SL-PRS sending method, device and equipment for direct link positioning

Abstract

The invention discloses an SL-PRS sending method, device and equipment for straight-through link positioning. The method comprises the following steps: acquiring an initial information set; determining a candidate resource set based on the initial information set; performing resource exclusion on the candidate resource set to obtain an available resource set; and selecting a resource on the available resource set for sending the PSCCH and the SL-PRS, wherein the PSCCH carries the SCI for scheduling the SL-PRS. Thus, the basic granularities of the time domain and the frequency domain after transformation are considered, and a resource selection scheme suitable for the straight-through link of the basic granularities of the time domain and the frequency domain after transformation is given, so that effective communication and positioning between terminal devices by using the straight-through link after the basic granularities of the time domain and / or the frequency domain are transformed become possible.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a method, device and equipment for sending sidelink positioning reference signals (SL-PRS) for sidelink (also called sidelink) positioning. Background Art

[0002] Sidelink is one of the communication methods used between terminal devices. When a terminal device needs to communicate with other terminal devices through Sidelink, you need to configure Sidelink resources first, and then use the configured Sidelink resources to implement Sidelink-based communication with other terminal devices.

[0003] Currently, in the resource selection mechanism of Sidelink, the basic granularity is based on time slots in the time domain and on subchannels in the frequency domain, and it is not applicable to the determination of SL-PRS resources after the basic granularity of the time domain and / or frequency domain changes. Summary of the invention

[0004] The present application provides a SL-PRS sending method, apparatus and device for direct link positioning, which fully considers the characteristics of the basic granularity after the time domain and / or frequency domain changes in the Sidelink resource determination mechanism, and can select reasonable Sidelink resources, so that the positioned SL-PRS resources are more accurate and efficient, improve the flexibility of resource selection, and reduce the complexity of processing, thereby making it possible to use SL for effective communication and positioning.

[0005] In a first aspect, the present application provides a method for sending an SL-PRS for direct link positioning, the method comprising:

[0006] Get the initial information set;

[0007] Determining a candidate resource set based on the initial information set;

[0008] Eliminate resources from the candidate resource set to obtain an available resource set;

[0009] Resources are selected on the available resource set for sending a physical sidelink control channel (PSCCH) and a sidelink positioning reference signal SL-PRS, wherein the PSCCH carries sidelink control information (SCI) for scheduling the SL-PRS.

[0010] Optionally, the method for determining the candidate resource set includes at least one of the following:

[0011] The candidate resource set is any single candidate resource R that can be used for the SL-PRS transmission within the resource selection window. x,y,m,n The resource set R x,y,m,n It is represented as follows: in the time slot indicated by y, the frequency domain is composed of L consecutive subchannels or resource blocks (RBs), indexed by x+i, i=0,1,…,L-1, in the time slot indicated by y, M symbols are continuously occupied, indexed by m+j, j=0,1,…,M-1, L is the number of subchannels or RBs used for SL-PRS transmission in a time slot, and x is the number of R x,y,m,n The index of the starting subchannel or RB in the frequency domain, where n is the comb offset mode index in the frequency domain, n=0, 1, ..., N-1;

[0012] The candidate resource set is any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,m,n The resource set R y,m,n It is represented as follows: in the time slot indicated by y, M symbols are continuously occupied, the index is m+j, j=0, 1, ..., M-1, and n is the comb offset mode index in the frequency domain, n=0, 1, ..., N-1;

[0013] The candidate resource set is any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,ID The resource set R y,ID It is represented as, in the time slot indicated by y, the SL-PRS resource (resource) corresponding to the resource identifier (Identifier, ID), the resource ID is the SL-PRS resource ID corresponding to any SL-PRS resource with a number of symbols greater than or equal to M in the time domain, or the ID is the SL-PRSresource ID corresponding to the SL-PRS resource with a number of symbols greater than or equal to M in the time domain and consistent with the SL-PRS pattern (pattern) in the frequency domain, multiple SL-PRS resources are configured in each time slot in the resource pool, and each SL-PRS resource corresponds to one SL-PRS resource ID;

[0014] Among them, y is the index of the time slot of the single candidate resource in the time domain, M is the time domain symbol of the single candidate resource used for SL-PRS transmission in a time slot, m is the starting symbol index of the single candidate resource in the slot, N is the comb size, and the SL-PRS pattern information is a high-level parameter configuration or pre-configuration.

[0015] Optionally, excluding resources from the candidate resource set to obtain an available resource set includes:

[0016] Excluding the first candidate resource from the candidate resource set to obtain a first resource set;

[0017] If the ratio of the number of resources in the first resource set to the number of resources in the candidate resource set is less than a first threshold, excluding a second candidate resource from the candidate resource set to obtain a second resource set;

[0018] If the ratio of the number of resources in the first resource set to the number of resources in the candidate resource set is greater than or equal to the first threshold, excluding the second candidate resource from the first resource set to obtain a third resource set;

[0019] If the ratio of the number of resources in the second resource set to the number of resources in the candidate resource set is less than the second threshold, or the ratio of the number of resources in the third resource set to the number of resources in the candidate resource set is less than the second threshold, then increase the threshold value and return to the step of excluding the first candidate resource from the candidate resource set;

[0020] If the ratio of the number of resources in the second resource set to the number of resources in the candidate resource set is greater than or equal to the second threshold, or the ratio of the number of resources in the third resource set to the number of resources in the candidate resource set is greater than or equal to the second threshold, then the second resource set or the third resource set is recorded as the available resource set.

[0021] Optionally, when no slots in the sensing window are being monitored When assuming that in the slot A PSCCH is received, the PSCCH carries an SCI, the SCI indicates a resource reservation period, the resource reservation period is any configuration value of the supported period in the resource pool, and the SCI also indicates that the SL-PRS occupies the slot All SL-PRS time-frequency resources or PSCCH in the slot If all SL-PRS time-frequency resources in are associated, then the method for determining the first candidate resource includes at least one of the following methods:

[0022] In the slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0023] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0024] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0025] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0026] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0027] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0028] When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in the slot The same PSCCH or SCI is received on the

[0029] Optionally, the condition for excluding the second candidate resource according to resource reservation occupancy of other devices further includes at least one of the following conditions:

[0030] In slot A PSCCH sent by other devices is received, the PSCCH carries an SCI, and the SCI indicates an SL-PRS resource reservation period and / or a priority for receiving the SL-PRS;

[0031] In slot The reference signal received power (RSRP) measured on the UE is higher than the threshold value, and the threshold value is determined by the priority of receiving the SL-PRS and the priority of sending the SL-PRS.

[0032] Optionally, the method for determining the second candidate resource includes at least one of the following methods:

[0033] In the slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0034] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0035] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0036] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0037] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0038] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0039] When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in the slot The same PSCCH or SCI is received on the

[0040] Optionally, selecting resources on the available resource set for sending a physical direct link control channel PSCCH and a direct link positioning reference signal SL-PRS includes:

[0041] Selecting a target SL-PRS resource from the set of available resources;

[0042] According to a preset mapping relationship, a target PSCCH resource corresponding to the target SL-PRS resource is determined in a PSCCH candidate resource set, the SL-PRS is sent on the target SL-PRS resource, and the PSCCH is sent on the target PSCCH resource.

[0043] Optionally, in the mapping relationship, each PSCCH resource is associated with one or more SL-PRS resources.

[0044] Optionally,

[0045] If the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to the same frequency domain resource position, and the SCI includes time domain position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission;

[0046] and / or,

[0047] If the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to a different frequency domain resource position, and the SCI includes time-frequency resource position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission.

[0048] Optionally, the method further comprises:

[0049] Before sending the PSCCH and the SL-PRS, the sidelink channel occupancy ratio (SL-CR) and / or the sidelink channel busy ratio (SL-CBR) are measured on the target time slot, where the target time slot is the time slot obtained by subtracting the congestion control processing time from the time slot used for PSCCH and SL-PRS transmission.

[0050] Optionally, the SL-CR measurement method includes at least one of the following methods:

[0051] The total number of SL-PRS resources occupied by transmission in the time slot interval [n'-a, n'-1] and reserved for authorization in the time slot interval [n', n'+b] is divided by the total number of SL-PRS resources included in the transmission resource pool in the time slot interval [n'-a, n'+b];

[0052] The number of target measurement granularities occupied by transmission in the time slot interval [n'-a, n'-1] and authorized reservation in the time slot interval [n', n'+b] is divided by the total number of target measurement granularities included in the sending resource pool in the time slot interval [n'-a, n'+b], wherein the target measurement granularity occupies one or more orthogonal frequency division multiplexing (Orthogonal Frequency-Division Multiplexing, OFDM) symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of resource elements (Resource Elements, REs) on one or more resource blocks RB or one or more subchannels determined according to a comb-offset pattern;

[0053] The total number of PSCCH candidate resources occupied by transmission in the time slot interval [n'-a, n'-1] and reserved for authorization in the time slot interval [n', n'+b] is divided by the total number of PSCCH candidate resources included in the time slot interval [n'-a, n'+b];

[0054] Wherein, the n' corresponds to the target time slot.

[0055] Optionally, the SL-CBR is calculated in at least one of the following ways:

[0056] In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the ratio of the number of SL-PRS resources corresponding to the sidelink received signal strength indicator (SL-RSSI) measurement result exceeding the third threshold to the total number of SL-PRS resources in the measurement window, and the SL-RSSI is the linear mean of the received power corresponding to the RE occupied by the SL-PRS resources;

[0057] In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the number of target measurement granularities whose SL-RSSI measurement results exceed the third threshold value accounts for the proportion of the total number of target measurement granularities in the measurement window, and the SL-RSSI is the linear mean of the received power corresponding to the REs occupied by the target measurement granularity, wherein the target measurement granularity occupies one or more OFDM symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of REs on one or more RBs or one or more subchannels determined according to the comb-offset pattern;

[0058] In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the ratio of the number of PSCCH candidate resources corresponding to the SL-RSSI or SL-RSPR measurement result exceeding the fourth threshold to the total number of PSCCH candidate resources in the measurement window, wherein the SL-RSSI is the linear mean of the received power corresponding to the RE occupied by the PSCCH resource, and the SL-RSRP is the RSPR of the PSCCH;

[0059] Wherein, the n' corresponds to the target time slot.

[0060] In a second aspect, the present application also provides an SL-PRS sending device for direct link positioning, including:

[0061] An acquisition unit, used for acquiring an initial information set;

[0062] A determination unit, configured to determine a candidate resource set based on the initial information set;

[0063] An obtaining unit, configured to exclude resources from the candidate resource set to obtain an available resource set;

[0064] A selection unit is used to select resources on the available resource set for sending PSCCH and SL-PRS, wherein the PSCCH carries the SCI for scheduling the SL-PRS.

[0065] Optionally, the method for determining the candidate resource set includes at least one of the following:

[0066] The candidate resource set is any single candidate resource R that can be used for the SL-PRS transmission within the resource selection window. x,y,m,n The resource set R x,y,m,n It is represented as follows: in the slot indicated by y, the frequency domain is composed of L consecutive subchannels or resource blocks RB, indexed by x+i, i=0,1,…,L-1, in the time slot indicated by y, it occupies M symbols continuously, indexed by m+j, j=0,1,…,M-1, L is the number of subchannels or RBs used for SL-PRS transmission in a time slot, and x is the number of R x,y,m,n The index of the starting subchannel or RB in the frequency domain, where n is the comb offset mode index in the frequency domain, n=0, 1, ..., N-1;

[0067] The candidate resource set is any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,m,n The resource set R y,m,n It is represented as follows: in the time slot indicated by y, M symbols are continuously occupied, the index is m+j, j=0, 1, ..., M-1, and n is the comb offset mode index in the frequency domain, n=0, 1, ..., N-1;

[0068] The candidate resource set is any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,ID The resource set R y,ID It is represented as, in the time slot indicated by y, the SL-PRSresource corresponding to the resource ID, the resource ID is the SL-PRSresourceID corresponding to any SL-PRSresource with a symbol number greater than or equal to M in the time domain, or the ID is the SL-PRSresourceID corresponding to the SL-PRS resource with a symbol number greater than or equal to M in the time domain and consistent with the SL-PRSpattern in the frequency domain, multiple SL-PRSresources are configured in each time slot in the resource pool, and each SL-PRSresource corresponds to one SL-PRSresourceID;

[0069] Among them, y is the index of the time slot of the single candidate resource in the time domain, M is the time domain symbol used for SL-PRS transmission of the single candidate resource in a time slot, m is the starting symbol index of the single candidate resource in the slot, N is the comb size, and the SL-PRSpattern information is a high-level parameter configuration or pre-configuration.

[0070] Optionally, the obtaining unit includes:

[0071] A first obtaining subunit, configured to exclude a first candidate resource from the candidate resource set to obtain a first resource set;

[0072] A first exclusion subunit, configured to exclude a second candidate resource from the candidate resource set to obtain a second resource set if a ratio of the number of resources in the first resource set to the number of resources in the candidate resource set is less than a first threshold;

[0073] a second exclusion subunit, configured to exclude second candidate resources from the first resource set to obtain a third resource set if the ratio of the number of resources in the first resource set to the number of resources in the candidate resource set is greater than or equal to the first threshold;

[0074] a processing subunit, configured to increase the threshold value and return to the step of excluding the first candidate resource from the candidate resource set if the ratio of the number of resources in the second resource set to the number of resources in the candidate resource set is less than a second threshold, or the ratio of the number of resources in the third resource set to the number of resources in the candidate resource set is less than the second threshold;

[0075] The second acquisition sub-unit is used to record the second resource set or the third resource set as the available resource set if the ratio of the number of resources in the second resource set to the number of resources in the candidate resource set is greater than or equal to the second threshold, or the ratio of the number of resources in the third resource set to the number of resources in the candidate resource set is greater than or equal to the second threshold.

[0076] Optionally, when there is no listener sensing window slot When assuming that in the slot A PSCCH is received, the PSCCH carries an SCI, the SCI indicates a resource reservation period, the resource reservation period is any configuration value of the supported period in the resource pool, and the SCI also indicates that the SL-PRS occupies the slot All SL-PRS time-frequency resources or PSCCH in the slot If all SL-PRS time-frequency resources in are associated, then the method for determining the first candidate resource includes at least one of the following methods:

[0077] In the slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0078] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0079] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0080] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0081] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0082] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0083] When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in the slot The same PSCCH or SCI is received on the

[0084] Optionally, the condition for excluding the second candidate resource according to resource reservation occupancy of other devices further includes at least one of the following conditions:

[0085] In slot A PSCCH sent by other devices is received, the PSCCH carries an SCI, and the SCI indicates an SL-PRS resource reservation period and / or a priority for receiving the SL-PRS;

[0086] In slot The RSRP measured on the UE is higher than the threshold value, and the threshold value is determined by the priority of receiving the SL-PRS and the priority of sending the SL-PRS.

[0087] Optionally, the method for determining the second candidate resource includes at least one of the following methods:

[0088] In the slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0089] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0090] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0091] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0092] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0093] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0094] When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in the slot The same PSCCH or SCI is received on the

[0095] Optionally, the selection unit includes:

[0096] A selection subunit, configured to select a target SL-PRS resource from the set of available resources;

[0097] A determination subunit is used to determine a target PSCCH resource corresponding to the target SL-PRS resource in a PSCCH candidate resource set according to a preset mapping relationship, send the SL-PRS on the target SL-PRS resource, and send the PSCCH on the target PSCCH resource.

[0098] Optionally, in the mapping relationship, each PSCCH resource is associated with one or more SL-PRS resources.

[0099] Optionally,

[0100] If the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to the same frequency domain resource position, and the SCI includes time domain position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission;

[0101] and / or,

[0102] If the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to a different frequency domain resource position, and the SCI includes time-frequency resource position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission.

[0103] Optionally, the device further comprises:

[0104] A measuring unit is used to measure the SL-CR and / or SL-CBR on a target time slot before sending the PSCCH and the SL-PRS, where the target time slot is a time slot obtained by subtracting a congestion control processing time from a time slot used for PSCCH and SL-PRS transmission.

[0105] Optionally, the SL-CR measurement method includes at least one of the following methods:

[0106] The total number of SL-PRS resources occupied by transmission in the time slot interval [n'-a, n'-1] and reserved for authorization in the time slot interval [n', n'+b] is divided by the total number of SL-PRS resources included in the transmission resource pool in the time slot interval [n'-a, n'+b];

[0107] The number of target measurement granularities occupied by transmission in the time slot interval [n'-a, n'-1] and authorized reservation in the time slot interval [n', n'+b] is divided by the total number of target measurement granularities included in the sending resource pool in the time slot interval [n'-a, n'+b], wherein the target measurement granularity occupies one or more OFDM symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of REs on one or more RBs or one or more subchannels determined according to the comb-offset pattern;

[0108] The total number of PSCCH candidate resources occupied by transmission in the time slot interval [n'-a, n'-1] and reserved for authorization in the time slot interval [n', n'+b] is divided by the total number of PSCCH candidate resources included in the time slot interval [n'-a, n'+b];

[0109] Wherein, the n' corresponds to the target time slot.

[0110] Optionally, the SL-CBR is calculated in at least one of the following ways:

[0111] In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the SL-RSSI measurement result exceeds the ratio of the number of SL-PRS resources corresponding to the third threshold to the total number of SL-PRS resources in the measurement window, and the through link received signal strength indication SL-RSSI is the linear mean of the received power corresponding to the RE occupied by the SL-PRS resources;

[0112] In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the number of target measurement granularities whose SL-RSSI measurement results exceed the third threshold value accounts for the proportion of the total number of target measurement granularities in the measurement window, and the SL-RSSI is the linear mean of the received power corresponding to the REs occupied by the target measurement granularity, wherein the target measurement granularity occupies one or more OFDM symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of REs on one or more resource blocks RB or one or more subchannels determined according to the comb-offset pattern;

[0113] In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the SL-RSSI or the direct link reference signal received power SL-RSPR measurement result exceeds the ratio of the number of PSCCH candidate resources corresponding to the fourth threshold to the total number of PSCCH candidate resources in the measurement window, wherein the SL-RSSI is the linear mean of the received power corresponding to the REs occupied by the PSCCH resources, and the SL-RSRP is the RSPR of the PSCCH;

[0114] Wherein, the n' corresponds to the target time slot.

[0115] It should be noted that the implementation method of the device provided in the second aspect corresponds to the implementation method of the method provided in the first aspect. For specific description, please refer to the relevant description of the first aspect above.

[0116] In a third aspect, the present application further provides a terminal device, the terminal device comprising a processor and a memory:

[0117] The memory is used to store programs;

[0118] The processor is used to execute the method provided in the first aspect according to the program.

[0119] In a fourth aspect, the present application further provides a storage medium, wherein the storage medium is used to store a program, and the program runs on a processor to execute the method provided in the first aspect above.

[0120] It can be seen that this application has the following beneficial effects:

[0121] The present application provides a method for sending SL-PRS for direct link positioning, which may include: obtaining an initial information set; determining a candidate resource set based on the initial information set; performing resource exclusion on the candidate resource set to obtain an available resource set; selecting resources on the available resource set for sending a physical direct link control channel PSCCH and a direct link positioning reference signal SL-PRS, wherein the PSCCH carries direct link control information SCI for scheduling the SL-PRS. It can be seen that the method solves the problem that the basic granularity of the time domain and the frequency domain in the current Sidelink resource selection mechanism is respectively the time slot and the subchannel, and the resource allocation after the basic granularity of the time domain and / or the frequency domain is not applicable. In the SL-PRS sending process for Sidelink positioning, the basic granularity of the time domain and the frequency domain after the transformation is considered, and the SL-PRS sending scheme for Sidelink positioning applicable to the basic granularity of the time domain and the frequency domain after the transformation is given, so that after the basic granularity of the time domain and / or the frequency domain is transformed, it becomes possible to use Sidelink for effective communication and positioning between terminal devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0122] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0123] Figure 1 A schematic diagram of a flow chart of a method for sending SL-PRS for direct link positioning in an embodiment of the present application;

[0124] Figure 2 A schematic diagram of a comb-offset pattern in an embodiment of the present application;

[0125] Figure 3 A schematic diagram of a possible implementation of S103 in an embodiment of the present application;

[0126] Figure 4 A schematic diagram of the one-to-one correspondence between PSCCH resources and SL-PRS resources in an embodiment of the present application;

[0127] Figure 5 This is a schematic diagram of one-to-many PSCCH resources and SL-PRS resources in an embodiment of the present application;

[0128] Figure 6 A schematic diagram of frequency domain resources for sending PSCCH in an embodiment of the present application;

[0129] Figure 7A schematic diagram of the target measurement particle size in the embodiment of the present application;

[0130] Figure 8 It is a structural diagram of an SL-PRS sending device 800 for direct link positioning in an embodiment of the present application;

[0131] Fig. 9 It is a structural diagram of a terminal device 900 in an embodiment of the present application. DETAILED DESCRIPTION

[0132] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. In addition, it should be noted that, for ease of description, only the parts related to the present application are shown in the accompanying drawings, not all structures.

[0133] Currently, in Sidelink resource allocation, the basic granularity in the time domain is the time slot, and the basic granularity in the frequency domain is the subchannel. For Sidelink positioning, since the structure of time-division multiplexing (TDM) of multiple users in the same slot is already supported, the basic granularity in the time domain is no longer a time slot; in the frequency domain, since the frequency domain bandwidth of SL-PRS may be less than or equal to the resource pool bandwidth. Therefore, in Sidelink positioning, the basic granularity of the time domain and / or frequency domain will change, resulting in the current resource allocation mechanism cannot be directly applied to the changed scenario.

[0134] Based on this, the embodiment of the present application provides a method for sending SL-PRS for Sidelink positioning, which can adaptively adjust the selection mechanism of Sidelink resources according to the basic granularity after the time domain and / or frequency domain transformation. In specific implementation, the method may include: obtaining an initial information set; determining a candidate resource set based on the initial information set; performing resource exclusion on the candidate resource set to obtain an available resource set; selecting resources on the available resource set for sending PSCCH and SL-PRS, and the PSCCH carries the SCI for scheduling SL-PRS. In this way, in the process of sending SL-PRS for Sidelink positioning, the basic granularity of the time domain and frequency domain after the transformation is considered, and a SL-PRS sending scheme for Sidelink positioning suitable for the basic granularity of the time domain and frequency domain after the transformation is given, so that after the basic granularity of the time domain and / or frequency domain is transformed, it becomes possible to use Sidelink for effective communication and positioning between terminal devices, which solves the problem that the basic granularity of the time domain and frequency domain in the current Sidelink resource selection mechanism is time slot and subchannel respectively, and the resource allocation after the basic granularity of the time domain and / or frequency domain is not applicable. In addition, in the embodiments of the present application, the high requirements of Sidelink positioning for latency and reliability are taken into consideration, and the designed SL-PRS sending method for Sidelink positioning is more efficient and has a lower resource collision rate, which can improve the reception and measurement success rate of SL-PRS.

[0135] It should be noted that the subject of the SL-PRS sending method for implementing the direct link positioning can be the SL-PRS sending device for direct link positioning provided in the embodiment of the present application, and the SL-PRS sending device for direct link positioning can be carried in a terminal device or a functional module of the terminal device. The terminal device mentioned above can be any device that can implement the SL-PRS sending method for direct link positioning in the embodiment of the present application, for example, the terminal device can be a smart phone, a vehicle-mounted terminal, etc.

[0136] It should be noted that when each terminal device has the need to communicate with other terminal devices via Sidelink, the terminal device can serve as the first terminal device in the embodiment of the present application, and the other party can serve as the second terminal device, executing the method provided in the embodiment of the present application to determine the resources for sending PSCCH and SL-PRS when communicating with the other party via Sidelink.

[0137] To facilitate understanding of the specific implementation of the SL-PRS sending method for through link positioning provided in the embodiment of the present application, it will be described below with reference to the accompanying drawings.

[0138] Figure 1A schematic diagram of a SL-PRS sending method for direct link positioning provided in an embodiment of the present application. Figure 1 As shown, the method can be applied to a first terminal device, and is suitable for determining the resources for sending PSCCH and SL-PRS when the first terminal device communicates with the second terminal device via Sidelink when the first terminal device needs to communicate with the second terminal device via Sidelink.

[0139] like Figure 1 As shown, the method may include, for example, S101 to S104:

[0140] S101, obtaining an initial information set.

[0141] The initial information set refers to the information required for the first terminal device and the second terminal device to perform SL communication, including but not limited to resource pool configuration information and / or transmission parameter information, etc. The initial information set can be a high-level (media access control (MAC) layer or radio resource control (RRC) layer, etc.) configuration of the first terminal device, a base station configuration, a high-level indication, predefined or preconfigured.

[0142] As an example, the initial information set may include at least one of the following information: (1) resource pool information, (2) layer 1 (Layer 1, L1) priority, (3) remaining positioning delay budget, (4) number of subchannels L used for SL-PRS transmission in a slot, (5) time domain symbols M used for SL-PRS transmission in a slot, (6) SL-PRS frequency domain pattern information in a slot, (7) SL-PRS resource reservation interval, (8) resource set to be re-evaluated or preempted, (9) resource selection mechanism indication, and (10) starting symbol index m of a single candidate resource in the slot.

[0143] When the SL-PRS bandwidth is equal to the resource pool bandwidth, the initial information set may not include the above (4).

[0144] The pattern information in (6) may include at least one of the following information: comb size N, supported comb offset configuration information.

[0145] The resource selection mechanism indication in (9) may include full sensing, partial sensing, random resource selection, and any combination thereof.

[0146] In some implementations, the initial information set may be information for PSCCH and / or PSSCH transmission provided by a higher layer of the first terminal device to a physical layer at the moment of resource selection triggering.

[0147] It can be seen that the first terminal device acquires the initial information set based on S101, which provides a reliable data basis for the subsequent positioning of resources for SL-PRS transmission. S101 may be, for example, an operation performed by the physical layer of the first terminal device.

[0148] S102: Determine a candidate resource set based on the initial information set.

[0149] The candidate resource set can be understood as an initialization candidate resource set determined in a resource pool or a resource selection window, which is used for subsequent resource exclusion to determine an available resource set. In the embodiment of the present application, the following three possible ways of determining a candidate resource set are provided.

[0150] In a first possible implementation manner, the candidate resource set determined in S102 is: any single candidate resource R that can be used for the SL-PRS transmission within the resource selection window. x,y,m,n The resource collection that constitutes R x,y,m,n Indicated as, in the slot indicated by y In the frequency domain, it is composed of L consecutive sub-channels or RBs, indexed by x+i, i=0,1,…,L-1, in the slot indicated by y , M symbols are occupied continuously, the index is m+j, j=0,1,…,M-1, the L is the number of subchannels or RBs used for SL-PRS transmission in a time slot, the x is the R x,y,m,n Corresponding to the index of the starting subchannel or RB in the frequency domain, the n is the comb-offset pattern index adopted in the frequency domain, n=0, 1, ..., N-1.

[0151] In a second possible implementation, the candidate resource set determined in S102 is: any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,m,n The resource collection that constitutes R y,m,n Indicated as, in the slot indicated by y In the example, M symbols are occupied continuously, and the index is m+j, j=0, 1, ..., M-1, and n is the comb-offset pattern index in the frequency domain, n=0, 1, ..., N-1. It should be noted that in this implementation, the SL-PRS bandwidth is equal to the resource pool bandwidth, or the SL-PRS bandwidth is less than the resource pool bandwidth, but there is only one SL-PRS bandwidth in the entire resource pool.

[0152] In a third possible implementation, the candidate resource set determined in S102 is: any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,ID The resource collection that constitutes R y,ID Indicated as, in the slot indicated by y The SL-PRS resource corresponding to the resource ID, the resource ID is the SL-PRS resourceID corresponding to the MSL-PRSresource in the time domain, or the resource ID is the SL-PRSresourceID corresponding to any SL-PRSresource whose number of symbols in the time domain is greater than or equal to M, or the ID is the SL-PRS resourceID corresponding to the SL-PRSresource whose number of symbols in the time domain is equal to M and is consistent with the SL-PRSpattern in the frequency domain, or the ID is the SL-PRSresourceID corresponding to the SL-PRSresource whose number of symbols in the time domain is greater than or equal to M and is consistent with the SL-PRSpattern in the frequency domain, and multiple SL-PRSresources are configured in each time slot in the resource pool, and each SL-PRSresource corresponds to one SL-PRSresourceID.

[0153] In the above three possible implementations, y is the number of slots in which the single candidate resource is located. The time slot index on the SL-PRS is M, the time domain symbol of the single candidate resource used for SL-PRS transmission in a slot, m is the starting symbol index of the single candidate resource in the slot, N is the comb size, and the SL-PRS pattern information is configured by high-level parameters or pre-configured.

[0154] For SL-PRSresource, it can be understood that: an SL-PRS resource refers to the time-frequency resources used for an SL-PRS transmission in a slot in the positioning dedicated resource pool; an SL-PRS resource is associated with at least one of the following characteristics: SL-PRS resource ID, SL-PRScomb-offset and related SL-PRScombsize, SL-PRS starting symbol position and number of symbols, SL-PRS frequency domain allocation, and other time domain information; in a slot in the positioning dedicated resource pool, an SL-PRS resource can be identified by a unique SL-PRS resource ID.

[0155] The comb-offset pattern information of the SL-PRS frequency domain can be understood as: the PRS frequency domain pattern is the comb-shaped size adopted by the PRS and the starting position in each RB on each time domain symbol, etc., which may specifically include but are not limited to: comb size, the starting mapping RE position on each RB of the starting symbol, and the mapping offset comb-offset of the RE granularity on each symbol. Figure 2 For the terminal device 1 shown on the left side of FIG, comb size = 4, the starting mapping RE position on each RB of the starting symbol is index = 0, and the comb-offset pattern on each symbol = {0, 2, 1, 3}; Figure 2 For the terminal device 2 shown on the right side, repeated mapping is performed on each symbol, and it is only necessary to know the RE mapping position in each RB in the frequency domain.

[0156] As an example, S102 may also include:

[0157] S1021, assuming that the resource selection window [n+T1, n+T2] includes M total single candidate resources, where n is the trigger SL-PRS resource selection time slotn, 0≤T1≤T proc,1 , T proc,1 It is a variable that changes with the sub-carrier spacing (SCS) configuration, as shown in Table 1 below:

[0158] Table 1

[0159]

[0160] See Table 1, μ SL Indicates SCS, Indicates the number of slots that should be available as SCS changes. For example, when μ SL =1, Can be equal to 5 slots.

[0161] For the value of T2, if T 2min ≤ the remaining positioning delay budget, then the first terminal device is in the following interval T 2min ≤T2≤ the remaining positioning delay budget, and determine the value of T2. 2min Determined by high-level parameters, otherwise, T2 = the remaining positioning delay budget.

[0162] S1022, determine the perception window is Among them, T0 is determined by high-level parameters, T proc,0 It is a variable that changes with the SCS configuration, as shown in Table 2 below:

[0163] Table 2

[0164]

[0165]

[0166] See Table 2, μ SL Indicates SCS, Indicates the number of slots that should be available as SCS changes. For example, when μ SL =1, Can be equal to 1 slot.

[0167] The first terminal device should monitor all remaining slots in the positioning dedicated resource pool except its own sending slot in the perception window, perform PSCCH decoding and RSRP measurement.

[0168] S1023, according to the high-level parameters, determine the priority pairs of different SL-PRSs to be sent and received, thereby determining the corresponding RSRP threshold Th(p i ,p j ), Th(p i ,p j ) corresponds to the ith value of the RSRP threshold high-level parameter, where i = p i +(p j -1)*8,p i is the priority of receiving SL-PRS, p j The priority of sending SL-PRS.

[0169] S1024, set S A Initialize to all M total A single candidate resource.

[0170] It can be seen that the first terminal device determines the candidate resource set according to S102, and is ready for subsequent resource exclusion and resource selection. S102 may be, for example, an operation performed by the physical layer of the first terminal device.

[0171] S103: Eliminate resources from the candidate resource set to obtain an available resource set.

[0172] In some implementations, such as Figure 3 As shown, S103 may include, for example:

[0173] S1031, excluding a first candidate resource from the candidate resource set to obtain a first resource set;

[0174] S1032, determining whether the ratio of the number of resources in the first resource set to the number of resources in the candidate resource set is less than a first threshold, if so, executing S1033, otherwise executing S1034;

[0175] S1033, excluding the second candidate resource from the candidate resource set, obtaining the second resource set, and executing S1035;

[0176] S1034, excluding the second candidate resource from the first resource set, obtaining a third resource set, and executing S1035;

[0177] S1035, determining whether the ratio of the number of resources in the second resource set to the number of resources in the candidate resource set is less than a second threshold, or whether the ratio of the number of resources in the third resource set to the number of resources in the candidate resource set is less than a second threshold, if so, executing S1036, otherwise executing S1037;

[0178] S1036, increase the threshold value and return to execute S1031 or S1033;

[0179] S1037: Record the second resource set or the third resource set as the available resource set.

[0180] The first threshold and the second threshold may be the same or different, and are not specifically limited in the embodiments of the present application.

[0181] The increased threshold value in S1036 may be a value that increases a preset value (such as 3 decibels (dB)) based on the original threshold value, and may be calculated, for example, by the following formula: Th(p i ,p j )=Th(p i ,p j )+3dB.

[0182] In this way, during the process of resource allocation performed by the first terminal device, the first candidate resources without monitoring and / or the second candidate resources reserved by other terminal devices can be excluded to obtain a reasonable and accurate set of available resources.

[0183] As an example, when there is no listener in the sense window slot When , assuming that in slot A PSCCH is received, which carries an SCI, which indicates a resource reservation period, which is any configuration value of the supported period in the resource pool, and which also indicates that the SL-PRS occupies the slot All SL-PRS time-frequency resources or PSCCH and slot If all SL-PRS time-frequency resources in are associated, then the method for determining the first candidate resource may include at least one of the following six methods:

[0184] Method 1: In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0185] Method 2: In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,n is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0186] Method 3: In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0187] Method 4: In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0188] Method 5: In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0189] Method 6: In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0190] Where q=1,2,3,...,Q, if P rsvp_RX <T scal And n'-m ≤ P' rsvp_RX ,but Otherwise, Q = 1. Among them, P rsvp_RX T is the period of receiving SL-PRS (unit: millisecond, msec), scal The value of the resource selection window size T2 converted to msec; if slotn belongs to a slot in a dedicated resource pool, then otherwise, It is the first slot after slot n that belongs to the dedicated resource pool. j = 0, 1, 2, ..., C resel -1, C resel Determined by high-level parameter configuration.

[0191] It should be noted that, if there are multiple first candidate resources, then excluding the first candidate resource from the candidate resource set may refer to excluding at least one first candidate resource from the multiple first candidate resources from the candidate resource set.

[0192] The first terminal device performs the following steps to exclude the second candidate resource according to the resource reservation occupancy of other devices, except Figure 3 In addition to the conditions shown, at least one of the following conditions may also be included:

[0193] Condition 1, in slot The PSCCH sent by other devices is received on the PSCCH, the PSCCH carries the SCI, and the SCI indicates the SL-PRS resource reservation period P rsvp_RX and / or the priority of receiving SL-PRS RX ;

[0194] Condition 2, in slot The RSRP measured on the i ,p j ), threshold value Th(p i ,p j ) is determined by the priority level of the received SL-PRS RX and the priority of sending SL-PRS prio TX The measured RSRP may be the RSRP of the PSCCH or the RSRP of the SL-PRS.

[0195] As another example, the manner of determining the second candidate resource may include at least one of the following six manners:

[0196] Method 1: In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0197] Method 2: In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,nis the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0198] Method 3: In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0199] Method 4: In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0200] Method 5: In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0201] Method 6: In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource. When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in slot The same PSCCH or SCI is received on the

[0202] Where q=1,2,3,...,Q, if P rsvp_RX <T scalAnd n'-m ≤ P' rsvp_RX ,but Otherwise, Q = 1. Among them, P rsvp_RX T is the period of receiving SL-PRS (unit: millisecond, msec), scal The value of the resource selection window size T2 converted to msec; if slotn belongs to a slot in a dedicated resource pool, then otherwise, It is the first slot after slot n that belongs to the dedicated resource pool. j = 0, 1, 2, ..., C resel -1, C resel Determined by high-level parameter configuration.

[0203] It should be noted that if there are multiple second candidate resources, then excluding second candidate resources from the candidate resource set may refer to excluding at least one second candidate resource from the multiple second candidate resources from the candidate resource set; similarly, excluding second candidate resources from the first resource set may refer to excluding at least one second candidate resource from the multiple second candidate resources from the first resource set.

[0204] It should be noted that, among the various methods for determining the first candidate resource and the second candidate resource, method 1, method 3 and method 5 take into account retransmission and periodic reservation, but method 2, method 4 and method 6 only take into account periodic reservation and do not involve retransmission.

[0205] It can be seen that the first terminal device determines the available resource set according to S103, and is ready for subsequent resource selection. S103 may be, for example, an operation performed by the physical layer of the first terminal device.

[0206] S104, selecting resources on the available resource set for sending PSCCH and SL-PRS, wherein the PSCCH carries the SCI for scheduling the SL-PRS.

[0207] It can be understood that the available resources in the available resource set in S103 are all available resources for sending SL-PRS, and a mapping relationship is maintained on the first terminal device, in which each PSCCH resource is associated with one or more SL-PRS resources. In this way, S104 may include, for example: first, selecting a target SL-PRS resource from the available resource set; then, according to a preset mapping relationship, determining a target PSCCH resource corresponding to the target SL-PRS resource in the PSCCH candidate resource set, sending SL-PRS on the target SL-PRS resource, and sending PSCCH on the target PSCCH resource.

[0208] The mapping relationship between resources used to send PSCCH and resources used to send SL-PRS may be a one-to-one mapping relationship or a one-to-many mapping relationship.

[0209] For a one-to-one mapping relationship, when the SL-PRS bandwidth is equal to the resource pool bandwidth or there is only one SL-PRS bandwidth in the resource pool, and only TDM or comb-based frequency division multiplexing (comb-based FDM) is supported in a single slot, the PSCCH resources directly correspond to the SL-PRS resource ID corresponding to the SL-PRS resource. Figure 4 As shown, the frequency domain candidate resources of PSCCH are mapped one by one to the SL-PRS resources, wherein the time-frequency resource configuration of PSCCH is based on the resource pool configuration or pre-configuration, and the starting symbol position of PSCCH is predefined by the protocol. The PSCCH frequency domain resources can be divided according to the number N of SL-PRS resources contained in the slot to ensure that at least N PSCCH frequency domain candidate resources are included; when corresponding, the PSCCH frequency domain candidate resource index can be made to correspond to the SL-PRSresource ID from small to large in sequence (i.e., the physical resource block (PRB) index or the sub-channel index from low to high), and each PSCCH frequency domain candidate resource includes one or more sub-channels (or PRBs). Still as Figure 4 As shown, each slot contains 8 SL-PRS resources, and the corresponding SL-PRSresources IDs are 1, 2, 3, ..., 8. At this time, the 8 PSCCH frequency domain candidate resources should be determined to correspond to the 8 SL-PRS resources in the PSCCH resource part. Then, the first PSCCH candidate resource is associated with the SL-PRS resource with SL-PRS resourcesID = 1, the second PSCCH candidate resource is associated with the SL-PRS resource with SL-PRS resource ID = 2, and so on. The eighth PSCCH candidate resource is associated with the SL-PRS resource with SL-PRSresourceID = 8. It should be noted that if there are redundant PSCCH frequency domain candidate resources, they can only be left blank and cannot be used additionally. Figure 4In the present invention, automatic gain control (AGC) symbols may be introduced between PSCCH frequency domain candidate resources and SL-PRS resources, AGC symbols and / or guard period (GP) symbols may be introduced between adjacent SL-PRS resources, and the slot may also include guard period symbols.

[0210] The one-to-many mapping relationship can be understood based on the following (1) to (7):

[0211] (1) The first terminal device sends PSCCH and SL-PRS in the positioning dedicated resource pool, where a) PSCCH carries control information (belonging to SCI), which is used to schedule SL-PRS; b) the resource mapping position of PSCCH is associated with the time-frequency resource configuration information of SL-PRS.

[0212] (2) The resources occupied by PSCCH belong to the fourth resource set in the positioning dedicated resource pool, and the resources occupied by SL-PRS belong to the fifth resource set in the positioning dedicated resource pool, wherein a) the fourth resource set corresponds to consecutive TimeResourcePSCCH symbols in each slot in the positioning dedicated resource pool in the time domain, TimeResourcePSCCH is configured or pre-configured by high-level parameters, and the starting symbol position of the fourth resource set in any slot is predefined by the protocol, and the fourth resource set corresponds to consecutive N_S first frequency domain granularities (which may be related to the scheduling granularity of PSCCH) in the frequency domain, and the frequency domain starting position is configured or pre-configured by high-level parameters, and the first frequency domain granularity can be one or multiple subchannels, or, the first frequency domain granularity may also be one or more PRBs; b) the fifth resource set in the time domain is the remaining available (excluding the last time interval (GAP) symbol of the slot and / or the GAP symbol between the fourth resource set and the fifth resource set) time domain resources in any slot in the positioning dedicated resource pool after excluding the resources occupied by the fourth resource set, including a total of M consecutive first time domain granularities, and the fifth resource set in the frequency domain is all frequency domain resources corresponding to the positioning dedicated resource pool (or the fifth resource set in the frequency domain is N_P consecutive second frequency domain granularities (which may be related to the frequency domain scheduling granularity of SL-PRS), the frequency domain starting position is configured or pre-configured by high-level parameters, or is consistent with the frequency domain starting position of the first resource set).

[0213] (3) Based on the above (2), a) PSCCH occupies continuous TimeResourcePSCCH symbols in the time domain, and occupies one or more first frequency domain granularities in the PSCCH frequency domain; b) SL-PRS occupies one or more continuous first time domain granularities in the time domain, and SL-PRS occupies one or more second frequency domain granularities in the frequency domain.

[0214] (4) Based on b) in the above (1), wherein, a) the PSCCH and the SL-PRS are in the same slot in the time domain, b) the available resource set in the frequency domain of the PSCCH corresponding to the SL-PRS is determined according to the resources occupied by the SL-PRS corresponding to the first time-domain granularity index information i (0 ≤ i < M) and the second frequency-domain granularity index information j (0 ≤ j < N_P) in its slot. For example, the specific association method in the frequency domain can be: in the fourth resource set corresponding to the slot where the PSCCH is located by the first terminal device, the first frequency-domain granularity set with the index range of [(i + j * M) * z, (i + 1 + j * M) * z - 1] in N_S first frequency-domain granularities is allocated to the SL-PRS resource subset corresponding to the index information (i, j). Each pair (i, j) corresponds to an SL-PRS resource subset. When allocating, it starts from the ascending order of i and continues with the ascending order of j. Wherein, z = N_S / (M * N_P) first frequency-domain granularities, and N_S can be an integer multiple of M * N_P. As an example, z can be greater than or equal to the comb-offset_Num.

[0215] (5) Based on b) in the above (4), the determination method of the number N_A of available resources of the PSCCH (or the first frequency-domain resource granularity) in the available resource set in the frequency domain of the PSCCH corresponding to the SL-PRS is configured by a high-layer parameter or pre-configured. Wherein, the available resource set of the PSCCH is only associated with the starting SL-PRS resource subset, and the available resource set in the frequency domain can include N_A = z available resources of the PSCCH (or the first frequency-domain resource granularity).

[0216] (6) Based on b) and (5) in the above (4), after determining the frequency domain available resource set, the PSCCH available resources (or the first frequency domain resource granularity) can be determined based on the first terminal device's own ID information carried in the PSCCH, the comb offset index (comb-offset_index) information, the code division multiplexing (Code Division Multiplexing, CDM) information and at least one item of N_A, and the index information PSCCH_index in the frequency domain available resource set is used to send the PSCCH. Among them, a) PSCCH_index = (comb-offset_index)Mod(N_A), b) PSCCH_index = (K+comb-offset_index)Mod(N_A), K is sourceID, c) PSCCH_index = (K)Mod(N_A), K is source ID, d) PSCCH_index = (K+CDM)Mod(N_A), K is sourceID, e) PSCCH_index = (K+comb-offset_index+CDM)Mod(N_A), K is sourceID.

[0217] (7) Based on a) in (1) above, the control information may include but is not limited to at least one of the following: priority information, number of SL-PRS time domain symbols, SL-PRS frequency domain comb information, SL-PRS starting symbol position information, SL-PRS frequency domain bandwidth information, comb-offset information, period, communication type (e.g., unicast, multicast or broadcast), source ID information, destination ID information, SL-PRS time domain resource location information, and SL-PRS frequency domain resource location information.

[0218] In the above one-to-many mapping relationship, the corresponding relationship between PSCCH resources and SL-PRS resources can be found in Figure 5 shown.

[0219] In some implementations, after S104 is executed, the Sidelink needs to meet at least one of the following two conditions: Condition 1, if the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to the same frequency domain resource position, and the SCI includes time domain resource position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission; Condition 2, if the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to a different frequency domain resource position, and the SCI includes time-frequency resource position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission.

[0220] For example, see Figure 6 , terminal device 1 sends PSCCH and SL-PRS on slot 1, and reserves SL-PRS transmission on slot 2. It can be determined that the frequency domain resources for terminal device 1 to send PSCCH on slot 1 and slot 2 can be exactly the same, such as Figure 6 As shown on the left; if terminal device 1 sends PSCCH and SL-PRS on slot 1 and reserves SL-PRS transmission on slot 2, the frequency domain resources for terminal device 1 to send PSCCH may be different on slot 1 and slot 2. Then, it is necessary to indicate the PSCCH resource location information or SL-PRS resource location information for the reserved retransmission or periodic transmission in the SCI, such as Figure 6 As shown on the right. It should be noted that Figure 6 The gray filled content is used to indicate the resources occupied by terminal device 1 to send PSCCH and SL-PRS. The resource set used to send PSCCH and SL-PRS is in Figure 6 Marked as PSCCHresourceset and SL-PRSresourceset.

[0221] It can be seen that through Figure 1 The method shown solves the problem that the basic granularities of the time domain and frequency domain in the current Sidelink resource selection mechanism are time slots and subchannels respectively, and the resource allocation cannot be applied after the basic granularity of the time domain and / or frequency domain changes. In the SL-PRS sending process of Sidelink positioning, the basic granularity of the time domain and frequency domain after the change is taken into consideration, and an SL-PRS sending scheme for Sidelink positioning suitable for the basic granularity of the time domain and frequency domain after the change is given, so that after the basic granularity of the time domain and / or frequency domain changes, it becomes possible to use Sidelink for effective communication between terminal devices.

[0222] In some possible implementations, the method provided in the embodiment of the present application may further include: before sending the PSCCH and the SL-PRS, measuring the SL-CR and / or SL-CBR on the target time slot, wherein the target time slot is the time slot obtained by subtracting the congestion control processing time from the time slot used for PSCCH and SL-PRS transmission. For example, the first terminal device selects resources on slotn for PSCCH and SL-PRS transmission, and before sending the PSCCH and SL-PRS, measures the SLCR and SLCBR on slotn-N, where N is the congestion control processing time.

[0223] As an example, the SL-CR measurement method includes at least one of the following methods:

[0224] Method 1: the total number of SL-PRS resources occupied by transmission in the time slot interval [n'-a, n'-1] and authorized reservation in the time slot interval [n', n'+b] is divided by the total number of SL-PRS resources included in the sending resource pool in the time slot interval [n'-a, n'+b];

[0225] Mode 2: the number of target measurement granularities occupied by transmission in the time slot interval [n'-a, n'-1] and authorized reservation in the time slot interval [n', n'+b] is divided by the total number of target measurement granularities included in the sending resource pool in the time slot interval [n'-a, n'+b], wherein the target measurement granularity occupies one or more orthogonal frequency division multiplexing OFDM symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of resource elements REs on one or more resource blocks RB or one or more subchannels determined according to the comb-offset pattern comb-offset pattern;

[0226] Method 3: the total number of PSCCH candidate resources occupied by transmission in the time slot interval [n'-a, n'-1] and reserved for authorization in the time slot interval [n', n'+b] is divided by the total number of PSCCH candidate resources included in the time slot interval [n'-a, n'+b];

[0227] In the above three methods, the n' corresponds to the target time slot. The above a is a positive integer, the above b is 0 or a positive integer, and the values ​​of a and b depend on the implementation of the first terminal device, but must satisfy a+b+1=WindowSize, and WindowSize can be specifically determined by high-level parameters and is related to the perception window size of SL-PRS resource allocation. In addition, it should be ensured that: (1) b < (a+b+1) / 2, (2) n+b should not exceed the time corresponding to the last transmission opportunity of the current transmission.

[0228] As an example, the SL-CBR measurement method includes at least one of the following methods:

[0229] Method 1: In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the SL-RSSI measurement result exceeds the ratio of the number of SL-PRS resources corresponding to the third threshold to the total number of SL-PRS resources in the measurement window, and the SL-RSSI is the linear mean of the received power corresponding to the REs occupied by the SL-PRS resources;

[0230] Mode 2: In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the number of target measurement granularities whose SL-RSSI measurement results exceed the third threshold value accounts for the proportion of the total number of target measurement granularities in the measurement window, and the SL-RSSI is the linear mean of the received power corresponding to the REs occupied by the target measurement granularity, wherein the target measurement granularity occupies one or more OFDM symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of REs on one or more resource blocks RB or one or more subchannels determined according to the comb offset pattern comb-offsetpattern;

[0231] Mode three, in the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the SL-RSSI or the direct link SL-RSPR measurement result exceeds the fourth threshold corresponding to the number of PSCCH candidate resources in the measurement window The proportion of the total number of PSCCH candidate resources, wherein the SL-RSSI is the linear mean of the received power corresponding to the RE occupied by the PSCCH resource, and the SL-RSRP is the RSPR of the PSCCH;

[0232] In the above three methods, n' corresponds to the target time slot. a is equal to 100 slots or 100·2 μ slots, or,can be determined based on high-level parameters.

[0233] The target measurement granularity in measuring SL-CR and SL-CBR can be understood as: taking two symbols 1 and 2 in the time domain, 10 PRBs in the frequency domain, and combsize = 2 as an example, see Figure 7As shown, symbol 1 and symbol 2 contain two target measurement granularities, and different comb-offset patterns are used, so comb-based FDM can be used on the same time domain resources. It should be noted that the number of time domain symbols can be configured or pre-configured by a high-level layer, or can be predetermined by a protocol, and can specifically be a positive integer greater than or equal to 1; the number of frequency domain bandwidth RBs or the number of subchannels can be configured or pre-configured by a high-level layer, and can specifically be a positive integer greater than or equal to 1, or can be predetermined by a protocol that the frequency domain bandwidth is equal to the resource pool bandwidth. In addition, the comb-offset pattern of the target measurement granularity at different time domain positions can also be different, and the corresponding comb-offset pattern can be used according to the specific configuration.

[0234] In this way, in the resource selection mechanism of the direct link provided in the embodiment of the present application, on the one hand, the SL-PRS resource allocation problem is solved according to the SL-PRS call at the symbol level; on the other hand, a variety of design methods for single candidate resources are provided, respectively targeting different application scenarios and constraints, which not only ensures the resource utilization and the flexibility of the mechanism, but also takes into account the requirements of corresponding complexity; on the one hand, according to the change of the SL-PRS time-frequency structure, the corresponding CR and CBR measurement methods are redesigned, which provides a reliable basis for the control of Sidelink communication between terminal devices (especially congestion control).

[0235] It should be noted that the above embodiments are all based on the first terminal device as the execution subject, and introduce how to implement the selection of SL-PRS resources and PSCCH resources in the Sidelink resources when the first terminal device has the need to use Sidelink communication with the second terminal device. When other terminal devices have the need to use Sidelink communication with other terminal devices, this method can also be executed. For details, see Figure 1 In the embodiment shown, for example, when the second terminal device has a need to communicate with the first terminal device using Sidelink, the second terminal device can also serve as the executor of the method and select resources to be used for Sidelink communication with the first terminal device. Specifically, the first terminal device and the second terminal device in each step of the above method are replaced, and the second terminal device executes the specific embodiment of the method as the second terminal device.

[0236] Accordingly, the embodiment of the present application also provides a SL-PRS sending device 800 for direct link positioning, such as Figure 8 The apparatus 800 is applied to a first terminal device and includes:

[0237] An acquisition unit 801 is used to acquire an initial information set;

[0238] A determining unit 802 is configured to determine a candidate resource set based on the initial information set;

[0239] An obtaining unit 803 is used to exclude resources from the candidate resource set to obtain an available resource set;

[0240] The selection unit 804 is configured to select resources on the available resource set for sending PSCCH and SL-PRS, wherein the PSCCH carries the SCI for scheduling the SL-PRS.

[0241] Optionally, the method for determining the candidate resource set includes at least one of the following:

[0242] The candidate resource set is any single candidate resource R that can be used for the SL-PRS transmission within the resource selection window. x,y,m,n The resource set R x,y,m,n It is represented as follows: in the slot indicated by y, the frequency domain is composed of L consecutive subchannels or resource blocks RB, indexed by x+i, i=0,1,…,L-1, in the time slot indicated by y, it occupies M symbols continuously, indexed by m+j, j=0,1,…,M-1, L is the number of subchannels or RBs used for SL-PRS transmission in a time slot, and x is the number of R x,y,m,n The index of the starting subchannel or RB in the frequency domain, where n is the comb offset mode index in the frequency domain, n=0, 1, ..., N-1;

[0243] The candidate resource set is any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,m,n The resource set R y,m,n It is represented as follows: in the time slot indicated by y, M symbols are continuously occupied, the index is m+j, j=0, 1, ..., M-1, and n is the comb offset mode index in the frequency domain, n=0, 1, ..., N-1;

[0244] The candidate resource set is any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,ID The resource set R y,IDIt is represented as, in the time slot indicated by y, the SL-PRSresource corresponding to the resource ID, the resource ID is the SL-PRSresourceID corresponding to any SL-PRSresource with a symbol number greater than or equal to M in the time domain, or the ID is the SL-PRSresourceID corresponding to the SL-PRS resource with a symbol number greater than or equal to M in the time domain and consistent with the SL-PRSpattern in the frequency domain, multiple SL-PRSresources are configured in each time slot in the resource pool, and each SL-PRSresource corresponds to one SL-PRSresourceID;

[0245] Among them, y is the index of the time slot of the single candidate resource in the time domain, M is the time domain symbol used for SL-PRS transmission of the single candidate resource in a time slot, m is the starting symbol index of the single candidate resource in the slot, N is the comb size, and the SL-PRSpattern information is a high-level parameter configuration or pre-configuration.

[0246] Optionally, the obtaining unit 803 includes:

[0247] A first obtaining subunit, configured to exclude a first candidate resource from the candidate resource set to obtain a first resource set;

[0248] A first exclusion subunit, configured to exclude a second candidate resource from the candidate resource set to obtain a second resource set if a ratio of the number of resources in the first resource set to the number of resources in the candidate resource set is less than a first threshold;

[0249] a second exclusion subunit, configured to exclude second candidate resources from the first resource set to obtain a third resource set if the ratio of the number of resources in the first resource set to the number of resources in the candidate resource set is greater than or equal to the first threshold;

[0250] a processing subunit, configured to increase the threshold value and return to the step of excluding the first candidate resource from the candidate resource set if the ratio of the number of resources in the second resource set to the number of resources in the candidate resource set is less than a second threshold, or the ratio of the number of resources in the third resource set to the number of resources in the candidate resource set is less than the second threshold;

[0251] The second acquisition sub-unit is used to record the second resource set or the third resource set as the available resource set if the ratio of the number of resources in the second resource set to the number of resources in the candidate resource set is greater than or equal to the second threshold, or the ratio of the number of resources in the third resource set to the number of resources in the candidate resource set is greater than or equal to the second threshold.

[0252] Optionally, when there is no listener sensing window slot When assuming that in the slot A PSCCH is received, the PSCCH carries an SCI, the SCI indicates a resource reservation period, the resource reservation period is any configuration value of the supported period in the resource pool, and the SCI also indicates that the SL-PRS occupies the slot All SL-PRS time-frequency resources or PSCCH in the slot If all SL-PRS time-frequency resources in are associated, then the method for determining the first candidate resource includes at least one of the following methods:

[0253] In the slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0254] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0255] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0256] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0257] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0258] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0259] When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in the slot The same PSCCH or SCI is received on the

[0260] Optionally, the condition for excluding the second candidate resource according to resource reservation occupancy of other devices further includes at least one of the following conditions:

[0261] In slot A PSCCH sent by other devices is received, the PSCCH carries an SCI, and the SCI indicates an SL-PRS resource reservation period and / or a priority for receiving the SL-PRS;

[0262] In slot The RSRP measured on the UE is higher than the threshold value, and the threshold value is determined by the priority of receiving the SL-PRS and the priority of sending the SL-PRS.

[0263] Optionally, the method for determining the second candidate resource includes at least one of the following methods:

[0264] In the slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0265] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,n is the first candidate resource;

[0266] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0267] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource;

[0268] In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0269] In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource;

[0270] When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in the slot The same PSCCH or SCI is received on the

[0271] Optionally, the selection unit 804 includes:

[0272] A selection subunit, configured to select a target SL-PRS resource from the set of available resources;

[0273] A determination subunit is used to determine a target PSCCH resource corresponding to the target SL-PRS resource in a PSCCH candidate resource set according to a preset mapping relationship, send the SL-PRS on the target SL-PRS resource, and send the PSCCH on the target PSCCH resource.

[0274] Optionally, in the mapping relationship, each PSCCH resource is associated with one or more SL-PRS resources.

[0275] Optionally,

[0276] If the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to the same frequency domain resource position, and the SCI includes time domain position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission;

[0277] and / or,

[0278] If the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to a different frequency domain resource position, and the SCI includes time-frequency resource position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission.

[0279] Optionally, the device 800 further includes:

[0280] A measuring unit is used to measure the SL-CR and / or SL-CBR on a target time slot before sending the PSCCH and the SL-PRS, where the target time slot is a time slot obtained by subtracting a congestion control processing time from a time slot used for PSCCH and SL-PRS transmission.

[0281] Optionally, the SL-CR measurement method includes at least one of the following methods:

[0282] The total number of SL-PRS resources occupied by transmission in the time slot interval [n'-a, n'-1] and reserved for authorization in the time slot interval [n', n'+b] is divided by the total number of SL-PRS resources included in the transmission resource pool in the time slot interval [n'-a, n'+b];

[0283] The number of target measurement granularities occupied by transmission in the time slot interval [n'-a, n'-1] and authorized reservation in the time slot interval [n', n'+b] is divided by the total number of target measurement granularities included in the sending resource pool in the time slot interval [n'-a, n'+b], wherein the target measurement granularity occupies one or more OFDM symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of REs on one or more RBs or one or more subchannels determined according to the comb-offset pattern;

[0284] The total number of PSCCH candidate resources occupied by transmission in the time slot interval [n'-a, n'-1] and reserved for authorization in the time slot interval [n', n'+b] is divided by the total number of PSCCH candidate resources included in the time slot interval [n'-a, n'+b];

[0285] Wherein, the n' corresponds to the target time slot.

[0286] Optionally, the SL-CBR is calculated in at least one of the following ways:

[0287] In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the SL-RSSI measurement result exceeds the ratio of the number of SL-PRS resources corresponding to the third threshold to the total number of SL-PRS resources in the measurement window, and the through link received signal strength indication SL-RSSI is the linear mean of the received power corresponding to the RE occupied by the SL-PRS resources;

[0288] In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the number of target measurement granularities whose SL-RSSI measurement results exceed the third threshold value accounts for the proportion of the total number of target measurement granularities in the measurement window, and the SL-RSSI is the linear mean of the received power corresponding to the REs occupied by the target measurement granularity, wherein the target measurement granularity occupies one or more OFDM symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of REs on one or more resource blocks RB or one or more subchannels determined according to the comb-offset pattern;

[0289] In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the SL-RSSI or the direct link reference signal received power SL-RSPR measurement result exceeds the ratio of the number of PSCCH candidate resources corresponding to the fourth threshold to the total number of PSCCH candidate resources in the measurement window, wherein the SL-RSSI is the linear mean of the received power corresponding to the REs occupied by the PSCCH resources, and the SL-RSRP is the RSPR of the PSCCH;

[0290] Wherein, the n' corresponds to the target time slot.

[0291] It should be noted that the specific implementation method of the device 800 and the technical effects achieved can be found in Figure 1 The relevant description in the method shown.

[0292] In addition, the present application embodiment also provides a terminal device 900, such as Fig. 9 As shown, the terminal device 900 includes a processor 901 and a memory 902:

[0293] The memory 902 is used to store programs;

[0294] The processor 901 is used to execute according to the program Figure 1 The method provided.

[0295] In addition, an embodiment of the present application further provides a storage medium, which is used to store a program, and the program runs on a processor to execute the method provided by the embodiment of the present application.

[0296] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here. In addition, the "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally represents that the objects associated with each other are in an "or" relationship.

[0297] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0298] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for system embodiments and device embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device and system embodiments described above are merely schematic, in which the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0299] The above is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. It should be noted that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A method for sending SL-PRS for direct link positioning, characterized in that: include: Get the initial information set; Determining a candidate resource set based on the initial information set; Eliminate resources from the candidate resource set to obtain an available resource set; Selecting resources on the available resource set for sending a physical direct link control channel PSCCH and a direct link positioning reference signal SL-PRS, wherein the PSCCH carries direct link control information SCI for scheduling the SL-PRS.

2. The method according to claim 1, characterized in that The method for determining a candidate resource set includes at least one of the following: The candidate resource set is any single candidate resource R that can be used for the SL-PRS transmission within the resource selection window. x,y,m,n The resource set R x,y,m,n It is represented as follows: in the time slot indicated by y, the frequency domain is composed of L consecutive subchannels or resource blocks RB, indexed by x+i, i=0,1,…,L-1, in the time slot indicated by y, M symbols are continuously occupied, indexed by m+j, j=0,1,…,M-1, L is the number of subchannels or RBs used for SL-PRS transmission in a time slot, and x is the number of R x,y,m,n The index of the starting subchannel or RB in the frequency domain, where n is the comb offset mode index in the frequency domain, n=0, 1, ..., N-1; The candidate resource set is any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,m,n The resource set R y,m,n It is represented as follows: in the time slot indicated by y, M symbols are continuously occupied, the index is m+j, j=0, 1, ..., M-1, and n is the comb offset mode index in the frequency domain, n=0, 1, ..., N-1; The candidate resource set is any single candidate resource R that can be used for SL-PRS transmission within the resource selection window. y,ID The resource set R y,ID It is represented as, in the time slot indicated by y, the SL-PRSresource corresponding to the resource ID, the resource ID is the SL-PRSresourceID corresponding to any SL-PRSresource with a symbol number greater than or equal to M in the time domain, or the ID is the SL-PRSresourceID corresponding to the SL-PRS resource with a symbol number greater than or equal to M in the time domain and consistent with the SL-PRSpattern in the frequency domain, multiple SL-PRSresources are configured in each time slot in the resource pool, and each SL-PRSresource corresponds to one SL-PRSresourceID; Among them, y is the index of the time slot of the single candidate resource in the time domain, M is the time domain symbol used for SL-PRS transmission of the single candidate resource in a time slot, m is the starting symbol index of the single candidate resource in the slot, N is the comb size, and the SL-PRSpattern information is a high-level parameter configuration or pre-configuration.

3. The method according to claim 1 or 2, characterized in that: The step of excluding resources from the candidate resource set to obtain an available resource set includes: Excluding the first candidate resource from the candidate resource set to obtain a first resource set; If the ratio of the number of resources in the first resource set to the number of resources in the candidate resource set is less than a first threshold, excluding a second candidate resource from the candidate resource set to obtain a second resource set; If the ratio of the number of resources in the first resource set to the number of resources in the candidate resource set is greater than or equal to the first threshold, excluding the second candidate resource from the first resource set to obtain a third resource set; If the ratio of the number of resources in the second resource set to the number of resources in the candidate resource set is less than the second threshold, or the ratio of the number of resources in the third resource set to the number of resources in the candidate resource set is less than the second threshold, then increase the threshold value and return to the step of excluding the first candidate resource from the candidate resource set; If the ratio of the number of resources in the second resource set to the number of resources in the candidate resource set is greater than or equal to the second threshold, or the ratio of the number of resources in the third resource set to the number of resources in the candidate resource set is greater than or equal to the second threshold, then the second resource set or the third resource set is recorded as the available resource set.

4. The method according to claim 3, characterized in that When there is no listener in the slot in the perception window When assuming that in the slot A PSCCH is received, the PSCCH carries an SCI, the SCI indicates a resource reservation period, the resource reservation period is any configuration value of the supported period in the resource pool, and the SCI also indicates that the SL-PRS occupies the slot All SL-PRS time-frequency resources or PSCCH in the slot If all SL-PRS time-frequency resources in are associated, then the method for determining the first candidate resource includes at least one of the following methods: In the slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource; In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,n is the first candidate resource; In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource; In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource; In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource; In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource; When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that in the slot The same PSCCH or SCI is received on the 5. The method according to claim 3, characterized in that: The condition for excluding the second candidate resource according to the resource reservation occupancy of other devices also includes at least one of the following conditions: In slot A PSCCH sent by other devices is received, the PSCCH carries an SCI, and the SCI indicates an SL-PRS resource reservation period and / or a priority for receiving the SL-PRS; In slot The reference signal received power RSRP measured on the UE is higher than the threshold value, and the threshold value is determined by the priority of receiving the SL-PRS and the priority of sending the SL-PRS.

6. The method according to claim 5, wherein the second candidate resource is determined in at least one of the following ways: In the slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding R x,y,m,n is the first candidate resource; In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding R x,y,m,n is the first candidate resource; In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource; In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,m,n is the first candidate resource; In slot or slot The SCI on the reserved time slot corresponds to one or more SL-PRS resources and resources associated with the PSCCH or indicated by the SCI If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource; In slot One or more SL-PRS resources and resources corresponding to PSCCH association or SCI indication If overlap occurs, the corresponding resource R is determined y,ID is the first candidate resource; in, When the SL-PRS resource reservation period indication appears in the SCI, it is assumed that The same PSCCH or SCI is received on the 7. The method according to claim 1, characterized in that The selecting resources on the available resource set for sending a physical direct link control channel PSCCH and a direct link positioning reference signal SL-PRS includes: Selecting a target SL-PRS resource from the set of available resources; According to a preset mapping relationship, a target PSCCH resource corresponding to the target SL-PRS resource is determined in a PSCCH candidate resource set, the SL-PRS is sent on the target SL-PRS resource, and the PSCCH is sent on the target PSCCH resource.

8. The method according to claim 7, characterized in that In the mapping relationship, each PSCCH resource is associated with one or more SL-PRS resources.

9. The method according to claim 1, characterized in that: If the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to the same frequency domain resource position, and the SCI includes time domain position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission; and / or, If the SCI carried by the PSCCH reserves SL-PRS retransmission or periodic transmission, then in the multiple time slots corresponding to the SL-PRS retransmission or periodic transmission, each associated PSCCH is mapped to a different frequency domain resource position, and the SCI includes time-frequency resource position information indicating the PSCCH associated with the SL-PRS retransmission or periodic transmission.

10. The method according to claim 1, characterized in that The method further comprises: Before sending the PSCCH and the SL-PRS, the direct link channel occupancy rate SL-CR and / or the direct link channel busy rate SL-CBR are measured in the target time slot, and the target time slot is the time slot obtained by subtracting the congestion control processing time from the time slot used for PSCCH and SL-PRS transmission.

11. The method according to claim 10, characterized in that The SL-CR measurement method includes at least one of the following methods: The total number of SL-PRS resources occupied by transmission in the time slot interval [n'-a, n'-1] and reserved for authorization in the time slot interval [n', n'+b] is divided by the total number of SL-PRS resources included in the transmission resource pool in the time slot interval [n'-a, n'+b]; The number of target measurement granularities occupied by transmission in the time slot interval [n'-a, n'-1] and authorized reservation in the time slot interval [n', n'+b] is divided by the total number of target measurement granularities included in the sending resource pool in the time slot interval [n'-a, n'+b], wherein the target measurement granularity occupies one or more orthogonal frequency division multiplexing OFDM symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of resource elements REs on one or more resource blocks RB or one or more subchannels determined according to the comb-offset pattern comb-offset pattern; The total number of PSCCH candidate resources occupied by transmission in the time slot interval [n'-a, n'-1] and reserved for authorization in the time slot interval [n', n'+b] is divided by the total number of PSCCH candidate resources included in the time slot interval [n'-a, n'+b]; Wherein, the n' corresponds to the target time slot.

12. The method according to claim 10, characterized in that The SL-CBR is calculated in at least one of the following ways: In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the SL-RSSI measurement result exceeds the ratio of the number of SL-PRS resources corresponding to the third threshold to the total number of SL-PRS resources in the measurement window, and the through link received signal strength indication SL-RSSI is the linear mean of the received power corresponding to the REs occupied by the SL-PRS resources; In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the number of target measurement granularities whose SL-RSSI measurement results exceed the third threshold value accounts for the proportion of the total number of target measurement granularities in the measurement window, and the SL-RSSI is the linear mean of the received power corresponding to the REs occupied by the target measurement granularity, wherein the target measurement granularity occupies one or more OFDM symbols in the time domain, or the target measurement granularity in the time domain is the number of symbols corresponding to the fixed pattern pattern divided for each time slot, and the target measurement granularity in the frequency domain is a set of REs on one or more resource blocks RB or one or more subchannels determined according to the comb offset pattern comb-offsetpattern; In the CBR measurement window corresponding to the time slot interval [n'-a, n'-1], the SL-RSSI or the direct link SL-RSPR measurement result exceeds the ratio of the number of PSCCH candidate resources corresponding to the fourth threshold to the total number of PSCCH candidate resources in the measurement window, wherein the SL-RSSI is the linear mean of the received power corresponding to the RE occupied by the PSCCH resource, and the SL-RSRP is the RSPR of the PSCCH; Wherein, the n' corresponds to the target time slot.

13. An SL-PRS sending device for direct link positioning, characterized in that: include: An acquisition unit, used for acquiring an initial information set; A determination unit, configured to determine a candidate resource set based on the initial information set; An obtaining unit, configured to exclude resources from the candidate resource set to obtain an available resource set; The selection unit is configured to select resources on the available resource set for sending a physical direct link control channel PSCCH and a direct link positioning reference signal SL-PRS, wherein the PSCCH carries direct link control information SCI for scheduling the SL-PRS.

14. A terminal device, characterized in that: The terminal device includes a processor and a memory. The memory is used to store programs; The processor is configured to execute the method according to any one of claims 1 to 12 according to the program.

15. A storage medium, characterized in that: The storage medium is used to store a program, and the program runs on a processor to execute the method according to any one of claims 1 to 12.

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