Lateral communication method, device, equipment, storage medium and program product

Abstract

The invention discloses a sidewalk communication method and device, equipment, a storage medium and a program product, and relates to the technical field of communication. The method comprises: a first terminal device transmitting first information, the first information being used for indicating a transmission mode of an SL PRS (1210). The first terminal device sends the first information used for indicating the sending mode of the SL PRS to the second terminal device, and instructs the second terminal device to receive the SL PRS, so that the resource utilization efficiency on a sidewalk carrier and the performance of a sidewalk positioning and sidewalk communication system are improved.

Description

Sideline communication method, device, equipment, storage medium and program product Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and in particular to a sideline communication method, apparatus, device, storage medium, and program product. Background Art

[0002] In SL (Sidelink) communication, SL PRS (Sidelink Positioning Reference Signal) is introduced. Based on this, the sidelink communication process between terminal devices needs further research.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a sideline communication method, apparatus, device, storage medium, and program product. The technical solution is as follows:

[0005] According to one aspect of an embodiment of the present application, a sideline communication method is provided, the method being executed by a first terminal device, the method comprising:

[0006] Send first information, where the first information is used to indicate a sending method of the SL PRS.

[0007] According to one aspect of an embodiment of the present application, a sideline communication method is provided, the method being performed by a second terminal device, the method comprising:

[0008] First information is received, where the first information is used to indicate a sending method of an SL PRS.

[0009] According to one aspect of an embodiment of the present application, a sideline communication device is provided, the device comprising:

[0010] The sending module is used to send first information, where the first information is used to indicate the sending method of the SL PRS.

[0011] According to one aspect of an embodiment of the present application, a sideline communication device is provided, the device comprising:

[0012] The receiving module is used to receive first information, where the first information is used to indicate a sending method of the SL PRS.

[0013] According to one aspect of an embodiment of the present application, a terminal device is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program to implement the above-mentioned sideline communication method.

[0014] According to one 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 configured to be executed by a processor to implement the above-mentioned sideline communication method.

[0015] According to one aspect of an embodiment of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions, and when the chip is running, is used to implement the above-mentioned side communication method.

[0016] According to one aspect of an embodiment of the present application, a computer program product is provided, which includes a computer program stored in a computer-readable storage medium, and a processor reads and executes the computer program from the computer-readable storage medium to implement the above-mentioned side communication method.

[0017] The technical solutions provided by the embodiments of the present application may have the following beneficial effects:

[0018] The first terminal device sends the first information for indicating the sending method of SL PRS to the second terminal device, instructing the second terminal to receive SL PRS, thereby improving the resource utilization efficiency on the sidecarrier and the performance of the sidecar positioning and sidecar communication system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG1 is a schematic diagram of a network architecture provided by an embodiment of the present application;

[0020] FIG2 is a schematic diagram of sideline communication within the coverage area of ​​a network provided by one embodiment of the present application;

[0021] FIG3 is a schematic diagram of partial network coverage sideline communication provided by an embodiment of the present application;

[0022] FIG4 is a schematic diagram of network coverage outer line communication provided by an embodiment of the present application;

[0023] FIG5 is a schematic diagram of unicast provided by an embodiment of the present application;

[0024] FIG6 is a schematic diagram of multicast provided by an embodiment of the present application;

[0025] FIG7 is a schematic diagram of a broadcast provided by an embodiment of the present application;

[0026] FIG8 is a schematic diagram of NR-V2X time domain resource allocation provided by one embodiment of the present application;

[0027] FIG9 is a schematic diagram of a PSCCH and PSSCH time slot structure provided by one embodiment of the present application;

[0028] FIG10 is a schematic diagram of the time domain positions of four DMRS symbols when the PSSCH has 13 symbols according to an embodiment of the present application;

[0029] FIG11 is a schematic diagram of a PSSCH DMRS frequency domain position according to an embodiment of the present application;

[0030] FIG12 is a flowchart of a side communication method provided by one embodiment of the present application;

[0031] FIG13 is a schematic diagram of a side communication method provided by an embodiment of the present application;

[0032] FIG14 is a schematic diagram of a side communication method provided by another embodiment of the present application;

[0033] FIG15 is a schematic diagram of a side communication method provided by another embodiment of the present application;

[0034] FIG16 is a schematic diagram of a first resource pool and a second resource pool provided by an embodiment of the present application;

[0035] FIG17 is a schematic diagram of the time-frequency resource locations of a resource pool provided by one embodiment of the present application;

[0036] FIG18 is a schematic diagram of a resource mapping relationship provided by an embodiment of the present application;

[0037] FIG19 is a schematic diagram of resource selection provided by one embodiment of the present application;

[0038] FIG20 is a schematic diagram of the time-frequency resource locations of a resource subset provided by one embodiment of the present application;

[0039] FIG21 is a schematic diagram of a first resource subset and a second resource subset provided by an embodiment of the present application;

[0040] FIG22 is a schematic diagram of a resource mapping relationship provided by another embodiment of the present application;

[0041] FIG23 is a schematic diagram of a resource mapping relationship provided by another embodiment of the present application;

[0042] FIG24 is a block diagram of a side communication device provided by one embodiment of the present application;

[0043] FIG25 is a block diagram of a side communication device provided by another embodiment of the present application;

[0044] FIG26 is a block diagram of a side communication device provided by another embodiment of the present application;

[0045] Figure 27 is a structural diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0047] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. A person skilled in the art will appreciate that, with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0048] Please refer to Figure 1, which shows a schematic diagram of a network architecture provided by an embodiment of the present application. The network architecture may include: a core network 11, an access network 12, and a terminal device 13.

[0049] The core network 11 includes several core network devices. The functions of the core network devices are mainly to provide user connections, user management, and service carrying, and to provide an interface to the external network as a bearer network. For example, the core network of a 5G (5th Generation) NR (New Radio) system may include devices such as an AMF (Access and Mobility Management Function) entity, a UPF (User Plane Function) entity, and an SMF (Session Management Function) entity.

[0050] The access network 12 includes several access network devices 14. The access network in the 5G NR system can be called NG-RAN (New Generation-Radio Access Network). The access network device 14 is a device deployed in the access network 12 to provide wireless communication functions for the terminal device 13. The access network device 14 can include various forms of macro base stations, micro base stations, relay stations, access points, etc. In systems using different wireless access technologies, the names of devices with access network device functions may be different. For example, in the 5G NR system, it is called gNodeB or gNB. With the evolution of communication technology, the name "access network device" may change. For the convenience of description, in the embodiments of the present application, the above-mentioned devices that provide wireless communication functions for the terminal device 13 are collectively referred to as access network devices. In addition, in the embodiments of the present application, unless otherwise specified, the network devices mentioned refer to access network devices, such as base stations.

[0051] The number of terminal devices 13 is usually multiple, and one or more terminal devices 13 can be distributed in the cell managed by each access network device 14. The terminal device 13 may include various handheld devices with wireless communication functions, vehicle-mounted devices, wearable devices, computing devices or other processing devices connected to a wireless modem, as well as various forms of user equipment, mobile stations (MS), etc. For the convenience of description, the devices mentioned above are collectively referred to as terminal devices. The access network device 14 and the core network device communicate with each other through some air technology, such as the NG interface in the 5G NR system. The access network device 14 and the terminal device 13 communicate with each other through some air technology, such as the Uu interface. In addition, in the embodiments of the present application, terminal devices and UE are generally used interchangeably, but the two express the same meaning.

[0052] Terminal devices 13 and terminal devices 13 (for example, vehicle-mounted devices and other devices (such as other vehicle-mounted devices, mobile phones, RSU (Road Side Unit), etc.)) can communicate with each other through a direct communication interface (such as a PC5 interface). Accordingly, the communication link established based on the direct communication interface can be called a direct link or SL. SL transmission is the direct communication and data transmission between terminal devices through a side link. Unlike traditional cellular systems in which communication data is received or sent through access network equipment, SL transmission has the characteristics of short delay and low overhead, and is suitable for communication between two terminal devices that are geographically close (such as vehicle-mounted devices and other peripheral devices that are geographically close). It should be noted that in Figure 1, only vehicle-to-vehicle communication in the V2X (vehicle to everything) scenario is used as an example. SL technology can be applied to scenarios where direct communication is carried out between various terminal devices. In other words, the terminal device in this application refers to any device that communicates using SL technology.

[0053] The "5G NR system" in the embodiments of this application may also be referred to as a 5G system or an NR system, but those skilled in the art will understand its meaning. The technical solutions described in the embodiments of this application can be applied to the 5G NR system and can also be applied to subsequent evolution systems of the 5G NR system.

[0054] Before introducing the technical solutions of this application, we first introduce and explain some of the background technologies involved in this application. The following related technologies can be combined with the technical solutions of the embodiments of this application as optional solutions, and they all fall within the scope of protection of the embodiments of this application. The embodiments of this application include at least some of the following contents.

[0055] 1. Sideline communication in different network coverage environments

[0056] In sideline communication, according to the network coverage of the communicating terminal equipment, it can be divided into sideline communication within the network coverage, sideline communication with partial network coverage, and sideline communication outside the network coverage.

[0057] In sideline communication within network coverage, all terminal devices performing sideline communication are within the coverage of the same access network device (base station). Therefore, all of the above terminal devices can perform sideline communication based on the same sideline configuration by receiving configuration signaling from the access network device (base station). For example, as shown in Figure 2, UE1 and UE2 are both within the coverage of base station 1.

[0058] In the case of partial network coverage for sideline communication, some terminal devices performing sideline communication are located within the coverage of the access network device (base station). These terminal devices can receive the configuration signaling of the access network device (base station) and perform sideline communication according to the configuration of the access network device (base station). However, terminal devices outside the network coverage cannot receive the configuration signaling of the access network device (base station). In this case, the terminal devices outside the network coverage will determine the sideline configuration based on the pre-configuration information and the information carried in the sideline broadcast channel PSBCH sent by the terminal devices within the network coverage, and perform sideline communication. For example, as shown in Figure 3, UE1 is within the network coverage of base station 1, and UE2 is outside the network coverage of base station 1.

[0059] For sideline communication outside the network coverage, all terminal devices performing sideline communication are located outside the network coverage, and all terminal devices determine the sideline configuration according to the pre-configured information for sideline communication. For example, as shown in FIG4 , UE1 and UE2 are both located outside the network coverage of base station 1.

[0060] 2. D2D / V2X

[0061] Device-to-device communication is a sidelink transmission technology based on D2D. Unlike traditional cellular systems, where data is received or sent via base stations, it offers higher spectrum efficiency and lower transmission latency. The connected vehicle system utilizes direct device-to-device communication, with the 3GPP (3rd Generation Partnership Project) defining two transmission modes: Mode 1 and Mode 2.

[0062] Mode 1: The base station allocates transmission resources to the terminal device, and the terminal device transmits data on the sidelink based on the allocated resources. The base station can allocate resources for either single transmission or semi-static transmission. As shown in Figure 2, the terminal devices are all within the network coverage area, and the base station allocates transmission resources for sidelink transmission.

[0063] Mode 2: The terminal device selects a resource from the resource pool for data transmission. As shown in Figure 4, the terminal devices are all located outside the cell coverage area. The terminal device autonomously selects a transmission resource from the pre-configured resource pool for sideline transmission; or, as shown in Figure 2, the terminal device autonomously selects a transmission resource from the resource pool configured by the base station for sideline transmission.

[0064] The second mode resource selection is performed in two steps:

[0065] Step 1: The terminal device takes all available resources in the resource selection window as resource set A.

[0066] If the terminal device sends data in some time slots within the listening window and does not listen, all resources on the corresponding time slots in the selection window for these time slots are excluded. The terminal uses the value set of the "resource reservation period" field in the resource pool configuration to determine the corresponding time slot in the selection window.

[0067] If the terminal detects PSCCH (Physical Sidelink Control Channel) within the listening window, it measures the RSRP (Reference Signal Received Power) of the PSCCH or the RSRP of the PSSCH (Physical Sidelink Shared Channel) scheduled by the PSCCH. If the measured RSRP is greater than the SL-RSRP (Sidelink Reference Signal Received Power) threshold, and the reserved resources are determined to be within the resource selection window based on the resource reservation information in the sidelink control information transmitted in the PSCCH, the corresponding resources are excluded from set A. If the remaining resources in resource set A are less than X% of all resources before resource set A is excluded, the SL-RSRP threshold is raised by 3dB, and step 1 is repeated. The possible values ​​of X are {20, 35, 50}, and the terminal device determines the parameter X from the value set according to the priority of the data to be sent. Meanwhile, the SL-RSRP threshold is related to the priority carried in the PSCCH detected by the terminal device and the priority of the data to be sent by the terminal device. The terminal device uses the remaining resources in set A after excluding resources as the candidate resource set.

[0068] Step 2: The terminal device randomly selects several resources from the candidate resource set as its transmission resources for initial transmission and retransmission.

[0069] 3.NR-V2X

[0070] In NR-V2X, autonomous driving needs to be supported, which places higher requirements on data interaction between vehicles, such as higher throughput, lower latency, higher reliability, larger coverage, and more flexible resource allocation.

[0071] In LTE-V2X, broadcast transmission is supported, and in NR-V2X, unicast and multicast transmission modes are introduced. For unicast transmission, there is only one receiving terminal device. As shown in Figure 5, unicast transmission is performed between UE1 and UE2. For multicast transmission, the receiving terminal devices are all terminal devices in a communication group, or all terminal devices within a certain transmission distance. As shown in Figure 6, UE1, UE2, UE3, and UE4 constitute a communication group, where UE1 sends data, and the other terminal devices in the group (UE2, UE3, and UE4) are all receiving terminal devices. For broadcast transmission, the receiving terminal device is any terminal device around the sending terminal device. As shown in Figure 7, UE1 is the sending terminal device, and the other terminal devices around it, UE2, UE3, UE4, UE5, and UE6, are all receiving terminal devices.

[0072] 4. Time slot structure in NR-V2X

[0073] In NR-V2X, PSSCH and its associated PSCCH are transmitted in the same time slot, and PSCCH occupies 2 or 3 time domain symbols. The time domain resource allocation of NR-V2X is based on the time slot as the allocation granularity. The starting point and length of the time domain symbols used for sidelink transmission in a time slot are configured by the parameters sl-startSLsymbols and sl-lengthSLsymbols. The last symbol in this part of the symbols is used as the GP (Guard period). PSSCH and PSCCH can only use the remaining time domain symbols. However, if PSFCH (Physical Sidelink Feedback Channel) transmission resources are configured in a time slot, PSSCH and PSCCH cannot occupy the time domain symbols used for PSFCH transmission, as well as the AGC (Automatic Gain Control) and GP symbols before the symbol.

[0074] As shown in Figure 8, the network configuration sl-StartSymbol = 3, sl-LengthSymbols = 11, that is, the 11 time domain symbols starting from symbol index 3 in a time slot can be used for sideline transmission. There are PSFCH transmission resources in the time slot. The PSFCH occupies symbols 11 and 12, among which symbol 11 is used as the AGC symbol of PSFCH, and symbols 10 and 13 are used as GPs respectively. The time domain symbols that can be used for PSSCH transmission are symbols 3 to 9, and PSCCH occupies 3 time domain symbols, namely symbols 3, 4, and 5. Symbol 3 is usually used as an AGC symbol.

[0075] In NR-V2X, in addition to PSCCH and PSSCH, PSFCH may also exist in a sidelink time slot. As shown in Figure 9, in a time slot, the first OFDM (Orthogonal Frequency Division Multiplexing) symbol is fixed for AGC. On the AGC symbol, the UE (User Equipment) copies the information sent on the second symbol. At the end of the time slot, there is a symbol reserved for transceiver conversion, which is used for the UE to switch from the transmit (or receive) state to the receive (or transmit) state. In the remaining OFDM symbols, the PSCCH can occupy two or three OFDM symbols starting from the second sidelink symbol. In the frequency domain, the number of PRBs (Physical Resource Blocks) occupied by the PSCCH is within the subband range of a PSSCH. If the number of PRBs occupied by the PSCCH is less than the size of a subchannel of the PSSCH, or the frequency domain resources of the PSSCH include multiple subchannels, then the PSCCH can be frequency-division multiplexed with the PSSCH on the OFDM symbol where the PSCCH is located.

[0076] The DMRS (Demodulation Reference Signal) for the PSSCH in NR-V2X draws on the design of the NR Uu interface and uses multiple time-domain PSSCH DMRS patterns. Within a resource pool, the number of available DMRS patterns is related to the number of PSSCH symbols in the resource pool. For a specific number of PSSCH symbols (including the first AGC symbol) and PSCCH symbols, the available DMRS patterns and the position of each DMRS symbol within the pattern are shown in Table 1. Figure 10 shows the time-domain positions of four DMRS symbols when the PSSCH has 13 symbols.

[0077] Table 1: Number and position of DMRS symbols for different PSSCH and PSCCH symbol numbers

[0078]

[0079] If multiple time-domain DMRS patterns are configured in the resource pool, the transmitting UE selects the specific time-domain DMRS pattern to be used and indicates this in the first-order SCI (Sidelink Control Information). This design allows high-speed UEs to select a high-density DMRS pattern to ensure channel estimation accuracy, while low-speed UEs can use a low-density DMRS pattern to improve spectrum efficiency.

[0080] The generation method of the PSSCH DMRS sequence is almost identical to that of the PSCCH DMRS sequence. The only difference is the initialization formula c(m) of the pseudo-random sequence. init middle, P i The i-th CRC (Cyclic Redundancy Check) of the PSCCH that schedules the PSSCH, where L=24 is the number of bits of the PSCCH CRC.

[0081] NR PDSCH (Physical Downlink Shared Channel) and PUSCH (Physical Uplink Shared Channel) support two frequency domain DMRS patterns, namely DMRS frequency domain type 1 and DMRS frequency domain type 2, and for each frequency domain type, there are two different types of single DMRS symbols and double DMRS symbols. Single-symbol DMRS frequency domain type 1 supports 4 DMRS ports, and single-symbol DMRS frequency domain type 2 can support 6 DMRS ports. In the case of double DMRS symbols, the number of ports supported by both types is doubled. However, in NR-V2X, as shown in Figure 11, since PSSCH only needs to support two DMRS ports at most, only single-symbol DMRS frequency domain type 1 is supported.

[0082] 5. Positioning based on sidelink

[0083] 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. Furthermore, SA1 established requirements for "Ranging-Based Services" in TS22.261 and positioning accuracy requirements for IIoT use cases in out-of-coverage scenarios in TS22.104. 3GPP is required to research and develop sidelink positioning solutions to support the use cases, scenarios, and requirements identified in these activities. To improve positioning accuracy, particularly 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 device also needs to send and receive terminal mutual discovery information, configuration information, measurement reporting information related to sideline positioning, as well as 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.

[0084] Based on the above content, the present application proposes a sidewalk communication method, which supports sidewalk positioning and sidewalk communication by sending a first signal for indicating the sending mode of SL PRS.

[0085] Please refer to Figure 12, which shows a flow chart of a sideline communication method provided by an embodiment of the present application. The method is executed by a first terminal device. The method may include the following step 1210.

[0086] Step 1210: The first terminal device sends first information to the second terminal device, where the first information is used to indicate a sending method of the sidelink SL PRS.

[0087] Correspondingly, the second terminal device receives the first information sent by the first terminal device.

[0088] In some embodiments, the sending method of SL PRS includes at least one of the following: the time domain resource position of SL PRS; the frequency domain resource position of SL PRS; the repetition period of SL PRS; the identification information of the sending terminal of SL PRS; the identification information of the receiving terminal of SL PRS; and the sequence information of SL PRS.

[0089] The time domain resource position of the SL PRS refers to the position of the time domain resources occupied by the SL PRS in the resource pool.

[0090] The frequency domain resource position of the SL PRS refers to the position of the frequency domain resources occupied by the SL PRS in the resource pool.

[0091] The repetition period of the SL PRS refers to the time interval for repeated transmission of the SL PRS.

[0092] The identification information of the sending terminal of the SL PRS refers to the identification information of the terminal device sending the SL PRS indicated by the above-mentioned first information, for example, the ID (Identifier) ​​of the terminal device sending the SL PRS.

[0093] The identification information of the receiving terminal of the SL PRS refers to the identification information of the terminal device that receives the SL PRS indicated by the above-mentioned first information, for example, the ID of the terminal device that receives the SL PRS.

[0094] The sequence information of the SL PRS refers to information on the sequence of symbols constituting the SL PRS.

[0095] In some embodiments, the first information can be used to indicate the position of the time domain resources occupied by the SL PRS in the resource pool, and can also be used to indicate the relationship between the position of the time domain resources occupied by the SL PRS in the resource pool and the reference time domain resource position. The reference time domain resource position can be configured or pre-configured by the network, and this application does not limit this.

[0096] Exemplarily, the first information may be used to indicate the time slot position occupied by the SL PRS in the resource pool, and may also be used to indicate the relationship between the time slot position occupied by the SL PRS in the resource pool and the reference time slot position.

[0097] In some embodiments, the first terminal device sends the first information to the second terminal device in a unicast manner. For example, as shown in FIG13 , UE1 unicasts the first information to UE2.

[0098] In some embodiments, the first terminal device is a sending terminal device, and the second terminal device is a receiving terminal device. For example, as shown in FIG13 , UE1 sends first information to UE2, where the first information is used to indicate a sending mode of the SL PRS sent by UE1 to UE2.

[0099] In some embodiments, the first terminal device is not a sending terminal device, and the second terminal device is a receiving terminal device. For example, as shown in FIG13 , UE1 sends first information to UE2, where the first information is used to indicate a sending mode of the SL PRS sent by UE3 to UE2.

[0100] In some embodiments, the first terminal device is not a sending terminal device, and the second terminal device is not a receiving terminal device. For example, as shown in FIG13 , UE1 sends first information to UE2, and the first information is used to indicate the sending mode of the SL PRS sent by UE3 to UE4.

[0101] In some embodiments, a first terminal device sends the first information to a second terminal device using a multicast method, where the second terminal device is a terminal device in a multicast group. For example, as shown in FIG14 , UE2, UE3, and UE4 are a multicast group, and UE1 multicasts the first information to the multicast group to which UE2, UE3, and UE4 belong.

[0102] In some embodiments, the first terminal device is a sending terminal device, and the second terminal device is in a multicast group. For example, as shown in FIG14 , UE2, UE3, and UE4 serve as a multicast group, and UE1 multicasts first information to the multicast group to which UE2, UE3, and UE4 belong. The first information is used to instruct UE1 on a method for sending an SL PRS to UE2.

[0103] In some embodiments, the first terminal device is a sending terminal device, and the second terminal device is not in the multicast group. For example, as shown in FIG14 , UE2, UE3, and UE4 are a multicast group, and UE1 multicasts a first message to the multicast group where UE2, UE3, and UE4 are located. The first message is used to instruct UE1 on a sending method for sending an SL PRS to UE5.

[0104] In some embodiments, the first terminal device is not a sending terminal device, and the second terminal device is in a multicast group. For example, as shown in FIG14 , UE2, UE3, and UE4 are a multicast group, and UE1 multicasts a first message to the multicast group where UE2, UE3, and UE4 are located. The first message is used to instruct UE5 on a sending method for sending an SL PRS to UE3.

[0105] In some embodiments, the first terminal device is not a sending terminal device, and the second terminal device is not in a multicast group. For example, as shown in FIG14 , UE2, UE3, and UE4 serve as a multicast group, and UE1 multicasts a first message to the multicast group to which UE2, UE3, and UE4 belong. The first message is used to instruct UE5 on a method for sending an SL PRS to UE6.

[0106] In some embodiments, a first terminal device transmits the first information to a second terminal device using a broadcast method. The second terminal device is any terminal device that meets a broadcast condition. The broadcast condition includes that the second terminal device is within a range threshold of the first terminal device. For example, as shown in Figure 15, UE1 broadcasts the first information to UE2, UE3, UE4, and UE5.

[0107] In some embodiments, the first terminal device is a sending terminal device, and the second terminal device meets the broadcast condition. For example, as shown in FIG15 , UE1 broadcasts first information to UE2, UE3, UE4, and UE5, where the first information is used to instruct UE1 on a sending mode of sending SL PRS to UE2.

[0108] In some embodiments, the first terminal device is a sending terminal device, and the second terminal device does not meet the broadcast condition. For example, as shown in FIG15 , UE1 broadcasts first information to UE2, UE3, UE4, and UE5, and the first information is used to instruct UE1 to send SL PRS to UE6.

[0109] In some embodiments, the first terminal device is not a sending terminal device, and the second terminal device meets the broadcast condition. For example, as shown in FIG15 , UE1 broadcasts first information to UE2, UE3, UE4, and UE5, where the first information is used to instruct UE2 on a sending mode of sending SL PRS to UE3.

[0110] In some embodiments, the first terminal device is not a sending terminal device, and the second terminal device does not meet the broadcast condition. For example, as shown in FIG15 , UE1 broadcasts first information to UE2, UE3, UE4, and UE5, and the first information is used to instruct UE2 to send SL PRS to UE6.

[0111] The technical solution provided in the embodiment of the present application sends first information for indicating the sending method of SL PRS to the second terminal device through the first terminal device, instructing the second terminal to receive SL PRS, thereby improving the resource utilization efficiency on the sidecarrier and the performance of the sidecar positioning and sidecar communication system.

[0112] In some embodiments, the resource pool used for sending the first information is a first resource pool, the resource pool used for sending the SL PRS is a second resource pool, and the first resource pool and the second resource pool are different resource pools.

[0113] Exemplarily, as shown in FIG16 , resource pool 1 is the first resource pool, resource pool 2 is the second resource pool, and the first information sent in resource pool 1 is used to indicate the sending method of the SL PRS sent in resource pool 2.

[0114] In some embodiments, the first resource pool and the second resource pool occupy different time domain resources; and / or the first resource pool and the second resource pool occupy different frequency domain resources.

[0115] Exemplarily, the first resource pool and the second resource pool occupy different time domain resources. As shown in FIG17 , resource pool 1 and resource pool 2 occupy different time domain resources but the same frequency domain resources.

[0116] Exemplarily, the first resource pool and the second resource pool occupy different frequency domain resources. As shown in FIG17 , resource pool 1 and resource pool 3 occupy different frequency domain resources but the same time domain resources.

[0117] Exemplarily, the first resource pool and the second resource pool occupy different time domain resources and different frequency domain resources. As shown in FIG17 , resource pool 2 and resource pool 3 occupy different time domain resources and different frequency domain resources.

[0118] In some embodiments, there is a mapping relationship between the resources in the first resource pool and the first resource in the second resource pool.

[0119] For example, there is a corresponding relationship between the resource for sending the first information in the first resource pool and the resource for sending the first SL PRS in the second resource pool. As shown in Figure 18, resource pool 1 is the first resource pool, resource pool 2 is the second resource pool, and if the first information is sent on resource 10 of resource pool 1, the resource occupied by the first SL PRS in resource pool 2 is resource 20; if the first information is sent on resource 11 of resource pool 1, the resource occupied by the first SL PRS in resource pool 2 is resource 21.

[0120] In some embodiments, a constraint condition is satisfied between the first time unit and the second time unit, the first time unit is the time unit where the resource for sending the first information is located, and the second time unit is the time unit where the first resource for sending the SL PRS is located.

[0121] In some embodiments, the constraint condition includes: the interval duration between the first time unit and the second time unit is greater than or equal to a minimum threshold value, and / or less than or equal to a maximum threshold value.

[0122] Exemplarily, the interval duration between the first time slot and the second time slot is greater than or equal to a minimum threshold value, and / or less than or equal to a maximum threshold value.

[0123] In some embodiments, the minimum threshold value may be defined by a standard, or may be configured or pre-configured by the network, which is not limited in this application. The setting of the minimum threshold value is used to provide the receiving terminal device of the SL PRS with time to decode the above-mentioned first information.

[0124] In some embodiments, the maximum threshold is related to the priority of the SL PRS.

[0125] Exemplarily, the higher the priority of the SL PRS, the larger its maximum threshold value, thereby allowing the terminal device sending the high-priority SL PRS to send the first information corresponding to the SL PRS earlier, so that the receiving terminal device can reserve resources earlier.

[0126] In some embodiments, the first information is further used to indicate an index of the second resource pool.

[0127] Exemplarily, there are multiple second resource pools, and the first information is further used to indicate the index of the second resource pool where the resources occupied by the SL PRS are located. For example, as shown in FIG17 , resource pool 1 is the first resource pool, and resource pools 2 and 3 are the second resource pools. If the resource pool where the resources occupied by the SL PRS are located is resource pool 2, the first information is further used to indicate the index of resource pool 2; if the resource pool where the resources occupied by the SL PRS are located is resource pool 3, the first information is further used to indicate the index of resource pool 3.

[0128] In some embodiments, the first information is carried by at least one of the following information: MAC CE (Media Access Control Control Element) and 2nd-stage-SCI (second stage sidelink control information).

[0129] In some embodiments, the first information is carried and sent on at least one of the following channels: PSCCH, PSSCH.

[0130] In some embodiments, the number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource pool: the first information item, the first information item is used to indicate the PRB occupied by the SL PRS; the second information item, the second information item is used to indicate the repetition period of the SL PRS; the third information item, the third information item is used to indicate the orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; the fourth information item, the fourth information item is used to indicate the RE (Resource Element) occupied by the SL PRS.

[0131] Exemplarily, the first information is carried in MAC CE information, and the information item included in the first information is a field.

[0132] The first information item is the RSL (Reference Slot Location) field, which is used to indicate the PRB occupied by the SL PRS, for example, to indicate the reference time domain resource location. The length of this field can be 17 bits or (10+[log2(10·2 μ)]) bits, where μ is the frequency domain resource granularity occupied by the SL PRS, that is, the subcarrier spacing index of the carrier occupied by the SL PRS, with a value range of 0, 1, 2, and 3, corresponding to 15 kHz, 30 kHz, 60 kHz, and 120 kHz, respectively. 10 bits in the RSL field are used to indicate the SFN (System Frame Number) index, and the remaining bits are used to indicate the time slot index within the SFN.

[0133] In some embodiments, the reference time domain resource position is the position of the time slot where the first resource of the first resource combination is located.

[0134] The second information item is RC i Field, which indicates the repetition period of SL PRS. Exemplarily, this field is used to indicate a resource combination, each resource combination indicates up to three time slots for SL PRS and frequency domain resources for SL PRS within two time slots, and may include the repetition period of SL PRS.

[0135] The third information item is SYM i，j The field is used to indicate the OFDM symbol occupied by the SL PRS. Exemplarily, this field is used to indicate the OFDM symbol used for the SL PRS in the j-th time slot indicated by the i-th resource combination.

[0136] The fourth information item is RE i,j The field is used to indicate the REs occupied by the SL PRS. Exemplarily, this field is used to indicate the REs used for the SL PRS in the j-th time slot indicated by the i-th resource combination.

[0137] In some embodiments, the MAC CE information also includes at least one of the following fields.

[0138] First resource location i-1 The First resource location0 field is used to indicate the interval of the time slot where the first resource of the i-th resource combination is located relative to the reference time slot; the First resource location0 field is used to indicate the position of the time slot where the first resource of the second resource combination is located relative to the reference time slot, and so on. Since the reference time domain resource location indicated in the RSL field can be used as the position of the time slot where the first resource of the first resource combination is located, the First resource location i-1 The field no longer needs to indicate the position of the time slot where the first resource of the first resource combination is located.

[0139] The DstID field is used to indicate the identification information of the receiving terminal device of the SL PRS.

[0140] The SrID field is used to indicate the identification information of the terminal device sending the SL PRS.

[0141] The SqID field is used to indicate the sequence information of the SL PRS, where the sequence information of the SL PRS includes at least the identification information of the SL PRS sequence.

[0142] In some embodiments, the first information is carried in 2nd-stage-SCI information, and the information item included in the first information is a bit field.

[0143] In some embodiments, the first information is carried by the format 2-C of the 2nd-stage-SCI. The Source ID bit field and the Destination ID bit field in 2-C can be used to indicate the identification information of the SL PRS sending terminal device and the identification information of the receiving terminal device, respectively. The SL PRS Resource combinations bit field, the First resource location bit field, the Reference slot location bit field and the Lowest subChannelindices bit field can be used to indicate information such as the time domain resource position, frequency domain resource position and repetition period occupied by the SL PRS. And one or more bit fields in the HARQ process number bit field, the New data indicator bit field, the Redundancy version bit field, the HARQ feedback enabled / disabled indicator bit field and the CSI request bit field in 2-C can be used to indicate other SL PRS transmission mode information, such as the OFDM symbol occupied by the SL PRS, the RE occupied by the SL PRS and other information. The channel used for scheduling the SCI format 2-C should indicate through a specific bit that the SCI format 2-C carries the first information. For example, it is indicated by a specific bit in the Reserved bit field.

[0144] In some embodiments, the first information may be carried by a newly defined second-stage SCI format that is different from SCI formats 2-A, 2-B, and 2-C. The 2nd-stage SCI format field in the channel that schedules the newly defined second-stage SCI format shall be set to "11". The newly defined second-stage SCI format shall include at least one or more of the following bit fields:

[0145] A bit field used to indicate the identification information of the SL PRS sending terminal device; a bit field used to indicate the identification information of the receiving terminal device; a bit field used to indicate the time domain resource position occupied by the SL PRS; a bit field used to indicate the frequency domain resource position occupied by the SL PRS; a bit field used to indicate the repetition period of the SL PRS; a bit field used to indicate the OFDM symbol occupied by the SL PRS; a bit field used to indicate the RE occupied by the SL PRS.

[0146] In some embodiments, the first information is carried in MAC CE information and 2nd-stage-SCI information.

[0147] In some embodiments, the first information carried in the MAC CE information and the 2nd-stage-SCI information is the same information. Exemplarily, the first information carried in the MAC CE includes the time domain resource location of the SL PRS; the frequency domain resource location of the SL PRS; the repetition period of the SL PRS; the identification information of the sending terminal of the SL PRS; the identification information of the receiving terminal of the SL PRS; and the sequence information of the SL PRS. The first information carried in the 2nd-stage-SCI information also includes the time domain resource location of the SL PRS; the frequency domain resource location of the SL PRS; the repetition period of the SL PRS; the identification information of the sending terminal of the SL PRS; the identification information of the receiving terminal of the SL PRS; and the sequence information of the SL PRS.

[0148] In some embodiments, the first information carried in the MAC CE information and the 2nd-stage-SCI information is different information. For example, the first information carried in the MAC CE includes the time domain resource location of the SL PRS; the frequency domain resource location of the SL PRS; and the repetition period of the SL PRS. The first information carried in the 2nd-stage-SCI information includes identification information of the transmitting terminal of the SL PRS; identification information of the receiving terminal of the SL PRS; and sequence information of the SL PRS.

[0149] It should be noted that if there is a mapping relationship between the resources in the first resource pool and the first resource in the second resource pool, the first information may not indicate the time domain resource position occupied by the first SL PRS.

[0150] In some embodiments, the number of bits of the first information item is determined based on the number of PRBs contained in the second resource pool and the frequency domain resource granularity occupied by the SL PRS; and / or, the number of bits of the second information item is determined based on the number of repetition periods of the SL PRS allowed in the second resource pool; and / or, the number of bits of the third information item is determined based on the number of OFDM symbols contained in a time slot in the second resource pool and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, the number of bits of the fourth information item is determined based on the frequency domain RE interval of the SL PRS allowed in the second resource pool.

[0151] In some embodiments, the first terminal device detects information sent by other terminal devices in the first resource pool to indicate the sending of SL PRS, and takes the resources in the resource selection window in the second resource pool as a candidate resource set; based on the information sent by other terminal devices to indicate the sending of SL PRS, the resources in the candidate resource set are excluded to obtain the remaining resources in the candidate resource set; and the sending resources of SL PRS are selected from the remaining resources.

[0152] Exemplarily, as shown in FIG19 , resource pool 1 is the first resource pool, and resource pool 2 and resource pool 3 are the second resource pool. The first terminal device detects the information (information 1 and information 2) sent by other terminal devices in resource pool 1 to indicate the sending of SL PRS, and uses the resources in resource pool 2 and resource pool 3 that are located in the resource selection window as candidate resource set 1910; based on information 1 and information 2, the resources in the candidate resource set 1910 are excluded to obtain the remaining resources in the candidate resource set; and the sending resources of SL PRS are selected from the remaining resources. For example, if the resource occupied by SL PRS of information 1 is resource 1, and the resource occupied by SL PRS of information 2 is resource 2, then resource 1 and resource 2 are excluded to obtain the remaining resources in the candidate resource set; and the sending resources of SL PRS are selected from the remaining resources.

[0153] In some embodiments, the resources in the candidate resource set can be excluded based on the priority of the SL PRS and the information sent by other terminal devices to indicate the sending of the SL PRS, so as to obtain the remaining resources in the candidate resource set; and the sending resources of the SL PRS can be selected from the remaining resources.

[0154] Exemplarily, the SL-RSRP threshold is determined according to the priority of the SL PRS, and resources whose RSRP of the SL PRS is higher than the SL-RSRP threshold among the occupied resources are excluded.

[0155] The resources in the second resource pool are excluded to avoid conflicts in resource selection and improve the reliability of side communication.

[0156] The technical solution provided in the embodiment of the present application provides a method for sending the first information and SL PRS in different resource pools. The first resource pool is used to send the first information, and the second resource pool is used to send the SL PRS. The first information is carried by MAC CE information and / or 2nd-stage-SCI information to ensure the sending of SL PRS and the corresponding first information, thereby improving the reliability of side communication.

[0157] In some embodiments, the resource pool used for sending the first information is the same resource pool as the resource pool used for sending the SL PRS.

[0158] In some embodiments, the resource pool includes a first resource subset and a second resource subset, the first resource subset is a resource subset used for sending first information, and the second resource subset is a resource subset used for sending SL PRS; wherein the first resource subset and the second resource subset occupy different time domain resources in the resource pool, and / or the first resource subset and the second resource subset occupy different frequency domain resources in the resource pool.

[0159] Exemplarily, the first resource subset and the second resource subset occupy different time domain resources in the resource pool. Exemplarily, as shown in FIG20 , the first resource subset is subset 1, the second resource subset is subset 2, and subset 1 and subset 2 occupy different time domain resources in the resource pool.

[0160] Exemplarily, the first resource subset and the second resource subset occupy different frequency domain resources in the resource pool. Exemplarily, as shown in FIG20 , the first resource subset is subset 3, the second resource subset is subset 2, and subset 3 and subset 2 occupy different frequency domain resources in the resource pool.

[0161] Exemplarily, the first resource subset and the second resource subset occupy different time domain resources and different frequency domain resources in the resource pool. Exemplarily, as shown in FIG20 , the first resource subset is subset 4, the second resource subset is subset 2, and subset 4 and subset 2 occupy different time domain resources and different frequency domain resources in the resource pool.

[0162] In some embodiments, the first information sent using any resource in the first resource subset includes an information item indicating the time-frequency resources occupied by the SL PRS in the second resource subset.

[0163] That is, there is no mapping relationship between any resource in the first resource subset and the resources in the second resource subset. When any resource in the first resource subset is used to send the first information, the first information includes information items for indicating the time-frequency resources occupied by the SL PRS in the second resource subset.

[0164] Exemplarily, as shown in FIG21 , the first resource subset is subset 1, the second resource subset is subset 2, and the first information sent in subset 1 is used to indicate the sending method of the SL PRS sent in subset 2.

[0165] In some embodiments, for the first time unit belonging to the first resource subset, the first time unit includes N subchannels, and the N subchannels correspond one-to-one to the N SL PRS resources within the first time domain range belonging to the second resource subset; wherein, the first information sent in the i-th subchannel among the N subchannels is used to reserve the i-th SL PRS resource among the N SL PRS resources, N is an integer greater than 1, and i is a positive integer less than or equal to N.

[0166] Exemplarily, as shown in FIG22 , the first resource subset is subset 1, and the second resource subset is subset 2. Subset 1 includes a first time unit 2210 and a second time unit 2220, and the first time unit 2210 includes four subchannels: channel 1, channel 2, channel 3, and channel 4. Subset 2 includes a first time domain range 2230 and a second time domain range 2240, and the first time domain range 2230 includes four resources: resource 1, resource 2, resource 3, and resource 4. The four subchannels of the first time unit 2210 correspond one-to-one to the four resources of the first time domain range 2230. Channel 1 is used to send the first information for reserving resource 1; channel 2 is used to send the first information for reserving resource 2; channel 3 is used to send the first information for reserving resource 3; and channel 4 is used to send the first information for reserving resource 4.

[0167] There is a mapping relationship between the resources in the first resource subset and the resources in the second resource subset. There is no need to indicate the time-frequency resources occupied by the SL PRS, nor is there a need to exclude the resources in the second resource subset. While ensuring the reliability of side communication, the workload of the first terminal device sending the first information is reduced.

[0168] In some embodiments, the complete frequency domain resources corresponding to the first time unit include a first part of frequency domain resources and a second part of frequency domain resources; the first part of frequency domain resources includes N subchannels; the second part of frequency domain resources is used to send other side positioning related information except the first information.

[0169] For example, as shown in FIG23 , the first resource subset is subset 1, and the second resource subset is subset 2. Subset 1 includes a first time unit 2310 and a second time unit 2320. The complete frequency domain resources corresponding to first time unit 2310 include a first portion of frequency domain resources 2311 and a second portion of frequency domain resources 2312. First portion of frequency domain resources 2311 includes four subchannels: channel 1, channel 2, channel 3, and channel 4. Subset 2 includes a first time domain range 2330 and a second time domain range 2340. First time domain range 2330 includes four resources: resource 1, resource 2, resource 3, and resource 4. The four subchannels of the first time unit 2310 correspond one-to-one to the four resources of the first time domain range 2330. First information is sent using channel 1 to reserve resource 1; first information is sent using channel 2 to reserve resource 2; first information is sent using channel 3 to reserve resource 3; and first information is sent using channel 4 to reserve resource 4.

[0170] The resources within the same time unit are further divided, the first part of the frequency domain resources is used to send the first information, and the second part of the frequency domain resources is used to send other side positioning related information except the first information, thereby improving the utilization rate of the resources in the first resource subset.

[0171] In some embodiments, the number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource subset: the first information item, the first information item is used to indicate the physical resource block PRB occupied by the SL PRS; the second information item, the second information item is used to indicate the repetition period of the SL PRS; the third information item, the third information item is used to indicate the orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; the fourth information item, the fourth information item is used to indicate the resource element RE occupied by the SL PRS.

[0172] In some embodiments, the number of bits of the first information item is determined according to the number of PRBs included in the second resource subset and the frequency domain resource granularity occupied by the SL PRS; and / or, the number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource subset; and / or, the number of bits of the third information item is determined according to the number of OFDM symbols included in a time slot in the second resource subset and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, the number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource subset.

[0173] It should be noted that this embodiment and the above embodiment have the same concept. For details not described in detail in this embodiment, please refer to the above embodiment and will not be described in detail here.

[0174] The technical solution provided in the embodiment of the present application sends first information for indicating the sending method of SL PRS to the second terminal device through the first terminal device, instructing the second terminal to receive SL PRS, thereby improving the resource utilization efficiency on the sidecarrier and the performance of the sidecar positioning and sidecar communication system.

[0175] In addition, a method for sending the first information and the SL PRS in the same resource pool is provided, wherein the resource pool is divided into two subsets: a first resource subset for sending the first information and a second resource subset for sending the SL PRS. The resources in the first resource subset for sending the first information may have a one-to-one correspondence with the resources in the second subset for sending the SL PRS. The first information does not need to indicate the time-frequency resources occupied by the SL PRS, nor does it need to exclude the resources in the second resource subset, thereby ensuring the reliability of the side communication while reducing the workload of the first terminal device sending the first information.

[0176] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0177] Please refer to Figure 24, which shows a block diagram of a sideline communication device provided by one embodiment of the present application. This device has the functionality to implement the aforementioned sideline communication method example. This functionality can be implemented in hardware or by hardware executing corresponding software. This device can be the first terminal device described above, or it can be provided within the first terminal device. As shown in Figure 24, the device 2400 may include a sending module 2410.

[0178] The sending module 2410 is configured to send first information, where the first information is used to indicate a sending method of a sideways positioning reference signal SL PRS.

[0179] In some embodiments, the sending method of the SL PRS includes at least one of the following: the time domain resource position of the SL PRS; the frequency domain resource position of the SL PRS; the repetition period of the SL PRS; the identification information of the sending terminal of the SL PRS; the identification information of the receiving terminal of the SL PRS; and the sequence information of the SL PRS.

[0180] In some embodiments, the resource pool used for sending the first information is a first resource pool, the resource pool used for sending the SL PRS is a second resource pool, and the first resource pool and the second resource pool are different resource pools.

[0181] In some embodiments, the first resource pool and the second resource pool occupy different time domain resources; and / or, the first resource pool and the second resource pool occupy different frequency domain resources.

[0182] In some embodiments, there is a mapping relationship between the resources in the first resource pool and the first resource in the second resource pool; and / or, the first time unit and the second time unit satisfy a constraint condition, the first time unit is the time unit where the resources used for sending the first information are located, and the second time unit is the time unit where the first resource used for sending the SL PRS is located.

[0183] In some embodiments, the constraint condition includes: the interval duration between the first time unit and the second time unit is greater than or equal to a minimum threshold value, and / or less than or equal to a maximum threshold value.

[0184] In some embodiments, the maximum threshold is related to the priority of the SL PRS.

[0185] In some embodiments, the first information is further used to indicate an index of the second resource pool.

[0186] In some embodiments, the number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource pool: a first information item, the first information item is used to indicate the physical resource block PRB occupied by the SL PRS; a second information item, the second information item is used to indicate the repetition period of the SL PRS; a third information item, the third information item is used to indicate the orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; and a fourth information item, the fourth information item is used to indicate the resource element RE occupied by the SL PRS.

[0187] In some embodiments, the number of bits of the first information item is determined according to the number of PRBs contained in the second resource pool and the frequency domain resource granularity occupied by the SL PRS; and / or, the number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource pool; and / or, the number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource pool and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, the number of bits of the fourth information item is determined according to the frequency domain RE interval of the SL PRS allowed in the second resource pool.

[0188] In some embodiments, as shown in FIG. 25 , the apparatus 2400 further includes a processing module 2420 .

[0189] The processing module 2420 is used to detect the information sent by other terminal devices in the first resource pool to indicate the sending of SL PRS, and use the resources in the resource selection window in the second resource pool as a candidate resource set; based on the information sent by the other terminal devices to indicate the sending of SL PRS, exclude the resources in the candidate resource set to obtain the remaining resources in the candidate resource set; and select the sending resources of the SL PRS from the remaining resources.

[0190] In some embodiments, the resource pool used for sending the first information and the resource pool used for sending the SL PRS are the same resource pool.

[0191] In some embodiments, the resource pool includes a first resource subset and a second resource subset, the first resource subset is a resource subset used for sending the first information, and the second resource subset is a resource subset used for sending the SL PRS; wherein the first resource subset and the second resource subset occupy different time domain resources in the resource pool, and / or the first resource subset and the second resource subset occupy different frequency domain resources in the resource pool.

[0192] In some embodiments, the first information sent using any resource in the first resource subset includes an information item indicating the time-frequency resources occupied by the SL PRS in the second resource subset.

[0193] In some embodiments, for the first time unit belonging to the first resource subset, the first time unit contains N subchannels, and the N subchannels correspond one-to-one to the N SL PRS resources within the first time domain range belonging to the second resource subset; wherein, the first information sent in the i-th subchannel among the N subchannels is used to reserve the i-th SL PRS resource among the N SL PRS resources, N is an integer greater than 1, and i is a positive integer less than or equal to N.

[0194] In some embodiments, the complete frequency domain resources corresponding to the first time unit include a first part of frequency domain resources and a second part of frequency domain resources; the first part of frequency domain resources includes the N sub-channels; the second part of frequency domain resources is used to send other side positioning related information in addition to the first information.

[0195] In some embodiments, the number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource subset: a first information item, the first information item is used to indicate the physical resource block PRB occupied by the SL PRS; a second information item, the second information item is used to indicate the repetition period of the SL PRS; a third information item, the third information item is used to indicate the orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; and a fourth information item, the fourth information item is used to indicate the resource element RE occupied by the SL PRS.

[0196] In some embodiments, the number of bits of the first information item is determined according to the number of PRBs included in the second resource subset and the frequency domain resource granularity occupied by the SL PRS; and / or, the number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource subset; and / or, the number of bits of the third information item is determined according to the number of OFDM symbols included in a time slot in the second resource subset and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, the number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource subset.

[0197] In some embodiments, the first information is carried by at least one of the following information: media access layer control element MAC CE, second-stage sidelink control information 2nd-stage-SCI.

[0198] In some embodiments, the first information is sent by carrying at least one of the following channels: a physical sidelink control channel PSCCH and a physical sidelink shared channel PSSCH.

[0199] The technical solution provided in the embodiment of the present application sends first information for indicating the sending method of SL PRS to the second terminal device through the first terminal device, instructing the second terminal to receive SL PRS, thereby improving the resource utilization efficiency on the sidecarrier and the performance of the sidecar positioning and sidecar communication system.

[0200] Please refer to Figure 26, which shows a block diagram of a sideline communication device provided by one embodiment of the present application. This device has the functionality to implement the aforementioned sideline communication method example. This functionality can be implemented in hardware or by hardware executing corresponding software. This device can be the second terminal device described above, or it can be provided within the second terminal device. As shown in Figure 26, the device 2600 may include a receiving module 2610.

[0201] The receiving module 2610 is configured to receive first information, where the first information is used to indicate a sending method of a sideways positioning reference signal SL PRS.

[0202] In some embodiments, the sending method of the SL PRS includes at least one of the following: the time domain resource position of the SL PRS; the frequency domain resource position of the SL PRS; the repetition period of the SL PRS; the identification information of the sending terminal of the SL PRS; the identification information of the receiving terminal of the SL PRS; and the sequence information of the SL PRS.

[0203] In some embodiments, the resource pool used for sending the first information is a first resource pool, the resource pool used for sending the SL PRS is a second resource pool, and the first resource pool and the second resource pool are different resource pools.

[0204] In some embodiments, the first resource pool and the second resource pool occupy different time domain resources; and / or, the first resource pool and the second resource pool occupy different frequency domain resources.

[0205] In some embodiments, there is a mapping relationship between the resources in the first resource pool and the first resource in the second resource pool; and / or, the first time unit and the second time unit satisfy a constraint condition, the first time unit is the time unit where the resources used for sending the first information are located, and the second time unit is the time unit where the first resource used for sending the SL PRS is located.

[0206] In some embodiments, the constraint condition includes: the interval duration between the first time unit and the second time unit is greater than or equal to a minimum threshold value, and / or less than or equal to a maximum threshold value.

[0207] In some embodiments, the maximum threshold is related to the priority of the SL PRS.

[0208] In some embodiments, the first information is further used to indicate an index of the second resource pool.

[0209] In some embodiments, the number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource pool: a first information item, the first information item is used to indicate the physical resource block PRB occupied by the SL PRS; a second information item, the second information item is used to indicate the repetition period of the SL PRS; a third information item, the third information item is used to indicate the orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; and a fourth information item, the fourth information item is used to indicate the resource element RE occupied by the SL PRS.

[0210] In some embodiments, the number of bits of the first information item is determined according to the number of PRBs contained in the second resource pool and the frequency domain resource granularity occupied by the SL PRS; and / or, the number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource pool; and / or, the number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource pool and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, the number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource pool.

[0211] In some embodiments, the sending resources of the SL PRS are selected from the remaining resources obtained after excluding resources in a candidate resource set, and the candidate resource set is initialized to the resources in the second resource pool that are within a resource selection window.

[0212] In some embodiments, the resource pool used for sending the first information and the resource pool used for sending the SL PRS are the same resource pool.

[0213] In some embodiments, the resource pool includes a first resource subset and a second resource subset, the first resource subset is a resource subset used for sending the first information, and the second resource subset is a resource subset used for sending the SL PRS; wherein the first resource subset and the second resource subset occupy different time domain resources in the resource pool, and / or the first resource subset and the second resource subset occupy different frequency domain resources in the resource pool.

[0214] In some embodiments, the first information sent using any resource in the first resource subset includes an information item indicating the time-frequency resources occupied by the SL PRS in the second resource subset.

[0215] In some embodiments, for the first time unit belonging to the first resource subset, the first time unit contains N subchannels, and the N subchannels correspond one-to-one to the N SL PRS resources within the first time domain range belonging to the second resource subset; wherein, the first information sent in the i-th subchannel among the N subchannels is used to reserve the i-th SL PRS resource among the N SL PRS resources, N is an integer greater than 1, and i is a positive integer less than or equal to N.

[0216] In some embodiments, the complete frequency domain resources corresponding to the first time unit include a first part of frequency domain resources and a second part of frequency domain resources; the first part of frequency domain resources includes the N subchannels; the second part of frequency domain resources is used to send other side positioning related information except the SL PRS.

[0217] In some embodiments, the number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource subset: a first information item, the first information item is used to indicate the physical resource block PRB occupied by the SL PRS; a second information item, the second information item is used to indicate the repetition period of the SL PRS; a third information item, the third information item is used to indicate the orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; and a fourth information item, the fourth information item is used to indicate the resource element RE occupied by the SL PRS.

[0218] In some embodiments, the number of bits of the first information item is determined according to the number of PRBs included in the second resource subset and the frequency domain resource granularity occupied by the SL PRS; and / or, the number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource subset; and / or, the number of bits of the third information item is determined according to the number of OFDM symbols included in a time slot in the second resource subset and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, the number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource subset.

[0219] In some embodiments, the first information is carried by at least one of the following information: media access layer control element MAC CE, second-stage sidelink control information 2nd-stage-SCI.

[0220] In some embodiments, the first information is sent by carrying at least one of the following channels: a physical sidelink control channel PSCCH and a physical sidelink shared channel PSSCH.

[0221] The technical solution provided in the embodiment of the present application sends first information for indicating the sending method of SL PRS to the second terminal device through the first terminal device, instructing the second terminal to receive SL PRS, thereby improving the resource utilization efficiency on the sidecarrier and the performance of the sidecar positioning and sidecar communication system.

[0222] Please refer to Figure 27, which shows a schematic diagram of the structure of a terminal device provided in one embodiment of the present application. The terminal device 2700 may include: a processor 2701, a transceiver 2702, and a memory 2703. The processor 2701 is configured to perform the functions of the processing module 2420 described above, and the transceiver 2702 is configured to implement the functions of the sending module 2410 and / or the receiving module 2610 described above.

[0223] The processor 2701 includes one or more processing cores, and executes various functional applications and information processing by running software programs and modules. The processor 2701 is used to execute other steps except the sending and receiving steps performed by the terminal device in the above method embodiment.

[0224] Transceiver 2702 may include a receiver and a transmitter. For example, the receiver and transmitter may be implemented as the same wireless communication component, which may include a wireless communication chip and a radio frequency antenna. Transceiver 2702 is configured to perform the sending and / or receiving steps performed by the terminal device in the above method embodiment.

[0225] The memory 2703 may be connected to the processor 2701 and the transceiver 2702 .

[0226] The memory 2703 may be used to store a computer program executed by the processor, and the processor 2701 is used to execute the computer program to implement each step in the above method embodiment.

[0227] In an exemplary embodiment, when the terminal device is a first terminal device, the processor 2701 is configured to send first information, where the first information is configured to indicate a method for sending the SL PRS.

[0228] In another exemplary embodiment, when the terminal device is a second terminal device, the processor 2701 is configured to receive first information, where the first information is used to indicate a sending method of a sideline positioning reference signal SL PRS.

[0229] For details not described in detail in this embodiment, please refer to the above embodiments and will not be described in detail here.

[0230] In addition, the memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: magnetic or optical disks, electrically erasable programmable read-only memory, erasable programmable read-only memory, static access memory, read-only memory, magnetic memory, flash memory, and programmable read-only memory.

[0231] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored, and the computer program is used to be executed by a processor to implement the above-mentioned side communication method. Optionally, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random-Access Memory), SSD (Solid State Drives) or an optical disk, etc. Among them, the random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0232] An embodiment of the present application further provides a chip, which includes a programmable logic circuit and / or program instructions, and when the chip is running, is used to implement the above-mentioned side communication method.

[0233] An embodiment of the present application also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium. A processor reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned side communication method.

[0234] It should be understood that the "indication" mentioned in the embodiments of this application can be a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association between A and B.

[0235] In the description of the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and being indicated, configuration and being configured, etc.

[0236] In some embodiments of the present application, "predefined" may be implemented by pre-storing corresponding codes, tables, or other methods that can be used to indicate relevant information in a device (e.g., including a terminal device and a network device), and the present application does not limit the specific implementation method. For example, predefined may refer to information defined in a protocol.

[0237] In some embodiments of the present application, the "protocol" may refer to a standard protocol in the field of communications, for example, it may include an LTE protocol, a NR protocol, and related protocols used in future communication systems, and this application does not limit this.

[0238] In this document, "plurality" refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0239] The term “greater than or equal to” mentioned herein may mean greater than or equal to, or greater than, and the term “less than or equal to” may mean less than or equal to, or less than.

[0240] In addition, the step numbers described in this document only illustrate a possible execution order between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order of the diagram. The embodiments of the present application are not limited to this.

[0241] 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.

[0242] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, 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 side communication method, characterized in that: The method is performed by a first terminal device, and includes: First information is sent, where the first information is used to indicate a sending method of a side positioning reference signal SL PRS.

2. The method according to claim 1, characterized in that The SL PRS is sent in at least one of the following ways: The time domain resource location of the SL PRS; The frequency domain resource location of the SL PRS; the repetition period of the SL PRS; Identification information of the sending terminal of the SL PRS; Identification information of the receiving terminal of the SL PRS; Sequence information of the SL PRS.

3. The method according to claim 1 or 2, characterized in that The resource pool used for sending the first information is a first resource pool, and the resource pool used for sending the SL PRS is a second resource pool. The first resource pool and the second resource pool are different resource pools.

4. The method according to claim 3, characterized in that The first resource pool and the second resource pool occupy different time domain resources; and / or, The first resource pool and the second resource pool occupy different frequency domain resources.

5. The method according to claim 3 or 4, characterized in that There is a mapping relationship between the resources in the first resource pool and the first resource in the second resource pool; and / or, The first time unit and the second time unit satisfy the constraint condition. The first time unit is the time unit where the resources used for sending the first information are located, and the second time unit is the time unit where the first resource used for sending the SL PRS is located.

6. The method according to claim 5, characterized in that The constraint condition includes: the interval between the first time unit and the second time unit is greater than or equal to a minimum threshold value, and / or less than or equal to a maximum threshold value.

7. The method according to claim 6, characterized in that The maximum threshold is related to the priority of the SL PRS.

8. The method according to any one of claims 3 to 7, characterized in that The first information is further used to indicate an index of the second resource pool.

9. The method according to any one of claims 3 to 8, characterized in that The number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource pool: A first information item, where the first information item is used to indicate a physical resource block (PRB) occupied by the SL PRS; a second information item, where the second information item is used to indicate a repetition period of the SL PRS; A third information item, where the third information item is used to indicate an orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; A fourth information item is used to indicate the resource element RE occupied by the SL PRS.

10. The method according to claim 9, characterized in that The number of bits of the first information item is determined according to the number of PRBs included in the second resource pool and the frequency domain resource granularity occupied by the SL PRS; and / or, The number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource pool; and / or, The number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource pool and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, The number of bits of the fourth information item is determined according to the frequency domain RE spacing of the SL PRS allowed in the second resource pool.

11. The method according to any one of claims 3 to 10, characterized in that The method further comprises: detecting information sent by other terminal devices instructing SL PRS transmission in the first resource pool, and taking resources in the second resource pool within a resource selection window as a candidate resource set; Eliminate resources in the candidate resource set according to the information sent by the other terminal devices for instructing the SL PRS to be sent, to obtain remaining resources in the candidate resource set; The sending resource of the SL PRS is selected from the remaining resources.

12. The method according to claim 1 or 2, characterized in that The resource pool used for sending the first information is the same resource pool as the resource pool used for sending the SL PRS.

13. The method according to claim 12, characterized in that The resource pool includes a first resource subset and a second resource subset, the first resource subset is a resource subset used for sending the first information, and the second resource subset is a resource subset used for sending the SL PRS; wherein the first resource subset and the second resource subset occupy different time domain resources in the resource pool, and / or the first resource subset and the second resource subset occupy different frequency domain resources in the resource pool.

14. The method according to claim 13, characterized in that The first information sent using any resource in the first resource subset includes an information item for indicating the time-frequency resources occupied by the SL PRS in the second resource subset.

15. The method according to claim 13, characterized in that For the first time unit belonging to the first resource subset, the first time unit contains N subchannels, and the N subchannels correspond one-to-one to the N SL PRS resources within the first time domain range belonging to the second resource subset; wherein, the first information sent in the i-th subchannel among the N subchannels is used to reserve the i-th SL PRS resource among the N SL PRS resources, N is an integer greater than 1, and i is a positive integer less than or equal to N.

16. The method according to claim 15, characterized in that The complete frequency domain resources corresponding to the first time unit include a first part of frequency domain resources and a second part of frequency domain resources; The first part of frequency domain resources includes the N sub-channels; The second part of frequency domain resources is used to send other sideline positioning related information except the first information.

17. The method according to any one of claims 13 to 16, characterized in that The number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource subset: A first information item, where the first information item is used to indicate a physical resource block (PRB) occupied by the SL PRS; a second information item, where the second information item is used to indicate a repetition period of the SL PRS; A third information item, where the third information item is used to indicate an orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; A fourth information item is used to indicate the resource element RE occupied by the SL PRS.

18. The method according to claim 17, characterized in that The number of bits of the first information item is determined according to the number of PRBs included in the second resource subset and the frequency domain resource granularity occupied by the SL PRS; and / or, The number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource subset; and / or, The number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource subset and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, The number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource subset.

19. The method according to any one of claims 1 to 18, characterized in that The first information is carried by at least one of the following information: a media access control element MAC CE and second-stage sidelink control information 2nd-stage-SCI.

20. The method according to any one of claims 1 to 19, characterized in that The first information is carried and sent on at least one of the following channels: a physical sidelink control channel PSCCH and a physical sidelink shared channel PSSCH.

21. A side communication method, characterized in that: The method is performed by a second terminal device, and the method includes: First information is received, where the first information is used to indicate a sending method of a sideways positioning reference signal SL PRS.

22. The method according to claim 21, characterized in that The SL PRS is sent in at least one of the following ways: The time domain resource location of the SL PRS; The frequency domain resource location of the SL PRS; the repetition period of the SL PRS; Identification information of the sending terminal of the SL PRS; Identification information of the receiving terminal of the SL PRS; Sequence information of the SL PRS.

23. The method according to claim 21 or 22, characterized in that The resource pool used for sending the first information is a first resource pool, and the resource pool used for sending the SL PRS is a second resource pool. The first resource pool and the second resource pool are different resource pools.

24. The method according to claim 23, wherein The first resource pool and the second resource pool occupy different time domain resources; and / or, The first resource pool and the second resource pool occupy different frequency domain resources.

25. The method according to claim 23 or 24, characterized in that There is a mapping relationship between the resources in the first resource pool and the first resource in the second resource pool; and / or, The first time unit and the second time unit satisfy the constraint condition. The first time unit is the time unit where the resources used for sending the first information are located, and the second time unit is the time unit where the first resource used for sending the SL PRS is located.

26. The method according to claim 25, characterized in that The constraint condition includes: the interval between the first time unit and the second time unit is greater than or equal to a minimum threshold value, and / or less than or equal to a maximum threshold value.

27. The method according to claim 26, characterized in that The maximum threshold is related to the priority of the SL PRS.

28. The method according to any one of claims 23 to 27, characterized in that The first information is further used to indicate an index of the second resource pool.

29. The method according to any one of claims 23 to 28, characterized in that The number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource pool: A first information item, where the first information item is used to indicate a physical resource block (PRB) occupied by the SL PRS; a second information item, where the second information item is used to indicate a repetition period of the SL PRS; A third information item, where the third information item is used to indicate an orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; A fourth information item is used to indicate the resource element RE occupied by the SL PRS.

30. The method according to claim 29, wherein The number of bits of the first information item is determined according to the number of PRBs included in the second resource pool and the frequency domain resource granularity occupied by the SL PRS; and / or, The number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource pool; and / or, The number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource pool and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, The number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource pool.

31. The method according to any one of claims 23 to 30, characterized in that The sending resources of the SL PRS are selected from the remaining resources obtained after excluding the resources in the candidate resource set, and the candidate resource set is initialized to the resources in the second resource pool that are within the resource selection window.

32. The method according to claim 21 or 22, characterized in that The resource pool used for sending the first information is the same resource pool as the resource pool used for sending the SL PRS.

33. The method according to claim 32, characterized in that The resource pool includes a first resource subset and a second resource subset, the first resource subset is a resource subset used for sending the first information, and the second resource subset is a resource subset used for sending the SL PRS; wherein the first resource subset and the second resource subset occupy different time domain resources in the resource pool, and / or the first resource subset and the second resource subset occupy different frequency domain resources in the resource pool.

34. The method according to claim 33, wherein The first information sent using any resource in the first resource subset includes an information item indicating the time-frequency resources occupied by the SL PRS in the second resource subset.

35. The method according to claim 33, wherein For the first time unit belonging to the first resource subset, the first time unit contains N subchannels, and the N subchannels correspond one-to-one to the N SL PRS resources within the first time domain range belonging to the second resource subset; wherein, the first information sent in the i-th subchannel among the N subchannels is used to reserve the i-th SL PRS resource among the N SL PRS resources, N is an integer greater than 1, and i is a positive integer less than or equal to N.

36. The method according to claim 35, characterized in that The complete frequency domain resources corresponding to the first time unit include a first part of frequency domain resources and a second part of frequency domain resources; The first part of frequency domain resources includes the N sub-channels; The second part of frequency domain resources is used to send other sideline positioning related information except the SL PRS.

37. The method according to any one of claims 33 to 36, characterized in that The number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource subset: A first information item, where the first information item is used to indicate a physical resource block (PRB) occupied by the SL PRS; a second information item, where the second information item is used to indicate a repetition period of the SL PRS; A third information item, where the third information item is used to indicate an orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; A fourth information item is used to indicate the resource element RE occupied by the SL PRS.

38. The method according to claim 37, wherein The number of bits of the first information item is determined according to the number of PRBs included in the second resource subset and the frequency domain resource granularity occupied by the SL PRS; and / or, The number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource subset; and / or, The number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource subset and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, The number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource subset.

39. The method according to any one of claims 21 to 38, characterized in that The first information is carried by at least one of the following information: a media access control element MAC CE and second-stage sidelink control information 2nd-stage-SCI.

40. The method according to any one of claims 21 to 39, characterized in that The first information is carried and sent on at least one of the following channels: a physical sidelink control channel PSCCH and a physical sidelink shared channel PSSCH.

41. A side communication device, characterized in that The device comprises: The sending module is used to send first information, where the first information is used to indicate a sending method of a side positioning reference signal SL PRS.

42. The device according to claim 41, characterized in that The SL PRS is sent in at least one of the following ways: The time domain resource location of the SL PRS; The frequency domain resource location of the SL PRS; the repetition period of the SL PRS; Identification information of the sending terminal of the SL PRS; Identification information of the receiving terminal of the SL PRS; Sequence information of the SL PRS.

43. The device according to claim 41 or 42, characterized in that The resource pool used for sending the first information is a first resource pool, and the resource pool used for sending the SL PRS is a second resource pool. The first resource pool and the second resource pool are different resource pools.

44. The device according to claim 43, characterized in that The first resource pool and the second resource pool occupy different time domain resources; and / or, The first resource pool and the second resource pool occupy different frequency domain resources.

45. The device according to claim 43 or 44, characterized in that There is a mapping relationship between the resources in the first resource pool and the first resource in the second resource pool; and / or, The first time unit and the second time unit satisfy the constraint condition. The first time unit is the time unit where the resources used for sending the first information are located, and the second time unit is the time unit where the first resource used for sending the SL PRS is located.

46. ​​The device according to claim 45, characterized in that The constraint condition includes: the interval between the first time unit and the second time unit is greater than or equal to a minimum threshold value, and / or less than or equal to a maximum threshold value.

47. The device according to claim 46, characterized in that The maximum threshold is related to the priority of the SL PRS.

48. The device according to any one of claims 43 to 47, characterized in that The first information is further used to indicate an index of the second resource pool.

49. The device according to any one of claims 43 to 48, characterized in that The number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource pool: A first information item, where the first information item is used to indicate a physical resource block (PRB) occupied by the SL PRS; a second information item, where the second information item is used to indicate a repetition period of the SL PRS; A third information item, where the third information item is used to indicate an orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; A fourth information item is used to indicate the resource element RE occupied by the SL PRS.

50. The device according to claim 49, characterized in that The number of bits of the first information item is determined according to the number of PRBs included in the second resource pool and the frequency domain resource granularity occupied by the SL PRS; and / or, The number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource pool; and / or, The number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource pool and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, The number of bits of the fourth information item is determined according to the frequency domain RE spacing of the SL PRS allowed in the second resource pool.

51. The device according to any one of claims 43 to 50, characterized in that The device further comprises a processing module, configured to: detecting information sent by other terminal devices instructing SL PRS transmission in the first resource pool, and taking resources in the second resource pool within a resource selection window as a candidate resource set; Eliminate resources in the candidate resource set according to the information sent by the other terminal devices for instructing the SL PRS to be sent, to obtain remaining resources in the candidate resource set; The sending resource of the SL PRS is selected from the remaining resources.

52. The device according to claim 41 or 42, characterized in that The resource pool used for sending the first information is the same resource pool as the resource pool used for sending the SL PRS.

53. The device according to claim 52, characterized in that The resource pool includes a first resource subset and a second resource subset, the first resource subset is a resource subset used for sending the first information, and the second resource subset is a resource subset used for sending the SL PRS; wherein the first resource subset and the second resource subset occupy different time domain resources in the resource pool, and / or the first resource subset and the second resource subset occupy different frequency domain resources in the resource pool.

54. The device according to claim 53, characterized in that The first information sent using any resource in the first resource subset includes an information item indicating the time-frequency resources occupied by the SL PRS in the second resource subset.

55. The device according to claim 53, characterized in that For the first time unit belonging to the first resource subset, the first time unit contains N subchannels, and the N subchannels correspond one-to-one to the N SL PRS resources within the first time domain range belonging to the second resource subset; wherein, the first information sent in the i-th subchannel among the N subchannels is used to reserve the i-th SL PRS resource among the N SL PRS resources, N is an integer greater than 1, and i is a positive integer less than or equal to N.

56. The device according to claim 55, characterized in that The complete frequency domain resources corresponding to the first time unit include a first part of frequency domain resources and a second part of frequency domain resources; The first part of frequency domain resources includes the N sub-channels; The second part of frequency domain resources is used to send other sideline positioning related information except the first information.

57. The device according to any one of claims 53 to 56, characterized in that The number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource subset: A first information item, where the first information item is used to indicate a physical resource block (PRB) occupied by the SL PRS; a second information item, where the second information item is used to indicate a repetition period of the SL PRS; A third information item, where the third information item is used to indicate an orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; A fourth information item is used to indicate the resource element RE occupied by the SL PRS.

58. The device according to claim 57, characterized in that The number of bits of the first information item is determined according to the number of PRBs included in the second resource subset and the frequency domain resource granularity occupied by the SL PRS; and / or, The number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource subset; and / or, The number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource subset and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, The number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource subset.

59. The device according to any one of claims 41 to 58, characterized in that The first information is carried by at least one of the following information: a media access control element MAC CE and second-stage sidelink control information 2nd-stage-SCI.

60. The device according to any one of claims 41 to 59, characterized in that The first information is carried and sent on at least one of the following channels: a physical sidelink control channel PSCCH and a physical sidelink shared channel PSSCH.

61. A side communication device, characterized in that The device comprises: The receiving module is configured to receive first information, where the first information is used to indicate a sending method of a side positioning reference signal SL PRS.

62. The device according to claim 61, characterized in that The SL PRS is sent in at least one of the following ways: The time domain resource location of the SL PRS; The frequency domain resource location of the SL PRS; the repetition period of the SL PRS; Identification information of the sending terminal of the SL PRS; Identification information of the receiving terminal of the SL PRS; Sequence information of the SL PRS.

63. The device according to claim 61 or 62, characterized in that The resource pool used for sending the first information is a first resource pool, and the resource pool used for sending the SL PRS is a second resource pool. The first resource pool and the second resource pool are different resource pools.

64. The device according to claim 63, characterized in that The first resource pool and the second resource pool occupy different time domain resources; and / or, The first resource pool and the second resource pool occupy different frequency domain resources.

65. The device according to claim 63 or 64, characterized in that There is a mapping relationship between the resources in the first resource pool and the first resource in the second resource pool; and / or, The first time unit and the second time unit satisfy the constraint condition. The first time unit is the time unit where the resources used for sending the first information are located, and the second time unit is the time unit where the first resource used for sending the SL PRS is located.

66. The device according to claim 65, characterized in that The constraint condition includes: the interval between the first time unit and the second time unit is greater than or equal to a minimum threshold value, and / or less than or equal to a maximum threshold value.

67. The device according to claim 66, characterized in that The maximum threshold is related to the priority of the SL PRS.

68. The device according to any one of claims 63 to 67, characterized in that The first information is further used to indicate an index of the second resource pool.

69. The device according to any one of claims 63 to 68, characterized in that The number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource pool: A first information item, where the first information item is used to indicate a physical resource block (PRB) occupied by the SL PRS; a second information item, where the second information item is used to indicate a repetition period of the SL PRS; A third information item, where the third information item is used to indicate an orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; A fourth information item is used to indicate the resource element RE occupied by the SL PRS.

70. The device according to claim 69, characterized in that The number of bits of the first information item is determined according to the number of PRBs included in the second resource pool and the frequency domain resource granularity occupied by the SL PRS; and / or, The number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource pool; and / or, The number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource pool and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, The number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource pool.

71. The device according to any one of claims 63 to 70, characterized in that The sending resources of the SL PRS are selected from the remaining resources obtained after excluding the resources in the candidate resource set, and the candidate resource set is initialized to the resources in the second resource pool that are within the resource selection window.

72. The device according to claim 61 or 62, characterized in that The resource pool used for sending the first information is the same resource pool as the resource pool used for sending the SL PRS.

73. The device according to claim 72, characterized in that The resource pool includes a first resource subset and a second resource subset, the first resource subset is a resource subset used for sending the first information, and the second resource subset is a resource subset used for sending the SL PRS; wherein the first resource subset and the second resource subset occupy different time domain resources in the resource pool, and / or the first resource subset and the second resource subset occupy different frequency domain resources in the resource pool.

74. The device according to claim 73, characterized in that The first information sent using any resource in the first resource subset includes an information item indicating the time-frequency resources occupied by the SL PRS in the second resource subset.

75. The device according to claim 73, characterized in that For the first time unit belonging to the first resource subset, the first time unit contains N subchannels, and the N subchannels correspond one-to-one to the N SL PRS resources within the first time domain range belonging to the second resource subset; wherein, the first information sent in the i-th subchannel among the N subchannels is used to reserve the i-th SL PRS resource among the N SL PRS resources, N is an integer greater than 1, and i is a positive integer less than or equal to N.

76. The device according to claim 75, characterized in that The complete frequency domain resources corresponding to the first time unit include a first part of frequency domain resources and a second part of frequency domain resources; The first part of frequency domain resources includes the N sub-channels; The second part of frequency domain resources is used to send other sideline positioning related information except the SL PRS.

77. The device according to any one of claims 73 to 76, characterized in that The number of bits of at least one of the following information items in the first information is determined according to the configuration of the second resource subset: A first information item, where the first information item is used to indicate a physical resource block (PRB) occupied by the SL PRS; a second information item, where the second information item is used to indicate a repetition period of the SL PRS; A third information item, where the third information item is used to indicate an orthogonal frequency division multiplexing OFDM symbol occupied by the SL PRS; A fourth information item is used to indicate the resource element RE occupied by the SL PRS.

78. The device according to claim 77, characterized in that The number of bits of the first information item is determined according to the number of PRBs included in the second resource subset and the frequency domain resource granularity occupied by the SL PRS; and / or, The number of bits of the second information item is determined according to the number of repetition periods of the SL PRS allowed in the second resource subset; and / or, The number of bits of the third information item is determined according to the number of OFDM symbols contained in a time slot in the second resource subset and the minimum number of OFDM symbols allowed to be occupied by the SL PRS; and / or, The number of bits of the fourth information item is determined according to the frequency domain interval of the SL PRS allowed in the second resource subset.

79. The device according to any one of claims 61 to 78, characterized in that The first information is carried by at least one of the following information: a media access control element MAC CE and second-stage sidelink control information 2nd-stage-SCI.

80. The device according to any one of claims 61 to 79, characterized in that The first information is carried and sent on at least one of the following channels: a physical sidelink control channel PSCCH and a physical sidelink shared channel PSSCH.

81. A terminal device, characterized in that: The terminal device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program to implement the method according to any one of claims 1 to 20, or implements the method according to any one of claims 21 to 40.

82. A computer-readable storage medium, characterized in that The storage medium stores a computer program, which is used to be executed by a processor to implement the method according to any one of claims 1 to 20, or to implement the method according to any one of claims 21 to 40.

83. A chip, characterized in that The chip includes a programmable logic circuit and / or program instructions, and when the chip is running, is used to implement the method according to any one of claims 1 to 20, or to implement the method according to any one of claims 21 to 40.

84. A computer program product, characterized in that The computer program product includes a computer program, which is stored in a computer-readable storage medium. A processor reads and executes the computer program from the computer-readable storage medium to implement the method according to any one of claims 1 to 20, or implements the method according to any one of claims 21 to 40.

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