Enhanced sidelink positioning

Abstract

The embodiment of the invention relates to a device and method for monitoring the performance of channel classification and a computer readable storage medium. A first apparatus sends a discovery request for device discovery via sidelink communication. The first apparatus receives at least one respective discovery response from the at least one candidate device, the at least one respective discovery response including a location information status of a corresponding one of the at least one candidate device. A first apparatus transmits a list of candidate devices having a location information state to a second apparatus for locating the first apparatus. In this manner, both the target user equipment and the positioned user equipment having the expired location can be effectively positioned without reducing the achievable positioning accuracy.

Description

Technical Field

[0001] Various example embodiments of the present disclosure relate generally to the field of telecommunications, and in particular, to methods, devices, apparatuses, and computer-readable storage media for sidelink (SL) positioning. Background Art

[0002] In SL positioning, a terminal device (e.g., UE) whose position is known and / or can be easily determined (e.g., by using a global navigation satellite system (GNSS), Uu-based technology) can be used as an anchor for positioning purposes (e.g., absolute positioning). Such a terminal device is also referred to as a "positioned UE". Other terminal devices to be positioned can discover the positioned UEs and use the position information of these positioned UEs for self-positioning or positioning based on a location management function (LMF).

[0003] Due to some factors, such as mobility, the role of the located UE is dynamic and may change over time. Therefore, if there is a delay between the time when the terminal device to be located discovers the located UE and the initiation of the ranging process with respect to the discovered located UE, the discovery result needs to be refreshed. In other words, the location of the located UE needs to be updated periodically to avoid expiration of the location information. Summary of the invention

[0004] In a first aspect of the present disclosure, a first device is provided. The first device includes: at least one processor; and at least one memory storing instructions, which, when executed by the at least one processor, cause the first device to at least: send a discovery request for device discovery via side link communication; receive at least one corresponding discovery response from at least one candidate device, the at least one corresponding discovery response including a location information status of a corresponding candidate device in the at least one candidate device; and send a candidate device list with a location information status to a second device for locating the first device.

[0005] In a second aspect of the present disclosure, a second device is provided. The second device includes: at least one processor; and at least one memory storing instructions, which, when executed by the at least one processor, cause the second device to at least: receive a candidate device list from the first device, the candidate device list including at least one candidate device with a corresponding location information state; determine multiple terminal devices for locating the first device from the candidate device list, at least one of the multiple terminal devices having an invalid location information state; send an indication of additional device discovery with reference information about an additional device to be discovered to at least one terminal device with an invalid location information state; receive an additional device list from at least one terminal device with an invalid location information state, the additional device list including at least one additional device that conforms to the reference information; and locate the first device and at least one terminal device with an invalid location information state with the assistance of at least a portion of the terminal devices with a valid location information state and at least one additional device.

[0006] In a third aspect of the present disclosure, a third device is provided. The third device includes: at least one processor; and at least one memory storing instructions, which, when executed by the at least one processor, cause the third device to at least: receive a discovery request for device discovery from a first device via side link communication; send a discovery response to the first device, the discovery response including an invalid location information state of the third device; after receiving an indication of additional device discovery from a second device for location management, perform additional device discovery, the indication including reference information about an additional device to be discovered; determine at least one additional device that meets the reference information; and send an additional device list including at least one additional device to the second device for locating the first device.

[0007] In a fourth aspect of the present disclosure, a fourth device is provided. The fourth device includes: at least one processor; and at least one memory storing instructions, which, when executed by the at least one processor, causes the fourth device to at least: obtain at least one location information state of at least one candidate device via side link communication; determine multiple terminal devices for locating the fourth device from at least one candidate device, at least one of the multiple terminal devices having an invalid location information state; send an indication of additional device discovery with reference information about an additional device to be discovered to at least one terminal device with an invalid location information state; receive an additional device list from at least one terminal device with an invalid location information state, the additional device list including at least one additional device that conforms to the reference information; and locate the fourth device with the assistance of at least a portion of the terminal devices and at least one additional device having a valid location information state.

[0008] In a fifth aspect of the present disclosure, a method is provided. The method includes: sending a discovery request for device discovery via side link communication; receiving at least one corresponding discovery response from at least one candidate device, the at least one corresponding discovery response including a location information status of a corresponding candidate device in the at least one candidate device; and sending a candidate device list with the location information status to a second device for locating a first device.

[0009] In a sixth aspect of the present disclosure, a method is provided. The method includes: receiving a candidate device list from a first device, the candidate device list including at least one candidate device with a corresponding location information state; determining multiple terminal devices for locating the first device from the candidate device list, at least one terminal device among the multiple terminal devices having an invalid location information state; sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device with an invalid location information state; receiving an additional device list from at least one terminal device with an invalid location information state, the additional device list including at least one additional device that conforms to the reference information; and locating the first device and at least one terminal device with an invalid location information state with the assistance of at least a portion of the terminal devices with a valid location information state and at least one additional device.

[0010] In a seventh aspect of the present disclosure, a method is provided. The method includes: receiving a discovery request for device discovery from a first device via sidelink communication; sending a discovery response to the first device, the discovery response including an invalid location information status of a third device; performing additional device discovery after receiving an indication of additional device discovery from a second device for location management, the indication including reference information about an additional device to be discovered; determining at least one additional device that meets the reference information; and sending an additional device list including at least one additional device to the second device for locating the first device.

[0011] In an eighth aspect of the present disclosure, a method is provided. The method includes: acquiring at least one location information state of at least one candidate device via side link communication; determining multiple terminal devices for locating a fourth device from at least one candidate device, at least one terminal device among the multiple terminal devices having an invalid location information state; sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information state; receiving an additional device list from at least one terminal device having an invalid location information state, the additional device list including at least one additional device that conforms to the reference information; and locating the fourth device with the assistance of at least a portion of the terminal devices having a valid location information state and at least one additional device.

[0012] In a ninth aspect of the present disclosure, a first device is provided. The first device includes: a component for sending a discovery request for device discovery via side link communication; a component for receiving at least one corresponding discovery response from at least one candidate device, the at least one corresponding discovery response including a location information status of a corresponding candidate device in the at least one candidate device; and a component for sending a candidate device list with a location information status to a second device for locating the first device.

[0013] In the tenth aspect of the present disclosure, a second device is provided. The second device includes: a component for receiving a candidate device list from a first device, the candidate device list including at least one candidate device with a corresponding location information state; a component for determining a plurality of terminal devices for locating the first device from the candidate device list, at least one of the plurality of terminal devices having an invalid location information state; a component for sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device with an invalid location information state; a component for receiving an additional device list from at least one terminal device with an invalid location information state, the additional device list including at least one additional device that conforms to the reference information; and a component for locating the first device and at least one terminal device with an invalid location information state with the assistance of at least a portion of the terminal devices with a valid location information state and at least one additional device.

[0014] In an eleventh aspect of the present disclosure, a third device is provided. The third device includes: a component for receiving a discovery request for device discovery from a first device via side link communication; a component for sending a discovery response to the first device, the discovery response including an invalid location information status of the third device; a component for performing additional device discovery after receiving an indication of additional device discovery from a second device for location management, the indication including reference information about an additional device to be discovered; a component for determining at least one additional device that meets the reference information; and a component for sending an additional device list including at least one additional device to the second device for locating the first device.

[0015] In the twelfth aspect of the present disclosure, a fourth device is provided. The fourth device includes: a component for acquiring at least one location information state of at least one candidate device via side link communication; a component for determining multiple terminal devices for locating the fourth device from at least one candidate device, at least one of the multiple terminal devices having an invalid location information state; a component for sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information state; a component for receiving an additional device list from at least one terminal device having an invalid location information state, the additional device list including at least one additional device that conforms to the reference information; and a component for locating the fourth device with the assistance of at least a portion of the terminal devices having a valid location information state and at least one additional device.

[0016] In a thirteenth aspect of the present disclosure, a computer-readable medium is provided, wherein the computer-readable medium includes instructions stored thereon for causing a device to at least execute the method according to the fifth aspect.

[0017] In a fourteenth aspect of the present disclosure, a computer-readable medium is provided, wherein the computer-readable medium includes instructions stored thereon for causing a device to at least execute the method according to the sixth aspect.

[0018] In a fifteenth aspect of the present disclosure, a computer-readable medium is provided, wherein the computer-readable medium includes instructions stored thereon for causing a device to at least execute the method according to the seventh aspect.

[0019] In a sixteenth aspect of the present disclosure, a computer-readable medium is provided, wherein the computer-readable medium includes instructions stored thereon for causing a device to at least execute the method according to the eighth aspect.

[0020] It should be understood that the invention summary is not intended to identify the key or essential features of the embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Some example embodiments will now be described with reference to the accompanying drawings, in which:

[0022] Figure 1 An example communication environment is shown in which example embodiments of the present disclosure may be implemented;

[0023] Figure 2 shows a signaling diagram for a SL positioning procedure according to some example embodiments of the present disclosure;

[0024] Figure 3 An example communication environment is shown in which example embodiments of the present disclosure may be implemented;

[0025] Figure 4 shows a signaling diagram for SL positioning according to some example embodiments of the present disclosure;

[0026] Figure 5 A flowchart showing a method implemented at a first device according to some example embodiments of the present disclosure is shown;

[0027] Figure 6 A flowchart showing a method implemented at a second device according to some example embodiments of the present disclosure is shown;

[0028] Figure 7 A flowchart of a method implemented at a third device according to some example embodiments of the present disclosure is shown;

[0029] Figure 8 A flowchart of a method implemented at a fourth device according to some example embodiments of the present disclosure is shown;

[0030] Fig. 9 shows a simplified block diagram of a device suitable for implementing an example embodiment of the present disclosure; and

[0031] Fig.10 A block diagram of an example computer-readable medium is shown according to some example embodiments of the present disclosure.

[0032] Throughout the drawings, the same or similar reference numerals refer to the same or similar elements. DETAILED DESCRIPTION

[0033] The principles of the present disclosure will now be described with reference to some example embodiments. It should be understood that these embodiments are described only for illustrative purposes and to help those skilled in the art understand and implement the present disclosure, and no limitation is recommended to the scope of the present disclosure. The embodiments described herein can be implemented in various ways different from the following description.

[0034] In the following description and claims, unless defined otherwise, all technical and scientific terms used herein may have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0035] References in this disclosure to "one embodiment," "an embodiment," and "an example embodiment" and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes the particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is considered to be within the knowledge of those skilled in the art to affect such feature, structure, or characteristic in conjunction with other embodiments, whether or not explicitly described.

[0036] It should be understood that although the terms "first", "second", etc. may be used to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, without departing from the scope of the example embodiments, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. As used herein, the term "and / or" includes any and all combinations of one or more of the listed terms.

[0037] As used herein, “at least one of: ” and “at least one of ” and similar expressions, where a list of two or more elements is connected by “and” or “or”, refer to at least any one element, or at least any two or more elements, or at least all the elements.

[0038] As used herein, unless explicitly stated, performing a step in response to "a" does not mean that the step is performed immediately after "a" occurs, and may include one or more intervening steps.

[0039] The terms used herein are only used to describe specific embodiments and are not intended to limit the exemplary embodiments. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" shall also include the plural forms. It will be further understood that the terms "comprise", "include", "have", "have", "include" and / or "comprising" when used herein specify the presence of the features, elements and / or components, etc., but do not exclude the presence or addition of one or more other features, elements, components and / or combinations thereof.

[0040] As used in this application, the term "circuitry" may refer to one or more or all of the following: (a) hardware circuit implementation only (such as analog and / or digital circuit implementation only); and (b) a combination of hardware circuitry and software such as (where applicable): (i) a combination of analog and / or digital hardware circuitry and software / firmware, and (ii) any portion of a hardware processor and software (including a digital signal processor, software and memory that work together to enable a device such as a mobile phone or server to perform various functions); and (c) A hardware circuit and / or processor, such as a microprocessor or portion of a microprocessor, that requires software (eg, firmware) for operation but can operate without software when no software is needed for operation.

[0041] This definition of circuitry applies to all uses of this term in this application, including in any claims. As a further example, as used in this application, the term circuitry also covers an implementation of only a hardware circuit or processor (or multiple processors) or a portion of a hardware circuit or process and its (or their) accompanying software and / or firmware. The term circuitry also covers, for example and if applicable to the particular claim element, a baseband integrated circuit or processor integrated circuit for a mobile device or a similar integrated circuit in a server, cellular network device, or other computing or network device.

[0042] As used in this application, the term "communication network" refers to a network that follows any suitable communication standard, such as new radio (NR), long term evolution (LTE), advanced LTE (LTE-a), wideband code division multiple access (WCDMA), high speed packet access (HSPA), narrowband Internet of Things (NB-IoT), etc. In addition, the communication between the terminal device and the network device in the communication network can be performed according to any suitable generation of communication protocols, including but not limited to the first generation (1G), second generation (2G), 2.5G, 2.75G, third generation (3G), fourth generation (4G), 4.5G, fifth generation (5G), sixth generation (6G) communication protocols and / or any other protocols currently known or to be developed in the future. The embodiments of the present disclosure can be applied to various communication systems. In view of the rapid development of communication, there will certainly be communication technologies and systems that can embody future types of the present disclosure. It should not be considered that the scope of the present disclosure is limited to the above-mentioned system.

[0043] As used in this application, the term "network device" refers to a node in a communication network through which a terminal device accesses the network and receives services therefrom. A network device may refer to a base station (BS) or an access point (AP), for example, a Node B (NodeB or NB), an evolved Node B (eNodeB or eNB), a NR NB (also referred to as a gNB), a remote radio unit (RRU), a radio head (RH), a remote radio head (RRH), a repeater, an integrated access and backhaul (IAB) node, a low-power node such as a femto, a micro, a non-terrestrial network (NTN), or a non-terrestrial network device such as a satellite network device, a low earth orbit (LEO) satellite, and a geosynchronous orbit (GEO) satellite, an aircraft network device, etc., depending on the terminology and technology applied. In some example embodiments, a radio access network (RAN) separation architecture includes a centralized unit (CU) and a distributed unit (DU) at an IAB master node. An IAB node includes a mobile terminal (IAB-MT) portion similar to a UE toward a parent node, and the DU portion of the IAB node is similar to a base station toward a next-hop IAB node.

[0044] The term "terminal device" refers to any terminal device capable of wireless communication. As an example and not limitation, a terminal device may also be referred to as a communication device, user equipment (UE), user station (SS), portable user station, mobile station (MS) or access terminal (AT). Terminal devices may include, but are not limited to, mobile phones, cellular phones, smart phones, voice over IP (VoIP) phones, wireless local loop phones, tablet computers, wearable terminal devices, personal digital assistants (PDAs), portable computers, desktop computers, image capture terminal devices (e.g., digital cameras), game terminal devices, music storage and playback devices, vehicle-mounted wireless terminal devices, wireless endpoints, mobile stations, laptop embedded devices (LEEs), laptop mounted devices (LMEs), USB dongles, smart devices, wireless client equipment (CPEs), Internet of Things (IoT) devices, watches or other wearable devices, head mounted displays (HMDs), vehicles, drones, medical devices and applications (e.g., remote surgery), industrial devices and applications (e.g., robots and / or other wireless devices operating in industrial and / or automated processing chain environments), consumer electronic devices, devices operating on commercial and / or industrial wireless networks, etc. The terminal device may also correspond to the mobile terminal (MT) part of an IAB node (eg, a relay node).In the following description, the terms "terminal device", "communication device", "terminal", "user equipment" and "UE" may be used interchangeably.

[0045] As used herein, the terms "resource", "transmission resource", "resource block", "physical resource block" (PRB), "uplink resource", or "downlink resource" may refer to any resource used to perform communication, such as communication between a terminal device and a network device, such as time domain resources, frequency domain resources, space domain resources, code domain resources, or any other combination of time, frequency, space and / or code domain resources that enable communication, etc. In the following, unless explicitly stated, resources in the frequency domain and time domain will be used as examples of transmission resources for describing some example embodiments of the present disclosure. It should be noted that the example embodiments of the present disclosure are also applicable to other resources in other fields.

[0046] As used herein, the term "target UE" may refer to a UE to be positioned. The term "positioned UE" may refer to a UE that can be used as an anchor for positioning purposes. The position of the positioned UE is known and / or can be easily determined, for example, by using GNSS / Uu-based techniques.

[0047] In a communication system, a terminal device to be located may be referred to as a "target UE". If the position of an anchor UE (e.g., a located UE) is known, the target UE may be located. However, in the event that the position of one or more located UEs expires, for example due to the mobility of the located UEs, the location information of the located UEs needs to be updated.

[0048] In existing positioning methods, a target UE may discover a group of located UEs. Located UEs with valid locations may be reused, and located UEs with expired locations may be located first. After all located UEs in the group are updated with valid location information, the located UE group may continue to be used to locate the target UE.

[0049] However, assuming that there are a total of N located UEs in the group, of which the location information of "X" located UEs is expired, the above-mentioned existing method theory corresponds to positioning the target UE with only NX located UEs, because the X located UEs do not contribute to the multi-point positioning of the target UE.

[0050] In order to improve the efficiency and accuracy of SL positioning, the present disclosure provides a solution for locating the target UE and the located UE whose location expires. The solution is applicable not only to scenarios with network coverage, such as through LMF, but also to scenarios outside network coverage. In some cases, such positioning can be achieved in a single session without reducing the achievable positioning accuracy.

[0051] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0052] Figure 1 1 shows an example communication environment 100 in which example embodiments of the present disclosure may be implemented. The communication environment 100 may support SL communication between terminal devices. Figure 1 As shown, the communication environment 100 may include a first device 110 , a second device 120 , a third device 130 , a candidate device 132 , and an additional device 134 .

[0053] The first device 110, the third device 130, the candidate device 132, and the additional device 134 may be terminal devices, such as UEs, and may communicate with each other via SL communication. Figure 1 In the example of , the first device 110 may be a target UE to be positioned, and the third device 130, the candidate device 132, and the additional device 134 may be positioned UEs for positioning the target UE, which will be discussed in detail below.

[0054] The second device 120 may be a network device that implements LMF (hereinafter also referred to as LMF 120). LMF may be a network entity located in a core network (CN) or a radio access network (RAN) that manages the overall coordination and scheduling of resources required for positioning terminal devices registered to or accessing 5GCN. LMF may calculate or verify the position and / or velocity estimate of the UE. LMF may receive a request for positioning a target UE from other network elements such as gNB, access and mobility management function (AMF), etc. LMF may then interact with the target UE to exchange location information applicable to UE-assisted and UE-based positioning methods, and then return a location report.

[0055] In some example embodiments, the first device 110 may be positioned via an LMF-based positioning procedure or a UE-based positioning procedure. In particular, the LMF-based positioning procedure is initiated by the second device 120 with network coverage, while the UE-based positioning procedure is initiated by the server UE and may be performed outside of network coverage.

[0056] During the LMF-based positioning process or the UE-based positioning process, the first device 110 may discover a plurality of located UEs through UE discovery via SL communication. The discovered located UEs may report their location information status (LIS) to the first device 110.

[0057] In some example embodiments, the LIS may be carried in, for example, a SL Positioning Protocol (SLPP) message by using a LIS flag "locValid", wherein a first value of the LIS flag (e.g., locValid=1) indicates that the location information of the corresponding UE is valid, and a second value of the LIS flag (e.g., locValid=0) indicates that the location information of the corresponding UE is invalid or expired. The LIS may be used to perform assisted discovery of additional devices for locating the target UE, which will be discussed in detail below.

[0058] Hereinafter, for the purpose of illustration, some example embodiments are described in which the first device 110, the third device 130, the candidate device 132, and the additional device 134 operate as terminal devices, and the second device 120 operates as a network device. However, in some example embodiments, the operations described in conjunction with the terminal device may be implemented at a network device or other device, and the operations described in conjunction with the network device may be implemented at a terminal device or other device.

[0059] It should be understood that Figure 1The number of devices and their connections shown in the figure is for illustration purposes only and does not imply any limitation. The communication network 100 may include any suitable number of devices configured to implement the example embodiments of the present disclosure. Although not shown, it should be understood that one or more additional devices and connections may be deployed in the communication network 100.

[0060] In some exemplary embodiments, if the first device 110 is a terminal device and the second device 120 is a network device, the link from the second device 120 to the first device 110 is called a downlink (DL), and the link from the first device 110 to the second device 120 is called an uplink (UL). In DL, the second device 120 is a transmitting (TX) device (or transmitter), and the first device 110 is a receiving (RX) device (or receiver). In UL, the first device 110 is a TX device (or transmitter), and the second device 120 is an RX device (or receiver).

[0061] The communication in the communication environment 100 can be implemented according to any (multiple) appropriate communication protocols, including but not limited to cellular communication protocols of the first generation (1G), the second generation (2G), the third generation (3G), the fourth generation (4G), the fifth generation (5G), the sixth generation (6G), etc., wireless local area network communication protocols such as the Institute of Electrical and Electronics Engineers (IEEE) 802.11, and / or any other protocol currently known or developed in the future. In addition, the communication can utilize any appropriate wireless communication technology, including but not limited to: code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), frequency division duplex (FDD), time division duplex (TDD), multiple input multiple output (MIMO), orthogonal frequency division multiple access (OFDM), discrete Fourier transform spread OFDM (DFT-s-OFDM) and / or any other technology currently known or developed in the future.

[0062] Reference now Figure 2 , which shows a signaling diagram of the SL positioning process 200 according to some example embodiments of the present disclosure. Figure 2 As shown, process 200 involves at least first device 110, second device 120, third device 130, candidate device 132, and additional device 134. For discussion purposes, reference is made to Figure 1 The signaling flow 200 is described.

[0063] The process 200 may be a LMF-based positioning procedure, in which the first device 110 serves as a target UE to be positioned. The process 200 is initiated by the second device 120 (205). To this end, the second device 120 may send a mobile terminated positioning request (MT-LR) to the first device 110 for triggering a positioning session. However, in some cases, the process 200 may be based on sessionless positioning. Therefore, the present disclosure is not limited thereto.

[0064] The first device 110 sends (210, 215) a discovery request for device discovery via SL communication. For example, the discovery request may include a flag "locUE=1" for discovering a located UE or anchor.

[0065] Therefore, the first device 110 receives (220) at least one discovery response from at least one candidate device (e.g., a positioned UE). The discovery response may include the LIS of the corresponding candidate device. In other words, the discovered positioned UEs may report their respective LISs in the discovery response.

[0066] For example, the LIS may be carried in a SLPP message, either as part of a SLPP meta-field of a discovery message, or as a separate SLPP message for session control purposes. In particular, the LIS may be indicated by a LIS flag "locValid". In some example embodiments, a first value of the LIS flag (e.g., locValid=1) indicates that the location information of the corresponding UE is valid, and a second value of the LIS flag (e.g., locValid=0) indicates that the location information of the corresponding UE is invalid or expired.

[0067] exist Figure 2 In the example, at least one candidate device discovered by the first device 110 includes a third device 130 and a candidate device 132, wherein the LIS of the third device 130 is invalid (i.e., locValid=0), for example, due to mobility since the last location update, and the LIS of the candidate device 132 is still valid (i.e., locValid=1).

[0068] In this case, the target UE can report the located UE list to the LMF. Figure 2 As shown, the first device 110 sends ( 225 ) a candidate device list having a LIS to the second device 120 to locate the first device 110 .

[0069] The second device 120 determines (230) a plurality of terminal devices for positioning the first device 110 from the candidate device list. In this example, at least one of the plurality of terminal devices has an invalid LIS. For example, the second device 120 may confirm both the third device 130 and the candidate device 132 as the anchor or positioned UE of the first device 110. Subsequently, the LMF may start positioning for the target UE.

[0070] The second apparatus 120 sends (235) to at least one terminal device with an invalid LIS an indication of additional device discovery with reference information about an additional device to be discovered. The additional device discovery may be an assisted discovery of an additional located UE.

[0071] The reference information may include at least one of the following: · A first indicator of devices to be excluded from additional devices to be discovered, e.g., pre-existing UEs such as session members, i.e., "exclude format="110,132" & "exclude=1"; • A second indicator of devices to be included as additional devices to be discovered. That is, "include format="TRP" & "exclude=0".

[0072] exist Figure 2 In the example of , the third device 130 is requested to perform assisted discovery of an additional located UE. To this end, the second device 120 may indicate (e.g., as part of the auxiliary data) that both the target UE "110" (i.e., the first device 110) and the located UE "132" (i.e., the candidate device 132) should be excluded from any consideration, for example, by setting the LIS flag "exclude=1". Alternatively or additionally, the second device 120 may affirmatively indicate a network node to be discovered, such as a nearby TRP, by setting the LIS flag "exclude=0". The additional device may be a terminal device or a network device.

[0073] Through the assisted discovery, the third device 130 can determine (240) at least one additional device that meets the reference information, for example, the additional device 132. The third device 130 sends (245) an additional device list including the at least one additional device (for example, the additional device 134) to the second device 120 to locate the first device 110.

[0074] exist Figure 2 In the example of , an additional device 134 (eg, a nearby TRP) is selected ( 250 ) as an additional located UE that can be used to locate both the target UE and the located UE with an invalid LIS.

[0075] The second device 120 may then collect 252 assistance data from the positioned UE. Additionally, the second device 120 may receive 254 a reference signal measurement report from the positioned UE, for example based on a SL positioning reference signal (PRS).

[0076] With the assistance of at least a portion of the terminal devices with a valid LIS and at least one additional device, the second device 120 locates (255) the first device 110 and at least one terminal device with an invalid LIS. In this example, the first device 110 and the third device 130 are jointly located by using an increased number of anchors (i.e., UEs and / or TRPs), thereby improving the efficiency and accuracy of SL positioning.

[0077] After locating the first device 110 and the at least one terminal device having an invalid LIS, the second device 120 may update the LIS of the at least one terminal device from invalid to valid.

[0078] Then, the third device 130 may update (260) the LIS to be valid. For example, the LIS flag "locValid=0" of the third device 130 may be updated to "locValid=1". In some example embodiments, the update of the LIS may be indicated by the LMF. In this case, the third device 130 may receive an indication from the second device 120 to update the LIS from invalid to valid.

[0079] Alternatively, in some other embodiments, the third device 130 may perform self-positioning during SL positioning and determine its position based on a plurality of SL PRSs.The third device 130 may then update the LIS from invalid to valid.

[0080] Figure 3 2 shows an example communication environment 300 in which example embodiments of the present disclosure may be implemented. The communication environment 300 may support SL communication between terminal devices. Figure 3 As shown, the communication environment 300 may include a fourth device 310 , candidate devices 320 and 330 , and an additional device 340 .

[0081] The communication environment 300 is similar to Figure 1 The communication environment 100 is shown, except that no LMF is present, which may be due to being out of network coverage.

[0082] The fourth device 310, the candidate devices 320 and 330, and the additional device 340 may be terminal devices, such as UEs, and may communicate with each other via SL communication. Figure 3In the example of , the fourth device 310 may be a target UE to be positioned, and the candidate devices 320 and 330 and the additional device 340 may be positioned UEs for positioning the target UE. In some cases, the fourth device 310 may act as its own server UE.

[0083] Reference now Figure 4 , which shows a signaling diagram of the SL positioning process 400 according to some example embodiments of the present disclosure. Figure 4 As shown, process 400 involves at least fourth device 310, candidate devices 320 and 330, and additional device 340. For discussion purposes, reference is made to Figure 3 The signaling flow 400 is described.

[0084] The process 400 may be a UE-based positioning process that allows a target UE to discover and select an anchor for itself. In the process 400, the fourth device 110 acts as a target UE to be positioned. Thus, the process 400 may be initiated by a mobile-oriented positioning request (MO-LR) (405). In addition, Figure 4 In the example, it is assumed that the fourth device 110 acts as its own server UE.

[0085] After the process 400 is initiated, the fourth device 310 obtains at least one LIS of at least one candidate device via SL communication, which can be similar to the process 200. For example, the fourth device 310 can send (410, 415) a discovery request for device discovery via SL communication. The discovery request can include a flag "locUE=1" for discovering a located UE or anchor.

[0086] Therefore, the fourth device 110 receives (420) at least one discovery response from at least one candidate device (eg, a located UE). The discovery response may include the LIS of the corresponding candidate device.

[0087] exist Figure 4 In the example, at least one candidate device discovered by the fourth device 310 includes candidate devices 320 and 330, wherein the LIS of candidate device 320 is still valid (ie, locValid=1), while the LIS of candidate device 330 is invalid (ie, locValid=0).

[0088] The fourth device 310 determines (425) a plurality of terminal devices for positioning the fourth device 310 from at least one candidate device. In this example, at least one of the plurality of terminal devices has an invalid LIS. A complementary search may be required for an anchor or a positioned UE that is independent of a known UE (e.g., a target UE, a pre-existing positioned UE).

[0089] The fourth means 310 sends ( 430 ) an indication of additional device discovery having reference information about additional devices to be discovered to at least one terminal device (eg, the candidate device 330 ) having an invalid LIS.

[0090] The reference information may include at least one of the following: · A first indicator of a device to be excluded from the additional devices to be discovered, for example a pre-existing located UE, such as a session member, i.e., "exclusion format = "310,320" & "exclude = 1"; · A second indicator of a device to be included as an additional device to be discovered. That is, "inclusion format = "terminal device" & "exclude = 0".

[0091] As a result, the candidate device 330 is requested to perform assisted discovery of an additional located UE. To this end, the fourth device 310 may indicate (e.g., as part of the auxiliary data) that both the target UE "310" (i.e., the fourth device 310) and the located UE "320" (i.e., the candidate device 320) should be excluded from any consideration, for example, by setting the LIS flag "exclude=1". Alternatively or additionally, the fourth device 310 may positively indicate a node to be discovered, such as a terminal device, by setting the LIS flag "exclude=0". The additional device may be a terminal device or a network device.

[0092] Through the assisted discovery, the candidate device 320 determines (435) at least one additional device that meets the reference information, for example, the additional device 340. The candidate device 320 sends (440) an additional device list including at least one additional device (for example, the additional device 340) to the fourth device 310 to locate the fourth device 310. This results in the additional device 340 being added to the set of anchors.

[0093] In some example embodiments, the fourth device 310 may perform (442) SL PRS transmission using at least a portion of the positioned UEs including the candidate devices 320 and 330 and the additional device 340, and locate (445) itself based on the SL PRS. Additionally, the fourth device 310 may also determine the location of the candidate device 330. In the case where the fourth device 310 acts as a server UE, it may determine the location based on observed time difference of arrival (OTDOA), round trip time (RTT), etc. associated with multiple SL PRSs.

[0094] Therefore, candidate device 330 may then update 450 the LIS to be valid. For example, the LIS flag "locValid=0" of candidate device 330 may be updated to "locValid=1".

[0095] In some example embodiments, the additional device 340 may optionally self-position itself, for example, by using GNSS, in the event that its own position is unknown or expires in the meantime, and report the location information to a target UE or server UE (i.e., the fourth device 310 in this example), which then positions itself by using all located UEs (including the additional device 340).

[0096] Additionally or alternatively, in some other embodiments, the location of the additional device 340 may be valid. In this case, the target UE (ie, the fourth apparatus 310 in this example) may simply locate itself by using the additional device 340 as its located UE.

[0097] Figure 5 FIG. 5 is a flowchart of an example method 500 implemented at a first device according to some example embodiments of the present disclosure. For discussion purposes, Figure 1 The method 500 is described from the perspective of the first device 110.

[0098] At block 510 , the first device 110 sends a discovery request for device discovery via sidelink communication.

[0099] In block 520 , the first device 110 receives at least one corresponding discovery response from at least one candidate device, the at least one corresponding discovery response including a location information status of a corresponding candidate device among the at least one candidate device.

[0100] In block 530 , the first device 110 transmits a candidate device list having a location information status to the second device 120 for locating the first device 110 .

[0101] In some example embodiments, the location information status may be indicated by an indicator, wherein a first value of the indicator indicates that the location information status of the corresponding candidate device is valid, and a second, different value of the indicator indicates that the location information status of the corresponding candidate device is invalid.

[0102] In some example embodiments, the positioning may be initiated by the second device 120, and the second device 120 may include a network device implementing LMF.

[0103] Figure 6 FIG. 6 is a flowchart of an example method 600 implemented at a second device according to some example embodiments of the present disclosure. For discussion purposes, Figure 1 The method 600 is described from the perspective of the second device 120.

[0104] At block 610 , the second device 120 receives a candidate device list from the first device 110 , the candidate device list including at least one candidate device having a corresponding location information status.

[0105] At block 620 , the second device 120 determines a plurality of terminal devices for locating the first device 110 from the candidate device list, at least one terminal device among the plurality of terminal devices having an invalid location information status.

[0106] At block 630 , the second apparatus 120 sends an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information state.

[0107] In block 640 , the second device 120 receives an additional device list from at least one terminal device having an invalid location information state, the additional device list including at least one additional device that conforms to the reference information.

[0108] At block 650 , the second device 120 locates the first device 110 and at least one terminal device having an invalid location information status with the assistance of at least a portion of the terminal devices having a valid location information status and at least one additional device.

[0109] In some example embodiments, the location information status may be indicated by an indicator, a first value of the indicator indicating that the location information status of the corresponding candidate device is valid, and a second, different value of the indicator indicating that the location information status of the corresponding candidate device is invalid.

[0110] In some example embodiments, positioning may be initiated by the second device 120, and the second device 120 may include a network device that implements a location management function.

[0111] In some example embodiments, the reference information about the additional device to be discovered may include at least one of a first indicator of a device to be excluded from the additional device to be discovered, or a second indicator of a device to be included as the additional device to be discovered.

[0112] In some example embodiments, the devices to be excluded from the at least one additional device may include the first apparatus 110 and a terminal device.

[0113] In some example embodiments, the at least one additional device may include at least one network device or at least one terminal device having a valid location status.

[0114] In some example embodiments, the method 600 further includes: after locating the first apparatus 110 and the at least one terminal device having an invalid location information status, updating the location information status of the at least one terminal device from invalid to valid.

[0115] Figure 7 FIG. 7 is a flowchart of an example method 700 implemented at a third device according to some example embodiments of the present disclosure. Figure 1 Method 700 is described from the perspective of the third device 130.

[0116] At block 710 , the third device 130 receives a discovery request for device discovery from the first device 110 via sidelink communication.

[0117] In block 720 , the third device 130 sends a discovery response to the first device 110 , the discovery response including an invalid location information status of the third device 130 .

[0118] In block 730 , after receiving an indication of additional device discovery from the second apparatus 120 for location management, the third apparatus 130 performs additional device discovery, the indication including reference information about the additional device to be discovered.

[0119] In block 740 , the third device 130 determines at least one additional device that complies with the reference information.

[0120] In block 750 , the third device 130 sends an additional device list including at least one additional device to the second device 120 for locating the first device 110 .

[0121] In some example embodiments, the location information status may be indicated by an indicator. A first value of the indicator indicates that the location information status is valid, and a second, different value of the indicator indicates that the location information status is invalid.

[0122] In some example embodiments, the reference information about the additional device to be discovered may include at least one of a first indicator of a device to be excluded from the additional device to be discovered, or a second indicator of a device to be included as the additional device to be discovered.

[0123] In some example embodiments, the method 700 further includes: receiving an indication from the second device 120 to update the location information status to valid.

[0124] In some example embodiments, method 700 further includes: determining a location of third device 130 based on a plurality of sidelink positioning reference signals during the sidelink positioning; and updating a location information status of third device 130 from invalid to valid.

[0125] In some example embodiments, the at least one additional device may include at least one network device or at least one terminal device having a valid location status.

[0126] In some example embodiments, the first device 110 may be a first terminal device, the second device 120 may be a network device implementing a location management function, and the third device 130 may be a second terminal device.

[0127] Figure 8 FIG. 8 is a flowchart of an example method 800 implemented at a fourth device according to some example embodiments of the present disclosure. Figure 4 The method 800 is described from the perspective of the fourth device 310.

[0128] At box 810, the fourth device 310 obtains at least one location information status of at least one candidate device via side link communication.

[0129] At box 820, the fourth device 310 determines a plurality of terminal devices for positioning the fourth device 310 from at least one candidate device, at least one terminal device among the plurality of terminal devices having an invalid location information status.

[0130] At block 830 , the fourth means 310 sends an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information state.

[0131] At box 840, the fourth device 310 receives a list of additional devices from at least one terminal device with an invalid location information status, the list of additional devices including at least one additional device that conforms to the reference information; and locates the fourth device 310 with the assistance of at least a portion of the terminal device with a valid location information status and at least one additional device.

[0132] In some example embodiments, the location information status may be indicated by an indicator, wherein a first value of the indicator indicates that the location information status of the corresponding candidate device is valid, and a second, different value of the indicator indicates that the location information status of the corresponding candidate device is invalid.

[0133] In some embodiments, the positioning may be initiated by the fourth device 310, and the fourth device 310 includes a terminal device.

[0134] In some example embodiments, the reference information about the additional device to be discovered may include at least one of a first indicator of a device to be excluded from the additional device to be discovered, or a second indicator of a device to be included as the additional device to be discovered.

[0135] In some example embodiments, the devices to be excluded from the at least one additional device may include the fourth apparatus 310 and a plurality of terminal devices.

[0136] In some example embodiments, the method 800 further includes determining a location of the fourth apparatus 310 and a location of at least one terminal device based on a plurality of side link positioning reference signals during the side link positioning.

[0137] In some example embodiments, the location of the fourth apparatus 310 and the location of the at least one terminal device may be determined based on observed time differences of arrival or round trip times associated with a plurality of sidelink positioning reference signals.

[0138] In some example embodiments, the method 800 further includes: sending an indication to update the location information status to valid to at least one terminal device having an invalid location information status.

[0139] In some example embodiments, a first device (eg, Figure 1 The first device 110 in the method 500 may include a component for performing the corresponding operation of the method 500. The component may be implemented in any suitable form. For example, the component may be implemented in a circuit or a software module. The first device may be implemented as or included in Figure 1 In the first device 110.

[0140] In some example embodiments, a first device includes: a component for sending a discovery request for device discovery via side link communication; a component for receiving at least one corresponding discovery response from at least one candidate device, the at least one corresponding discovery response including a location information status of a corresponding candidate device in the at least one candidate device; and a component for sending a candidate device list with location information status to a second device for locating the first device.

[0141] In some example embodiments, the location information status is indicated by an indicator, a first value of the indicator indicates that the location information status of the corresponding candidate device is valid, and a second, different value of the indicator indicates that the location information status of the corresponding candidate device is invalid.

[0142] In some example embodiments, the positioning is initiated by the second device, and the second device includes a network device implementing a location management function.

[0143] In some example embodiments, the first apparatus further comprises means for performing the method 500 or other operations in some example embodiments of the first apparatus 110. In some example embodiments, the means comprises: at least one processor; and at least one memory storing instructions that, when executed by the at least one processor, cause execution of the first apparatus.

[0144] In some example embodiments, a second device (eg, Figure 1The second device 120 in the method 600 may include a component for performing the corresponding operation of the method 600. The component may be implemented in any suitable form. For example, the component may be implemented in a circuit or a software module. The second device may be implemented as or included in Figure 1 In the second device 120.

[0145] In some example embodiments, the second device includes a component for receiving a candidate device list from the first device, the candidate device list including at least one candidate device having a corresponding location information status; a component for determining a plurality of terminal devices for locating the first device from the candidate device list, at least one of the plurality of terminal devices having an invalid location information status; a component for sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information status; a component for receiving an additional device list from at least one terminal device having an invalid location information status, the additional device list including at least one additional device that conforms to the reference information; and a component for locating the first device and at least one terminal device having an invalid location information status with the assistance of at least a portion of the terminal devices having a valid location information status and at least one additional device.

[0146] In some example embodiments, the location information status is indicated by an indicator, a first value of the indicator indicates that the location information status of the corresponding candidate device is valid, and a second, different value of the indicator indicates that the location information status of the corresponding candidate device is invalid.

[0147] In some example embodiments, the positioning is initiated by the second device, and the second device includes a network device implementing a location management function.

[0148] In some example embodiments, the reference information about the additional device to be discovered includes at least one of: a first indicator of a device to be excluded from the additional device to be discovered, or a second indicator of a device to be included as the additional device to be discovered.

[0149] In some example embodiments, the devices to be excluded from the at least one additional device include a first apparatus and a terminal device.

[0150] In some example embodiments, the at least one additional device includes at least one network device or at least one terminal device having a valid location status.

[0151] In some example embodiments, the second apparatus further comprises: means for updating the location information status of the at least one terminal device from invalid to valid after locating the first apparatus and the at least one terminal device having the invalid location information status.

[0152] In some example embodiments, the second apparatus further comprises means for performing the method 600 or other operations in some example embodiments of the second apparatus 120. In some example embodiments, the means comprises: at least one processor; and at least one memory storing instructions that, when executed by the at least one processor, cause execution of the second apparatus.

[0153] In some example embodiments, a third device (eg, Figure 1 The third device 130 in the method 700 may include a component for performing the corresponding operation of the method 700. The component may be implemented in any suitable form. For example, the component may be implemented in a circuit or a software module. The third device may be implemented as or included in Figure 1 In the third device 130.

[0154] In some example embodiments, the third device includes: a component for receiving a discovery request for device discovery from the first device via side link communication; a component for sending a discovery response to the first device, the discovery response including an invalid location information status of the third device; a component for performing additional device discovery after receiving an indication of additional device discovery from the second device for location management, the indication including reference information about the additional device to be discovered; a component for determining at least one additional device that meets the reference information; and a component for sending an additional device list including at least one additional device to the second device for locating the first device.

[0155] In some example embodiments, the location information status is indicated by an indicator, a first value of the indicator indicates that the location information status is valid, and a second, different value of the indicator indicates that the location information status is invalid.

[0156] In some example embodiments, the reference information about the additional device to be discovered includes at least one of: a first indicator of a device to be excluded from the additional device to be discovered, or a second indicator of a device to be included as the additional device to be discovered.

[0157] In some example embodiments, the third apparatus further comprises means for receiving an indication from the second apparatus to update the location information status to valid.

[0158] In some example embodiments, the third device acts as a server terminal device, and wherein the third device further includes: a component for determining the position of the third device based on multiple side link positioning reference signals during side link positioning; and a component for updating the position information status of the third device from invalid to valid.

[0159] In some example embodiments, the at least one additional device includes at least one network device or at least one terminal device having a valid location status.

[0160] In some example embodiments, the first apparatus is a first terminal device, the second apparatus is a network device implementing a location management function, and the third apparatus is a second terminal device.

[0161] In some example embodiments, the third apparatus further comprises means for performing the method 700 or other operations in some example embodiments of the third apparatus 130. In some example embodiments, the means comprises: at least one processor; and at least one memory storing instructions that, when executed by the at least one processor, cause execution of the third apparatus.

[0162] In some example embodiments, a fourth device (eg, Figure 4 The fourth device 310 in the method 800 may include a component for performing the corresponding operation of the method 800. The component may be implemented in any suitable form. For example, the component may be implemented in a circuit or a software module. The fourth device may be implemented as or included in Figure 4 In the fourth device 310.

[0163] In some example embodiments, the fourth device includes a component for acquiring at least one location information state of at least one candidate device via side link communication; a component for determining a plurality of terminal devices for locating the fourth device from at least one candidate device, at least one of the plurality of terminal devices having an invalid location information state; a component for sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information state; a component for receiving a list of additional devices from at least one terminal device having an invalid location information state, the list of additional devices including at least one additional device that conforms to the reference information; and a component for locating the fourth device with the assistance of at least a portion of the terminal devices having a valid location information state and at least one additional device.

[0164] In some example embodiments, the location information status is indicated by an indicator, a first value of the indicator indicates that the location information status of the corresponding candidate device is valid, and a second, different value of the indicator indicates that the location information status of the corresponding candidate device is invalid.

[0165] In some example embodiments, the positioning is initiated by a fourth apparatus, and the fourth apparatus comprises a terminal device.

[0166] In some example embodiments, the reference information about the additional device to be discovered includes at least one of: a first indicator of a device to be excluded from the additional device to be discovered, or a second indicator of a device to be included as the additional device to be discovered.

[0167] In some example embodiments, the devices to be excluded from the at least one additional device include a fourth apparatus and a plurality of terminal devices.

[0168] In some example embodiments, the fourth apparatus further comprises means for determining a location of the fourth apparatus and a location of at least one terminal device based on a plurality of side link positioning reference signals during side link positioning.

[0169] In some example embodiments, the location of the fourth apparatus and the location of the at least one terminal device are determined based on observed time differences of arrival or round trip times associated with a plurality of sidelink positioning reference signals.

[0170] In some example embodiments, the fourth apparatus further comprises: means for sending an indication to update the location information status to valid to at least one terminal device having an invalid location information status.

[0171] In some example embodiments, the fourth apparatus further comprises means for performing the method 800 or other operations of some example embodiments of the fourth apparatus 310. In some example embodiments, the means comprises: at least one processor; and at least one memory storing instructions that, when executed by the at least one processor, cause execution of the fourth apparatus.

[0172] Fig. 9 is a simplified block diagram of a device 900 suitable for implementing an example embodiment of the present disclosure. The device 900 may be used to implement a communication device, such as Figure 1 The first device 110, the second device 120, the third device 130 or Figure 4 The fourth device 310 is shown. As shown, the device 900 includes one or more processors 910, one or more memories 920 coupled to the processor 910, and one or more communication modules 940 coupled to the processor 910.

[0173] The communication module 940 is used for two-way communication. The communication module 940 has one or more communication interfaces to facilitate communication with one or more other modules or devices. The communication interface may represent any interface necessary to communicate with other network elements. In some example embodiments, the communication module 940 may include at least one antenna.

[0174] As non-limiting examples, processor 910 may be of any type suitable for a local technology network, and may include one or more of the following: a general purpose computer, a special purpose computer, a microprocessor, a digital signal processor (DSP), and a processor based on a multi-core processor architecture. Device 900 may have multiple processors, such as application specific integrated circuit chips that are time slaved to a clock of a synchronized main processor.

[0175] The memory 920 may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, read-only memory (ROM) 924, electrically programmable read-only memory (EPROM), flash memory, hard disk, compact disk (CD), digital video disk (DVD), optical disk, laser disk, and other magnetic storage and / or optical storage. Examples of volatile memories include, but are not limited to, random access memory (RAM) 922 and other volatile memories that do not persist over the duration of a power outage.

[0176] The computer program 930 includes computer executable instructions executed by the associated processor 910. The instructions of the program 930 may include instructions for performing the operations / actions of some example embodiments of the present disclosure. The program 930 may be stored in a memory, such as ROM 924. The processor 910 may perform any suitable actions and processes by loading the program 930 into the RAM 922.

[0177] The exemplary embodiments of the present disclosure may be implemented by means of a program 930, so that the device 900 may execute the Figures 2 to 8 Any process of the present disclosure discussed. The exemplary embodiments of the present disclosure may also be implemented by hardware or by a combination of software and hardware.

[0178] In some example embodiments, the program 930 may be tangibly embodied in a computer-readable medium that may be included in the device 900 (such as in the memory 920) or in other storage devices accessible to the device 900. The device 900 may load the program 930 from the computer-readable medium to the RAM 922 for execution. In some example embodiments, the computer-readable medium may include any type of non-transitory storage medium, such as ROM, EPROM, flash memory, hard disk, CD, DVD, etc. The term "non-transitory" as used herein is a limitation of the medium itself (i.e., tangible, not a signal), not a limitation on data storage persistence (e.g., RAM versus ROM).

[0179] Fig.10 An example of a computer readable medium 1000 is shown which may be in the form of a CD, DVD or other optical storage disk. The computer readable medium 1000 has a program 930 stored thereon.

[0180] Generally, various embodiments of the present disclosure may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. Some aspects may be implemented in hardware, and other aspects may be implemented in firmware or software that may be executed by a controller, microprocessor, or other computing device. Although various aspects of the embodiments of the present disclosure are shown and described as block diagrams, flow charts, or using some other graphical representations, it should be understood that, as non-limiting examples, the blocks, devices, systems, techniques, or methods described herein may be implemented in hardware, software, firmware, dedicated circuits or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0181] Some example embodiments of the present disclosure also provide at least one computer program product tangibly stored on a computer-readable medium (such as a non-transitory computer-readable medium). The computer program product includes computer executable instructions, such as those included in a program module executed in a device on a target physical or virtual processor to perform any method as described above. Typically, a program module includes routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functions of the program modules can be combined or split between program modules as needed. Machine executable instructions for program modules can be executed in local or distributed devices. In distributed devices, program modules can be located in both local and remote storage media.

[0182] The program code for executing the method of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device so that the program code enables the functions / operations specified in the flow chart and / or block diagram to be implemented when executed by the processor or controller. The program code can be executed entirely on the machine, partially on the machine, as an independent software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0183] In the context of the present disclosure, computer program codes or related data may be carried by any suitable carrier to enable a device, apparatus or processor to perform various processes and operations as described above. Examples of carriers include signals, computer readable media, etc.

[0184] The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or apparatuses, or any suitable combination of the foregoing. More specific examples of computer readable storage media would include an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0185] In addition, although operations are depicted in a particular order, this should not be understood as requiring such operations to be performed in the particular order shown or in sequence, or performing all of the operations shown to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be interpreted as limitations on the scope of the present disclosure, but as descriptions of features that may be specific to a particular embodiment. Unless explicitly stated, certain features described in the context of a separate embodiment may also be implemented in combination in a single embodiment. On the contrary, unless explicitly stated, the various features described in the context of a single embodiment may also be implemented in multiple embodiments individually or in any suitable sub-combination.

[0186] Although the disclosure has been described in language specific to structural features and / or methodological acts, it should be understood that the disclosure defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

[0187] Some examples of embodiments according to the present disclosure are provided below.

[0188] Example 1. A first device comprises at least one processor; and at least one memory storing instructions which, when executed by the at least one processor, cause the first device to at least: send a discovery request for device discovery via side link communication; receive at least one corresponding discovery response from at least one candidate device, the at least one corresponding discovery response including a location information status of a corresponding candidate device in the at least one candidate device; and send a candidate device list with location information status to a second device for locating the first device.

[0189] Example 2. The first apparatus according to example 1, wherein the location information status is indicated by an indicator, a first value of the indicator indicates that the location information status of the corresponding candidate device is valid, and a second different value of the indicator indicates that the location information status of the corresponding candidate device is invalid.

[0190] Example 3. The first apparatus according to example 1 or 2, wherein the positioning is initiated by the second apparatus, and the second apparatus comprises a network device implementing a location management function.

[0191] Example 4. A second device, comprising: at least one processor; and at least one memory storing instructions, which, when executed by the at least one processor, cause the second device to at least: receive a candidate device list from the first device, the candidate device list including at least one candidate device with a corresponding location information status; determine from the candidate device list a plurality of terminal devices for locating the first device, at least one of the plurality of terminal devices having an invalid location information status; send an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device with an invalid location information status; receive an additional device list from at least one terminal device with an invalid location information status, the additional device list including at least one additional device that conforms to the reference information; and locate the first device and at least one terminal device with an invalid location information status with the assistance of at least a portion of the terminal devices with a valid location information status and at least one additional device.

[0192] Example 5. The second apparatus according to Example 4, wherein the location information status is indicated by an indicator, a first value of the indicator indicates that the location information status of the corresponding candidate device is valid, and a second different value of the indicator indicates that the location information status of the corresponding candidate device is invalid.

[0193] Example 6. The second apparatus according to Example 4, wherein the positioning is initiated by the second apparatus, and the second apparatus comprises a network device implementing a location management function.

[0194] Example 7. The second apparatus according to Example 4, wherein the reference information about the additional device to be discovered includes at least one of: a first indicator of a device to be excluded from the additional device to be discovered, or a second indicator of a device to be included as the additional device to be discovered.

[0195] Example 8. The second apparatus according to Example 7, wherein the devices to be excluded from the at least one additional device include the first apparatus and the terminal device.

[0196] Example 9. The second apparatus according to Example 4, wherein the at least one additional device comprises at least one network device or at least one terminal device having a valid location status.

[0197] Example 10. The second apparatus according to any one of Examples 4 to 9, wherein the second apparatus is further caused to: after locating the first apparatus and at least one terminal device having an invalid location information status, update the location information status of the at least one terminal device from invalid to valid.

[0198] Example 11. A third device, comprising: at least one processor; and at least one memory storing instructions, which, when executed by the at least one processor, cause the third device to at least: receive a discovery request for device discovery from a first device via side link communication; send a discovery response to the first device, the discovery response including an invalid location information status of the third device; perform additional device discovery after receiving an indication of additional device discovery from a second device for location management, the indication including reference information about additional devices to be discovered; determine at least one additional device that meets the reference information; and send an additional device list including at least one additional device to the second device for locating the first device.

[0199] Example 12. The third apparatus of example 11, wherein the location information status is indicated by an indicator, a first value of the indicator indicating that the location information status is valid, and a second, different value of the indicator indicating that the location information status is invalid.

[0200] Example 13. The third apparatus according to Example 11, wherein the reference information about the additional device to be discovered comprises at least one of: a first indicator of a device to be excluded from the additional device to be discovered, or a second indicator of a device to be included as the additional device to be discovered.

[0201] Example 14. The third device of Example 11, wherein the third device is further caused to: receive an indication from the second device to update the location information status to valid.

[0202] Example 15. A third device according to Example 11, wherein the third device acts as a server terminal device, and wherein the third device is also caused to: determine the location of the third device based on multiple side link positioning reference signals during side link positioning; and update the location information status of the third device from invalid to valid.

[0203] Example 16. The third apparatus according to Example 11, wherein the at least one additional device comprises at least one network device or at least one terminal device having a valid location status.

[0204] Example 17. The third apparatus according to any one of Examples 11 to 16, wherein the first apparatus is a first terminal device, the second apparatus is a network device implementing a location management function, and the third apparatus is a second terminal device.

[0205] Example 18. A fourth device, comprising: at least one processor; and at least one memory storing instructions, which, when executed by the at least one processor, cause the fourth device to at least: obtain at least one location information state of at least one candidate device via side link communication; determine multiple terminal devices for locating the fourth device from at least one candidate device, at least one terminal device among the multiple terminal devices having an invalid location information state; send an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device with an invalid location information state; receive a list of additional devices from at least one terminal device with an invalid location information state, the list of additional devices including at least one additional device that conforms to the reference information; and locate the fourth device with the assistance of at least a portion of the terminal devices with a valid location information state and at least one additional device.

[0206] Example 19. The fourth apparatus of Example 18, wherein the location information status is indicated by an indicator, a first value of the indicator indicates that the location information status of the corresponding candidate device is valid, and a second different value of the indicator indicates that the location information status of the corresponding candidate device is invalid.

[0207] Example 20. The fourth apparatus according to Example 18, wherein the positioning is initiated by the fourth apparatus, and the fourth apparatus comprises a terminal device.

[0208] 21. The fourth apparatus according to example 18, wherein the reference information about the additional device to be discovered comprises at least one of: a first indicator of a device to be excluded from the additional device to be discovered, or a second indicator of a device to be included as the additional device to be discovered.

[0209] Example 22. The fourth apparatus according to Example 21, wherein the devices to be excluded from the at least one additional device include the fourth apparatus and a plurality of terminal devices.

[0210] Example 23. The fourth apparatus according to Example 18, wherein the fourth apparatus is further caused to: determine the position of the fourth apparatus and the position of at least one terminal device based on multiple side link positioning reference signals during side link positioning.

[0211] Example 24. A fourth apparatus according to Example 23, wherein the position of the fourth apparatus and the position of at least one terminal device are determined based on observed arrival time differences or round-trip times associated with multiple sidelink positioning reference signals.

[0212] Example 25. The fourth apparatus according to Example 18, wherein the fourth apparatus is further caused to: send an indication to update the location information status to valid to at least one terminal device having an invalid location information status.

[0213] Example 26. A method, comprising: at a first device, sending a discovery request for device discovery via side link communication; receiving at least one corresponding discovery response from at least one candidate device, the at least one corresponding discovery response including a location information status of a corresponding candidate device in the at least one candidate device; and sending a candidate device list with location information status to a second device for locating the first device.

[0214] Example 27. A method, comprising: at a second device, receiving a candidate device list from a first device, the candidate device list including at least one candidate device having a corresponding location information status; determining from the candidate device list a plurality of terminal devices for locating the first device, at least one of the plurality of terminal devices having an invalid location information status; sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information status; receiving an additional device list from at least one terminal device having an invalid location information status, the additional device list including at least one additional device that conforms to the reference information; and locating the first device and at least one terminal device having an invalid location information status with the assistance of at least a portion of the terminal devices having a valid location information status and at least one additional device.

[0215] Example 28. A method, comprising: receiving a discovery request for device discovery at a third device and from a first device via side link communication; sending a discovery response to the first device, the discovery response including an invalid location information status of the third device; performing additional device discovery after receiving an indication of additional device discovery from a second device for location management, the indication including reference information about additional devices to be discovered; determining at least one additional device that matches the reference information; and sending an additional device list including at least one additional device to the second device for locating the first device.

[0216] Example 29. A method, comprising: at a fourth device, obtaining at least one location information state of at least one candidate device via side link communication; determining multiple terminal devices for locating the fourth device from at least one candidate device, at least one terminal device among the multiple terminal devices having an invalid location information state; sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information state; receiving an additional device list from at least one terminal device having an invalid location information state, the additional device list including at least one additional device that conforms to the reference information; and locating the fourth device with the assistance of at least a portion of the terminal devices having a valid location information state and at least one additional device.

[0217] Example 30. A first device, comprising: a component for sending a discovery request for device discovery via side link communication; a component for receiving at least one corresponding discovery response from at least one candidate device, the at least one corresponding discovery response including a location information status of a corresponding candidate device in at least one candidate device; and a component for sending a candidate device list with location information status to a second device for locating the first device.

[0218] Example 31. A second device, comprising: a component for receiving a candidate device list from a first device, the candidate device list including at least one candidate device having a corresponding location information status; a component for determining a plurality of terminal devices for locating the first device from the candidate device list, at least one of the plurality of terminal devices having an invalid location information status; a component for sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information status; a component for receiving an additional device list from at least one terminal device having an invalid location information status, the additional device list including at least one additional device that conforms to the reference information; and a component for locating the first device and at least one terminal device having an invalid location information status with the assistance of at least a portion of the terminal devices having a valid location information status and at least one additional device.

[0219] Example 32. A third device, comprising: a component for receiving a discovery request for device discovery from a first device via side link communication; a component for sending a discovery response to the first device, the discovery response including an invalid location information status of the third device; a component for performing additional device discovery after receiving an indication of additional device discovery from a second device for location management, the indication including reference information about the additional device to be discovered; a component for determining at least one additional device that meets the reference information; and a component for sending an additional device list including at least one additional device to the second device for locating the first device.

[0220] Example 33. A fourth device, comprising: a component for acquiring at least one location information status of at least one candidate device via side link communication; a component for determining multiple terminal devices for locating the fourth device from at least one candidate device, at least one of the multiple terminal devices having an invalid location information status; a component for sending an indication of additional device discovery having reference information about an additional device to be discovered to at least one terminal device having an invalid location information status; a component for receiving a list of additional devices from at least one terminal device having an invalid location information status, the list of additional devices including at least one additional device that conforms to the reference information; and a component for locating the fourth device with the assistance of at least a portion of the terminal devices having a valid location information status and at least one additional device.

[0221] Example 34. A computer-readable medium comprising instructions stored thereon, the instructions being used to cause an apparatus to perform at least the method described in Example 26, Example 27, Example 28, or Example 29.

Claims

1. A first device, comprising: at least one processor; as well as at least one memory storing instructions that, when executed by the at least one processor, cause the first device to at least: sending a discovery request for device discovery via sidelink communication; receiving at least one corresponding discovery response from at least one candidate device, the at least one corresponding discovery response including a location information status of a corresponding candidate device among the at least one candidate device; as well as The candidate device list having the location information status is sent to a second device for locating the first device.

2. The first apparatus of claim 1, wherein the location information status is indicated by an indicator, a first value of the indicator indicating that the location information status of the corresponding candidate device is valid, and a second, different value of the indicator indicating that the location information status of the corresponding candidate device is invalid.

3. A third device, comprising: at least one processor; as well as at least one memory storing instructions that, when executed by the at least one processor, cause the third device to at least: receiving a discovery request for device discovery from a first apparatus via sidelink communication; sending a discovery response to the first device, the discovery response including an invalid location information status of the third device; performing the additional device discovery after receiving an indication of additional device discovery from a second apparatus for location management, the indication comprising reference information about an additional device to be discovered; determining at least one additional device that matches the reference information; as well as An additional device list including the at least one additional device is sent to the second device for locating the first device.

4. The third apparatus according to claim 3, wherein the reference information about the additional device to be discovered comprises at least one of the following: a first indicator of a device to be excluded from said additional devices to be discovered, or A second indicator of a device to be included as said additional device to be discovered.

5. The third device according to claim 3, wherein the third device is further caused to: An instruction to update the location information status to valid is received from the second device.

6. The third apparatus according to claim 3, wherein the third apparatus acts as a server terminal device, and wherein the third apparatus is further caused to: determining a location of the third device based on a plurality of sidelink positioning reference signals during the sidelink positioning; and The location information status of the third device is updated from invalid to valid.

7. A fourth device, comprising: at least one processor; as well as at least one memory storing instructions that, when executed by the at least one processor, cause the fourth device to at least: acquiring at least one location information state of at least one candidate device via sidelink communication; Determine, from the at least one candidate device, a plurality of terminal devices for locating the fourth apparatus, at least one terminal device among the plurality of terminal devices having an invalid location information state; sending an indication of additional device discovery with reference information about additional devices to be discovered to the at least one terminal device having the invalid location information state; receiving an additional device list from the at least one terminal device having the invalid location information state, the additional device list including at least one additional device that conforms to the reference information; as well as The fourth device is located with the assistance of at least a portion of the terminal device having a valid location information status and the at least one additional device. 8 . The fourth apparatus according to claim 7 , wherein the positioning is initiated by the fourth apparatus, and the fourth apparatus comprises a terminal device.

9. The fourth apparatus according to claim 7, wherein the reference information about the additional device to be discovered comprises at least one of the following: a first indicator of a device to be excluded from said additional devices to be discovered, or A second indicator of a device to be included as said additional device to be discovered.

10. The fourth apparatus according to claim 9, wherein the device to be excluded from the at least one additional device includes the fourth apparatus and the plurality of terminal devices.

Images