this application;

[0061] Figure 7 yes Figure 6 A schematic diagram illustrating data interaction in one specific implementation of the discovery method;

[0062] Figure 8 This is a flowchart illustrating a direct link positioning method according to an embodiment of this application;

[0063] Figure 9 This is a schematic diagram of the structure of the first detection device in the embodiments of this application;

[0064] Figure 10 This is a schematic diagram of the structure of the second detection device in the embodiments of this application;

[0065] Figure 11 This is a schematic diagram of the structure of the third detection device in the embodiments of this application;

[0066] Figure 12 This is a schematic diagram of the structure of the fourth detection device in the embodiments of this application;

[0067] Figure 13 This is a schematic diagram of the structure of a terminal device according to an embodiment of this application;

[0068] Figure 14 This is a flowchart illustrating another discovery method in the embodiments of this application. Detailed Implementation

[0069] In existing technologies, positioning functions can be achieved through cellular network-based positioning technology and Global Navigation Satellite System (GNSS)-based positioning technology. Specifically, cellular network-based positioning technology achieves positioning functionality through uplink sounding reference signals (UL SRS) or downlink positioning reference signals (DL PRS). However, cellular network-based positioning technology can only be used to locate terminal devices within network coverage areas. Furthermore, GNSS positioning technology typically only yields satisfactory positioning results when locating terminal devices in open areas. If the terminal is in an environment with many obstructions, such as a tunnel or tall buildings in a city, GNSS signals cannot directly reach the terminal, resulting in lower positioning accuracy and failing to meet user needs.

[0070] Sidelink (SL) is a communication technology that differs from traditional cellular network communication. (Refer to...) Figure 1 , Figure 1 This is a diagram illustrating uplink, downlink, and direct connection links. (For example...) Figure 1 As shown, in traditional cellular networks, terminal devices and access network devices (e.g., base stations) communicate. The link between these devices is called an uplink (UL) link or a downlink (DL) link, and the interface is called a Uu interface. In cellular network-based positioning technologies, downlink Uu interface positioning sends a Position Reference Signal (PRS) to locate the terminal device. Downlink PRS-based positioning methods include Downlink Time Difference of Arrival (DL-TDoA) and Downlink Angle-of-Departure (DL-AoD). Uplink Uu interface positioning sends an SRS (Simultaneous Reference Signal) to locate the terminal device. Uplink SRS-based positioning methods include Uplink Time Difference of Arrival (UL-TDoA) and Uplink Angle-of-Departure (DL-AoD).

[0071] In SL communication technology, terminal device 1 communicates directly with terminal device 2. The link between the terminal devices is called a direct link, also known as a pass-through link, side link, lateral link, direct link, auxiliary link, or PC5 link. The interface is called the PC5 interface.

[0072] In direct link positioning scenarios, there is currently no solution on how to determine the terminal performing direct link positioning.

[0073] To address the aforementioned technical problems, this application provides a discovery method. In this embodiment, a first terminal device and a second terminal device interact with positioning-related information, such as positioning type, terminal device type, moving speed, and moving direction, so as to discover a suitable first terminal device as an anchor terminal to assist the second terminal device in positioning and avoid poor positioning results due to the anchor terminal's inability to meet positioning requirements.

[0074] Specifically, the second terminal device receives indication information sent by the first terminal device through a direct link. The indication information includes at least one of the following: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device. The first indication information is used to indicate the positioning type supported by the first terminal device, and the second indication information is used to indicate the type of the first terminal device. Thus, the second terminal device can determine a suitable first terminal device as an anchor terminal for direct link positioning based on the indication information.

[0075] Alternatively, the second terminal device sends a request message to the first terminal device via a direct link. The request message includes at least one of the following: a first request message, a second request message, the moving speed of the second terminal device, and the moving direction of the second terminal device. The first request message indicates the desired positioning type of the second terminal device, and the second request message indicates the desired type of terminal device. Thus, the first terminal device can determine whether it can serve as an anchor terminal for the second terminal device based on the request message. Through the above scheme, a suitable first terminal device can be identified as an anchor terminal to assist the second terminal device in direct link positioning. It should be noted that the communication systems applicable to the embodiments of this application include, but are not limited to, 3rd generation (3G), Long Term Evolution (LTE), 4th generation (4G), 5th generation (5G), New Radio (NR), and future evolution systems or multiple converged communication systems. The 5G system can be a non-standalone (NSA) 5G system or a standalone (SA) 5G system. The solutions in this application embodiment can also be applied to various future communication systems, such as 6G and 7G.

[0076] The terminal equipment in this application embodiment can refer to various forms of user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), remote station, remote terminal, mobile device, user terminal, terminal equipment, wireless communication equipment, user agent, or user device. The terminal can also be a cellular phone, cordless phone, Session Initiation Protocol (SIP) phone, Wireless Local Loop (WLL) station, Personal Digital Assistant (PDA), handheld device with wireless communication capabilities, computing device, or other processing device connected to a wireless modem, in-vehicle device, wearable device, a terminal in a future 5G network, or a terminal in a future evolved Public Land Mobile Network (PLMN), etc. This application embodiment does not limit this to any particular type.

[0077] The technical solutions provided in this application are also applicable to different network architectures, including but not limited to relay network architecture, dual-link architecture, and Vehicle-to-Everything (V2X) architecture.

[0078] To make the above-mentioned objectives, features and beneficial effects of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0079] Reference Figure 2 , Figure 2 This is a schematic diagram illustrating an application scenario of a discovery method according to an embodiment of this application. It should be noted that... Figure 2 The illustration only shows the SL positioning scenario in the Internet of Vehicles (IoV), but the solution provided in this application is not limited to IoV application scenarios. The following is in conjunction with... Figure 2 The application scenarios of the embodiments of this application are described in a non-limiting manner.

[0080] In the scheme of this application embodiment, the terminal with positioning needs is denoted as the second terminal device (or, it can also be called the "target terminal"). That is, the location information of the second terminal device is determined by executing the SL positioning method. Other terminals around the second terminal device are denoted as first terminal devices. By executing the scheme provided in this application embodiment, it can be found whether there is a suitable first terminal device around the second terminal device. The suitable first terminal device can refer to a first terminal device used for positioning the second terminal device. In other words, the suitable first terminal device can be a terminal with the ability to assist the second terminal device in positioning. In the scheme of this application embodiment, the first terminal device used for positioning the second terminal device can also be called an "anchor terminal".

[0081] like Figure 2 As shown, in the SL positioning scenario, the second terminal device has a positioning requirement and wants to determine its own location information. There are also multiple first terminal devices in the environment where the second terminal device is located. By executing the scheme of the embodiment of this application, the second terminal device can discover the anchor terminal from the multiple first terminal devices.

[0082] Reference Figure 3 , Figure 3 This is a data interaction diagram of a discovery method in an embodiment of this application. Figure 3 The method shown may include steps S31 and S32. In this application, the 'S' in the step numbers represents a step.

[0083] S31, the first terminal device sends instruction information to the second terminal device. The instruction information includes at least one of the following: first instruction information, second instruction information, the moving speed of the first terminal device, and the moving direction of the first terminal device.

[0084] S32, the second terminal device determines, at least according to the instruction information, the first terminal device used for locating the second terminal device.

[0085] In a specific implementation of S31, the first terminal device can broadcast indication information, and correspondingly, the second terminal device can listen to the indication information. More specifically, the indication information can be configured with a first preset identifier, which the second terminal device can use to identify the indication information. That is, the first preset identifier can be used to indicate to the second terminal device that the information being listened to or received is indication information. The first preset identifier can be a target layer 2 ID or a newly added identifier. The target layer 2 ID can indicate that the currently broadcast information is location indication information. The location indication information can refer to location-related indication information.

[0086] In a specific implementation of S32, the second terminal device can determine the first terminal device for locating the second terminal device based on the indication information and / or the link conditions between the second terminal device and the first terminal device.

[0087] In one embodiment of this application, a first terminal device for locating a second terminal device can be determined solely based on instruction information.

[0088] In another embodiment of this application, the first terminal device for locating the second terminal device can be determined based on the indication information and the link conditions between the first terminal device and the second terminal device. Further details regarding S32 will be described below and will not be repeated here.

[0089] The following is a detailed description of the content of the instruction information.

[0090] The first indication information can be used to indicate the positioning type supported by the first terminal device. The positioning type may include: absolute positioning and / or relative positioning and / or ranging. That is, the first terminal device can inform the second terminal device of the positioning type supported by the first terminal device through the first indication information, and the second terminal device can know the positioning type supported by the first terminal device through the first indication information.

[0091] In the embodiments of this application, absolute positioning refers to determining the absolute position information of the target terminal, which may refer to latitude and longitude information and / or altitude information. Relative positioning refers to determining the relative position information of the target terminal relative to a reference point. More specifically, the relative position information may include distance and / or direction. Distance measurement may refer to measuring the distance between the target terminal and the reference point, wherein the reference point may refer to an anchor point terminal, but is not limited thereto.

[0092] In specific implementation, any of the following methods can be used to indicate the positioning type supported by the first terminal device, but it is not limited to the methods shown below:

[0093] Method 1: Indicate the location type supported by the first terminal device implicitly.

[0094] Specifically, the indication information may include the absolute location information of the first terminal device. If the indication information includes the absolute location information of the first terminal device, it indicates that the positioning type supported by the first terminal device includes absolute positioning. If the indication information does not include the absolute location information of the first terminal device, it indicates that the first terminal device may not support absolute positioning.

[0095] Method 2: Explicitly indicate the location types supported by the first terminal device.

[0096] Specifically, this can be achieved by including a location service code in the indication information, which indicates the first indication information. In other words, the location service code indicates the location type supported by the first terminal device.

[0097] In practice, the location service code is similar to the relay service code (RSC) and can be obtained from the policy and parameter configuration. The location service code can be pre-configured in the policy and parameter configuration, so that the second terminal device can identify the currently supported location type through the specific location service code.

[0098] In specific implementations, this can also be indicated by adding a dedicated bit field for the positioning type to the indication information. The length of this dedicated bit field can be 1 bit or 2 bits. For example, a 1-bit value of "0" indicates absolute positioning; a value of "1" indicates relative positioning, or vice versa. A 2-bit value of "00" can indicate absolute positioning; "01" indicates relative positioning; "10" indicates ranging; and "11" indicates reserved bits. The above description of the correspondence between the specific values ​​of the positioning type bit field and the positioning type is merely illustrative and can be arbitrarily set in practical applications. This embodiment does not impose any limitations on this.

[0099] Furthermore, the second indication information is used to indicate the type of the first terminal device.

[0100] Specifically, the second indication information is used to indicate the type of terminal device to which the first terminal device belongs. The type of terminal device can be selected from any of the following: Road Side Unit (RSU), Vehicle UE (VUE), Pedestrian UE (PUE), etc., but is not limited to these.

[0101] The first terminal device can inform the second terminal device of its own type through the second instruction information. The second terminal device can know the first terminal device's motion status, energy-saving requirements, and whether it has known location information through the first terminal device's type.

[0102] Specifically, when the type of terminal device to which the first terminal device belongs is RSU, the second terminal device can determine that the first terminal device is stationary and may have known location information; when the type of terminal device to which the first terminal device belongs is VUE, the second terminal device can determine that the first terminal device may be in a high-speed moving state; when the type of terminal device to which the first terminal device belongs is PUE, the second terminal device can determine that the first terminal device is in a low-speed moving state and the first terminal device has a need for energy saving.

[0103] Furthermore, the moving speed and / or moving direction of the first terminal device can also indicate the motion state of the first terminal device. Compared to the second indication information, which provides a relatively coarse indication of the motion state of the first terminal device, sending the moving speed and / or moving direction of the first terminal device allows the second terminal device to obtain a more accurate understanding of the motion state of the first terminal device, which is beneficial for the second terminal device to discover anchor terminals that better match its positioning requirements.

[0104] In one embodiment of this application, the second terminal device may monitor the positioning reference signal before listening to the indication information. The positioning reference signal on the direct link may be referred to as SL-PRS, SPRS, S-PRS, SLPRS, etc. In the scheme of this embodiment, the positioning reference signal on the direct link is denoted as SPRS.

[0105] In other words, the second terminal device can monitor whether one or more first terminal devices are transmitting SPRS in the current environment. If a location reference signal is detected, meaning one or more first terminal devices are transmitting a location reference signal in the current environment, the discovery process is not performed; that is, the second terminal device does not listen for the indication information. If no location reference signal is detected, the discovery process is performed, that is, listening for the indication information is triggered.

[0106] It should be noted that if SPRS is detected, the second terminal device can further determine whether it can obtain the configuration information of the SPRS. If so, it can receive the detected SPRS and measure it to obtain the positioning result. Specifically, the second terminal device can obtain the configuration information of the detected SPRS under any one or more of the following conditions: the first terminal device broadcasts the SPRS configuration information via Radio Resources Control (RRC), or indicates the SPRS configuration information in the Sidelink Control Information (SCI). In other words, the second terminal device can obtain the SPRS configuration information without establishing an RRC connection with the first terminal device that is transmitting SPRS. If the second terminal device cannot obtain the configuration information of the transmitted SPRS, it can listen to the indication information.

[0107] In another embodiment of this application, the first terminal device can indicate to the second terminal device that the first terminal device is transmitting SPRS, without requiring the second terminal device to monitor it. Specifically, the indication can be made in any of the following ways:

[0108] Method 1: Explicitly indicate that the first terminal device is sending SPRS, or indicate that the first terminal device is not currently sending SPRS. Specifically, the indication information may further include: third indication information, which can be used to indicate that the first terminal device is sending SPRS, or indicate that the first terminal device is not currently sending SPRS.

[0109] In specific implementations, the indication information may include a dedicated bit field for positioning reference signals, and the length of the dedicated bit field for positioning reference signals can be 1 bit. For example, a value of "1" in the 1-bit dedicated bit field for positioning reference signals indicates that the first terminal device is sending a positioning reference signal, and a value of "0" indicates that the first terminal device is not currently sending SPRS.

[0110] Method 2: Implicitly instruct the first terminal device that it is sending SPRS. Specifically, the first terminal device sends an indication message only if it is currently sending SPRS. Therefore, when the second terminal device receives the indication message, it can determine that the first terminal device is sending SPRS. In other words, if the first terminal device is not currently sending SPRS, it will not send an indication message.

[0111] By adopting the above scheme, repeated SPRS transmissions can be avoided, which helps to avoid the waste of direct link resources and unnecessary subsequent positioning processes.

[0112] In practice, the instruction information can be sent using any of the following methods:

[0113] Method 1: The first terminal device sends a discovery notification message via a direct link. This message carries the aforementioned indication information. In other words, all indication information is contained within the discovery notification message.

[0114] Method 2: The first terminal device sends a discovery notification message, which includes the aforementioned location service code. That is, the location service code in the discovery notification message indicates the location types supported by the first terminal device. This approach helps save signaling overhead.

[0115] Method 3: The first terminal device first sends a discovery notification message, followed by additional information. (See reference...) Figure 4 , Figure 4 yes Figure 3 This diagram illustrates a data interaction schematic of one specific implementation of a discovery method. More specifically, Figure 4 It is shown that S31 may include S311 and S312.

[0116] S311, the first terminal device sends a discovery notification message to the second terminal device. The discovery notification message includes the aforementioned location service code.

[0117] S312, the first terminal device sends additional information to the second terminal device. The additional information is used to indicate at least one of the other indications besides the first indication. In other words, the additional information may include at least one of the following: second indication, the moving speed of the first terminal device, the moving direction of the first terminal device, and third indication.

[0118] The following is a further description of S32.

[0119] As described above, in one embodiment of this application, the first terminal device for locating the second terminal device can be determined solely based on the instruction information.

[0120] Specifically, the second terminal device can determine whether the first terminal device that sent the instruction information meets the positioning requirements of the second terminal device based on the instruction information. The positioning requirements may include: the desired positioning type and / or the desired positioning accuracy.

[0121] Specifically, the first terminal device meeting the positioning requirements of the second terminal device can mean that the positioning requirements of the first terminal device and the second terminal device are matched. More specifically, the matching of the positioning requirements of the first terminal device and the second terminal device can include at least one of the following: the positioning types supported by the first terminal device include the positioning types desired by the second terminal device, and the motion state of the first terminal device matches the positioning type desired by the second terminal device.

[0122] In specific implementation, the desired positioning type of the second terminal device can be obtained from the application configured on the second terminal device. For example, if the application of the second terminal device instructs navigation, it can be determined that the desired positioning type of the second terminal device is absolute positioning; if the application instructs collision avoidance, it can be determined that the desired positioning type of the second terminal device is relative positioning, but it is not limited to these. Therefore, the second terminal device can determine whether the positioning types supported by the first terminal device include the desired positioning type based on the first instruction information in the instruction information.

[0123] The following is a non-limiting description of a specific implementation method for determining the motion state of the first terminal device and matching the desired positioning type of the second terminal device.

[0124] Scenario 1: If the second terminal device expects absolute positioning, then the second terminal device needs to select a first terminal device with known location information as the anchor terminal. Here, the first terminal device with known location information can be a terminal device with a fixed location, similar to an RSU, or the known location information of the first terminal device can be determined by other positioning methods.

[0125] Scenario 2: If the second terminal device desires relative positioning, it tends to select a first terminal device with similar motion states as the anchor terminal. That is, the closer the motion states of the first and second terminal devices are, the greater the match between their desired positioning types, the higher the positioning accuracy, and the greater the likelihood of meeting positioning requirements. The motion states include: speed and / or direction of movement. Specifically, compared to first and second terminal devices of different types, those of the same type have more similar motion states.

[0126] Based on the above, the second terminal device can determine the first terminal device that meets its positioning requirements according to the instruction information. Furthermore, the second terminal device can designate the first terminal device that meets its positioning requirements as the anchor point device.

[0127] As described above, in another embodiment, the second terminal device can determine the first terminal device for locating the second terminal device based on the indication information and the link conditions between the first terminal device and the second terminal device. For ease of description, the link conditions between the first terminal device and the second terminal device will be referred to as link conditions below.

[0128] In practical implementation, it can be determined whether the link conditions meet the pre-set access stratum standard. The access stratum standard may include at least one of the following: the signal quality between the first terminal device and the second terminal device meets the preset conditions; and the direct link between the first terminal device and the second terminal device is a light-of-sight (LOS) path.

[0129] More specifically, the signal quality may refer to the reference signal receiving quality (RSRQ) and reference signal receiving power (RSRP) between the second terminal device and the first terminal device, but is not limited to these.

[0130] In other words, the access layer standard may include at least one of the following: the direct link between the first terminal device and the second terminal device is a line-of-sight path; the RSRQ between the first terminal device and the second terminal device is greater than or equal to a first preset threshold; and the RSRP between the first terminal device and the second terminal device is greater than or equal to a second preset threshold. The specific values ​​of the first and second preset thresholds are pre-configured, and this embodiment does not impose any limitations on them.

[0131] It should be noted that, in the scheme of this application embodiment, the RSRQ and RSRP between the second terminal device and the first terminal device can be obtained by measuring the discovery signal, wherein the discovery signal can refer to one or more signals transmitted on the direct link during the discovery process. More specifically, the discovery signal can carry a discovery message, which can be a message used to indicate any one of the above-mentioned indication information, request information, and response information, or it can refer to other messages transmitted in the existing discovery process. It should also be noted that the RSRP and RSRP between the first terminal device and the second terminal device can also be obtained by measuring other signals on the direct link besides the discovery signal (e.g., other communication signals on the direct link), and this embodiment does not limit this.

[0132] The second terminal device can determine whether the direct link between the first and second terminal devices is a LOS (Line of Hour) path or a non-line-of-sight (NLOS) path based on the line-of-sight indication information. Since the signal transmission delay or incident angle of an NLOS path is not real, measuring the NLOS path to obtain positioning results will lead to inaccurate positioning and additional positioning errors. Therefore, in this embodiment, the direct link between the first and second terminal devices used for positioning the second terminal device is a LOS path.

[0133] In specific implementation, the second terminal device can record the first terminal device whose indication information meets the positioning requirements as a candidate first terminal device. Furthermore, it can select one or more first terminal devices whose link conditions meet the above access layer standards from the candidate first terminal devices as anchor terminals.

[0134] Reference Figure 5 , Figure 5 yes Figure 1 A schematic diagram illustrating data interaction of another specific implementation of the discovery method is shown. For example... Figure 5 As shown, S32 may include S321 and S322.

[0135] S321, the second terminal device determines the first terminal device as a candidate based on the instruction information.

[0136] Specifically, the second terminal device can determine whether the first terminal device that sent the instruction information meets the positioning requirements of the second terminal device based on the received instruction information, so as to identify the alternative first terminal device.

[0137] S322, the second terminal device determines the first terminal device for locating the second terminal device from the candidate first terminal devices according to the access layer standard.

[0138] Specifically, one or more first terminal devices can be selected from the candidate first terminal devices whose link conditions meet the access layer standards to serve as anchor terminals. In specific implementations, the candidate first terminal devices whose link conditions meet the access layer standards can be sorted according to their RSRP values, and one or more first terminal devices with the highest RSRP can be selected.

[0139] In a specific implementation, the second terminal device can receive indication information sent by one or more first terminal devices. For each first terminal device that sends indication information, the second terminal device executes S32 to determine whether the first terminal device can be used to locate the second terminal device.

[0140] It should be noted that, compared to the scheme that determines the anchor terminal solely based on the indication information, the scheme that further selects the anchor terminal based on the link conditions is more conducive to discovering anchor terminals with better link conditions, thereby improving the success rate and accuracy of subsequent positioning.

[0141] Therefore, the second terminal device can identify the anchor terminal by listening to the indication information, thereby completing the discovery process.

[0142] Reference Figure 6 , Figure 6 This is a data interaction diagram of another discovery method in the embodiments of this application. Figure 6 The methods shown may include S61, S62, and S63.

[0143] S61, the second terminal device sends a request message to the first terminal device.

[0144] S62, the first terminal device determines, at least based on the request information, that it is used to locate the second terminal device.

[0145] S63, the first terminal device sends a response message to the second terminal device.

[0146] In a specific implementation of S61, the request information includes at least one of the following: first request information, second request information, the moving speed of the second terminal device, and the moving direction of the second terminal device.

[0147] In practice, the second terminal device can broadcast request information, and correspondingly, the first terminal device can listen to the request information. More specifically, the request information can be configured with a second preset identifier, which the first terminal device can use to identify the request information. That is, the second preset identifier can be used to indicate to the first terminal device that the information being listened to or received is request information. The second preset identifier can be a target layer 2 ID or a newly added identifier. The target layer 2 ID can indicate that the currently broadcast information is location request information. The location request information refers to request information related to location.

[0148] In the specific implementation of S62, the first terminal device determines whether it is used to locate the second terminal device based on the request information. If it is determined that the first terminal device is used to locate the second terminal device, S63 is executed. If it is determined that the first terminal device is not used to locate the second terminal device, then no response information needs to be sent to the second terminal device.

[0149] In a specific implementation of S63, the second terminal device can determine the first terminal device used for locating the second terminal device through the received response information. Furthermore, the second terminal device can also select one or more first terminal devices from the first terminal devices that sent the response information to serve as anchor terminals.

[0150] The following is a detailed description of the content of the request information.

[0151] The first request information can be used to indicate the desired location type for the second terminal device. Details regarding location types can be found in the description above and will not be repeated here.

[0152] In practice, the desired positioning type of the second terminal device can be indicated in the following explicit manner.

[0153] Specifically, the request information may include a location service code, which indicates the first request information. In other words, the location service code indicates the type of location desired by the second terminal device. For details regarding the location service code, please refer to the section above. Figure 3 The relevant descriptions will not be repeated here.

[0154] Furthermore, the second request information is used to indicate the type of the second terminal device. Specifically, the second request information is used to indicate the type of terminal device to which the second terminal device belongs. Details regarding the type of terminal device can be found in the relevant description above and will not be repeated here.

[0155] The second terminal device can inform the first terminal device of its own type through the second request information. The first terminal device can then know the second terminal device's motion status, energy-saving requirements, and whether it has known location information by the type of the second terminal device.

[0156] Specifically, when the type of terminal device to which the second terminal device belongs is RSU, the first terminal device can determine that the second terminal device is stationary and may have known location information; when the type of terminal device to which the second terminal device belongs is VUE, the first terminal device can determine that the first terminal device may be in a high-speed moving state; when the type of terminal device to which the second terminal device belongs is PUE, the first terminal device can determine that the second terminal device is in a low-speed moving state and that the second terminal device has a need for energy saving.

[0157] Furthermore, the moving speed and / or moving direction of the second terminal device can also indicate its motion state. Compared to the relatively coarse representation of the motion state of the second terminal device by the second request information, the moving speed and / or moving direction of the second terminal device allows the first terminal device to obtain a more accurate representation of the second terminal device's motion state. This facilitates a more accurate determination of whether the first terminal device meets the positioning requirements of the second terminal device, enabling the second terminal device to discover anchor terminals that better match its positioning needs.

[0158] In one embodiment of this application, the second terminal device may monitor a positioning reference signal before sending a request message. If a positioning reference signal is detected, the discovery process is not performed, that is, the second terminal device does not send a request message. If a positioning reference signal is not detected, the second terminal device performs the discovery process, that is, it sends a request message. For more information on the second terminal device monitoring the positioning reference signal, please refer to the above section on... Figure 3 The relevant descriptions will not be repeated here.

[0159] In practice, the request information can be sent using any of the following methods:

[0160] Method 1: The second terminal device sends a discovery solicitation message via a direct link. This message carries the aforementioned request information. In other words, the request information is all contained within the discovery notification message.

[0161] Method 2: The second terminal device sends a discovery request message, which includes the aforementioned location service code. This approach helps to save signaling overhead.

[0162] In the specific implementation of S62, the first terminal device can determine whether it meets the positioning requirements of the second terminal device based on the request information.

[0163] In a specific example, if the first terminal device determines that it meets the positioning requirements of the second terminal device, then the first terminal device can determine that it can be used to locate the second terminal device and execute S63. That is, the first terminal device can determine whether it can be used to locate the second terminal device based solely on the request information. In other words, if it determines that it meets the positioning requirements of the second terminal device based on the request information, the first terminal device sends a response information to the second terminal device.

[0164] In another specific example, the first terminal device can also determine whether the link conditions meet the pre-configured access layer standards. That is, if the first terminal device determines, based on the request information, that the positioning requirements of the second terminal device are met and the link conditions meet the pre-configured access layer standards, the first terminal device sends a response message to the second terminal device.

[0165] The following describes a specific implementation method for the first terminal device to determine whether it meets the positioning requirements of the second terminal device.

[0166] Scenario 1: If the second terminal device expects absolute positioning, it needs to select a first terminal device with known location information as the anchor terminal. This first terminal device with known location information can be a terminal device with a fixed location, similar to an RSU, or its known location information can be determined through other positioning methods. Scenario 2: If the second terminal device expects relative positioning, the closer the motion states of the first and second terminal devices are, the greater the matching degree of their expected positioning types, the higher the positioning accuracy, and the greater the likelihood of meeting the positioning requirements. In a specific example, if the types of the first and second terminal devices are the same, then the positioning requirements can be determined to be met. More details on meeting positioning requirements can be found in the above description of S32, and will not be repeated here.

[0167] For more details on step S62, please refer to the description of step S32 above, which will not be repeated here.

[0168] Reference Figure 7 , Figure 7 yes Figure 6 A schematic diagram of data interaction illustrating one specific implementation of the discovery method is shown. Figure 7 The methods shown may include: S71 to S74.

[0169] S71, the second terminal device sends a request message to the first terminal device.

[0170] S72, the first terminal device determines, based on the request information, that it meets the positioning requirements of the second terminal device.

[0171] In the specific implementation of S72, the first terminal device determines whether it meets the positioning requirements of the second terminal device. If it determines that it meets the positioning requirements of the second terminal device, it executes S73. If it determines that it does not meet the positioning requirements of the second terminal device, it does not execute S73.

[0172] S73, the first terminal device sends a response message to the second terminal device. The response message indicates that the first terminal device meets the positioning requirements of the second terminal device; in other words, the response message indicates that the first terminal device sending the response message is a candidate first terminal device.

[0173] S74, the second terminal device determines the first terminal device for locating the second terminal device from the candidate first terminal devices according to the link conditions.

[0174] and Figure 6 The solution shown is different, Figure 7 In the illustrated scheme, the second terminal device determines whether the link conditions meet the access layer standards, while Figure 6 The described scheme involves the first terminal device determining whether the link conditions meet the access layer standards. Regarding... Figure 7 For more information, please refer to the above text. Figure 6 The relevant descriptions will not be repeated here.

[0175] Reference Figure 14 , Figure 14 This is a flowchart illustrating another discovery method in the embodiments of this application. Figure 14 The method shown can be executed by either the first terminal device or the second terminal device. Figure 14 The methods shown may include:

[0176] S141, if the link conditions between the first terminal device and the second terminal device meet the access layer standard, determine that the first terminal device is used to locate the second terminal device.

[0177] In other words, a suitable first terminal device can be identified as an anchor terminal based solely on the link conditions between the first and second terminal devices to assist the second terminal device in positioning. This approach allows for the selection of anchor terminals with favorable link conditions, avoiding positioning failures or inaccurate positioning due to poor link conditions.

[0178] For more information on link conditions and access layer standards, please refer to the section above. Figure 3 and Figure 6 The relevant descriptions will not be repeated here.

[0179] In a specific example, the first terminal device can first determine whether the link conditions between the first terminal device and the second terminal device meet the access layer standard. If the access layer standard is met, the first terminal device can send a response message to the second terminal device.

[0180] Furthermore, the response information may include at least one of the following: the first indication information, the second indication information, the moving speed of the first terminal device, the moving direction of the first terminal device, and the third indication information.

[0181] Furthermore, the second terminal device can determine the anchor terminal based on the response information. More specifically, the second terminal device can determine whether the first terminal device that sent the response information meets the positioning requirements, and select the anchor terminal from the first terminal devices that sent the response information and meet the positioning requirements. For example, one or more first terminal devices with optimal link conditions can be selected as anchor terminals.

[0182] In the second specific example, the second terminal device can first determine whether the link conditions between the first and second terminal devices meet the access layer standards. If the access layer standards are met, it sends a request message to the first terminal device. More specifically, the second terminal device can send a request message to one or more first terminal devices with optimal link conditions. This approach helps to conserve link resources.

[0183] Furthermore, the first terminal device can determine whether the positioning requirements of the second terminal device are met based on the request information. If so, it sends a response message to the second terminal device. Even further, the second terminal device can select anchor terminals from the first terminal devices that sent the response messages. For example, it can select one or more first terminal devices with optimal link conditions as anchor devices.

[0184] As described above, the discovery process can be used to identify anchor terminals to assist in the positioning of target terminals, avoiding the selection of unsuitable anchor UEs and thus failing to achieve the goal of locating the target terminal.

[0185] After determining the anchor point terminal, the following steps (1) to (5) can be executed sequentially to achieve SL positioning.

[0186] Step (1) involves the exchange of positioning capability information, which means that the target terminal and the anchor terminal need to exchange positioning capability information.

[0187] Step (2): The transmitting end sends the configuration information of the positioning reference signal to the receiving end. In specific implementations, the SPRS can be sent by the target terminal or by the anchor terminal. The transmitting end refers to the terminal sending the SPRS, and the receiving end refers to the terminal receiving the SPRS. The configuration information of the SPRS can be determined by the transmitting end itself or configured by the access network equipment of the transmitting end; this embodiment does not impose any restrictions on this.

[0188] Step (3): The sending end sends measurement configuration information to the receiving end.

[0189] Step (4): The receiver measures the positioning reference signal to obtain the measurement result.

[0190] Step (5): Determine the positioning result based on the measurement results. Specifically, a positioning calculation process is performed based on the measurement results to obtain the positioning result, which includes the location information of the target terminal. Both the target terminal and the anchor terminal can perform the positioning calculation process to obtain the positioning result.

[0191] Reference Figure 8 , Figure 8 This is a flowchart illustrating a direct link location method according to an embodiment of this application. Figure 8 As shown, the SL positioning method may include S81 to S88. Figure 8 In the SL positioning method shown, the target terminal sends SPRS, and the anchor terminal receives SPRS.

[0192] S81, Target terminal determines anchor point terminal.

[0193] In practice, the target terminal can execute the above-described discovery process to detect whether there are suitable terminals in the vicinity. For details on the discovery process, please refer to the section above. Figures 1 to 7 The relevant descriptions will not be repeated here.

[0194] S82, the target terminal and the anchor terminal exchange positioning capability information.

[0195] S83, the target terminal sends positioning reference signal configuration information and measurement configuration information to the anchor terminal.

[0196] The configuration information of the positioning reference signal can be determined by the target terminal itself, or it can be configured and distributed by the access network device of the target terminal, and then the target terminal can send the obtained configuration information to the anchor terminal.

[0197] S84, the target terminal sends a positioning reference signal to the anchor terminal.

[0198] S85, the target terminal sends a measurement request to the anchor terminal to trigger the anchor terminal to execute S86.

[0199] S86, the anchor point terminal performs a measurement operation. That is, the anchor point terminal measures the positioning reference signal to obtain the measurement result.

[0200] S87, the anchor terminal sends the measurement results to the target terminal.

[0201] S88, the target terminal determines the positioning result based on the measurement results. Specifically, the target terminal performs a positioning calculation process on the measurement results to obtain the positioning result.

[0202] After executing S81, a reselection of the anchor terminal can also be triggered. In specific implementations, the triggering conditions for retransmitting the anchor terminal can include at least one of the following: the RSRP between the target terminal and the anchor terminal is less than a second preset threshold, or the upper layer instructs the release of the connection between the target terminal and the anchor terminal, or the target terminal releases the connection with the anchor terminal. After the release, the discovery process can be re-executed to determine a new anchor terminal.

[0203] It is understandable that, in specific implementation, the above method can be implemented using a software program that runs in the processor integrated inside the chip or chip module; or, the method can be implemented using hardware or a combination of hardware and software, such as using a dedicated chip or chip module, or using a dedicated chip or chip module combined with a software program.

[0204] Reference Figure 9 , Figure 9 This is a schematic diagram of the structure of the first detection device 90 in the embodiments of this application. Figure 9 The detection device 90 shown can be deployed on the first terminal device described above, and the detection device 90 may include:

[0205] The first sending module 901 is used to send indication information through a direct link. The indication information includes at least one of the following: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device.

[0206] Wherein, the first indication information is used to indicate the positioning type supported by the first terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second indication information is used to indicate the type of the first terminal device;

[0207] Reference Figure 10 , Figure 10 This is a schematic diagram of the structure of the second detection device in the embodiments of this application. Figure 10 The detection device 10 shown can be deployed on the first terminal device described above. The detection device 10 may include:

[0208] The second receiving module 101 is configured to receive indication information via a direct link. The indication information includes at least one of the following: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device. The first indication information is used to indicate the positioning type supported by the first terminal device, and the positioning type includes: absolute positioning and / or relative positioning and / or ranging. The second indication information is used to indicate the type of the first terminal device.

[0209] The second determining module 102 is used to determine, at least based on the request information, that the first terminal device is used to locate the second terminal device.

[0210] Reference Figure 11 , Figure 11 This is a schematic diagram of the structure of the third detection device in the embodiments of this application. Figure 11 The detection device 11 shown can be deployed on the second terminal device described above, and the detection device 11 may include:

[0211] The first receiving module 111 is configured to receive indication information via a direct link. The indication information includes at least one of the following: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device. The first indication information is used to indicate the positioning type supported by the first terminal device, and the positioning type includes: absolute positioning and / or relative positioning and / or ranging. The second indication information is used to indicate the type of the first terminal device.

[0212] The first determining module 112 is used to determine, at least according to the indication information, the first terminal device for locating the second terminal device.

[0213] Reference Figure 12 , Figure 12 This is a schematic diagram of the structure of the fourth detection device in the embodiments of this application. Figure 12 The detection device 12 shown can be deployed on the second terminal device described above, and the detection device 12 may include:

[0214] The second sending module 121 is used to send request information through a direct link. The request information includes at least one of the following: first request information, second request information, the moving speed of the second terminal device, and the moving direction of the second terminal device.

[0215] The first request information is used to indicate the desired positioning type of the second terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second request information is used to indicate the desired type of terminal device of the second terminal device.

[0216] In specific implementation, the aforementioned detection device may correspond to a chip with communication function in the terminal; or to a chip or chip module with communication function in the terminal; or to the terminal itself.

[0217] about Figures 9 to 12 The working process, working principle, and beneficial effects of the discovery device shown can be found in the above text. Figures 1 to 8 The relevant descriptions will not be repeated here.

[0218] This application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is run by a processor, the above-described discovery method is executed. The storage medium may include ROM, RAM, a magnetic disk, or an optical disk, etc. The storage medium may also include non-volatile memory or non-transitory memory, etc.

[0219] Reference Figure 13 , Figure 13 This is a schematic diagram of the structure of a terminal according to an embodiment of this application. The terminal can be either the first terminal device described above or the second terminal device described above. Figure 13 The terminal shown includes a memory 131 and a processor 132, which are coupled together. The memory 131 can be located inside or outside the terminal. The memory 131 and the processor 132 can be connected via a communication bus. The memory 131 stores a computer program that can run on the processor 132. When the processor 132 runs the computer program, it performs the steps in the discovery method provided in the above embodiments. The terminal can be a mobile phone, computer, tablet computer, vehicle terminal, wearable device, etc., but is not limited to these.

[0220] It should be understood that in the embodiments of this application, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0221] It should also be understood that the memory or storage medium in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0222] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0223] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0224] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and other division methods may exist in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0225] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0226] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0227] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0228] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article indicates that the preceding and following related objects have an "or" relationship.

[0229] In the embodiments of this application, "multiple" refers to two or more.

[0230] The descriptions of "first," "second," etc., appearing in the embodiments of this application are for illustrative purposes and to distinguish the objects being described. They have no order and do not indicate any special limitation on the number of devices in the embodiments of this application, nor do they constitute any limitation on the embodiments of this application.

[0231] In this application, the term "connection" refers to various connection methods, such as direct connection or indirect connection, to achieve communication between devices. This application does not impose any limitations on this.

[0232] While this application discloses the above information, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of this application; therefore, the scope of protection of this application shall be determined by the scope defined in the claims.

Claims

1. A discovery method, characterized in that, The method is applied to a first terminal device and includes: Sending indication information via a direct link, the indication information includes: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device; sending the indication information via the direct link includes: sending a discovery notification message via the direct link, the discovery notification message carrying the indication information; the indication information further includes: third indication information, the third indication information being used to indicate that the first terminal device is sending a positioning reference signal. Wherein, the first indication information is used to indicate the positioning type supported by the first terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second indication information is used to indicate the type of the first terminal device.

2. The discovery method according to claim 1, characterized in that, The first indication information includes: the absolute location information of the first terminal device, wherein the first indication information indicates that the positioning type supported by the first terminal device includes: absolute positioning.

3. The discovery method according to claim 1, characterized in that, The indication information includes: a location service code, which is used to indicate the first indication information.

4. A discovery method, characterized in that, The method is applied to a second terminal device, including: Receiving indication information via a direct link, the indication information includes: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device, wherein the first indication information is used to indicate the positioning type supported by the first terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging; the second indication information is used to indicate the type of the first terminal device; receiving the indication information via the direct link includes: receiving a discovery notification message via the direct link, the discovery notification message carrying the indication information; the indication information further includes: third indication information, the third indication information being used to indicate that the first terminal device is sending a positioning reference signal; Based at least on the indicated information, a first terminal device for locating the second terminal device is determined.

5. The discovery method according to claim 4, characterized in that, The first indication information includes: the absolute location information of the first terminal device, wherein the first indication information indicates that the positioning type supported by the first terminal device includes: absolute positioning.

6. The discovery method according to claim 4, characterized in that, The indication information includes: a location service code, which is used to indicate the first indication information.

7. The discovery method according to claim 4, characterized in that, Before receiving the indication information via the direct link, the method further includes: Monitor positioning reference signals; Receiving the indication information via a direct link includes receiving the indication information when the positioning reference signal is not detected.

8. The discovery method according to claim 4, characterized in that, Based at least on the indicated information, the first terminal device used for locating the second terminal device includes: Based on the indicated information and / or the link conditions between the second terminal device and the first terminal device, the first terminal device for locating the second terminal device is determined.

9. The discovery method according to claim 8, characterized in that, The quality of the reference signal received between the first terminal device and the second terminal device used for locating the second terminal device is greater than or equal to a first preset threshold.

10. The discovery method according to claim 8, characterized in that, The reference signal receiving power between the first terminal device and the second terminal device used for locating the second terminal device is greater than or equal to a second preset threshold.

11. The discovery method according to claim 8, characterized in that, The direct link between the first terminal device and the second terminal device used for locating the second terminal device is a line-of-sight path.

12. The discovery method according to claim 4 or 8, characterized in that, Based at least on the indicated information, the first terminal device used for locating the second terminal device includes: Based on the received instruction information, a candidate first terminal device is determined. The candidate first terminal device is the first terminal device whose positioning requirements are met by the instruction information.

13. A discovery method, characterized in that, The method is applied to a first terminal device and includes: Receiving request information via a direct link, the request information includes: first request information, second request information, the moving speed of the second terminal device, and the moving direction of the second terminal device, wherein the first request information is used to indicate the desired positioning type of the second terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second request information is used to indicate the desired type of terminal device of the second terminal device; receiving request information via the direct link includes: receiving a discovery request message via the direct link, the discovery request message carrying the request information; Based at least on the request information, it is determined that the first terminal device is used to locate the second terminal device; The response information is sent via the direct link, and the response information is used to instruct the first terminal device to locate the second terminal device; the response information includes: third indication information, which is used to instruct the first terminal device to send a positioning reference signal.

14. The discovery method according to claim 13, characterized in that, The request information includes: a location service code, which is used to indicate the first request information.

15. The discovery method according to claim 13, characterized in that, Based at least on the request information, it is determined that the first terminal device is used to locate the second terminal device: Based on the request information and / or the link conditions between the second terminal device and the first terminal device, it is determined that the first terminal device is used to locate the second terminal device.

16. The discovery method according to claim 15, characterized in that, The quality of the reference signal received between the first terminal device and the second terminal device used for locating the second terminal device is greater than or equal to a first preset threshold.

17. The discovery method according to claim 15, characterized in that, The reference signal receiving power between the first terminal device and the second terminal device used for locating the second terminal device is greater than or equal to a second preset threshold.

18. The discovery method according to claim 15, characterized in that, The direct link between the first terminal device and the second terminal device used for locating the second terminal device is a line-of-sight path.

19. The discovery method according to claim 13 or 15, characterized in that, The step of determining, at least based on the request information, that the first terminal device is used to locate the second terminal device includes: Based on the request information, it is determined that the first terminal device meets the positioning requirements of the second terminal device.

20. A discovery method, characterized in that, The method is applied to a second terminal device, including: Sending request information via a direct link, the request information including: first request information, second request information, the moving speed of the second terminal device, and the moving direction of the second terminal device; sending request information via the direct link includes: sending a discovery request message via the direct link, the discovery request message carrying the request information; Wherein, the first request information is used to indicate the positioning type desired by the second terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second request information is used to indicate the type of terminal device desired by the second terminal device; The response information is received via the direct link, and the response information is used to instruct the first terminal device to locate the second terminal device; the response information includes: third indication information, which is used to instruct the first terminal device to send a positioning reference signal.

21. The discovery method according to claim 20, characterized in that, The request information includes: a location service code, which is used to indicate the first request information.

22. The discovery method according to claim 20, characterized in that, Before sending the request information via the direct link, the method further includes: Monitor positioning reference signals; Sending request information via a direct link includes: sending the request information via a direct link when the positioning reference signal is not detected.

23. The discovery method according to claim 20, characterized in that, The method further includes: The response information is received through the direct link, and the response information is used to instruct the first terminal device to meet the positioning requirements of the second terminal device. Based on the response information and / or the link conditions between the second terminal device and the first terminal device, a first terminal device for locating the second terminal device is determined.

24. A detection device, characterized in that, include: The first sending module is used to send indication information via a direct link. The indication information includes: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device. Sending the indication information via the direct link includes sending a discovery notification message via the direct link, the discovery notification message carrying the indication information. The indication information also includes: third indication information, the third indication information being used to indicate that the first terminal device is sending a positioning reference signal. Wherein, the first indication information is used to indicate the positioning type supported by the first terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second indication information is used to indicate the type of the first terminal device.

25. A detection device, characterized in that, include: A first receiving module is configured to receive indication information via a direct link. The indication information includes: first indication information, second indication information, the moving speed of the first terminal device, and the moving direction of the first terminal device. The first indication information indicates the positioning type supported by the first terminal device, including absolute positioning and / or relative positioning and / or ranging. The second indication information indicates the type of the first terminal device. Receiving the indication information via the direct link includes receiving a discovery notification message, which carries the indication information. The indication information further includes: third indication information, which indicates that the first terminal device is sending a positioning reference signal. The first determining module is used to determine, at least based on the indication information, the first terminal device for locating the second terminal device.

26. A detection device, characterized in that, The device includes: The second receiving module is configured to receive request information via a direct link. The request information includes: first request information, second request information, the moving speed of the second terminal device, and the moving direction of the second terminal device. The first request information indicates the desired positioning type of the second terminal device, which includes absolute positioning and / or relative positioning and / or ranging. The second request information indicates the desired type of terminal device. Receiving the request information via the direct link includes receiving a discovery request message, which carries the request information. The second determining module is used to determine, at least based on the request information, that the first terminal device is used to locate the second terminal device; The discovery device also sends response information through the direct link, the response information being used to instruct the first terminal device to locate the second terminal device; the response information includes: third indication information, the third indication information being used to instruct the first terminal device to send a positioning reference signal.

27. A detection device, characterized in that, include: The second sending module is used to send request information via a direct link. The request information includes: first request information, second request information, the moving speed of the second terminal device, and the moving direction of the second terminal device. Sending the request information via the direct link includes sending a discovery request message via the direct link, wherein the discovery request message carries the request information. Wherein, the first request information is used to indicate the positioning type desired by the second terminal device, the positioning type including: absolute positioning and / or relative positioning and / or ranging, and the second request information is used to indicate the type of terminal device desired by the second terminal device; The discovery device is also configured to receive response information via the direct link, the response information being used to instruct the first terminal device to locate the second terminal device; the response information includes: third indication information, the third indication information being used to instruct the first terminal device to send a positioning reference signal.

28. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is run by the processor, the discovery method according to any one of claims 1 to 23 is executed.

29. A terminal comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor runs the computer program, it performs the steps of the discovery method according to any one of claims 1 to 3 or 13 to 19, or the discovery method according to any one of claims 4 to 12 or 20 to 23.

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