SL PRS sending method, receiving method, device, medium and product

Abstract

The invention discloses an SL PRS sending method, an SL PRS receiving method, an SL PRS sending device, an SL PRS receiving device, a medium and a product, and belongs to the field of positioning signal measurement. The method comprises the following steps: sending / receiving first information at a first side channel resource, and sending / receiving a first SL PRS at a first SL PRS resource; wherein the first information is used for indicating a sending mode of the SL PRS in the first SL PRS resource. According to the method, measurement based on the sidewalk positioning reference signal between the terminals in sidewalk communication is realized.

Description

SL PRS sending method, receiving method, device, medium and product Technical Field

[0001] The present application relates to the field of positioning signal measurement, and in particular to a SL PRS sending method, receiving method, device, medium and product. Background Art

[0002] In Release 17 (R17) of the 3rd Generation Partnership Project (3GPP), the 3GPP Radio Access Network (RAN) project studied "New Radio (NR) positioning enhancements" and "Scenarios and requirements for in-coverage, partial coverage, and out-of-coverage NR positioning use cases." The "Scenarios and requirements for in-coverage, partial coverage, and out-of-coverage NR positioning use cases" study focused on vehicle-to-everything (V2X) and public safety use cases.

[0003] 3GPP needs to research and develop sidelink positioning solutions to support the use cases, scenarios, and requirements identified in these activities. To improve positioning accuracy, especially for terminals outside cellular network coverage, 3GPP introduced positioning based on sidelink positioning reference signals in Release 18 (R18).

[0004] Summary of the Invention

[0005] This application provides a method for sending, receiving, device, medium, and product of SL PRS. The technical solution is as follows:

[0006] According to one aspect of the present application, a method for transmitting a sidelink positioning reference signal (SL PRS) is provided. The method is performed by a first terminal, and the method includes:

[0007] Sending first information on a first sidelink channel resource, and sending a first SL PRS on a first SL PRS resource;

[0008] The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

[0009] According to one aspect of the present application, a method for receiving an SL PRS is provided, the method being performed by a second terminal, the method including:

[0010] receiving first information on a first sidelink channel resource, and receiving a first SL PRS on a first SL PRS resource;

[0011] The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

[0012] According to another aspect of the present application, a device for transmitting an SL PRS is provided, the device comprising:

[0013] A sending module, configured to send first information on a first sidelink channel resource and send a first SL PRS on a first SL PRS resource;

[0014] The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

[0015] According to another aspect of the present application, a device for receiving an SL PRS is provided, the device comprising:

[0016] A receiving module, configured to receive first information in a first sidelink channel resource and receive a first SL PRS in a first SL PRS resource;

[0017] The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

[0018] According to another aspect of the present application, a terminal is provided, comprising:

[0019] processor;

[0020] a transceiver connected to the processor;

[0021] a memory for storing executable instructions for the processor;

[0022] The processor is configured to load the executable instructions so that the terminal implements the SL PRS sending method or the SL PRS receiving method as described in the above aspects.

[0023] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is used to be executed by a processor of a terminal to implement the SL PRS sending method or the SL PRS receiving method described in the above aspects.

[0024] According to another aspect of an embodiment of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions. When a terminal equipped with the chip is running, the chip is used to implement the SL PRS sending method or the SL PRS receiving method described in the above aspects.

[0025] According to another aspect of an embodiment of the present application, a computer program product (or computer program) is provided, wherein the computer program product (or computer program) includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the terminal reads and executes the computer instructions from the computer-readable storage medium to implement the SL PRS sending method described in the above aspect, or the SL PRS receiving method.

[0026] The technical solutions provided by the embodiments of the present application include at least the following beneficial effects:

[0027] In the above-mentioned SL PRS sending and receiving method, the terminal can perform sidelink communication through the first sidelink channel resource and the first SL PRS resource associated on the sidelink, send or receive first information on the first sidelink channel resource, and send or receive SL PRS on the first SL PRS resource according to the SL PRS sending method indicated by the first information, thereby realizing measurement based on the sidelink positioning reference signal between terminals in sidelink communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] FIG1 is a schematic diagram of a sideline communication scenario provided by an exemplary embodiment of the present application;

[0030] FIG2 is a schematic diagram of a side communication scenario provided by another exemplary embodiment of the present application;

[0031] FIG3 is a schematic diagram of a side communication scenario provided by another exemplary embodiment of the present application;

[0032] FIG4 is a flowchart of a method for transmitting an SL PRS provided by an exemplary embodiment of the present application;

[0033] FIG5 is a flowchart of a method for receiving an SL PRS provided by an exemplary embodiment of the present application;

[0034] FIG6 is a flowchart of a method for transmitting an SL PRS provided by an exemplary embodiment of the present application;

[0035] FIG7 is a schematic diagram of a time-frequency structure provided by an exemplary embodiment of the present application;

[0036] FIG8 is a schematic diagram of a time-frequency structure provided by another exemplary embodiment of the present application;

[0037] FIG9 is a schematic diagram of a time-frequency structure provided by another exemplary embodiment of the present application;

[0038] FIG10 is a schematic diagram of a time-frequency structure provided by another exemplary embodiment of the present application;

[0039] FIG11 is a schematic diagram of a time-frequency structure provided by another exemplary embodiment of the present application;

[0040] FIG12 is a schematic diagram of a time-frequency structure provided by another exemplary embodiment of the present application;

[0041] FIG13 is a schematic diagram of a time-frequency structure provided by another exemplary embodiment of the present application;

[0042] FIG14 is a schematic diagram of a time-frequency structure provided by another exemplary embodiment of the present application;

[0043] FIG15 is a block diagram of a device for transmitting SL PRS provided by an exemplary embodiment of the present application;

[0044] FIG16 is a block diagram of a receiving device of an SL PRS provided by an exemplary embodiment of the present application;

[0045] FIG17 is a schematic structural diagram of a terminal provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions, and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Exemplary embodiments will be described in detail herein, with examples shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0047] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0048] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0049] Sideline communication in different network coverage environments

[0050] In sideline communication, according to the network coverage of the terminal, it can be divided into sideline communication within the network coverage, sideline communication with partial network coverage, and sideline communication outside the network coverage.

[0051] As shown in FIG1 , in sideline communication within network coverage, all terminals performing sideline communication are within the coverage of the same base station. Thus, the above terminals can perform sideline communication based on the same sideline configuration by receiving configuration signaling from the base station.

[0052] As shown in Figure 2, in the case of partial network coverage and sidelink communication, some terminals performing sidelink communication are located within the coverage of the base station. These terminals can receive the configuration signaling from the base station and perform sidelink communication according to the configuration of the base station. However, terminals located outside the network coverage cannot receive the configuration signaling from the base station. In this case, the terminals outside the network coverage will determine the sidelink configuration based on pre-configuration information and information carried in the Physical Sidelink Broadcast Channel (PSBCH) sent by terminals within the network coverage, and perform sidelink communication.

[0053] As shown in FIG3 , for sideline communication outside the network coverage, all terminals performing sideline communication are located outside the network coverage, and all terminals determine the sideline configuration according to pre-configuration information to perform sideline communication.

[0054] Sidelink-based positioning

[0055] In 3GPP Release 17, 3GPP RAN conducted studies on "NR Positioning Enhancements" and "Scenarios and Requirements for NR Positioning Use Cases in In-Coverage, Partial Coverage, and Out-of-Coverage." The "Scenarios and Requirements for NR Positioning Use Cases in In-Coverage, Partial Coverage, and Out-of-Coverage" studies focused on V2X and public safety use cases, and the results were documented in TR38.845. In addition, SA1 developed requirements for "Ranging-Based Services" in TS22.261 and positioning accuracy requirements for Internet of Things (IoT) use cases in out-of-coverage scenarios in TS22.104. 3GPP needs to research and develop sidelink positioning solutions to support the use cases, scenarios, and requirements identified in these activities. To improve positioning accuracy, especially for terminals located outside of cellular network coverage, 3GPP introduced positioning based on sidelink positioning reference signals in Release 18. According to the current conclusions, the sideline positioning reference signal SL PRS can be sent in a dedicated resource pool. However, in order to support sideline positioning and sideline communication, the terminal also needs to send and receive terminal mutual discovery information, configuration information, measurement reporting information related to sideline positioning, and control and data information related to sideline communication, etc., and this information needs to be carried through sideline channels such as PSCCH and / or PSSCH.

[0056] On the sidelink, when the SL PRS and the sidelink signal / channel are sent in the same time slot, how the SL PRS should be multiplexed with other sidelink signals / channels in the same time slot is an unresolved issue. The present application provides a method for transmitting and receiving an SL PRS, which can solve the above technical problems.

[0057] FIG4 shows a flowchart of a method for sending an SL PRS provided by an exemplary embodiment of the present application. The method is executed by a first terminal. Taking the first terminal as the sending terminal as an example, the method includes:

[0058] Step 401: Send first information on a first sidelink channel resource, and send a first SL PRS on a first SL PRS resource.

[0059] The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

[0060] Exemplarily, the first terminal listens to the side channel in the autonomous resource selection mode, determines the first side channel resource and the first SL PRS resource associated with the first side channel resource based on the channel idleness obtained by listening; sends the first information on the first side channel resource, and sends the first SL PRS on the first SL PRS resource according to the SL PRS sending method indicated by the first information.

[0061] Exemplarily, the first terminal sends the first information on the first sidelink channel resource scheduled by the network and sends the first SL PRS on the first SL PRS resource scheduled by the network in a network scheduling resource mode.

[0062] Optionally, the sidelink channel includes at least one of a physical sidelink control channel (Physical Sidelink Control Channel, PSCCH) and a physical sidelink shared channel (Physical Sidelink Shared Channel, PSSCH).

[0063] To sum up, the SL PRS sending method provided in this embodiment is that the first terminal can perform sidelink communication with the receiving terminal through the first sidelink channel resource and the first SL PRS resource associated on the sidelink, send the first information on the first sidelink channel resource, and send the SL PRS on the first SL PRS resource according to the SL PRS sending method indicated by the first information, so that the receiving terminal can perform measurement based on the sidelink positioning reference signal.

[0064] FIG5 shows a flowchart of a method for receiving an SL PRS provided by an exemplary embodiment of the present application. The method is executed by a second terminal. Taking the second terminal as a receiving terminal as an example, the method includes:

[0065] Step 501: Receive first information on a first sidelink channel resource, and receive a first SL PRS on a first SL PRS resource.

[0066] The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

[0067] Exemplarily, the second terminal monitors the sidelink channel, receives first information from the first sidelink channel resource, obtains the first SL PRS on the first SL PRS resource according to the SL PRS sending method indicated by the first information, and measures the first SL PRS.

[0068] Optionally, the side channel includes at least one of PSCCH and PSSCH.

[0069] To sum up, the SL PRS receiving method provided in this embodiment is that the second terminal can perform sideline communication with the sending terminal through the associated first sideline channel resource and the first SL PRS resource, receive the first information on the first sideline channel resource, and receive the SL PRS on the first SL PRS resource according to the SL PRS sending method indicated by the first information, thereby realizing the measurement of the sideline positioning reference signal provided by the sending terminal.

[0070] It should be noted that the above steps 401 and 501 can also be implemented as another embodiment, as shown in Figure 6, the first terminal sends the first information on the first side channel resource, and sends the first SL PRS on the first SL PRS resource; the second terminal receives the first information on the first side channel resource, and receives the first SL PRS on the first SL PRS resource.

[0071] The sidelink channel resources and SL PRS resources allocated for SL PRS measurement may belong to the same sidelink resource pool; or they may belong to different sidelink resource pools, for example, both the sidelink channel resources and the SL PRS resources belong to the first sidelink resource pool; for example, the sidelink channel resources belong to the first sidelink resource pool, and the SL PRS resources belong to the second sidelink resource pool.

[0072] When the associated sidelink channel resources and SL PRS resources belong to the same sidelink resource pool, the terminal sends and receives the SL PRS through the time-frequency structure. The above-mentioned sidelink channel resources and SL PRS resources are associated resources in the time-frequency structure. For example, the above-mentioned first sidelink channel resource and the first SL PRS resource are a group of associated resources in the time-frequency structure.

[0073] In an embodiment of the present application, the time-frequency structure includes n groups of associated side channel resources and SL PRS resources. According to different configuration methods between the associated side channel resources and SL PRS resources, the time-frequency structure can include at least the following three categories.

[0074] It should be noted that the time-frequency structure corresponds to one or more first time domain units in the time domain, and the first time domain unit includes m second time domain units, where m is an integer greater than 1. In different embodiments of the present application, the first time domain unit can be at least one of a symbol group, a time slot, a time slot group, a subframe, and a subframe group; the second time domain unit can be a symbol, such as an orthogonal frequency division multiplexing (OFDM) symbol.

[0075] The following descriptions of the three types of time-frequency structures are given by taking as examples the case where the first time domain unit is a time slot and the second time domain unit is a symbol.

[0076] The first possible time-frequency structure design:

[0077] The n side channel resources and n SL PRS resources in the time-frequency structure correspond to different symbols; the n side channel resources correspond to the same multiple symbols; the multiple symbols corresponding to the same SL PRS resource are continuous in the time domain; the multiple symbols corresponding to the n side channel resources are multiple (i.e., at least two) continuous symbols in the same time slot.

[0078] Exemplarily, the multiple symbols corresponding to the n side channel resources are partial symbols in a time slot, and the time slot to which the n side channel resources belong also includes SL PRS resources. For example, as shown in FIG7 , the side channel resources correspond to the first three symbols in the same time slot.

[0079] Side channel resources

[0080] The n sidelink channel resources respectively correspond to different frequency domain resources, and the number of frequency domain resources corresponding to the n sidelink channel resources is the same.

[0081] For example, as shown in Figure 7, there are four side channel resources, namely side channel resource 0, side channel resource 1, side channel resource 2, and side channel resource 3. Side channel resource 0 corresponds to resource blocks (RBs) 1 to F, side channel resource 1 corresponds to RBs (F+1) to 2F, side channel resource 2 corresponds to RBs (2F+1) to 3F, and side channel resource 3 corresponds to RBs (3F+1) to 4F. Each side channel resource corresponds to F RBs, where F is an integer greater than 1.

[0082] Optionally, the starting point of the frequency domain resources corresponding to the above-mentioned n sidelink channel resources is configured by the network. Alternatively, the starting point of the frequency domain resources corresponding to the above-mentioned n sidelink channel resources is pre-configured by the network. Alternatively, the starting point of the frequency domain resources corresponding to the above-mentioned n sidelink channel resources is determined based on the frequency domain resources of the sidelink resource pool corresponding to the time slot; for example, the first physical resource block (PRB) of the sidelink resource pool corresponding to the current time slot is used as the starting point of the frequency domain resources corresponding to the sidelink channel resources.

[0083] Optionally, the number of frequency domain resources corresponding to each of the n sidelink channel resources is configured by the network. Alternatively, the number of frequency domain resources corresponding to each sidelink channel resource is pre-configured by the network. Alternatively, the number of frequency domain resources corresponding to each sidelink channel resource is determined based on n and the frequency domain resources of the sidelink resource pool; for example, the number of frequency domain resources corresponding to each sidelink channel resource is expressed as F, the frequency domain resources of the sidelink resource pool are R PRBs, and there are n sidelink channel resources in the time-frequency structure, then F = R / n, as shown in Figure 7, n is 4, then F = R / 4.

[0084] Optionally, the first symbol of the multiple symbols corresponding to the n side channel resources is used for automatic gain control (AGC). As shown in FIG7 , the n side channel resources correspond to the first three symbols in a time slot, wherein the first symbol is used for AGC.

[0085] SL PRS resources

[0086] The n SL PRS resources mentioned above belong to one or more SL PRS sets; the SL PRS resources belonging to the same SL PRS set correspond to the same multiple symbols. Each SL PRS set includes one or more SL PRS resources.

[0087] When an SL PRS set includes multiple SL PRS resources, different SL PRS resources belonging to the same SL PRS set are frequency-division multiplexed or code-division multiplexed when transmitting the SL PRS; SL PRS resources belonging to different SL PRS sets correspond to different multiple symbols.

[0088] For example, as shown in Figure 7, a time slot includes 2 SL PRS sets: the first SL PRS set and the second SL PRS set, and each SL PRS set includes 2 SL PRS resources; the first SL PRS set corresponds to 5 symbols from 3 to 7, so the 2 SL PRS resources in the first SL PRS set correspond to 5 symbols from 3 to 7; the second SL PRS set corresponds to 5 symbols from 8 to 12, so the 2 SL PRS resources in the second SL PRS set correspond to 5 symbols from 8 to 12.

[0089] 7 , when transmitting SL PRS, the two SL PRS resources in the first SL PRS set perform frequency division multiplexing on R PRBs on symbols 3 to 7. When transmitting SL PRS, the two SL PRS resources in the second SL PRS set perform frequency division multiplexing on R PRBs on symbols 8 to 12.

[0090] Optionally, different SL PRS resources in the same SL PRS set have the same comb structure and different RE offsets.

[0091] For example, as shown in Figure 7, the SL PRS resource 0 and the SL PRS resource 1 in the above-mentioned first SL PRS set are both comb tooth structures with a comb tooth size of 2, the resource element (RE) offset of SL PRS resource 0 is 0, and the RE offset of SL PRS resource 1 is 1; the SL PRS resource 2 and the SL PRS resource 3 in the above-mentioned second SL PRS set are both comb tooth structures with a comb tooth size of 2, the RE offset of SL PRS resource 2 is 0, and the RE offset of SL PRS resource 3 is 1.

[0092] Optionally, the first symbol of multiple symbols corresponding to the same SL PRS resource is used for AGC. As shown in Figure 7, the first symbol (i.e., symbol 3) of the five symbols from symbols 3 to 7 corresponding to the first SL PRS set in a time slot is used for AGC; the first symbol (i.e., symbol 8) of the five symbols from symbols 8 to 12 corresponding to the second SL PRS set is used for AGC.

[0093] The correspondence between side channel resources and SL PRS resources

[0094] The above-mentioned n side channel resources and n SL PRS resources correspond to each other in sequence according to their respective indexes.

[0095] For example, the indexes of the four side channel resources are 0-3, and the indexes of the four SL PRS resources are (0,0), (0,1), (1,0) and (1,1), respectively. The side channel resource with index 0 (i.e., side channel resource 0) is associated with the SL PRS resource with index (0,0), the side channel resource with index 1 (i.e., side channel resource 1) is associated with the SL PRS resource with index (0,1), the side channel resource with index 2 (i.e., side channel resource 2) is associated with the SL PRS resource with index (1,0), and the side channel resource with index 3 (i.e., side channel resource 3) is associated with the SL PRS resource with index (1,1).

[0096] Optionally, the n side channel resources are indexed in ascending order in the frequency domain. As shown in FIG7 , the four side channel resources are indexed 0, 1, 2, and 3 in descending order in the frequency domain.

[0097] Optionally, n SL PRS resources are sorted based on comb offset first and then set index, and correspond to n side channel resources. Alternatively, n SL PRS resources are sorted based on set index first and then comb offset, and correspond to n side channel resources.

[0098] For example, the indices (0,0), (0,1), (1,0) and (1,1) of the above four SL PRS resources can be understood as (comb offset, set index); corresponding to Figure 7, (0,0) represents SL PRS resource 0 with an RE offset of 0 in the first SL PRS set with a set index of 0, (0,1) represents SL PRS resource 1 with an RE offset of 0 in the second SL PRS set with a set index of 1, (1,0) represents SL PRS resource 2 with an RE offset of 1 in the first SL PRS set with a set index of 0, and (1,1) represents SL PRS resource 3 with an RE offset of 1 in the second SL PRS set with a set index of 1.

[0099] Alternatively, the indices (0,0), (0,1), (1,0) and (1,1) of the above four SL PRS resources can be understood as (set index, comb offset); corresponding to Figure 7, (0,0) represents SL PRS resource 0 with an RE offset of 0 in the first SL PRS set with a set index of 0, (0,1) represents SL PRS resource 1 with an RE offset of 1 in the first SL PRS set with a set index of 0, (1,0) represents SL PRS resource 2 with an RE offset of 0 in the second SL PRS set with a set index of 1, and (1,1) represents SL PRS resource 3 with an RE offset of 1 in the second SL PRS set with a set index of 1.

[0100] The 4 SL PRS resources correspond to the 4 side channel resources in sequence: SL PRS resource 0 corresponds to side channel resource 0, SL PRS resource 1 corresponds to side channel resource 1, SL PRS resource 2 corresponds to side channel resource 2, and SL PRS resource 3 corresponds to side channel resource 3.

[0101] Optionally, in each group of associated sidelink channel resources and SL PRS resources, the time domain position of the sidelink channel resources is located before the time domain position of the SL PRS resources. For example, as shown in FIG7 , the time domain position of the sidelink channel resources is symbols 0 to 2, and the time domain position of the SL PRS resources is symbols 3 to 12. The time domain position of the sidelink channel resources is located before the time domain position of the SL PRS resources.

[0102] Symbols used for sending and receiving conversion

[0103] In the time-frequency structure, there are symbols for transmitting and receiving conversion.

[0104] Optionally, the symbols corresponding to the n side channel resources and the symbols corresponding to the n SL PRS resources are continuous; or, the symbols corresponding to the n side channel resources and the symbols corresponding to the n SL PRS resources do not include symbols used for transceiver conversion.

[0105] That is to say, there are no symbols used for transceiver conversion between the symbols corresponding to the side channel resources and the symbols corresponding to the SL PRS resources; for example, as shown in Figure 7, the next symbol of the side channel resources is the first symbol of the first SL PRS set, and the first symbol of the first SL PRS set is used for AGC. There are no symbols used for transceiver conversion between the side channel resources and the first SL PRS set.

[0106] Optionally, the symbols corresponding to at least two SL PRS sets are continuous; or, the symbols corresponding to at least two SL PRS sets do not include symbols used for transceiver conversion.

[0107] That is to say, there are no symbols used for transceiver conversion between SL PRS sets. For example, as shown in Figure 7, the next symbol of the first SL PRS set is the first symbol of the second SL PRS set. The first symbol of the second SL PRS set is used for AGC. There are no symbols used for transceiver conversion between the first SL PRS set and the second SL PRS set.

[0108] In some embodiments, the last symbol of the time-frequency structure is a symbol used for transceiver switching; or, in an autonomous resource selection mode, the last symbol of the time-frequency structure is a symbol used for transceiver switching.

[0109] As shown in Figure 7, the last symbol of a time slot is a symbol used for transmitting and receiving. Autonomous resource selection means that the terminal autonomously selects resources in the sidelink resource pool for SL PRS transmission.

[0110] In some embodiments, when the network schedules resources and the first condition is met, the last symbol of the time-frequency structure is a symbol used to send or receive the SL PRS.

[0111] Optionally, the first terminal is a sending terminal, and the first condition includes at least one of the following:

[0112] The first terminal is configured to send an SL PRS in the last SL PRS set for the second terminal to measure a Reference Signal Time Difference (RSTD);

[0113] The SL PRS set in the next time-frequency structure is configured for measuring RSTD.

[0114] Exemplarily, the second terminal is a receiving terminal. Network scheduling refers to scheduling time-frequency resources for a terminal by a network device, such as scheduling sidelink channel resources and SL PRS resources for a terminal by a base station.

[0115] The second possible time-frequency structure design:

[0116] The n side channel resources and n SL PRS resources in the time-frequency structure correspond to different symbols; the n side channel resources correspond to the same multiple symbols; the multiple symbols corresponding to the same SL PRS resource are continuous in the time domain; the multiple symbols corresponding to the n side channel resources are all symbols in the same time slot.

[0117] Exemplarily, n sidelink channel resources and n SL PRS resources in the time-frequency structure correspond to different time slots; n sidelink channel resources correspond to the same time slot; and multiple time slots corresponding to the same SL PRS resource are continuous in the time domain. For example, as shown in Figure 8, n sidelink channel resources correspond to time slot #0, and n SL PRS resources correspond to time slots #1 to #4.

[0118] Side channel resources

[0119] The n sidelink channel resources respectively correspond to different frequency domain resources, and the number of frequency domain resources corresponding to the n sidelink channel resources is the same.

[0120] For example, as shown in Figure 8, there are four side channel resources, namely side channel resource #0, side channel resource #1, side channel resource #2, and side channel resource #3. Side channel resource 0 corresponds to resource blocks (RBs) 1 to F, side channel resource 1 corresponds to RBs (F+1) to 2F, side channel resource 2 corresponds to RBs (2F+1) to 3F, and side channel resource 3 corresponds to RBs (3F+1) to 4F. Each side channel resource corresponds to F RBs, where F is an integer greater than 1.

[0121] Optionally, the starting point of the frequency domain resources corresponding to the n sidelink channel resources is configured by the network. Alternatively, the starting point of the frequency domain resources corresponding to the n sidelink channel resources is pre-configured by the network. Alternatively, the starting point of the frequency domain resources corresponding to the n sidelink channel resources is determined based on the frequency domain resources of the sidelink resource pool corresponding to the time slot; for example, the first physical resource block (PRB) of the sidelink resource pool corresponding to the time slot is used as the starting point of the frequency domain resources corresponding to the sidelink channel resources.

[0122] Optionally, the number of frequency domain resources corresponding to each of the n side channel resources is configured by the network. Alternatively, the number of frequency domain resources corresponding to each side channel resource is pre-configured by the network. Alternatively, the number of frequency domain resources corresponding to each side channel resource is determined based on n and the frequency domain resources of the side channel resource pool; for example, the number of frequency domain resources corresponding to each side channel resource is expressed as F, the frequency domain resources of the side channel resource pool are R PRBs, and there are n side channel resources in the time-frequency structure, then F = R / n, as shown in Figure 8, n is 4, then F = R / 4.

[0123] Optionally, the first symbol of the multiple symbols corresponding to the n side channel resources is used for automatic gain control (AGC). For example, the first symbol of a time slot corresponding to the n side channel resources is used for AGC.

[0124] SL PRS resources

[0125] The above-mentioned n SL PRS resources belong to one or more SL PRS sets; the SL PRS resources belonging to the same SL PRS set correspond to the same multiple symbols; when an SL PRS set includes multiple SL PRS resources, different SL PRS resources belonging to the same SL PRS set are frequency-division multiplexed or code-division multiplexed when transmitting SL PRS; SL PRS resources belonging to different SL PRS sets correspond to different multiple symbols.

[0126] Exemplarily, the n SL PRS resources belong to one or more time slots, or the one or more SL PRS sets belong to one or more time slots. For example, as shown in FIG8 , n SL PRS resources occupy four time slots, namely time slot #1, time slot #2, time slot #3, and time slot #4.

[0127] For example, as shown in FIG9 , a time slot includes three SL PRS sets, namely a first SL PRS set, a second SL PRS set, and a third SL PRS set. Assuming that each SL PRS set includes three SL PRS resources, the first SL PRS set corresponds to four symbols 0 to 3, and the three SL PRS resources in the first SL PRS set correspond to the four symbols 0 to 3; the second SL PRS set corresponds to five symbols 4 to 7, and the three SL PRS resources in the second SL PRS set correspond to the four symbols 4 to 7; the third SL PRS set corresponds to five symbols 8 to 12, and the three SL PRS resources in the third SL PRS set correspond to the four symbols 8 to 12. The three SL PRS resources in each SL PRS set perform frequency division multiplexing on R PRBs when transmitting the SL PRS.

[0128] Optionally, different SL PRS resources in the same SL PRS set have the same comb structure and different RE offsets.

[0129] For example, assuming that each SL PRS set includes 3 SL PRS resources, the 3 SL PRS resources in a SL PRS set are all comb tooth structures with a comb tooth size of 3, the RE offset of the first SL PRS resource in the SL PRS set is 0, the RE offset of the second SL PRS resource is 1, and the RE offset of the third SL PRS resource is 2.

[0130] Optionally, the first symbol of multiple symbols corresponding to the same SL PRS resource is used for AGC. As shown in Figure 9, the first symbol (i.e., symbol 0) of the four symbols 0 to 3 corresponding to the first SL PRS set in a time slot is used for AGC; the first symbol (i.e., symbol 4) of the four symbols 4 to 7 corresponding to the second SL PRS set is used for AGC; and the first symbol (i.e., symbol 8) of the five symbols 8 to 12 corresponding to the third SL PRS set is used for AGC.

[0131] The correspondence between side channel resources and SL PRS resources

[0132] The above-mentioned n side channel resources and n SL PRS resources correspond to each other in sequence according to their respective indexes.

[0133] For example, the indexes of the four side channel resources are 0-3, and the indexes of the four SL PRS resources are (0,0), (0,1), (1,0) and (1,1), respectively. The side channel resource with index 0 (i.e., side channel resource 0) is associated with the SL PRS resource with index (0,0), the side channel resource with index 1 (i.e., side channel resource 1) is associated with the SL PRS resource with index (0,1), the side channel resource with index 2 (i.e., side channel resource 2) is associated with the SL PRS resource with index (1,0), and the side channel resource with index 3 (i.e., side channel resource 3) is associated with the SL PRS resource with index (1,1).

[0134] Optionally, the n side channel resources are indexed in ascending order in the frequency domain. As shown in FIG8 , the four side channel resources are indexed 0, 1, 2, and 3 in descending order in the frequency domain.

[0135] Optionally, n SL PRS resources are sorted based on comb offset first and then set index, and correspond to n side channel resources. Alternatively, n SL PRS resources are sorted based on set index first and then comb offset, and correspond to n side channel resources.

[0136] For example, the indices (0,0), (0,1), (1,0) and (1,1) of the above four SL PRS resources can be understood as (comb offset, set index); (0,0) represents SL PRS resource 0 with an RE offset of 0 in the first SL PRS set with a set index of 0, (0,1) represents SL PRS resource 1 with an RE offset of 0 in the second SL PRS set with a set index of 1, (1,0) represents SL PRS resource 2 with an RE offset of 1 in the first SL PRS set with a set index of 0, and (1,1) represents SL PRS resource 3 with an RE offset of 1 in the second SL PRS set with a set index of 1.

[0137] Alternatively, the indices (0,0), (0,1), (1,0) and (1,1) of the above four SL PRS resources can be understood as (set index, comb offset); (0,0) represents SL PRS resource 0 with an RE offset of 0 in the first SL PRS set with a set index of 0, (0,1) represents SL PRS resource 1 with an RE offset of 1 in the first SL PRS set with a set index of 0, (1,0) represents SL PRS resource 2 with an RE offset of 0 in the second SL PRS set with a set index of 1, and (1,1) represents SL PRS resource 3 with an RE offset of 1 in the second SL PRS set with a set index of 1.

[0138] The 4 SL PRS resources correspond to the 4 side channel resources in sequence: SL PRS resource 0 corresponds to side channel resource 0, SL PRS resource 1 corresponds to side channel resource 1, SL PRS resource 2 corresponds to side channel resource 2, and SL PRS resource 3 corresponds to side channel resource 3.

[0139] Optionally, in each group of associated sidelink channel resources and SL PRS resources, the time domain position of the sidelink channel resource is located before the time domain position of the SL PRS resource. For example, as shown in FIG8 , the time domain position of the sidelink channel resource is time slot #0, and the time domain position of the SL PRS resource is time slots #1 to #4. The time domain position of the sidelink channel resource is located before the time domain position of the SL PRS resource.

[0140] Symbols used for sending and receiving conversion

[0141] In the time-frequency structure, there are symbols for transmitting and receiving conversion.

[0142] Optionally, the symbols corresponding to the n side channel resources and the symbols corresponding to the n SL PRS resources are continuous; or, the symbols corresponding to the n side channel resources and the symbols corresponding to the n SL PRS resources do not include symbols used for transceiver conversion.

[0143] Exemplarily, the time slots corresponding to the n side channel resources are continuous with the time slots corresponding to the n SL PRS resources; or, the time slots corresponding to the n side channel resources and the time slots corresponding to the n SL PRS resources do not include symbols used for transmit-receive conversion; for example, as shown in FIG9 , the next symbol of the side channel resource is the first symbol of time slot #1.

[0144] Optionally, the symbols corresponding to at least two SL PRS sets are continuous; or, the symbols corresponding to at least two SL PRS sets do not include symbols used for transceiver conversion.

[0145] That is to say, there are no symbols used for transmission and reception conversion between SL PRS sets. For example, as shown in Figure 9, the next symbol of the first SL PRS set is the first symbol of the second SL PRS set, and the first symbol of the second SL PRS set is used for AGC; the next symbol of the second SL PRS set is the first symbol of the third SL PRS set, and the first symbol of the third SL PRS set is used for AGC.

[0146] In some embodiments, the last symbol of the time-frequency structure is a symbol used for transceiver switching; or, in an autonomous resource selection mode, the last symbol of the time-frequency structure is a symbol used for transceiver switching.

[0147] For example, as shown in Figure 8, the last symbol of the last time slot in the time-frequency structure is a symbol used for transceiver switching. Autonomous resource selection means that the terminal autonomously selects resources in the sidelink resource pool for SL PRS transmission.

[0148] In some embodiments, when the network schedules resources and the first condition is met, the last symbol of the time-frequency structure is a symbol used to send or receive the SL PRS.

[0149] Optionally, the first terminal is a sending terminal, and the first condition includes at least one of the following:

[0150] The first terminal is configured to send the SL PRS in the last SL PRS set for the second terminal to measure RSTD;

[0151] The SL PRS set in the next time-frequency structure is configured for measuring RSTD.

[0152] Exemplarily, the second terminal is a receiving terminal. Network scheduling refers to scheduling time-frequency resources for a terminal by a network device, such as scheduling sidelink channel resources and SL PRS resources for a terminal by a base station.

[0153] The third possible time-frequency structure design:

[0154] The side channel resources and SL PRS resources belonging to the same group in the time-frequency structure correspond to the same symbol set, and a symbol set includes at least three consecutive symbols; the side channel resources and SL PRS resources belonging to the same group occupy different symbols in the same symbol set.

[0155] SL PRS resources

[0156] The above n SL PRS resources belong to one or more symbol sets; SL PRS resources belonging to the same symbol set correspond to the same symbol set, and SL PRS resources belonging to different symbol sets correspond to different symbol sets.

[0157] For example, as shown in Figure 10, n SL PRS resources belong to three SL PRS sets, namely the first SL PRS set, the second SL PRS set and the third SL PRS set. One or more SL PRS resources in the first SL PRS set correspond to the symbol set {symbol 2, symbol 3}, one or more SL PRS resources in the second SL PRS set correspond to the symbol set {symbol 7}, and one or more SL PRS resources in the third SL PRS set correspond to the symbol set {symbol 12}.

[0158] Optionally, one or more different SL PRS resources belonging to the same symbol set are frequency division multiplexed or code division multiplexed when transmitting the SL PRS.

[0159] For example, as shown in FIG10 , the first SL PRS set includes two SL PRS resources, and the two SL PRS resources perform frequency division multiplexing on symbols 2 to 3.

[0160] Optionally, different SL PRS resources in the same symbol set have the same comb structure and different RE offsets.

[0161] For example, assuming that each SL PRS set includes 3 SL PRS resources, the 3 SL PRS resources in a SL PRS set are all comb tooth structures with a comb tooth size of 3, the RE offset of the first SL PRS resource in the SL PRS set is 0, the RE offset of the second SL PRS resource is 1, and the RE offset of the third SL PRS resource is 2.

[0162] Side channel resources

[0163] Exemplarily, the n side channel resources belong to one or more symbol sets. For example, as shown in FIG10 , the n side channel resources belong to three SL PRS sets, namely, a first SL PRS set, a second SL PRS set, and a third SL PRS set. One side channel resource in the first SL PRS set corresponds to the symbol set {symbol 1}, one side channel resource in the second SL PRS set corresponds to the symbol set {symbol 6}, and one side channel resource in the third SL PRS set corresponds to the symbol set {symbol 11}.

[0164] Optionally, one or more side channel resources belonging to the same symbol set correspond to the same one or more symbols, one or more side channel resources correspond to different frequency domain resources, and the number of frequency domain resources corresponding to one or more side channel resources is the same.

[0165] For example, the first SL PRS set includes two side channel resources, and the two side channel resources correspond to different frequency domain resources on symbol 1, and the number of frequency domain resources corresponding to the two side channel resources on symbol 1 is F.

[0166] Optionally, the number of frequency domain resources corresponding to one or more sidelink channel resources is configured by the network. Or, the number of frequency domain resources corresponding to one or more sidelink channel resources is pre-configured by the network. Or, the number of frequency domain resources corresponding to one or more sidelink channel resources is determined based on the number of one or more sidelink channel resources and the number of frequency domain resources in the sidelink resource pool; illustratively, the number of frequency domain resources corresponding to one or more sidelink channel resources in each symbol set is expressed as F, the frequency domain resources of the sidelink resource pool are R PRBs, and there are n sidelink channel resources in the time-frequency structure, then F = R / n, as shown in Figure 10, n is 4, then F = R / 4.

[0167] Optionally, the starting point of the frequency domain resources corresponding to one or more sidelink channel resources is configured by the network. Alternatively, the starting point of the frequency domain resources corresponding to one or more sidelink channel resources is pre-configured by the network. Alternatively, the starting point of the frequency domain resources corresponding to one or more sidelink channel resources is determined based on the frequency domain resources of the sidelink resource pool corresponding to the time slot; for example, the first physical resource block (PRB) of the sidelink resource pool corresponding to the time slot is used as the starting point of the frequency domain resources corresponding to the sidelink channel resources.

[0168] The correspondence between side channel resources and SL PRS resources

[0169] One or more groups of associated sidelink channel resources and SL PRS resources are included in the same symbol set. Exemplarily, the frequency domain resources corresponding to the sidelink channel resources and the frequency domain resources corresponding to the SL PRS resources in the same symbol set are the same.

[0170] Optionally, one or more side channel resources and one or more SL PRS resources in the same symbol set correspond to each other in sequence according to their respective indexes.

[0171] Optionally, multiple side channel resources in the same symbol set are indexed from low to high in the frequency domain.

[0172] Optionally, multiple SL PRS resources in the same symbol set are sorted based on comb offset first and then set index, and correspond to multiple side channel resources. Alternatively, multiple SL PRS resources in the same symbol set are sorted based on set index first and then comb offset, and correspond to multiple side channel resources.

[0173] Optionally, in the sidelink channel resources and SL PRS resources associated in the symbol set, the time domain position of the sidelink channel resources is located before the time domain position of the SL PRS resources. As shown in Figure 10, the time domain position of the sidelink channel resources in the three symbol sets is located before the time domain position of the SL PRS resources.

[0174] Alternatively, in the sidelink channel resources and SL PRS resources associated in the symbol set, the time domain position of the sidelink channel resources is located after the time domain position of the SL PRS resources. As shown in Figure 12, the time domain position of the sidelink channel resources in the second symbol set is located after the time domain position of the SL PRS resources.

[0175] Symbols used for sending and receiving conversion

[0176] Optionally, the symbols corresponding to one or more side channel resources and the symbols corresponding to one or more SL PRS resources in the same symbol set are continuous. Alternatively, the symbols corresponding to one or more side channel resources and the symbols corresponding to one or more SL PRS resources in the same symbol set do not include symbols used for transceiver conversion. Exemplarily, as shown in FIG10 , the first symbol after the symbol corresponding to the side channel resource in the three symbol sets is the symbol corresponding to the SL PRS resource.

[0177] In some embodiments, the next symbol of the symbol set is a symbol for transceiving switching. Exemplarily, as shown in FIG10 , the next symbol of the first symbol set is a symbol for transceiving switching, and the next symbol of the second symbol set is a symbol for transceiving switching.

[0178] Alternatively, the next symbol of the symbol set is the first symbol of the next symbol set. For example, as shown in FIG11 , the next symbol of the first symbol set is the first symbol of the second symbol set (symbol 4), and the next symbol of the second symbol set is the first symbol of the third symbol set (symbol 8).

[0179] Alternatively, in the autonomous resource selection mode, the next symbol of the symbol set is a symbol for transceiver switching. For example, as shown in FIG10 , the next symbol (symbol 4) of the first symbol set is a symbol for transceiver switching.

[0180] In some embodiments, in a mode where the network schedules resources and the first condition is satisfied, the next symbol of the set of symbols is the first symbol of the next set of symbols.

[0181] Optionally, the first terminal is a sending terminal, and the first condition includes at least one of the following:

[0182] The first terminal is configured to send an SL PRS in a symbol set for the second terminal to measure RSTD;

[0183] The next set of symbols is configured for measuring RSTD.

[0184] Exemplarily, the second terminal is a receiving terminal.

[0185] In some embodiments, the first symbol in a symbol set is used for AGC. For example, as shown in FIG10 , the first symbols in three symbol sets (including symbol 0, symbol 5, and symbol 10) are all used for AGC.

[0186] Optionally, the next symbol of the symbol set is configured by the network; or, the next symbol of the symbol set is preconfigured by the network; or, the next symbol of the symbol set is agreed upon by the communication protocol. For example, as shown in FIG10 , the next symbol of the first symbol set is configured by the network, preconfigured by the network, or agreed upon by the communication protocol to be a transmit / receive transition symbol. For another example, as shown in FIG11 , the next symbol of the first symbol set is configured by the network, preconfigured by the network, or agreed upon by the communication protocol to be the first symbol of the second symbol set.

[0187] In some embodiments, when the symbol set is an even-numbered symbol set in the time-frequency structure, the second symbol of the symbol set corresponds to the side channel resource, and the next symbol of the symbol set is the first symbol of the next symbol set. Exemplarily, when the symbol set is an even-numbered symbol set in the time-frequency structure, the symbol corresponding to the side channel resource in the symbol set is located before the symbol corresponding to the SL PRS resource; as shown in FIG13 , the first symbol set is an even-numbered symbol set, then symbol 1 corresponding to the side channel resource is the second symbol in the first symbol set, the next symbol of the symbol set is symbol 4, and symbol 4 is the first symbol of the second symbol set.

[0188] If the symbol set is an odd-numbered symbol set in the time-frequency structure, the last symbol of the symbol set corresponds to the side channel resource, and the next symbol of the symbol set is a symbol used for transceiver conversion. Exemplarily, if the symbol set is an odd-numbered symbol set in the time-frequency structure, the symbols corresponding to the side channel resource in the symbol set are located after the symbols corresponding to the SL PRS resource; as shown in Figure 13, the second symbol set is an odd-numbered symbol set, then symbol 7 corresponding to the side channel resource is the last symbol in the second symbol set, and the next symbol of the symbol set is symbol 8, which is a symbol used for transceiver conversion.

[0189] The symbol set in the time-frequency structure is indexed starting from 0 according to the time domain sequence.

[0190] In some embodiments, if the symbol set is an odd-numbered symbol set in the time-frequency structure, the second symbol of the symbol set corresponds to the sidelink channel resource, and the next symbol of the symbol set is the first symbol of the next symbol set. If the symbol set is an even-numbered symbol set in the time-frequency structure, the last symbol of the symbol set corresponds to the sidelink channel resource, and the next symbol of the symbol set is a symbol used for transceiver switching.

[0191] To summarize, three time-frequency structures are provided in the embodiments of the present application. Each time-frequency structure defines the time domain position and frequency domain position of the side channel, the time domain position and frequency domain position of the side positioning reference signal, the correspondence between the resources of the side channel and the side positioning reference signal, and whether it is necessary to reserve the transmission and reception conversion between the channel and the signal, and between the signal and the signal. At least one of the above time-frequency structures can be used to realize the measurement of the positioning reference signal during side communication between terminals.

[0192] When the associated sidelink channel resources and SL PRS resources belong to different sidelink resource pools, the terminal sends and receives the SL PRS through resources in the first sidelink resource pool and the second sidelink resource pool. The above-mentioned n groups of sidelink channel resources and SL PRS resources are associated resources. For example, the first sidelink channel resource in the first sidelink resource pool and the first SL PRS resource in the second sidelink resource pool are a group of associated resources in the time-frequency structure.

[0193] In the embodiment of the present application, the structure of the sidelink channel resources in the first sidelink resource pool and the SL PRS resources in the second sidelink resource pool can be described as follows, which can be regarded as the fourth structure for SL PRS transmission.

[0194] It should be noted that the time-frequency structure corresponds to one or more first time domain units in the time domain, and the first time domain unit includes m second time domain units, where m is an integer greater than 1. In different embodiments of the present application, the first time domain unit may be at least one of a symbol group, a time slot, a time slot group, a subframe, and a subframe group; the second time domain unit may be a symbol, such as an orthogonal frequency division multiplexing (OFDM) symbol. The following description of the three types of time-frequency structures takes the first time domain unit as a time slot and the second time domain unit as a symbol as an example.

[0195] The fourth possible time-frequency structure design:

[0196] Sidelink channel resources and SL PRS resources belong to different sidelink resource pools.

[0197] Exemplarily, n sidelink channel resources belong to the first sidelink resource pool, and n SL PRS resources belong to the second sidelink resource pool. As shown in FIG14 , the PSCCH / PSSCH resource pool includes n sidelink channel resources, and the n sidelink channel resources can be used to carry information to associate the SL PRS resources in the SL PRS resource pool.

[0198] SL PRS resources

[0199] The above-mentioned n SL PRS resources belong to one or more SL PRS sets; there are symbols for transceiver conversion between two adjacent SL PRS sets, and / or there are no symbols for transceiver conversion between two adjacent SL PRS sets. For example, there are symbols for transceiver conversion between the first SL PRS set and the second SL PRS set, and there are no symbols for transceiver conversion between the second SL PRS set and the second SL PRS set.

[0200] Optionally, one or more SL PRS sets may be included in the same time slot, and different SL PRS sets may correspond to different symbols. For example, three SL PRS sets may be included in the same time slot, with the first SL PRS set corresponding to symbols 0-3, the second SL PRS set corresponding to symbols 5-8, and the third SL PRS set corresponding to symbols 10-13.

[0201] Side channel resources

[0202] The first sidelink resource pool includes a PSCCH / PSSCH resource pool. Exemplarily, the sidelink channel resources may be located on the PSCCH, or the sidelink channel resources may be located on the PSSCH.

[0203] The correspondence between SL PRS resources and side channel resources

[0204] Exemplarily, the information carried on the side channel resources is used to indicate the time-frequency position of the SL PRS resources and the SL PRS sending method, so as to send the SL PRS on the SL PRS resources.

[0205] Symbols used for sending and receiving conversion

[0206] Optionally, the same time slot includes multiple SL PRS sets; the last symbol in the same time slot is a symbol used for transceiver switching. For example, the same time slot includes three SL PRS sets, the first SL PRS set corresponds to symbols 0-3, the second SL PRS set corresponds to symbols 4-7, and the third SL PRS set corresponds to symbols 8-12. Symbol 13 in the time slot is a symbol used for transceiver switching.

[0207] Optionally, multiple SL PRS sets are included in the same time slot. The next symbol of the previous SL PRS set between two adjacent SL PRS sets is the first symbol of the next SL PRS set. For example, the next symbol of the first SL PRS set is symbol 5, and symbol 5 is the first symbol of the second SL PRS set.

[0208] Alternatively, two adjacent SL PRS sets are configured to measure RSTD, and the next symbol of the previous SL PRS set between the two adjacent SL PRS sets is the first symbol of the next SL PRS set. For example, the second SL PRS set is adjacent to the third SL PRS set, and the first SL PRS set exists before the second and third SL PRS sets. The next symbol of the first SL PRS set is the first symbol of the second SL PRS set, that is, there is no symbol for transmit-receive conversion between the first and second SL PRS sets.

[0209] Or, either of the two adjacent SL PRS sets is not configured to measure RSTD, and the next symbol of the previous SL PRS set between the two adjacent SL PRS sets is a symbol used for transceiver conversion. For example, the second SL PRS set is adjacent to the third SL PRS set, and there is a first SL PRS set before the second SL PRS set and the third SL PRS set. The next symbol of the first SL PRS set is a symbol used for transceiver conversion, and the symbol after the symbol used for transceiver conversion is the first symbol of the second SL PRS set, that is, there is a symbol used for transceiver conversion between the first SL PRS set and the second SL PRS set.

[0210] To sum up, the above structure provided in the embodiments of the present application defines the time domain position and frequency domain position of the side channel, the time domain position and frequency domain position of the side positioning reference signal, the correspondence between the resources of the side channel and the side positioning reference signal, and whether it is necessary to reserve the transmission and reception conversion between the channel and the signal, and between the signal and the signal. The above structure can be used to realize the measurement of the positioning reference signal during side communication between terminals.

[0211] Referring to Figure 7, the first time-frequency structure is illustrated. In the first time-frequency structure, the sidelink channel and one or more SL PRSs occupy different OFDM symbols in the same time slot, different sidelink channel resources occupy different RBs of the same OFDM symbol in the time slot, the OFDM symbols occupied by the sidelink channel and the OFDM symbols occupied by the SL PRS are adjacent, and multiple SL PRS symbols are adjacent to each other.

[0212] In a time slot, an OFDM symbol is divided into two parts. C consecutive OFDM symbols at the beginning of the time slot are used for the sidelink channel. The value of C can be defined by the protocol, configured by the network, or preconfigured. For example, the value of C is defined by the protocol to be a value between 2 and 4, or configured or preconfigured by the network to be a value between 3 and 4. The first OFDM symbol of the C consecutive OFDM symbols is used for AGC adjustment of the UE receiving the sidelink channel.

[0213] The starting point A of the RB that can be used for side channel transmission within the side channel symbol (i.e., the OFDM symbol occupied by the side channel) can be:

[0214] 1) By default, the first PRB in the SL PRS resource pool where the timeslot is located; or,

[0215] 2) Configured or pre-configured by the network.

[0216] Each F RBs starting from the starting point A in the side channel symbol is a side channel resource, and the channel index increases in sequence. The value of F can be:

[0217] 1) Configured or pre-configured by the network;

[0218] 2) It is determined according to the number of SL PRS symbol sets (i.e., SL PRS sets) in a time slot, and the number of SL PRSs allowed for frequency division and / or code division multiplexing in each SL PRS symbol set, where the SL PRS symbol set corresponds to one or more OFDM symbols used for one SL PRS transmission, the OFDM symbols in the SL PRS symbol set can be continuous or discontinuous, and the SL PRS symbol set in a time slot is configured or pre-configured by the network.

[0219] Exemplarily, n may be determined by the number of SL PRS symbol sets (ie, SL PRS sets) in a slot and the number of SL PRSs allowed for frequency division and / or code division multiplexing in each SL PRS symbol set.

[0220] For example, in Figure 7, there are two SL PRS symbol sets in each time slot. Only two SL PRSs are allowed to be sent in each set. The two SL PRSs use the same comb size but occupy different RE offsets. As shown in Figure 7, a total of four SL PRSs can be sent in one time slot. At this time, the value of F is R / 4, where R is the number of RBs in the resource pool.

[0221] There is a one-to-one correspondence between the sidelink channel resources within a sidelink channel symbol and the SL PRS resources within a time slot. A sidelink channel transmitted on a sidelink channel resource with a certain index indicates an SL PRS transmitted on an SL PRS resource with the same index. The index of the SL PRS resource is determined in one of the following ways:

[0222] It is determined in the manner of RE offset first and then SL PRS symbol index. As shown in Figure 7, there are two SL PRS symbol sets, the allowed comb tooth size is 4, the allowed RE offset is #0 and #2, the index of SL PRS resources using RE offset #0 / #2 in the first SL PRS symbol set is #0 / #1, and the index of SL PRS resources using RE offset #0 / #2 in the second SL PRS symbol set is #2 / #3.

[0223] It is determined in the manner of SL PRS symbol index first and then RE offset. As shown in FIG7 , there are two SL PRS symbol sets, the allowed comb tooth size is 4, the allowed RE offsets are #0 and #2, the index of SL PRS resources using RE offset #0 in the first / second SL PRS symbol set is #0 / #1, and the index of SL PRS resources using RE offset #2 in the first / second SL PRS symbol set is #2 / #3.

[0224] Since the sidelink channels used to indicate the transmission of SL PRS in this time slot are all sent at the same time, due to half-duplex restrictions, any UE sending a sidelink channel cannot receive other sidelink channels and the indicated SL PRS sent in this time slot, so there is no need to perform a transmit-receive switching operation. Therefore, the next symbol of the sidelink channel symbol is the first OFDM symbol of the SL PRS symbol set, that is, there is no time interval for transmit-receive switching in between.

[0225] The UE shall adjust the transmit power of the sidelink channel and the transmit power of the SL PRS to avoid the RF switching time from transmitting the sidelink channel to transmitting the SL PRS, so as not to configure the transceiver switching symbols between the symbols corresponding to the sidelink channel and the symbols corresponding to the SL PRS;

[0226] No transceiver conversion symbols are configured between the symbols corresponding to the side channel and the symbols corresponding to the SL PRS, so as to avoid resource waste caused by introducing additional transceiver conversion intervals.

[0227] Since the side channels used to indicate the transmission of SL PRS in this time slot are all sent at the same time, due to the half-duplex limitation, any UE that sends a side channel cannot receive other side channels and the indicated SL PRS sent in this time slot, so there is no need to perform a transmit-receive conversion operation. Therefore, the two adjacent SL PRS symbol sets in this time slot occupy consecutive OFDM symbols, that is, there is no time interval for transmit-receive conversion between the two adjacent SL PRS symbol sets.

[0228] The last OFDM symbol in a slot can be:

[0229] 1) The first method: always used for sending and receiving conversion;

[0230] 2) The second method:

[0231] -If the current resource pool adopts the UE autonomous resource selection method to select the SL PRS resource for sending SL PRS, because any UE needs to perform channel listening to select the sending resource, this symbol is used for transmission and reception conversion.

[0232] - If the resource pool selects SL PRS resources by using network scheduling, then:

[0233] For a transmitting UE, if at least one of the following conditions is met, the UE sends an SL PRS in the last OFDM symbol:

[0234] 1> If the UE is configured to send SL PRS in the last SL PRS symbol set for other UEs to measure RSTD;

[0235] 2> The SL PRS symbol set in the next time slot is also configured for the UE to measure RSTD.

[0236] For the receiving UE, if at least one of the following conditions is met, it is considered that the last OFDM symbol has an SL PRS transmission, and the UE decides whether to receive the SL PRS on this symbol based on its own implementation:

[0237] 1> If the receiving UE is configured to use the last SL PRS symbol set for measuring RSTD;

[0238] 2> If the UE is configured to send SL PRS in the last SL PRS symbol set, it is used for other UEs to measure RSTD;

[0239] 3> The SL PRS symbol set in the next time slot is also configured for the UE to measure RSTD.

[0240] 8 and 9 , an example of the second time-frequency structure is given. In the second time-frequency structure, the side channel indicating the transmission of the SL PRS is transmitted in a specific time slot of the resource pool, and the indicated SL PRS is located in one or more time slots belonging to the resource pool, which are called SL PRS time slots (time slots corresponding to SL PRS resources) associated with the side channel time slots (time slots corresponding to the side channel resources), different side channels occupy different PRBs in the time slots, and the last OFDM symbol of the time slot where the side channel is located and the last SL PRS time slot associated with it is used for transceiver conversion, and there are no symbols used for transceiver conversion in other OFDM symbols in the SL PRS time slot associated with the side channel.

[0241] As shown in Figure 8, in this embodiment, since the side channels sent in the side channel time slot occupy the same time resources, due to the half-duplex limitation, any UE sending the side channel cannot receive the SL PRS in the SL PRS time slot associated with the time slot, so there is no need to perform the transmit-receive conversion operation. Therefore, except for the last OFDM symbol of the last SL PRS time slot associated with it, there is no need to reserve OFDM symbols for transmit-receive conversion.

[0242] It should be noted that there may be multiple SL PRS symbol sets in the SL PRS time slot associated with the side channel time slot, as shown in FIG9 (corresponding to time slot 4 in FIG8 ), and there is no transmit / receive switching interval between different symbol sets.

[0243] In the time-frequency structure of this embodiment, OFDM symbols are not reserved for transceiver conversion between the symbols corresponding to the side channel resources and the symbols corresponding to the SL PRS resources, and between the symbols corresponding to the SL PRS resources and the symbols corresponding to the SL PRS resources, so as to avoid resource waste caused by introducing additional transceiver conversion intervals.

[0244] The third time-frequency structure is illustrated with reference to Figures 10 to 13. In the third time-frequency structure, the side channel and one or more SL PRSs occupy different OFDM symbols in the same time slot, different side channels occupy different OFDM symbols or different RBs in the time slot, the OFDM symbols occupied by the side channel and the OFDM symbols occupied by the SL PRS are adjacent, and multiple SL PRS symbols are adjacent to each other.

[0245] In this embodiment, the OFDM symbols in a time slot are divided into multiple symbol sets, each symbol set is used to send an SL PRS and a side channel for indicating the SL PRS:

[0246] The first symbol of each symbol set is used for AGC adjustment.

[0247] Each symbol set contains one or more OFDM symbols for side channel transmission. For example, taking one OFDM symbol for side channel transmission as an example, the number of RBs occupied by the side channel can be:

[0248] 1) Configured or pre-configured by the network;

[0249] 2) Determined according to the number of SL PRSs allowed for frequency division and / or code division multiplexing within the symbol set.

[0250] For example, only two SL PRSs are allowed to be sent in a symbol set. The two SL PRSs use the same comb size but occupy different RE offsets. For example, the number of RBs occupied by the side channel is half of the number of RBs occupied by the SL PRS.

[0251] There is a one-to-one correspondence between the side channel resources within the side channel symbol (the symbol occupied by the side channel) and the SL PRS resources within the time slot. The side channel sent on the side channel resource of a certain index indicates the SL PRS sent on the SL PRS resource of the same index. The index of the side channel is determined from high to low according to the frequency domain position, and the index of the SL PRS resource is determined according to the RE offset.

[0252] For the next OFDM symbol of a symbol set, it can be:

[0253] In some optional embodiments, if the current resource pool adopts the UE autonomous resource selection method to select the SL PRS resources for SL PRS transmission, because any UE needs to perform channel sensing to select the transmission resources, the next OFDM symbol is the symbol used for transceiver conversion; if the resource pool adopts the network scheduling resource method to select the SL PRS resources, then:

[0254] 1) For a transmitting UE, if the UE is configured to transmit an SL PRS within the symbol set for other UEs to measure RSTD, the next symbol set is also used for other UEs to measure RSTD. Since the UE only transmits an SL PRS, the next OFDM symbol is the first OFDM symbol of the next symbol set; otherwise, it is a transceiver conversion symbol (i.e., a symbol used for transceiver conversion);

[0255] 2) For the receiving UE, if the UE is configured to measure RSTD based on the SL PRS sent by the symbol set, the next OFDM symbol is the first OFDM symbol of the next symbol set; otherwise, it is a transceiver conversion symbol, and the UE decides whether to receive the SL PRS on the last OFDM symbol of the symbol set based on its own implementation.

[0256] In this embodiment, when the symbol set is used for RSTD measurement, resource waste caused by introducing an additional transmit-receive switching interval can be avoided.

[0257] In some optional embodiments, the next OFDM symbol is the first OFDM symbol of the next symbol set, as shown in FIG11 , that is, the UE that uses the time slot to send / receive the SL PRS only performs sending / receiving operations in the time slot.

[0258] In this embodiment, the resource waste caused by sending and receiving conversion symbols can be reduced to the greatest extent.

[0259] In some optional embodiments, based on resource pool configuration, pre-configuration, or communication protocol agreement, for different symbol sets, the next OFDM symbol is the first OFDM symbol of the next symbol set, or is a symbol used for transceiver conversion, as shown in FIG12 .

[0260] In this embodiment, the resource waste caused by sending and receiving conversion symbols can be reduced, and the reception failure caused by half-duplex limitation can be reduced.

[0261] ·In some optional embodiments, as shown in Figure 13, the symbol sets in the time slot are indexed starting from 0 in chronological order. If the symbol set is the even-numbered symbol set in the time slot, the second OFDM symbol of the symbol set is used to send a side channel indicating that the SL PRS in the symbol set is sent, and the next OFDM symbol of the symbol set is the first OFDM symbol of the next symbol set; if the symbol set is the odd-numbered symbol set in the time slot, the last OFDM symbol of the symbol set is used to send a side channel indicating that the SL PRS in the symbol set is sent, and the next OFDM symbol of the symbol set is a transmit-receive conversion symbol.

[0262] In this embodiment, the influence of the transmission or reception of the side channel due to the transmission-reception conversion can be avoided.

[0263] The fourth structure is illustrated with reference to Figure 14. In the fourth structure, the SL PRS and the side channel indicating the transmission of the SL PRS are transmitted in different resource pools, the time slot where the SL PRS is located contains one or more SL PRS symbol sets, and there may or may not be a transceiver switching interval (including symbols used for transceiver switching) between different SL PRS symbol sets.

[0264] As shown in Figure 14, the side channel indicating SL PRS transmission is sent within the side communication resource pool (first side resource pool). For any time slot within the SL PRS resource pool (second side resource pool), it can contain one or more SL PRS symbol sets, as shown in Figure 14.

[0265] In some optional embodiments, within the SL PRS time slot, the last OFDM symbol is used for transceiver conversion. In addition, the next OFDM symbol of an SL PRS symbol set is the first OFDM symbol of the next SL PRS symbol set, that is, there is no transceiver conversion interval between adjacent SL PRS symbol sets, which can avoid the waste of resources caused by introducing additional transceiver conversion intervals.

[0266] ·In some optional embodiments, the last OFDM symbol in the SL PRS time slot is used for transceiver conversion. In addition, if adjacent SL PRS symbol sets in the time slot are all configured for terminal measurement of RSTD, the next OFDM symbol of the previous SL PRS symbol set is the first OFDM symbol of the next SL PRS symbol set, that is, there is no transceiver conversion interval between adjacent SL PRS symbol sets; otherwise, the next OFDM symbol of an SL PRS symbol set is a symbol used for transceiver conversion.

[0267] In this embodiment, when the SL PRS symbol set is used for RSTD measurement, the UE that sends the SL PRS does not need to receive the SL PRS, so there is no need to introduce additional transmit-receive conversion intervals to cause resource waste. In other cases, the transmit-receive conversion interval can allow the UE to receive the SL PRS sent by other UEs in the time slot.

[0268] In summary, the present application provides a multiplexing method between SL PRS and other side channels / signals. According to the method proposed in the present application, if the side channels indicating the transmission of multiple SL PRSs occupy the same time resources, and the multiple SL PRSs occupy different OFDM symbols, then these OFDM symbols can be adjacent, and when multiple SL PRS symbol sets are used for RSTD measurement, multiple SL PRS symbol sets can also occupy continuous OFDM symbols. The method proposed in the present application can avoid the waste of resources caused by introducing additional transmit-receive conversion intervals. In addition, it can also take into account the needs of UE to receive and send SL PRS, which is beneficial to improving the resource utilization of the SL positioning system and the UE positioning accuracy.

[0269] FIG15 is a block diagram of an SL PRS transmitting apparatus provided by an exemplary embodiment of the present application. The apparatus may be implemented as part or all of a first terminal. The apparatus includes:

[0270] The sending module 1501 is configured to send first information on a first sidelink channel resource and send a first SL PRS on a first SL PRS resource;

[0271] The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

[0272] In some optional embodiments, the first sidelink channel resource and the first SL PRS resource are a set of associated resources in a time-frequency structure;

[0273] The time-frequency structure includes n groups of associated side channel resources and SL PRS resources, where n is an integer greater than 1.

[0274] In some optional embodiments, the time-frequency structure corresponds to one or more first time-domain units in the time domain, and the first time-domain unit includes m second time-domain units, where m is an integer greater than 1;

[0275] The n side channel resources and the n SL PRS resources in the time-frequency structure correspond to different second time domain units;

[0276] The n side channel resources correspond to the same multiple second time domain units; the multiple second time domain units corresponding to the same SL PRS resource are continuous in the time domain.

[0277] In some optional embodiments, the n sidelink channel resources respectively correspond to different frequency domain resources, and the number of frequency domain resources corresponding to the n sidelink channel resources is the same.

[0278] In some optional embodiments, the starting point of the frequency domain resources corresponding to the n sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on the frequency domain resources of the sidelink resource pool corresponding to the time slot.

[0279] In some optional embodiments, the number of frequency domain resources corresponding to each sidelink channel resource is configured by the network, or pre-configured by the network, or determined based on n and the frequency domain resources of the sidelink resource pool.

[0280] In some optional embodiments, the first second time domain unit among the multiple second time domain units corresponding to n side channel resources is used for automatic gain control AGC; the first second time domain unit among the multiple second time domain units corresponding to the same SL PRS resource is used for AGC.

[0281] In some optional embodiments, the n SL PRS resources belong to one or more SL PRS sets;

[0282] SL PRS resources belonging to the same SL PRS set correspond to the same multiple second time domain units; different SL PRS resources belonging to the same SL PRS set are frequency-division multiplexed or code-division multiplexed when transmitting SL PRS;

[0283] SL PRS resources belonging to different SL PRS sets correspond to different multiple second time domain units.

[0284] In some optional embodiments, different SL PRS resources in the same SL PRS set have the same comb structure and different RE offsets.

[0285] In some optional embodiments, the n side channel resources and the n SL PRS resources correspond to each other in sequence according to their respective indexes.

[0286] In some optional embodiments, the n sidelink channel resources are indexed from low to high in the frequency domain.

[0287] In some optional embodiments, the n SL PRS resources are sorted based on the comb offset first and then the set index, and correspond to the n sidelink channel resources;

[0288] Alternatively, n SL PRS resources are sorted based on the set index first and then the comb offset, and correspond to n side channel resources.

[0289] In some optional embodiments, the multiple second time domain units corresponding to the n side channel resources are at least two consecutive second time domain units in the same first time domain unit;

[0290] Alternatively, the multiple second time domain units corresponding to the n sidelink channel resources are all second time domain units in the same first time domain unit.

[0291] In some optional embodiments, the second time domain unit corresponding to the n sidelink channel resources and the second time domain unit corresponding to the n SL PRS resources are continuous;

[0292] Alternatively, the second time domain units corresponding to the n side channel resources and the second time domain units corresponding to the n SL PRS resources do not include the second time domain units used for transceiver conversion.

[0293] In some optional embodiments, the second time domain units corresponding to at least two SL PRS sets are continuous;

[0294] Or, the second time domain units corresponding to at least two SL PRS sets do not include the second time domain unit used for transceiver conversion.

[0295] In some optional embodiments, the last second time domain unit of the time-frequency structure is a second time domain unit for transceiver conversion;

[0296] Alternatively, in the autonomous resource selection mode, the last second time domain unit of the time-frequency structure is a second time domain unit used for transceiver conversion.

[0297] In some optional embodiments, when the network schedules resources and the first condition is met, the last second time domain unit of the time-frequency structure is the second time domain unit used to send or receive the SL PRS.

[0298] In some optional embodiments, the first terminal is a sender terminal, and the first condition includes at least one of the following:

[0299] The first terminal is configured to send the SL PRS in the last SL PRS set for the second terminal to measure RSTD;

[0300] The SL PRS set in the next time-frequency structure is configured for measuring RSTD.

[0301] In some optional embodiments, the time-frequency structure corresponds to one or more first time-domain units in the time domain, and the first time-domain unit includes m second time-domain units, where m is an integer greater than 1;

[0302] The sidelink channel resources and SL PRS resources belonging to the same group in the time-frequency structure correspond to the same second time domain unit set, and the second time domain unit set includes at least three consecutive second time domain units;

[0303] The sidelink channel resources and SL PRS resources belonging to the same group occupy different second time domain units within the second time domain unit set.

[0304] In some optional embodiments, the first second time domain unit in the second time domain unit set is used for AGC.

[0305] In some optional embodiments, the n SL PRS resources belong to at least two second time domain unit sets;

[0306] SL PRS resources belonging to the same second time domain unit set correspond to the same second time domain unit set, and SL PRS resources belonging to different second time domain unit sets correspond to different second time domain unit sets.

[0307] In some optional embodiments, one or more groups of associated sidelink channel resources and SL PRS resources are included in the same set of second time domain units;

[0308] One or more different SL PRS resources belonging to the same second time domain unit set are frequency-division multiplexed or code-division multiplexed when transmitting the SL PRS;

[0309] One or more side channel resources belonging to the same second time domain unit set correspond to the same one or more second time domain units, at least two side channel resources correspond to different frequency domain resources, and the number of frequency domain resources corresponding to at least two side channel resources is the same.

[0310] In some optional embodiments, the number of frequency domain resources corresponding to one or more sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on the number of one or more sidelink channel resources and the number of frequency domain resources in the sidelink resource pool.

[0311] In some optional embodiments, different SL PRS resources in the same second time domain unit set have the same comb structure and different RE offsets.

[0312] In some optional embodiments, one or more sidelink channel resources and one or more SL PRS resources in the same second time domain unit set correspond to each other in sequence according to their respective indexes.

[0313] In some optional embodiments, the second time domain units corresponding to one or more sidelink channel resources and the second time domain units corresponding to one or more SL PRS resources in the same second time domain unit set are continuous;

[0314] Or, the second time domain units corresponding to one or more side channel resources and the second time domain units corresponding to one or more SL PRS resources in the same second time domain unit set do not include the second time domain units used for transceiver conversion.

[0315] In some optional embodiments, the next second time domain unit of the second time domain unit set is a second time domain unit for transceiver conversion;

[0316] Or, the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set;

[0317] Alternatively, in the autonomous resource selection mode, the next second time domain unit in the second time domain unit set is a second time domain unit used for transceiver conversion.

[0318] In some optional embodiments, in a network scheduling resource mode and when the first condition is satisfied, the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set.

[0319] In some optional embodiments, the first terminal is a sender terminal, and the first condition includes at least one of the following:

[0320] The first terminal is configured to send an SL PRS within a second set of time domain units, so that the second terminal can measure RSTD;

[0321] The next second set of time domain units is configured for measuring RSTD.

[0322] In some optional embodiments, the next second time domain unit of the second time domain unit set is configured by the network, or pre-configured by the network, or agreed upon by a communication protocol.

[0323] In some optional embodiments, if the second time domain unit set is an even-numbered second time domain unit set in the time-frequency structure, the second second time domain unit of the second time domain unit set corresponds to the sidelink channel resource, and the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set;

[0324] When the second time domain unit set is an odd-numbered second time domain unit set in the time-frequency structure, the last second time domain unit of the second time domain unit set corresponds to the sidelink channel resource, and the next second time domain unit of the second time domain unit set is a second time domain unit for transceiver conversion;

[0325] The second time domain unit set in the time-frequency structure is indexed starting from 0 according to the time domain sequence.

[0326] In some optional embodiments, the n groups of associated sidelink channel resources and SL PRS resources belong to the same sidelink resource pool.

[0327] In some optional embodiments, the n sidelink channel resources belong to a first sidelink resource pool, and the n SL PRS resources belong to a second sidelink resource pool.

[0328] In some optional embodiments, the n SL PRS resources belong to one or more SL PRS sets;

[0329] There is a second time domain unit for transceiver conversion between two adjacent SL PRS sets, and / or there is no second time domain unit for transceiver conversion between two adjacent SL PRS sets.

[0330] In some optional embodiments, the same first time domain unit includes one or more SL PRS sets, and different SL PRS sets correspond to different second time domain units.

[0331] In some optional embodiments, a same first time domain unit includes multiple SL PRS sets;

[0332] The last second time domain unit in the same first time domain unit is a second time domain unit used for transceiver conversion.

[0333] In some optional embodiments, a same first time domain unit includes multiple SL PRS sets;

[0334] The next second time domain unit of the previous SL PRS set between two adjacent SL PRS sets is the first second time domain unit of the next SL PRS set;

[0335] Or, two adjacent SL PRS sets are configured to measure RSTD, and the next second time domain unit of the previous SL PRS set between the two adjacent SL PRS sets is the first second time domain unit of the next SL PRS set;

[0336] Or, either of the two adjacent SL PRS sets is not configured to measure RSTD, and the next second time domain unit of the previous SL PRS set between the two adjacent SL PRS sets is the second time domain unit for transceiver conversion.

[0337] FIG16 is a block diagram of an SL PRS receiving apparatus provided by an exemplary embodiment of the present application. The apparatus may be implemented as part or all of a second terminal. The apparatus includes:

[0338] The receiving module 1601 is configured to receive first information in a first sidelink channel resource and receive a first SL PRS in a first SL PRS resource;

[0339] The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

[0340] In some optional embodiments, the first sidelink channel resource and the first SL PRS resource are a set of associated resources in a time-frequency structure;

[0341] The time-frequency structure includes n groups of associated side channel resources and SL PRS resources, where n is an integer greater than 1.

[0342] In some optional embodiments, the time-frequency structure corresponds to one or more first time-domain units in the time domain, and the first time-domain unit includes m second time-domain units, where m is an integer greater than 1;

[0343] The n side channel resources and the n SL PRS resources in the time-frequency structure correspond to different second time domain units;

[0344] The n side channel resources correspond to the same multiple second time domain units; the multiple second time domain units corresponding to the same SL PRS resource are continuous in the time domain.

[0345] In some optional embodiments, the n sidelink channel resources respectively correspond to different frequency domain resources, and the number of frequency domain resources corresponding to the n sidelink channel resources is the same.

[0346] In some optional embodiments, the starting point of the frequency domain resources corresponding to the n sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on the frequency domain resources of the sidelink resource pool corresponding to the first time domain unit.

[0347] In some optional embodiments, the number of frequency domain resources corresponding to each sidelink channel resource is configured by the network, or pre-configured by the network, or determined based on n and the frequency domain resources of the sidelink resource pool.

[0348] In some optional embodiments, the first second time domain unit among the multiple second time domain units corresponding to n side channel resources is used for AGC; the first second time domain unit among the multiple second time domain units corresponding to the same SL PRS resource is used for AGC.

[0349] In some optional embodiments, the n SL PRS resources belong to one or more SL PRS sets;

[0350] SL PRS resources belonging to the same SL PRS set correspond to the same multiple second time domain units; different SL PRS resources belonging to the same SL PRS set are frequency-division multiplexed or code-division multiplexed when transmitting SL PRS;

[0351] SL PRS resources belonging to different SL PRS sets correspond to different multiple second time domain units.

[0352] In some optional embodiments, different SL PRS resources in the same SL PRS set have the same comb structure and different resource element RE offsets.

[0353] In some optional embodiments, the n side channel resources and the n SL PRS resources correspond to each other in sequence according to their respective indexes.

[0354] In some optional embodiments, the n sidelink channel resources are indexed from low to high in the frequency domain.

[0355] In some optional embodiments, the n SL PRS resources are sorted based on the comb offset first and then the set index, and correspond to the n sidelink channel resources;

[0356] Alternatively, n SL PRS resources are sorted based on the set index first and then the comb offset, and correspond to n side channel resources.

[0357] In some optional embodiments, the multiple second time domain units corresponding to the n side channel resources are at least two consecutive second time domain units in the same first time domain unit;

[0358] Alternatively, the multiple second time domain units corresponding to the n sidelink channel resources are all second time domain units in the same first time domain unit.

[0359] In some optional embodiments, the second time domain unit corresponding to the n sidelink channel resources and the second time domain unit corresponding to the n SL PRS resources are continuous;

[0360] Alternatively, the second time domain units corresponding to the n side channel resources and the second time domain units corresponding to the n SL PRS resources do not include the second time domain units used for transceiver conversion.

[0361] In some optional embodiments, the second time domain units corresponding to at least two SL PRS sets are continuous;

[0362] Alternatively, the symbols corresponding to at least two SL PRS sets do not include the second time domain unit used for transceiver conversion.

[0363] In some optional embodiments, the last second time domain unit of the time-frequency structure is a second time domain unit for transceiver conversion;

[0364] Alternatively, in the autonomous resource selection mode, the last second time domain unit of the time-frequency structure is a second time domain unit used for transceiver conversion.

[0365] In some optional embodiments, when the network schedules resources and the second condition is met, the last second time domain unit of the time-frequency structure is the second time domain unit used to send or receive the SL PRS.

[0366] In some optional embodiments, the second terminal is a receiving terminal, and the second condition includes at least one of the following:

[0367] The second terminal is configured to receive the SL PRS in the last SL PRS set for measuring RSTD;

[0368] The SL PRS set in the next time-frequency structure is configured for measuring RSTD.

[0369] In some optional embodiments, the time-frequency structure corresponds to one or more first time-domain units in the time domain, and the first time-domain unit includes m second time-domain units, where m is an integer greater than 1;

[0370] The sidelink channel resources and SL PRS resources belonging to the same group in the time-frequency structure correspond to the same second time domain unit set, and the second time domain unit set includes at least three consecutive second time domain units;

[0371] The sidelink channel resources and SL PRS resources belonging to the same group occupy different symbols in the second time domain unit set.

[0372] In some optional embodiments, the first second time domain unit in the second time domain unit set is used for AGC.

[0373] In some optional embodiments, the n SL PRS resources belong to at least two second time domain unit sets;

[0374] SL PRS resources belonging to the same second time domain unit set correspond to the same second time domain unit set, and SL PRS resources belonging to different second time domain unit sets correspond to different second time domain unit sets.

[0375] In some optional embodiments, one or more groups of associated sidelink channel resources and SL PRS resources are included in the same set of second time domain units;

[0376] One or more different SL PRS resources belonging to the same second time domain unit set are frequency-division multiplexed or code-division multiplexed when transmitting the SL PRS;

[0377] One or more side channel resources belonging to the same second time domain unit set correspond to the same one or more second time domain units, at least two side channel resources correspond to different frequency domain resources, and the number of frequency domain resources corresponding to at least two side channel resources is the same.

[0378] In some optional embodiments, the number of frequency domain resources corresponding to one or more sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on the number of one or more sidelink channel resources and the number of frequency domain resources in the sidelink resource pool.

[0379] In some optional embodiments, different SL PRS resources in the same second time domain unit set have the same comb structure and different RE offsets.

[0380] In some optional embodiments, one or more sidelink channel resources and one or more SL PRS resources in the same second time domain unit set correspond to each other in sequence according to their respective indexes.

[0381] In some optional embodiments, the second time domain units corresponding to one or more sidelink channel resources and the second time domain units corresponding to one or more SL PRS resources in the same second time domain unit set are continuous;

[0382] Or, the second time domain units corresponding to one or more side channel resources and the second time domain units corresponding to one or more SL PRS resources in the same second time domain unit set do not include the second time domain units used for transceiver conversion.

[0383] In some optional embodiments, the next second time domain unit of the second time domain unit set is a second time domain unit for transceiver conversion;

[0384] Or, the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set;

[0385] Alternatively, in the autonomous resource selection mode, the next second time domain unit in the second time domain unit set is a second time domain unit used for transceiver conversion.

[0386] In some optional embodiments, in a network scheduling resource mode and when the second condition is satisfied, the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set.

[0387] In some optional embodiments, the second terminal is a receiving terminal, and the second condition includes at least one of the following:

[0388] The second terminal is configured to receive the SL PRS within the next second time domain unit set for measuring RSTD;

[0389] The next second set of time domain units is configured for measuring RSTD.

[0390] In some optional embodiments, the next second time domain unit of the second time domain unit set is configured by the network, or pre-configured by the network, or agreed upon by a communication protocol.

[0391] In some optional embodiments, if the second time domain unit set is an even-numbered second time domain unit set in the time-frequency structure, the second second time domain unit of the second time domain unit set corresponds to the sidelink channel resource, and the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set;

[0392] When the second time domain unit set is an odd-numbered second time domain unit set in the time-frequency structure, the last second time domain unit of the second time domain unit set corresponds to the sidelink channel resource, and the next second time domain unit of the second time domain unit set is a second time domain unit for transceiver conversion;

[0393] The second time domain unit set in the time-frequency structure is indexed starting from 0 according to the time domain sequence.

[0394] In some optional embodiments, the n groups of associated sidelink channel resources and SL PRS resources belong to the same sidelink resource pool.

[0395] In some optional embodiments, the n sidelink channel resources belong to a first sidelink resource pool, and the n SL PRS resources belong to a second sidelink resource pool.

[0396] In some optional embodiments, the n SL PRS resources belong to one or more SL PRS sets;

[0397] There is a second time domain unit for transceiver conversion between two adjacent SL PRS sets, and / or there is no second time domain unit for transceiver conversion between two adjacent SL PRS sets.

[0398] In some optional embodiments, the same first time domain unit includes one or more SL PRS sets, and different SL PRS sets correspond to different second time domain units.

[0399] In some optional embodiments, a same first time domain unit includes multiple SL PRS sets;

[0400] The last second time domain unit in the same first time domain unit is a second time domain unit used for transceiver conversion.

[0401] In some optional embodiments, a same first time domain unit includes multiple SL PRS sets;

[0402] The next second time domain unit of the previous SL PRS set between two adjacent SL PRS sets is the first second time domain unit of the next SL PRS set;

[0403] Or, two adjacent SL PRS sets are configured to measure RSTD, and the next second time domain unit of the previous SL PRS set between the two adjacent SL PRS sets is the first second time domain unit of the next SL PRS set;

[0404] Or, either of the two adjacent SL PRS sets is not configured to measure RSTD, and the next second time domain unit of the previous SL PRS set between the two adjacent SL PRS sets is the second time domain unit for transceiver conversion.

[0405] It should be noted that the device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example to implement its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0406] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0407] FIG17 is a schematic structural diagram of a terminal provided by an exemplary embodiment of the present application. The terminal 1700 includes a processor 1701 , a receiver 1702 , a transmitter 1703 , a memory 1704 , and a bus 1705 .

[0408] The processor 1701 includes one or more processing cores. The processor 1701 executes various functional applications and information processing by running software programs and modules.

[0409] The receiver 1702 and the transmitter 1703 may be implemented as a communication component, which may be a communication chip.

[0410] The memory 1704 is connected to the processor 1701 via a bus 1705. The memory 1704 may be used to store at least one instruction, and the processor 1701 may be used to execute the at least one instruction to implement each step in the above method embodiment.

[0411] In addition, the memory 1704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random-access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, and programmable read-only memory (PROM).

[0412] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program is used to be executed by a terminal to implement the above-mentioned SL PRS sending method or SL PRS receiving method.

[0413] Optionally, the computer-readable storage medium may include: Read-Only Memory (ROM), Random-Access Memory (RAM), Solid State Drives (SSD), or an optical disk, etc. Among them, the random access memory may include Resistance Random Access Memory (ReRAM) and Dynamic Random Access Memory (DRAM).

[0414] An embodiment of the present application further provides a chip, which includes a programmable logic circuit and / or program instructions. When a terminal equipped with the chip is running, the chip is used to implement the above-mentioned SL PRS sending method or SL PRS receiving method.

[0415] An embodiment of the present application also provides a computer program product or a computer program, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The terminal reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned SL PRS sending method, or the SL PRS receiving method.

[0416] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0417] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for transmitting a side positioning reference signal (SL PRS), characterized in that: The method is performed by a first terminal, and includes: Sending first information on a first sidelink channel resource, and sending a first SL PRS on a first SL PRS resource; The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

2. The method according to claim 1, characterized in that The first sidelink channel resource and the first SL PRS resource are a set of associated resources in a time-frequency structure; The time-frequency structure includes n groups of associated side channel resources and SL PRS resources, where n is an integer greater than 1.

3. The method according to claim 2, characterized in that The time-frequency structure corresponds to one or more first time-domain units in the time domain, and the first time-domain unit includes m second time-domain units, where m is an integer greater than 1; The n side channel resources and n SL PRS resources in the time-frequency structure correspond to different second time domain units; The n side channel resources correspond to the same multiple second time domain units; the multiple second time domain units corresponding to the same SL PRS resource are continuous in the time domain.

4. The method according to claim 3, characterized in that The n sidelink channel resources respectively correspond to different frequency domain resources, and the number of frequency domain resources corresponding to the n sidelink channel resources is the same.

5. The method according to claim 4, characterized in that The starting point of the frequency domain resources corresponding to the n sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on the frequency domain resources of the sidelink resource pool corresponding to the time slot.

6. The method according to claim 4, characterized in that The number of frequency domain resources corresponding to each of the sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on n and the frequency domain resources of the sidelink resource pool.

7. The method according to claim 3, characterized in that The first second time domain unit among the multiple second time domain units corresponding to the n side channel resources is used for automatic gain control AGC; the first second time domain unit among the multiple second time domain units corresponding to the same SL PRS resource is used for AGC.

8. The method according to claim 3, characterized in that The n SL PRS resources belong to one or more SL PRS sets; SL PRS resources belonging to the same SL PRS set correspond to the same multiple second time domain units; different SL PRS resources belonging to the same SL PRS set are frequency-division multiplexed or code-division multiplexed when transmitting SL PRS; SL PRS resources belonging to different SL PRS sets correspond to different multiple second time domain units.

9. The method according to claim 8, characterized in that Different SL PRS resources in the same SL PRS set have the same comb structure and different RE offsets.

10. The method according to claim 9, characterized in that The n side channel resources and the n SL PRS resources correspond to each other in sequence according to their respective indexes.

11. The method according to claim 10, characterized in that The n side channel resources are indexed from low to high according to the frequency domain.

12. The method according to claim 10, characterized in that The n SL PRS resources are sorted based on the comb offset first and then the set index, and correspond to the n sidelink channel resources; or, The n SL PRS resources are sorted based on the set index first and then the comb offset, and correspond to the n side channel resources.

13. The method according to any one of claims 3 to 12, characterized in that: The multiple second time domain units corresponding to the n side channel resources are at least two consecutive second time domain units in the same first time domain unit; or, The multiple second time domain units corresponding to the n side channel resources are all second time domain units within the same first time domain unit.

14. The method according to any one of claims 3 to 12, characterized in that: The second time domain units corresponding to the n sidelink channel resources and the second time domain units corresponding to the n SL PRS resources are continuous; or, The second time domain units corresponding to the n side channel resources and the second time domain units corresponding to the n SL PRS resources do not include the second time domain units used for transceiver conversion.

15. The method according to any one of claims 8 to 12, characterized in that: The second time domain units corresponding to the at least two SL PRS sets are continuous; or, The second time domain units corresponding to the at least two SL PRS sets do not include a second time domain unit used for transceiver conversion.

16. The method according to any one of claims 3 to 12, characterized in that: The last second time domain unit of the time-frequency structure is a second time domain unit used for transceiver conversion; or, In the autonomous resource selection mode, the last second time domain unit of the time-frequency structure is a second time domain unit used for transceiver conversion.

17. The method according to any one of claims 8 to 12, characterized in that: In a network scheduling resource mode and when the first condition is met, the last second time domain unit of the time-frequency structure is a second time domain unit for sending or receiving SL PRS.

18. The method according to claim 17, characterized in that The first terminal is a sending terminal, and the first condition includes at least one of the following: The first terminal is configured to send an SL PRS in a last SL PRS set for the second terminal to measure RSTD; The SL PRS set in the next time-frequency structure is configured to measure RSTD.

19. The method according to claim 2, characterized in that The time-frequency structure corresponds to one or more first time-domain units in the time domain, and the first time-domain unit includes m second time-domain units, where m is an integer greater than 1; The sidelink channel resources and SL PRS resources belonging to the same group in the time-frequency structure correspond to the same second time domain unit set, and the second time domain unit set includes at least three consecutive second time domain units; The sidelink channel resources and SL PRS resources belonging to the same group occupy different second time domain units in the second time domain unit set.

20. The method according to claim 19, characterized in that The first second time domain unit in the second time domain unit set is used for AGC.

21. The method according to claim 19, wherein The n SL PRS resources belong to at least two second time domain unit sets; SL PRS resources belonging to the same second time domain unit set correspond to the same second time domain unit set, and SL PRS resources belonging to different second time domain unit sets correspond to different second time domain unit sets.

22. The method according to claim 19, wherein Including one or more groups of associated side channel resources and SL PRS resources in the same second time domain unit set; One or more different SL PRS resources belonging to the same second time domain unit set are frequency-division multiplexed or code-division multiplexed when transmitting the SL PRS; One or more side channel resources belonging to the same second time domain unit set correspond to the same one or more second time domain units, the one or more side channel resources correspond to different frequency domain resources respectively, and the number of frequency domain resources corresponding to the at least two side channel resources is the same.

23. The method according to claim 22, characterized in that The number of frequency domain resources corresponding to the one or more sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on the number of the one or more sidelink channel resources and the number of frequency domain resources in the sidelink resource pool.

24. The method according to claim 22, characterized in that Different SL PRS resources in the same second time domain unit set have the same comb structure and different RE offsets.

25. The method according to claim 24, characterized in that The one or more side channel resources and the one or more SL PRS resources in the same second time domain unit set correspond to each other in sequence according to their respective indexes.

26. The method according to any one of claims 19 to 25, characterized in that The second time domain units corresponding to the one or more sidelink channel resources and the second time domain units corresponding to the one or more SL PRS resources in the same second time domain unit set are continuous; or, The second time domain units corresponding to the one or more side channel resources in the same second time domain unit set and the second time domain units corresponding to the one or more SL PRS resources do not include second time domain units used for transceiver conversion.

27. The method according to any one of claims 19 to 25, characterized in that The next second time domain unit of the second time domain unit set is a second time domain unit for transceiver conversion; or, The next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set; or, In the autonomous resource selection mode, the next second time domain unit of the second time domain unit set is a second time domain unit used for transceiver conversion.

28. The method according to any one of claims 19 to 25, characterized in that In a network scheduling resource mode and when the first condition is satisfied, the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set.

29. The method according to claim 28, characterized in that The first terminal is a sending terminal, and the first condition includes at least one of the following: The first terminal is configured to send an SL PRS in the second time domain unit set, so that the second terminal can measure RSTD; The next second set of time domain units is configured to measure RSTD.

30. The method according to any one of claims 19 to 25, characterized in that The next second time domain unit of the second time domain unit set is configured by the network, or pre-configured by the network, or agreed upon by a communication protocol.

31. The method according to any one of claims 19 to 25, characterized in that When the second time domain unit set is an even-numbered second time domain unit set in the time-frequency structure, the second second time domain unit of the second time domain unit set corresponds to the sidelink channel resource, and the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set; When the second time domain unit set is an odd-numbered second time domain unit set in the time-frequency structure, the last second time domain unit of the second time domain unit set corresponds to the sidelink channel resource, and the next second time domain unit of the second time domain unit set is a second time domain unit for transceiver conversion; The second time domain unit set in the time-frequency structure is indexed starting from 0 according to the time domain sequence.

32. The method according to any one of claims 2 to 25, characterized in that The n groups of associated sidelink channel resources and SL PRS resources belong to the same sidelink resource pool.

33. The method according to claim 1, wherein The n sidelink channel resources belong to a first sidelink resource pool, and the n SL PRS resources belong to a second sidelink resource pool.

34. The method according to claim 33, wherein The n SL PRS resources belong to one or more SL PRS sets; There is a second time domain unit for transceiver conversion between two adjacent SL PRS sets, and / or there is no second time domain unit for transceiver conversion between the two adjacent SL PRS sets.

35. The method according to claim 34, wherein The same first time domain unit includes one or more SL PRS sets, and different SL PRS sets correspond to different second time domain units.

36. The method according to claim 35, characterized in that The same first time domain unit includes multiple SL PRS sets; The last second time domain unit in the same first time domain unit is a second time domain unit used for transceiver conversion.

37. The method according to claim 35, characterized in that The same first time domain unit includes multiple SL PRS sets; The next second time domain unit of the previous SL PRS set between two adjacent SL PRS sets is the first second time domain unit of the next SL PRS set; or, The two adjacent SL PRS sets are both configured to measure RSTD, and the next second time domain unit of the previous SL PRS set between the two adjacent SL PRS sets is the first second time domain unit of the next SL PRS set; or, Either of the two adjacent SL PRS sets is not configured to measure RSTD, and the next second time domain unit of the previous SL PRS set between the two adjacent SL PRS sets is a second time domain unit for transceiver conversion.

38. A method for receiving SL PRS, characterized in that: The method is performed by the second terminal, and the method includes: receiving first information on a first sidelink channel resource, and receiving a first SL PRS on a first SL PRS resource; The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

39. The method according to claim 38, characterized in that The first sidelink channel resource and the first SL PRS resource are a set of associated resources in a time-frequency structure; The time-frequency structure includes n groups of associated side channel resources and SL PRS resources, where n is an integer greater than 1.

40. The method according to claim 39, wherein The time-frequency structure corresponds to one or more first time-domain units in the time domain, and the first time-domain unit includes m second time-domain units, where m is an integer greater than 1; The n side channel resources and n SL PRS resources in the time-frequency structure correspond to different second time domain units; The n side channel resources correspond to the same multiple second time domain units; the multiple second time domain units corresponding to the same SL PRS resource are continuous in the time domain.

41. The method according to claim 40, characterized in that The n sidelink channel resources respectively correspond to different frequency domain resources, and the number of frequency domain resources corresponding to the n sidelink channel resources is the same.

42. The method according to claim 41, wherein The starting point of the frequency domain resources corresponding to the n sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on the frequency domain resources of the sidelink resource pool corresponding to the first time domain unit.

43. The method according to claim 41, wherein The number of frequency domain resources corresponding to each of the sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on n and the frequency domain resources of the sidelink resource pool.

44. The method according to claim 40, wherein The first second time domain unit among the multiple second time domain units corresponding to the n side channel resources is used for AGC; the first second time domain unit among the multiple second time domain units corresponding to the same SL PRS resource is used for AGC.

45. The method according to claim 40, wherein The n SL PRS resources belong to one or more SL PRS sets; SL PRS resources belonging to the same SL PRS set correspond to the same multiple second time domain units; different SL PRS resources belonging to the same SL PRS set are frequency-division multiplexed or code-division multiplexed when transmitting SL PRS; SL PRS resources belonging to different SL PRS sets correspond to different multiple second time domain units.

46. ​​The method according to claim 45, characterized in that Different SL PRS resources in the same SL PRS set have the same comb structure and different resource element RE offsets.

47. The method according to claim 46, wherein The n side channel resources and the n SL PRS resources correspond to each other in sequence according to their respective indexes.

48. The method according to claim 47, wherein The n side channel resources are indexed from low to high according to the frequency domain.

49. The method according to claim 47, wherein The n SL PRS resources are sorted based on the comb offset first and then the set index, and correspond to the n sidelink channel resources; or, The n SL PRS resources are sorted based on the set index first and then the comb offset, and correspond to the n side channel resources.

50. The method according to any one of claims 40 to 49, characterized in that The multiple second time domain units corresponding to the n side channel resources are at least two consecutive second time domain units in the same first time domain unit; or, The multiple second time domain units corresponding to the n side channel resources are all second time domain units within the same first time domain unit.

51. The method according to any one of claims 40 to 49, characterized in that The second time domain units corresponding to the n sidelink channel resources and the second time domain units corresponding to the n SL PRS resources are continuous; or, The second time domain units corresponding to the n side channel resources and the second time domain units corresponding to the n SL PRS resources do not include the second time domain units used for transceiver conversion.

52. The method according to any one of claims 45 to 49, characterized in that The second time domain units corresponding to the one or more SL PRS sets are continuous; or, The symbols corresponding to the one or more SL PRS sets do not include a second time domain unit used for transceiver conversion.

53. The method according to any one of claims 40 to 49, characterized in that The last second time domain unit of the time-frequency structure is a second time domain unit used for transceiver conversion; or, In the autonomous resource selection mode, the last second time domain unit of the time-frequency structure is a second time domain unit used for transceiver conversion.

54. The method according to any one of claims 45 to 49, characterized in that In a network scheduling resource mode and when the second condition is met, the last second time domain unit of the time-frequency structure is a second time domain unit for sending or receiving SL PRS.

55. The method according to claim 54, characterized in that The second terminal is a receiving terminal, and the second condition includes at least one of the following: The second terminal is configured to receive the SL PRS in the last SL PRS set for measuring RSTD; The SL PRS set in the next time-frequency structure is configured to measure RSTD.

56. The method according to claim 39, wherein The time-frequency structure corresponds to one or more first time-domain units in the time domain, and the first time-domain unit includes m second time-domain units, where m is an integer greater than 1; The sidelink channel resources and SL PRS resources belonging to the same group in the time-frequency structure correspond to the same second time domain unit set, and the second time domain unit set includes at least three consecutive second time domain units; The sidelink channel resources and SL PRS resources belonging to the same group occupy different symbols in the second time domain unit set.

57. The method according to claim 56, characterized in that The first second time domain unit in the second time domain unit set is used for AGC.

58. The method according to claim 56, characterized in that The n SL PRS resources belong to at least two second time domain unit sets; SL PRS resources belonging to the same second time domain unit set correspond to the same second time domain unit set, and SL PRS resources belonging to different second time domain unit sets correspond to different second time domain unit sets.

59. The method according to claim 56, wherein Including one or more groups of associated side channel resources and SL PRS resources in the same second time domain unit set; One or more different SL PRS resources belonging to the same second time domain unit set are frequency-division multiplexed or code-division multiplexed when transmitting the SL PRS; One or more side channel resources belonging to the same second time domain unit set correspond to the same one or more second time domain units, the one or more side channel resources correspond to different frequency domain resources respectively, and the number of frequency domain resources corresponding to the one or more side channel resources is the same.

60. The method according to claim 59, wherein The number of frequency domain resources corresponding to the one or more sidelink channel resources is configured by the network, or pre-configured by the network, or determined based on the number of the one or more sidelink channel resources and the number of frequency domain resources in the sidelink resource pool.

61. The method according to claim 59, wherein Different SL PRS resources in the same second time domain unit set have the same comb structure and different RE offsets.

62. The method according to claim 61, characterized in that The one or more side channel resources and the one or more SL PRS resources in the same second time domain unit set correspond to each other in sequence according to their respective indexes.

63. The method according to any one of claims 56 to 62, characterized in that The second time domain units corresponding to the one or more sidelink channel resources and the second time domain units corresponding to the one or more SL PRS resources in the same second time domain unit set are continuous; or, The second time domain units corresponding to the one or more side channel resources in the same second time domain unit set and the second time domain units corresponding to the one or more SL PRS resources do not include second time domain units used for transceiver conversion.

64. The method according to any one of claims 56 to 62, characterized in that The next second time domain unit of the second time domain unit set is a second time domain unit for transceiver conversion; or, The next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set; or, In the autonomous resource selection mode, the next second time domain unit of the second time domain unit set is a second time domain unit used for transceiver conversion.

65. The method according to any one of claims 56 to 62, characterized in that In a network scheduling resource mode and when the second condition is satisfied, the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set.

66. The method according to claim 65, characterized in that The second terminal is a receiving terminal, and the second condition includes at least one of the following: The second terminal is configured to receive the SL PRS within a next second time domain unit set for measuring RSTD; The next second set of time domain units is configured to measure RSTD.

67. The method according to any one of claims 56 to 62, characterized in that The next second time domain unit of the second time domain unit set is configured by the network, or pre-configured by the network, or agreed upon by a communication protocol.

68. The method according to any one of claims 56 to 62, characterized in that When the second time domain unit set is an even-numbered second time domain unit set in the time-frequency structure, the second second time domain unit of the second time domain unit set corresponds to the sidelink channel resource, and the next second time domain unit of the second time domain unit set is the first second time domain unit of the next second time domain unit set; When the second time domain unit set is an odd-numbered second time domain unit set in the time-frequency structure, the last second time domain unit of the second time domain unit set corresponds to the sidelink channel resource, and the next second time domain unit of the second time domain unit set is a second time domain unit for transceiver conversion; The second time domain unit set in the time-frequency structure is indexed starting from 0 according to the time domain sequence.

69. The method according to any one of claims 39 to 62, characterized in that The n groups of associated sidelink channel resources and SL PRS resources belong to the same sidelink resource pool.

70. The method according to claim 38, wherein The n sidelink channel resources belong to a first sidelink resource pool, and the n SL PRS resources belong to a second sidelink resource pool.

71. The method according to claim 70, characterized in that The n SL PRS resources belong to one or more SL PRS sets; There is a second time domain unit for transceiver conversion between two adjacent SL PRS sets, and / or there is no second time domain unit for transceiver conversion between the two adjacent SL PRS sets.

72. The method according to claim 71, characterized in that The same first time domain unit includes one or more SL PRS sets, and different SL PRS sets correspond to different second time domain units.

73. The method according to claim 72, characterized in that The same first time domain unit includes multiple SL PRS sets; The last second time domain unit in the same first time domain unit is a second time domain unit used for transceiver conversion.

74. The method according to claim 72, characterized in that The same first time domain unit includes multiple SL PRS sets; The next second time domain unit of the previous SL PRS set between two adjacent SL PRS sets is the first second time domain unit of the next SL PRS set; or, The two adjacent SL PRS sets are both configured to measure RSTD, and the next second time domain unit of the previous SL PRS set between the two adjacent SL PRS sets is the first second time domain unit of the next SL PRS set; or, Either of the two adjacent SL PRS sets is not configured to measure RSTD, and the next second time domain unit of the previous SL PRS set between the two adjacent SL PRS sets is a second time domain unit for transceiver conversion.

75. A SL PRS sending device, characterized in that: The device comprises: A sending module, configured to send first information on a first sidelink channel resource and send a first SL PRS on a first SL PRS resource; The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

76. A SL PRS receiving device, characterized in that: The device comprises: A receiving module, configured to receive first information in a first sidelink channel resource and receive a first SL PRS in a first SL PRS resource; The first information is used to indicate the sending method of the SL PRS in the first SL PRS resource.

77. A terminal, characterized in that The terminal includes: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load the executable instructions so that the terminal implements the SL PRS sending method as described in any one of claims 1 to 37, or the SL PRS receiving method as described in any one of claims 38 to 74.

78. A computer-readable storage medium, characterized in that The readable storage medium stores a computer program, which is used to be executed by a processor of the terminal to implement the SL PRS sending method described in any one of claims 1 to 37, or the SL PRS receiving method described in any one of claims 38 to 74.

79. A chip, characterized in that The chip includes a programmable logic circuit and / or program instructions, and when a terminal equipped with the chip is running, it is used to implement the SL PRS sending method described in any one of claims 1 to 37, or the SL PRS receiving method described in any one of claims 38 to 74.

80. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor of the terminal reads and executes the computer instructions from the computer-readable storage medium to implement the SL PRS sending method described in any one of claims 1 to 37, or the SL PRS receiving method described in any one of claims 38 to 74.

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