Lateral link positioning method and device

Abstract

The invention provides a sidelink positioning method and device, relates to the field of communication, and can determine positioning failure in time in an SL positioning scene so as to improve the communication performance of equipment. The method comprises the following steps: a first terminal determines positioning failure according to a first condition; the first condition comprises at least one of the following conditions: no positioning reference signal is received from the second terminal for continuous N times, or no positioning reference signal is received from the second terminal within a first preset duration, N is a positive integer, and the positioning reference signal is used for executing positioning; and releasing the communication configuration information associated with the second terminal. In the method, the first terminal can determine the positioning failure in time according to the transmission condition of the positioning reference signal, and can release the related communication configuration of the second terminal in time after the positioning failure, thereby reducing the overhead of the first terminal caused by maintaining the related communication configuration.

Description

Technical Field

[0001] The present application relates to the field of communications, and in particular to a sidelink positioning method and device. Background Art

[0002] Currently, terminals can be positioned via sidelinks.

[0003] How to ensure the communication performance of the terminal as much as possible in the sidelink positioning scenario has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a sidelink positioning method and device, which can ensure the communication performance of a terminal in a positioning scenario.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, a sidelink positioning method is provided. The sidelink positioning method can be executed by a first terminal or a component capable of implementing the function of the first terminal (such as a chip system of the terminal). Taking the first terminal as an example, the method includes: according to a first condition, the first terminal determines that the positioning fails; the first condition includes at least one of the following conditions: a positioning reference signal is not received from the second terminal for N consecutive times, or a positioning reference signal is not received from the second terminal within a first preset time length, wherein N is a positive integer, and the positioning reference signal is used to perform positioning; and the communication configuration information associated with the second terminal is released.

[0007] According to the technical solution of the present application, in the side link SL positioning scenario, the first terminal can promptly determine the positioning failure (such as the failure of the wireless link with the second terminal) according to the transmission status of the positioning reference signal, and can promptly release the communication configuration related to the second terminal after the positioning failure, thereby reducing the overhead of the first terminal caused by maintaining the related communication configuration.

[0008] Optionally, in a possible design, after the first terminal determines that the positioning fails, it can also reset part of the communication configuration information associated with the second terminal. For example, the first terminal is configured with data radio bearers DRB1 and DRB2 corresponding to the second terminal. After the first terminal determines that the positioning fails, DRB1 and DRB2 can be suspended. Therefore, after the first terminal determines that the positioning fails, such as a radio link failure occurs between the first terminal and the second terminal, if the link with the second terminal is subsequently restored, the first terminal can directly process the data to be transmitted to the second terminal through the restored DRB, thereby reducing the service delay of the first terminal.

[0009] Optionally, the communication configuration information includes but is not limited to any one or more of the following configuration information: sidelink communication related configuration information, packet data convergence protocol PDCP configuration information, radio link control RLC configuration information, logical channel, DRB, signaling radio bearer SRB.

[0010] Optionally, the first terminal may also reset the SL-specific media access control MAC related to the second terminal and release the radio resource control RRC connection between the first terminal and the second terminal.

[0011] In a possible design, the method also includes: sending a first message to the second terminal according to the first condition; determining positioning failure based on the first message and according to the second condition; the second condition includes at least one of the following conditions: the number of transmissions of the first message reaches the maximum number of retransmissions; the first message is a radio resource control RRC message, the timer corresponding to the second terminal times out, and the RRC response message of the second terminal is not received; the continuous hybrid automatic repeat request HARQ discontinuous transmission DTX of the first message reaches the maximum number; or, the integrity check of the side link signaling radio bearer SL-SRB2 or SL-SRB3 corresponding to the second terminal fails.

[0012] In this method, the first terminal can preliminarily determine whether the wireless link with the second terminal has failed based on the transmission of the positioning reference signal. After preliminarily determining that the wireless link has failed, the first terminal sends a first message and determines whether the wireless link has failed based on the first message, which can improve the accuracy of link failure detection and avoid false detection.

[0013] In a possible design, the second terminal is one or more; each second terminal corresponds to a count value;

[0014] The failure to receive a positioning reference signal from the second terminal for N consecutive times includes: during a process in which a count value corresponding to the second terminal increases from zero to a maximum value N, the failure to receive a positioning reference signal from the second terminal.

[0015] In the present application, by setting a count value or a timer, and a first condition related to the count value or the timer, the first terminal can promptly determine failure when the transmission of the positioning reference signal meets the first condition, and then promptly release the communication configuration related to the second terminal on the opposite side, thereby reducing the overhead incurred by the first terminal for maintaining the related communication configuration.

[0016] In one possible design, when it is determined that a positioning reference signal needs to be received from the second terminal and the positioning reference signal from the second terminal is not received, the count value is increased by one;

[0017] Or, the count value is increased by one each time after a first request message is sent to the second terminal; the first request message is used to request the second terminal to send a positioning reference signal;

[0018] Alternatively, each time a first request message is sent to the second terminal, if a first time period has passed and no positioning reference signal is received from the second terminal, the count value is increased by one.

[0019] In one possible design, when a second message is received, the count value is set to zero; the second message includes one or more of the following: a sidelink positioning reference signal SL-PRS, a physical layer message, a media access control MAC message, an RRC message, a sidelink positioning protocol SLPP message or data information.

[0020] In one possible design, the value of N is configured by a network device, or is preconfigured, or is determined by the first terminal;

[0021] And / or, the first duration is configured by a network device, or is preconfigured, or is determined by the first terminal.

[0022] In a possible design, there are one or more second terminals; each second terminal corresponds to a first timer;

[0023] The failure to receive a positioning reference signal from the second terminal within a first preset time period includes: the failure to receive a positioning reference signal from the second terminal during the process from when a first timer corresponding to the second terminal is started to when it times out.

[0024] In one possible design, when it is necessary to receive a positioning reference signal from the second terminal, start a first timer corresponding to the second terminal;

[0025] The need to receive a positioning reference signal from the second terminal includes at least one of the following situations: the need to measure the positioning reference signal from the second terminal; the need to obtain the measurement result of the positioning reference signal of the second terminal; the need to obtain the location information of the second terminal; or, receiving a positioning request for the second terminal.

[0026] In one possible design, the timing duration of the first timer is configured by a network device, or is determined by the first terminal, or is preconfigured.

[0027] According to a second aspect, a sidelink positioning method is provided, which can be executed by a second terminal or a component (such as a chip system) capable of realizing the function of the second terminal, the method comprising: sending a positioning reference signal to a first terminal, the positioning reference signal being used to perform positioning; determining that positioning fails according to a third condition; the third condition comprises at least one of the following conditions: after sending a positioning reference signal to the first terminal M times in succession, no positioning information is received from the first terminal, wherein the positioning information comprises measurement information for the positioning reference signal and / or position information determined according to the positioning reference signal, and M is a positive integer; or, no positioning information is received from the first terminal within a second preset time length.

[0028] According to the technical solution of the present application, in the SL positioning scenario, the second terminal sending the positioning reference signal can promptly determine the positioning failure (such as the failure of the wireless link with the first terminal) according to the transmission status of the positioning information (measurement information or location information).

[0029] In one possible design, the method further includes:

[0030] According to the third condition, sending a third message to the first terminal;

[0031] Based on the third message, according to the fourth condition, it is determined that the positioning fails; the fourth condition includes at least one of the following conditions: the number of transmissions of the third message reaches the maximum number of retransmissions; the third message is a radio resource control RRC message, the timer corresponding to the first terminal has timed out, and the radio resource control RRC response message of the first terminal has not been received; the continuous hybrid automatic repeat request HARQ discontinuous transmission DTX of the first message reaches the maximum number; or, the integrity check of the sidelink signaling radio bearer SL-SRB2 or SL-SRB3 corresponding to the first terminal fails.

[0032] In a possible design, the first terminal is one or more; each first terminal corresponds to a count value;

[0033] After sending the positioning reference signal to the first terminal M times in succession, no positioning information is received from the first terminal, including: when the count value corresponding to the first terminal increases from zero to a maximum value M, no positioning information is received from the first terminal.

[0034] In one possible design, when it is determined that the positioning information needs to be received from the first terminal and the positioning information from the first terminal is not received, the count value is increased by one;

[0035] Alternatively, the count value is increased by one each time a positioning reference signal is sent to the first terminal;

[0036] Alternatively, each time a positioning reference signal is sent to the first terminal, if no positioning information is received after a second time period has passed, the count value is increased by one.

[0037] In one possible design, when a fourth message is received, the count value is set to zero; the fourth message includes one or more of the following: positioning information, media access control MAC message, RRC message, side link positioning protocol SLPP message or data information.

[0038] In one possible design, the value of M is configured by the network device, or is preconfigured, or is determined by the second terminal;

[0039] And / or, the second duration is configured by the network device, or is preconfigured, or is determined by the second terminal.

[0040] In a possible design, there are one or more first terminals; each first terminal corresponds to a second timer;

[0041] The positioning information from the first terminal is not received within a second preset time period, including: the positioning information from the first terminal is not received during the process from when a second timer corresponding to the first terminal is started to when it times out.

[0042] In a possible design, when it is necessary to receive the positioning information from the first terminal, start a second timer corresponding to the first terminal;

[0043] The need to receive the positioning information from the first terminal includes: after sending a positioning reference signal to the first terminal, the need to receive the positioning information from the first terminal;

[0044] In one possible design, the timing duration of the second timer is configured by the network device, or is determined by the second terminal, or is preconfigured.

[0045] In a third aspect, a communication device is provided. The communication device is used to implement the various sidelink positioning methods described above. The communication device includes a module, unit, or means corresponding to the sidelink positioning method described above, and the module, unit, or means can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0046] In a fourth aspect, a communication device is provided, which includes: a processor and a memory, wherein the memory is used to store computer instructions, and when the processor executes the instructions, the communication device executes the sidelink positioning method of any one of the above aspects.

[0047] In a fifth aspect, a communication device is provided, comprising: a processor. The processor is coupled to a memory, and the processor is configured to read and execute instructions in the memory, so that the communication device executes the sidelink positioning method of any one of the above aspects.

[0048] In the sixth aspect, a chip system is provided, which includes a processor and an input / output port, the processor is used to implement the processing functions involved in the side link positioning method of any aspect of the above-mentioned aspects, and the input / output port is used to implement the transceiver functions involved in the side link positioning method of any aspect of the above-mentioned aspects.

[0049] In one possible design, the chip system also includes a memory for storing program instructions and data for implementing the functions involved in the side link positioning method of any of the above aspects.

[0050] The chip system may be composed of chips, or may include chips and other discrete devices.

[0051] In a seventh aspect, a communication system is provided, which includes a first terminal designed arbitrarily according to any of the above aspects, and a second terminal.

[0052] In an eighth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions; when the computer instructions are executed on a computer, the computer executes a sidelink positioning method designed in any of the above aspects.

[0053] In a ninth aspect, a computer program product is provided, which includes a computer program or an instruction, and when the computer program or the instruction is executed on a computer, the computer executes a sidelink positioning method designed in any of the above aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 An example diagram of the architecture of a communication system provided in an embodiment of the present application;

[0055] Figure 2 An example diagram of the structure of the device provided in the embodiment of the present application;

[0056] Figure 3 An example flow chart of a sidelink positioning method provided in an embodiment of the present application;

[0057] Figure 4-Figure 6 A scene example diagram of the side link positioning method provided in an embodiment of the present application;

[0058] Figure 7 An example diagram of communication configuration information provided in an embodiment of the present application;

[0059] Figure 8-Figure 17 An example flow chart of a sidelink positioning method provided in an embodiment of the present application;

[0060] Fig.18 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0061] Fig.19 A schematic diagram of the structure of a chip system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to make the description of the following embodiments clear and concise, a brief introduction to the relevant technical terms involved in the embodiments of the present application is first given:

[0063] 1. Air interface (Uu port) positioning

[0064] In some scenarios, the network element, terminal or entity requesting the positioning service can obtain the terminal's location based on the positioning technology of the Uu port. As a possible implementation method, the terminal uses the positioning reference signal in combination with the positioning method to locate the target terminal. The positioning reference signal can be, for example: the positioning reference signal (PRS) of the Uu port and the channel sounding reference signal (SRS).

[0065] The network element or terminal or entity requesting the positioning service includes one or more of the following: location services (LCS), UE, or access and mobility management function (AMF). For example, LCS requests the target terminal's service AMF to locate the target terminal, which can be called a mobile terminated location request (MT-LR). For another example, the service AMF decides to locate the target terminal, for example, because the terminal needs to be located due to emergency telephone services, which can be called a network triggered location request (NI-LR). For another example, the terminal requests the positioning service from its service AMF, for example, due to positioning or transmission of auxiliary information, and this positioning request can be called a mobile originated location request (MO-LR). Other ways to trigger positioning include a delayed mobile terminated location request (deferred MT-LR).

[0066] In the technology related to Uu port positioning, when the positioning service is initiated, the location management function (LMF) needs to interact with the base station, for example, to obtain auxiliary information related to air interface positioning. LMF also needs to interact with the terminal, for example, to obtain the positioning capability of the terminal, to provide the terminal with auxiliary information related to positioning, etc. Among them, the terminal receives the positioning reference signal, which can be configured or scheduled by the base station, and the terminal sends the positioning reference signal, which can also be configured or scheduled by the base station. The configuration of the positioning reference signal can be determined by the base station and / or LMF.

[0067] Positioning methods include but are not limited to: multi-round trip time (multi-RTT) positioning, downlink time difference of arrival (DL-TDOA) positioning, uplink time difference of arrival (UL-TDOA) positioning, downlink angle-of-departure (DL-AoD) positioning, uplink angle of arrival (UL-AoA) positioning, new radio enhanced cell id (NR E CID) positioning, motion sensor positioning, terrestrial beacon system (TBS) positioning, Bluetooth positioning, wireless local area network (WLAN) positioning, barometer sensor positioning, enhanced cell id positioning, observed time difference of arrival (OTDOA) positioning, network-assisted global navigation satellite system (GNSS) positioning, etc.

[0068] The positioning method includes LMF calculating the location information of the target terminal, which can be called LMF-based positioning or UE-assisted positioning. In this method, the terminal and / or the base station needs to report measurement information (or measurement results) for the positioning reference signal to the LMF, and the LMF calculates the location information of the target terminal based on the reported measurement results.

[0069] In another positioning method, the terminal can calculate its own location information, which is called UE-based positioning. Specifically, the terminal can calculate its own location information based on the measurement result of the positioning reference signal, and the terminal can also report the calculated location information to the LMF.

[0070] The positioning service may correspond to the positioning service quality (QoS). For example, each positioning service has a corresponding positioning QoS, such as LCS QoS. Positioning QoS includes but is not limited to one or more of the following: horizontal accuracy, vertical accuracy, response time, LCS service quality level (LCS QoS class), horizontal or vertical distance accuracy, horizontal or vertical direction accuracy, relative speed accuracy.

[0071] 2. Sidelink (SL) positioning

[0072] SL positioning can be understood as positioning in SL scenarios. For example, in the positioning scenario, at least one network element, terminal or entity (the present invention is not limited to a specific device) that can send a positioning reference signal (hereinafter, the side link reference signal (SL-PRS) is used as an example) of the PC5 (interface between UEs) port is introduced.

[0073] After the introduction of SL positioning, the SL positioning scenario may include: positioning based on the positioning reference signal (such as PRS and / or SRS) of the Uu port and positioning based on the positioning reference signal of the PC5 port. Optionally, the positioning reference signal based on the PC5 port may include a sidelink positioning reference signal (SL-PRS). The embodiment of the present application mainly takes SL-PRS as an example of a positioning reference signal for the SL positioning scenario, but this does not constitute a limitation on the positioning reference signal in the SL positioning scenario.

[0074] SL positioning scenarios may also include: positioning based only on SL-PRS. Positioning methods in SL positioning scenarios include but are not limited to SL-TDOA, SL-AOA, SL Mutil-RTT and other positioning methods supported by NR, LTE or future communication systems. For specific implementation, please refer to the above description of Uu positioning and related technologies.

[0075] SL positioning can be initiated by the terminal or by the network. In some cases, the terminal receives SL-PRS from other terminals, measures the SL-PRS, and obtains the measurement result. In some cases, the terminal receives SL-PRS from other terminals, measures the SL-PRS, and calculates and obtains the position result of the corresponding terminal.

[0076] Optionally, the terminal sending the SL-PRS (which may be referred to as the transmitting end) may first determine the configuration information and / or auxiliary information of the SL-PRS, and send the SL-PRS based on the configuration information and / or auxiliary information of the SL-PRS. The terminal receiving the SL-PRS (which may be referred to as the receiving end) may first obtain the configuration information and / or auxiliary information of the SL-PRS, and receive the SL-PRS based on the configuration information and / or auxiliary information of the SL-PRS.

[0077] As a possible implementation method, the terminal can obtain the above configuration information and / or auxiliary information based on the positioning protocol of the PC5 port. Optionally, the positioning protocol of the PC5 port includes but is not limited to: sidelink positioning protocol (SLPP). The embodiment of the present application mainly uses SLPP as an example for explanation. The sidelink positioning protocol can also be other protocols, such as other names, which are not limited in the embodiment of the present application.

[0078] For example, the terminal receives a SLPP message, which may indicate one or more of the following information: information related to the positioning method that can be used by the terminal in the SL positioning scenario, positioning-related auxiliary information, positioning capability information, SL-PRS configuration information, measurement results, location information, error handling information, and termination indication.

[0079] Terminals in the SL positioning scenario can obtain SL resources using any of the following methods:

[0080] Mode 1: The base station schedules SL resources for the terminal. For example, the base station schedules resources of a shared resource pool or a SL-PRS dedicated resource pool for the terminal. Mode 1 may also be called resource allocation mode 1 (mode 1), or resource allocation scheme 1, or other names.

[0081] Mode 2: The terminal autonomously selects SL resources. For example, the terminal autonomously selects resources from a shared resource pool or a SL-PRS dedicated resource pool. Mode 2 may also be called resource allocation mode 2 (mode 2), or resource allocation scheme 2, or other names.

[0082] Exemplarily, the terminal may use resources of a SL-PRS dedicated resource pool to transmit SL-PRS. Alternatively, the terminal may use resources of a shared resource pool to transmit SL-PRS. The SL-PRS dedicated resource pool may be understood as a resource pool specifically used to transmit SL-PRS, and the shared resource pool may be understood as a resource pool that can be used to transmit data in addition to transmitting SL-PRS. For example, the terminal transmits SL-PRS and data in the resources of a shared resource pool. The data may be communication data, an SLPP message, or other data, without limitation.

[0083] Optionally, the terminal in the SL positioning scenario may include any of the following terminals: a target terminal, an anchor terminal, and a server terminal.

[0084] The anchor terminal may be understood as a terminal used to locate the target terminal. For example, the anchor terminal may be understood as a terminal that supports the positioning of the target terminal. Optionally, the terminal may support the positioning of the target terminal by sending and / or receiving a positioning reference signal.

[0085] Optionally, the anchor terminal may also be referred to as a located terminal or a reference terminal, wherein the location of the located terminal is known, or the location of the located terminal may be obtained through positioning, such as through Uu positioning.

[0086] The server terminal can provide at least one of the following functions: determining the positioning method, distributing auxiliary data, position calculation function, and position calculation function based on SL positioning and ranging services. Optionally, the target terminal or the anchor terminal can also serve as the server terminal, or the server terminal is a terminal other than the target terminal and the anchor terminal.

[0087] In addition, in the SL positioning scenario, the positioning service also corresponds to QoS. For example, the positioning QoS includes but is not limited to one or more of the following: accuracy, response time, LCS service quality level, and range; wherein accuracy also includes the accuracy of horizontal or vertical distance, the accuracy of horizontal or vertical direction, and the accuracy of relative speed. The range indicates the applicability of the positioning QoS in ranging or SL positioning operations on the PC5 port. In addition, the positioning QoS can also be called ranging QoS, or SL positioning QoS, which is not limited in the embodiments of the present application.

[0088] 3. Radio link failure

[0089] If the terminal performing SL communication detects that the radio link between the terminal and the other terminal fails, the terminal can release the configuration related to the other terminal. The other terminal can be understood as the specific destination terminal of the terminal. For example, the configuration information related to the side link communication, the packet data convergence protocol (PDCP) configuration information, the radio link control (RLC) configuration information, the logical channel, the data radio bearer (DRB), and the signaling radio bearer (SRB). The terminal can also reset the SL-specific media access control (MAC) related to the other terminal and release the PC5 radio resource control (RRC) connection with the other terminal.

[0090] When at least one of the following events occurs, the terminal considers that a failure of the wireless link with the destination terminal is detected:

[0091] Event 1: The number of transmissions between the terminal and the specific destination terminal reaches the maximum number of RLC retransmissions. This means that the RLC layer reaches the maximum number of retransmissions. Meeting event 1 means that the number of data retransmissions is too large.

[0092] Event 2: The timer corresponding to the specific destination terminal maintained by the terminal times out, such as T400. Meeting event 2 means that after the terminal sends an RRC message (such as an RRC reconfiguration message), it does not receive an RRC response message (such as an RRC reconfiguration complete message) before T400 times out.

[0093] Event 3: The maximum number of continuous hybrid automatic repeat request (HARQ) discontinuous transmission (DTX) between the terminal and the destination terminal has been reached. Meeting event 3 means that the terminal has not received the maximum number of feedback information for the data on the physical sidelink feedback channel (PSFCH), and there is a problem with data transmission.

[0094] Event 4: The integrity check of SL-SRB2 or SL-SRB3 between specific destination terminals fails.

[0095] It can be seen that in the related technology, the wireless link failure is triggered only when there is a problem with data transmission, while in SL positioning, the terminal cannot determine the wireless link failure in time, resulting in the failure to release the relevant communication configuration of the other end in time, affecting the communication performance of the terminal.

[0096] To solve the above technical problems, an embodiment of the present application provides a side link positioning method. The technical solution of the embodiment of the present application can be applied to various communication systems, such as the world-wide interoperability for microwave access (WiMAX) communication system, the fifth generation (5G) mobile communication system, such as the new radio (NR) system, and future communication systems, such as the sixth generation (6G) mobile communication system, etc. The embodiment of the present application does not limit the type of communication system.

[0097] The present application will present various aspects, embodiments or features around a system that may include multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in conjunction with the figures. In addition, combinations of these schemes may also be used.

[0098] The terms "first" and "second" in the description and drawings of the embodiments of the present application are used to distinguish different objects, or to distinguish different treatments of the same object. The words "first" and "second" can distinguish the same items or similar items with basically the same functions and effects. For example, the first device and the second device are only for distinguishing different devices, and their sequence is not limited. Those skilled in the art will understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not necessarily limit the difference. In addition, the numbering of the steps in the various embodiments introduced in the present application is only to distinguish different steps, and is not used to limit the sequence between the steps. For example, S101 may occur before S102, or may occur after S102, or may also occur at the same time as S102.

[0099] "At least one" means one or more, and "plurality" means two or more.

[0100] "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or plural.

[0101] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0102] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0103] In the embodiments of the present application, "information", "signal", "message", "channel" and "signaling" may be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings they intend to express are consistent. "of", "corresponding, relevant" and "corresponding" may be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings they intend to express are consistent.

[0104] In the embodiments of the present application, the term "wireless communication" may also be referred to as "communication", and the term "communication" may also be described as "data transmission", "information transmission" or "transmission".

[0105] 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 in the embodiments of the present application. A person of ordinary skill in the art can appreciate that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0106] Figure 1 FIG. 1 is a schematic diagram of the architecture of the communication system 111 used in the embodiment of the present application. Figure 1 As shown, the communication system includes at least one terminal device (such as Figure 1 The terminals can communicate with each other through the PC5 port.

[0107] Terminal devices may also be referred to as terminals, user equipment (UE), mobile stations, mobile terminals, etc. Terminal devices can be widely used in various scenarios, for example, device-to-device (D2D), vehicle to everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. Terminal devices may be mobile phones, tablet computers, computers with wireless transceiver functions, wearable devices, vehicles, roadside units, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, speakers, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal devices.

[0108] Optionally, the communication system 111 may further include a network device 110 .

[0109] The network device 110 may include at least one wireless access network device (such as Figure 1 111a and 111b in FIG.

[0110] The wireless access network equipment can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a transmission point (TP), a reception point (RP), a next generation base station (gNB) in the fifth generation (5G) mobile communication system, a next generation base station in the sixth generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system, etc.; it can also be a module or unit that completes part of the functions of a base station, for example, it can be a centralized unit (CU) or a distributed unit (DU). The wireless access network equipment can be a macro base station (such as Figure 1 111a), or a micro base station or an indoor station (such as Figure 1 111b), may also be a relay node or a donor node, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the wireless access network device. For ease of description, the following description takes a base station as an example of a wireless access network device.

[0111] Base stations and terminal devices can be fixed or mobile. Base stations and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on the water surface; they can also be deployed on aircraft, balloons, and artificial satellites in the air. The embodiments of this application do not limit the application scenarios of base stations and terminal devices.

[0112] The roles of base stations and terminal devices can be relative, for example, Figure 1 The helicopter or drone 112i in the figure can be configured as a mobile base station. For the terminal devices 112j that access the network device 110 through 112i, the terminal device 112i is a base station; but for the base station 111a, 112i is a terminal device, that is, 111a and 112i communicate through the wireless air interface protocol. Of course, 111a and 112i can also communicate through the interface protocol between base stations. In this case, relative to 111a, 112i is also a base station. Therefore, base stations and terminal devices can be collectively referred to as communication devices. Figure 1 111a and 111b in the figure can be called communication devices with base station functions. Figure 1 112a-112j in the figure can be called communication devices with terminal equipment functions.

[0113] Base stations and terminal devices, base stations and base stations, and terminal devices and terminal devices can communicate through authorized spectrum, unauthorized spectrum, or both; they can communicate through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or spectrum below 6 GHz and spectrum above 6 GHz. The embodiments of the present application do not limit the spectrum resources used for wireless communication.

[0114] Optionally, the communication system 111 may further include a core network 120. Optionally, the core network 120 may include an AMF.

[0115] Optionally, the communication system may also include other equipment, such as LCS and LMF.

[0116] Optionally, the communication system 111 may also include the Internet 130 .

[0117] Optionally, the terminal device is connected to the wireless access network device by wireless means, and the wireless access network device is connected to the core network by wireless or wired means. The core network device and the wireless access network device can be independent and different physical devices, or the functions of the core network device and the logical functions of the wireless access network device can be integrated on the same physical device, or part of the functions of the core network device and part of the functions of the wireless access network device can be integrated on one physical device. Terminal devices and wireless access network devices can be connected to each other by wired or wireless means. Figure 1 This is just a schematic diagram. The communication system may also include other network devices, such as wireless relay devices and wireless backhaul devices. Figure 1 The connection relationship between the devices is not limited to the above-mentioned methods.

[0118] In the embodiments of the present application, the functions of the base station may also be performed by a module (such as a chip) in the base station, or by a control subsystem including the base station function. The control subsystem including the base station function here may be a control center in the application scenarios of the above-mentioned terminal devices such as smart grid, industrial control, smart transportation, smart city, etc. The functions of the terminal device may also be performed by a module (such as a chip or a modem) in the terminal device, or by a device including the terminal device function.

[0119] Embodiments of the present application Figure 1The network device or terminal device in the device can be implemented by a device or a functional module in a device, and the embodiments of the present application do not specifically limit this. It can be understood that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, virtualization functions instantiated on a platform (e.g., a cloud platform), or chip systems. In the embodiments of the present application, the chip system can be composed of chips, or it can include chips and other discrete devices.

[0120] For example, a device for implementing the functions of a terminal device provided in an embodiment of the present application or a device for implementing the functions of a network device may be implemented by Figure 2 The device 300 is implemented. Figure 2 The hardware structure diagram of the device 300 provided in the embodiment of the present application is shown. The device 300 includes at least one processor 301, which is used to implement the functions of the terminal device or network device provided in the embodiment of the present application. The device 300 may also include at least one communication interface 304. The device 300 may also include a memory 303.

[0121] In the embodiments of the present application, the processor may be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor may also be any other device having a processing function, such as a circuit, a device, or a software module.

[0122] The communication interface 304 is used to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface 304 can be an interface, circuit, transceiver or other device capable of communication, which is not limited in this application. The communication interface 304 can be coupled to the processor 301. The coupling in the embodiment of the present application is an indirect coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.

[0123] In the embodiment of the present application, the memory may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently or be coupled to the processor, for example, through a bus. The memory may also be integrated with the processor.

[0124] The memory 303 is used to store program instructions, and can be controlled by the processor 301 to execute, so as to implement the sidelink positioning method provided in the following embodiments of the present application. The processor 301 is used to call and execute the instructions stored in the memory 303, so as to implement the sidelink positioning method provided in the following embodiments of the present application.

[0125] Optionally, the computer instructions in the embodiments of the present application may also be referred to as program codes, which is not specifically limited in the embodiments of the present application.

[0126] Optionally, the memory 303 may be included in the processor 301 .

[0127] In a specific implementation, as an embodiment, the processor 301 may include one or more CPUs, such as Figure 2 CPU0 and CPU1 in.

[0128] In a specific implementation, as an embodiment, the apparatus 300 may include multiple processors, such as Figure 2 301 and processor 307 in the embodiment of the present invention. Each of these processors may be a single-CPU processor or a multi-CPU processor. The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0129] Figure 2 The communication device shown is only an example and in actual applications the communication device may have more Figure 2 More or fewer components may be shown, two or more components may be combined, or there may be a different configuration of components.

[0130] The following is a detailed description of the sidelink positioning method provided in the embodiment of the present application. For example, Figure 3 A flow chart of a side link positioning method provided in an embodiment of the present application. The side link positioning method can be applied to Figure 1 Communication between terminal devices is shown.

[0131] like Figure 3 As shown, the side link positioning method includes the following steps:

[0132] S101. The first terminal determines, according to a first condition, that positioning has failed.

[0133] The first condition includes at least one of the following conditions: a positioning reference signal is not received from the second terminal for N consecutive times (condition A), or a positioning reference signal is not received from the second terminal within a first preset time length (condition B), wherein N is a positive integer, and the positioning reference signal is used to perform positioning.

[0134] It should be noted that different positioning methods may require different terminals to send SL-PRS, so the positioning reference signal received by the first terminal from the second terminal may be used to position the second terminal, or may be used to position the first terminal or other terminals.

[0135] Optionally, the positioning reference signal includes but is not limited to SL-PRS.

[0136] Optionally, before S101, the terminal may also initiate positioning.

[0137] Positioning failure can be understood or replaced by a failure of a wireless link between the first terminal and the second terminal, or can be understood or replaced by a failure of SL-PRS transmission, or there can be other ways of understanding, which are not limited in the embodiments of the present application.

[0138] Taking the second terminal sending the SL-PRS to the first terminal as an example, the transmission of the SL-PRS between the second terminal and the first terminal includes any of the following situations:

[0139] Case 1: If Figure 4(a), the second terminal sends a SL-PRS to the first terminal, and the first terminal measures the SL-PRS to obtain a measurement result. For example, the first terminal is a target UE, that is, the first terminal needs to be located. The first terminal measures the SL-PRS sent by the second terminal to obtain a measurement result or the location information of the first terminal. Since the second terminal or other terminals did not request the first terminal to perform the measurement, or did not request the first terminal to provide the measurement result, or provide the location information, the first terminal may not send the measurement result or location information to the second terminal or other terminals after performing the measurement. Optionally, the positioning method is, for example, SL-TDOA, and the corresponding measurement quantity is the reference signal time difference (RSTD), or other positioning methods in the relevant technology are used.

[0140] Optionally, in this case, the second terminal that sends the positioning reference signal may request positioning information. In this case, after the first terminal performs measurement on the positioning reference signal from the second terminal, it needs to return the measurement result or location information to the second terminal.

[0141] Case 2: If Figure 4 (b), the second terminal sends an SL-PRS to the first terminal, and the third terminal requests positioning information from the first terminal, requesting the first terminal to perform measurement or provide measurement results or provide location information, for example, the third terminal sends a Request Location Information message to the first terminal. After the first terminal performs measurement on the SL-PRS, it may send the measurement results or location information to the third terminal, without sending the measurement results or location information to other terminals such as the second terminal that have not requested the first terminal to perform measurement, for example, the first terminal sends a Provide Location Information message to the third terminal. Optionally, the positioning method is, for example, SL-TDOA, SL-AOA, multi-RTT, or other positioning methods in related technologies.

[0142] Case 3: If Figure 4(c), the second terminal sends an SL-PRS to the first terminal, and the first terminal also sends an SL-PRS to the second terminal. The third terminal requests the second terminal and the first terminal to perform measurements, or provide corresponding measurement results, or provide corresponding location information, for example, the third terminal sends a Request Location Information message to the first terminal and the second terminal. The second terminal and the first terminal measure the corresponding SL-PRS, and send the corresponding measurement results or location information to the third terminal, for example, the first terminal and the second terminal send a Provide Location Information message to the third terminal. There is no need to send measurement results or location information between the second terminal and the first terminal. Optionally, the positioning method is, for example, multi-RTT, or other positioning methods in the relevant technology are used.

[0143] Taking the above situation 1 as an example, during the SL positioning process, the first terminal needs to receive a positioning reference signal from the second terminal for positioning. In some scenarios, the communication quality between the first terminal and the second terminal is poor, or due to other reasons, the first terminal does not receive a positioning reference signal from the second terminal within the first preset time, that is, the above condition B is met. In this case, the first terminal considers that the positioning has failed. Figure 5 , the second terminal sends SL-PRS to the first terminal, but due to the poor link condition between the first terminal and the second terminal, although the first terminal needs to receive SL-PRS, the first terminal does not receive SL-PRS within the first preset time. In this case, the first terminal determines that positioning fails.

[0144] It should be understood that in all embodiments of the present application, the first terminal fails to receive a positioning reference signal from the second terminal, which may be due to: poor link conditions, the first terminal fails to send a first request message, and the second terminal does not receive the first request message for requesting a positioning reference signal. Therefore, the second terminal does not send a positioning reference signal to the first terminal. Alternatively, it may be due to: the second terminal fails to send a positioning reference signal, for example, the first terminal successfully sends the first request message, but the second terminal fails to send a positioning reference signal. These two failure reasons may also be applicable to other embodiments of the present application, such as those applicable to Figure 6 hour, Figure 6 The "X" in the field indicates that the first terminal fails to send the first request message successfully, or may indicate that the second terminal fails to send the SL-PRS successfully.

[0145] Optionally, the request information is, for example, sidelink control information (SCI).

[0146] Optionally, the request information may also be SL-PRS.

[0147] In some scenarios, the communication quality between the first terminal and the second terminal is poor, or due to other reasons, the first terminal needs to receive positioning reference signals from the second terminal for multiple times, but fails to receive positioning reference signals from the second terminal for N consecutive times, that is, the above condition A is met. In this case, the first terminal considers that positioning has failed. Figure 6 , the first terminal sends a first request message to the second terminal multiple times, the first request message is used to request a positioning reference signal from the second terminal, but the first terminal may fail to transmit the first request message multiple times, or the second terminal fails to send SL-PRS to the first terminal multiple times, for example, due to poor link quality between the first terminal and the second terminal, although the first terminal needs to receive SL-PRS, the first terminal has not received the SL-PRS sent by the second terminal. In this case, the first terminal determines that positioning has failed.

[0148] S102: The first terminal releases communication configuration information associated with the second terminal.

[0149] Optionally, the communication configuration information includes but is not limited to any one or more of the following configuration information: sidelink communication related configuration information, PDCP configuration information, RLC configuration information, logical channel configuration information, DRB configuration information, and SRB configuration information.

[0150] Optionally, the first terminal may also reset the SL-specific MAC associated with the second terminal and release the RRC connection with the second terminal.

[0151] For example, Figure 7 (a), assuming that the first terminal is configured with configuration information related to SRB1, SRB2, DRB1, DRB2 and SRB0 related to the second terminal. Among them, the configuration information corresponding to SRB0 includes RRC layer configuration information, and the configuration information corresponding to SRB1 includes RRC layer configuration information, PDCP layer and RLC layer configuration information. The configuration information corresponding to SRB2 includes RRC layer configuration information, PDCP layer and RLC layer configuration information. SRB may also have corresponding MAC configuration information. The configuration information corresponding to DRB1 includes configuration information of the Service Data Adaptation Protocol (SDAP), PDCP, RLC, and public MAC layer. The configuration information corresponding to DRB2 includes configuration information of SDAP, PDCP, RLC, and public MAC layer. DRB1 and DRB2 share an SDAP entity. The first terminal is also configured with a PHY layer entity.

[0152] After the first terminal determines that the first condition is met, Figure 7(b), the first terminal releases SRB1 and SRB2. Specifically, the terminal releases the RRC layer configuration information, the PDCP layer configuration information and the RLC layer configuration information corresponding to SRB1 and SRB2 respectively.

[0153] Optional, such as Figure 7 (b), the terminal may also release DRB1, DRB2, and the configuration information of the corresponding SDAP, PDCP, RLC and MAC layers. Alternatively, the terminal may release DRB1 and DRB2. Therefore, after the first terminal determines that the positioning fails, such as a radio link failure occurs between the first terminal and the second terminal, if the link with the second terminal is subsequently restored, the first terminal may reconfigure the DRB to process the data to be transmitted to the second terminal. Alternatively, the terminal may suspend DRB1 and DRB2. Therefore, after the first terminal determines that the positioning fails, such as a radio link failure occurs between the first terminal and the second terminal, if the link with the second terminal is subsequently restored, the first terminal may directly process the data to be transmitted to the second terminal through the restored DRB, thereby reducing the service delay of the first terminal.

[0154] According to the technical solution of the embodiment of the present application, in the SL positioning scenario, the first terminal can promptly determine the positioning failure (such as the failure of the wireless link with the second terminal) according to the transmission status of the positioning reference signal, and can promptly release the communication configuration related to the second terminal after the positioning failure, thereby reducing the overhead of the first terminal caused by maintaining the related communication configuration.

[0155] In some embodiments, in S102, the first terminal may not release the communication configuration associated with the second terminal, but only considers that the positioning with the second terminal has failed, thereby avoiding the overhead caused by the first terminal re-establishing a connection with the second terminal.

[0156] The following is an introduction to determining the N value in condition A and the method of judging positioning failure based on the N value:

[0157] In some embodiments, the second terminal is one or more. Each second terminal corresponds to a count value (COUNT), which can be understood as: the first terminal maintains a count value for each destination terminal (destination), or understood as: the first terminal maintains a count value for each opposite terminal, or understood as: the first terminal maintains a count value for each terminal that sends a positioning reference signal to the first terminal. For example, if UE1 needs to receive SL-PRS from UE2 and UE3, UE1 can maintain a count value for UE2 and UE3 respectively.

[0158] The initial value of the count value corresponding to each second terminal is 0. When some conditions are met, the count value increases. When some conditions are met, the count value is reset to zero (or cleared). The maximum value of the count value is N.

[0159] In some embodiments, the failure to receive a positioning reference signal from the second terminal for N consecutive times includes: when a count value corresponding to the second terminal increases from zero to a maximum value N, the failure to receive a positioning reference signal from the second terminal.

[0160] In some embodiments, the counting method of the count value corresponding to the second terminal may be one or more of the following methods:

[0161] Mode 1: The count value is increased by one each time after a first request message is sent to the second terminal; the first request message is used to request the second terminal to send a positioning reference signal.

[0162] In the case of receiving a second message, the count value is set to zero; the second message includes one or more of the following: a side link positioning reference signal SL-PRS, a physical layer message, a media access control MAC message, an RRC message, a side link positioning protocol SLPP message, and data information. The RRC message includes but is not limited to an RRC reconfiguration message. Optionally, the RRC reconfiguration message may indicate a reconfiguration of a resource pool.

[0163] For example, Figure 8 , the first terminal maintains the count value corresponding to the second terminal, and the initial value is 0. When it is necessary to receive a positioning reference signal from the second terminal, the first terminal may send a first request message to the second terminal for requesting the second terminal to send a positioning reference signal. Figure 8 , the first terminal sends the first request message for the first time, and increases the count value by one, and the count value is 1. Afterwards, due to poor link conditions between the two terminals or other reasons, the first terminal does not receive a positioning reference signal from the second terminal for a period of time (e.g. Figure 8 If the positioning reference signal marked by the dotted line in the middle indicates that it has not been received), the first terminal can send the first request message to the second terminal for the second time, and increase the count value by one, and the count value is 2. Similarly, each time the first terminal sends the first request message to the second terminal, the count value will be increased by one.

[0164] In some examples, when the count value increases from zero to N, it means that the first terminal has sent the first request message N times in a row, but has not received a positioning reference signal for performing positioning from the second terminal. It can also be understood that the first terminal has not received a positioning reference signal when it needs to receive a positioning reference signal from the second terminal N times in a row. In this case, the first terminal considers that the positioning has failed.

[0165] In some examples, if the first terminal receives a second message (including but not limited to a positioning reference signal) from the second terminal before the count value reaches the maximum value N, it means that the link between the two terminals has improved. In this case, the first terminal sets the count value corresponding to the second terminal to zero for subsequent positioning. Fig. 9 , the first terminal sends a first request message for requesting a positioning reference signal to the second terminal multiple times, wherein after sending the third first request message, the first terminal receives a positioning reference signal from the second terminal, and the first terminal sets the count value corresponding to the second terminal to zero.

[0166] For another example, when the first terminal receives the second message from the third terminal, the first terminal sets the count value corresponding to the third terminal to zero.

[0167] Optionally, setting the count value to zero may also be understood as resetting the count value.

[0168] Mode 2: Each time after sending the first request message to the second terminal, if the first time period has passed and no positioning reference signal is received from the second terminal, the count value is increased by one.

[0169] In the case of receiving a second message, the count value is set to zero; the second message includes one or more of the following: SL-PRS, physical layer message, MAC message, RRC message, SLPP message or data information. RRC message includes but is not limited to RRC reconfiguration message. Optionally, the RRC reconfiguration message may indicate reconfiguration of the resource pool.

[0170] See also Fig.10 , the initial value of the count value (COUNT) is 0. After the first terminal sends a first request message to the second terminal, after a period of time, if no positioning reference signal is received from the second terminal, the count value corresponding to the second terminal is increased by one; if a positioning reference signal is received from the second terminal, the count value is set to zero.

[0171] If the first terminal does not receive the positioning reference signal from the second terminal, the first terminal determines whether the count value reaches the maximum value N. If it reaches N, it determines that the positioning fails. If it does not reach N, it sends the first request message again. The first terminal executes as follows Figure 8 The method shown in the figure is as follows: until it is determined that the count value reaches the maximum value N, the positioning is considered to have failed.

[0172] Mode three: when it is determined that a positioning reference signal needs to be received from the second terminal and the positioning reference signal from the second terminal is not received, the count value is increased by one.

[0173] In the case of receiving a second message, the count value is set to zero; the second message includes one or more of the following: a side link positioning reference signal SL-PRS, a physical layer message, a media access control MAC message, an RRC message, a side link positioning protocol SLPP message, and data information. The RRC message includes but is not limited to an RRC reconfiguration message. Optionally, the RRC reconfiguration message may indicate a reconfiguration of a resource pool.

[0174] Exemplarily, UE2 needs to receive SL-PRS from UE1, but does not receive SL-PRS from UE1 after duration T1, then UE2 sends a first request message to UE1, requesting UE1 to send SL-PRS, and increases the corresponding count value of UE1 by one. For another example, UE2 needs to receive SL-PRS sent by UE3, but UE2 does not receive SL-PRS sent by UE3, then UE2 sends a first request message to UE3, and increases the corresponding count value of UE3 by one. For another example, UE2 needs to receive SL-PRS sent by UE1, but UE2 does not receive SL-PRS sent by UE1, then UE2 may send a first request message to UE1. If UE2 still does not receive SL-PRS sent by UE1 within duration T2 after sending the first request message, UE2 increases the corresponding count value of UE1 by one.

[0175] Optionally, corresponding to any one of the above three methods, the first terminal may first increase the count value by one after sending the first request message or before sending the first request message. For example, if the first terminal does not receive the SL-PRS sent by the opposite terminal after waiting for a certain period of time T, the first terminal first increases the count value corresponding to the opposite terminal by one, and then sends the first request message. Alternatively, the first terminal increases the count value by one while sending the first request message. Alternatively, the first terminal needs to receive the SL-PRS, and since the first terminal does not receive the SL-PRS, the first terminal increases the count value by one before sending the first request message.

[0176] Optionally, corresponding to any one of the above three methods, it is necessary to receive a positioning reference signal from the second terminal, including at least one of the following situations: it is necessary to measure the positioning reference signal from the second terminal; it is necessary to obtain the measurement result of the positioning reference signal of the second terminal; it is necessary to obtain the location information of the second terminal; or, a positioning request for the second terminal is received.

[0177] Optionally, corresponding to any one of the above three methods, the positioning request includes requesting positioning information (request location information). The positioning request is used to request measurement of a positioning reference signal, or to request positioning information. The positioning information includes measurement information (or measurement results) and / or location information determined according to the positioning reference signal. Optionally, the positioning request may come from the second terminal or other terminals, or from a network device.

[0178] For example, Fig.11 , the initial value of the count value corresponding to the second terminal is 0, and the first terminal receives a request for positioning information from the third terminal, and the request for positioning information is used to request positioning information, and the positioning information is determined according to the positioning reference signal sent by the second terminal. The positioning information may include: a measurement result obtained by measuring the positioning reference signal of the second terminal, and / or measuring the positioning reference signal of the second terminal and calculating the position information. Through any of the above three methods, the first terminal adds one to the count value corresponding to the second terminal, and the count value is 1. Afterwards, due to reasons such as link failure between the first terminal and the second terminal or other reasons, the first terminal still does not receive the positioning reference signal sent by the second terminal, and through any of the above three methods, the first terminal adds one to the count value corresponding to the second terminal, and the count value is 2. By analogy, when the count value corresponding to the second terminal reaches N from zero, it means that the first terminal cannot obtain positioning information and positioning fails.

[0179] Optionally, corresponding to any one of the above three methods, the maximum value N of the count value is configured by the network device. As a possible implementation, the first terminal receives a first signaling from the network device (such as a base station), and the first signaling includes the value of N.

[0180] For example, the network device configures the maximum value N of the count value corresponding to the second terminal according to the positioning service demand. For example, in the RRC connected state, the base station can determine the value of the maximum value N according to the positioning service demand of the first terminal, and then send the configuration information of the maximum value N to the first terminal. For another example, in the RRC idle state, the base station broadcasts a mapping list of positioning service demand and maximum value N, and each positioning service demand in the mapping list can have a corresponding maximum value N. The first terminal determines the maximum value N corresponding to the current positioning service demand according to the current positioning service demand and the mapping list broadcast by the base station, thereby determining the maximum value N to be used. For another example, when the first terminal is out of the coverage of the base station, the first terminal determines the maximum value N to be used according to the pre-configured mapping list of positioning service demand and maximum value N. For example, the first terminal determines the maximum value N corresponding to the current positioning service demand according to the current positioning service demand and the pre-configured mapping list, thereby determining the maximum value N to be used.

[0181] Or, corresponding to any one of the above three methods, N is preconfigured or determined by the first terminal. For example, the first terminal adjusts or determines a more appropriate maximum value N by itself according to the positioning service demand, thereby ensuring the positioning service demand.

[0182] Optionally, corresponding to any one of the above three methods, the first duration is configured by the network device. As a possible implementation method, the network device sends a first signaling to the first terminal, and the first signaling indicates the first duration. Alternatively, the first duration is preconfigured or determined by the first terminal. For a specific method for obtaining the first duration, reference may be made to a method for determining the maximum value N.

[0183] By determining parameters such as the maximum value N and the first duration that match the positioning service requirements in the above manner, the first terminal can better perform the positioning service and meet the positioning service requirements.

[0184] As follows, the determination of the first preset duration in the above condition B and the method for judging positioning failure according to the first preset duration are introduced:

[0185] There are one or more second terminals; each second terminal corresponds to a first timer; no positioning reference signal is received from the second terminal within a first preset time period, including: no positioning reference signal is received from the second terminal during the process from the start of the first timer corresponding to the second terminal to timeout.

[0186] In some embodiments, when it is necessary to receive a positioning reference signal from the second terminal, the first terminal starts a first timer corresponding to the second terminal; the need to receive a positioning reference signal from the second terminal includes at least one of the following situations: the need to measure the positioning reference signal from the second terminal; the need to obtain the measurement result of the positioning reference signal of the second terminal; the need to obtain the location information of the second terminal; and the receiving of a positioning request for the second terminal.

[0187] For example, Fig.12 , when the first terminal needs to receive a positioning reference signal from the second terminal, the first terminal starts the first timer corresponding to the second terminal. Optionally, the first terminal may also send a first request message for requesting a positioning reference signal to the second terminal. Optionally, if the first terminal does not receive a positioning reference signal from the second terminal within a period of time, the first terminal may send the first request message again, and so on. From the time when the first terminal starts the first timer corresponding to the second terminal to the timeout of the first timer corresponding to the second terminal, if the first terminal has not received a positioning reference signal from the second terminal, the first terminal considers that the positioning has failed.

[0188] In some embodiments, the timing duration of the first timer is configured by a network device. As a possible implementation, the first terminal receives a second signaling from a network device (such as a base station), and the second signaling includes the timing duration.

[0189] For example, the network device configures the timing duration of the first timer corresponding to the second terminal according to the positioning service demand. For example, in the RRC connected state, the base station can determine the timing duration according to the positioning service demand of the first terminal, and then send the configuration information of the timing duration to the first terminal. For another example, in the RRC idle state, the base station broadcasts a mapping list of positioning service demands and timing durations, and each positioning service demand in the mapping list can have a corresponding timing duration. The first terminal determines the timing duration corresponding to the current positioning service demand based on the current positioning service demand and the mapping list broadcast by the base station, thereby determining the timing duration required to be used. For another example, when the first terminal is out of the coverage of the base station, the first terminal determines the timing duration required to be used based on the pre-configured mapping list of positioning service demands and timing durations. For example, the first terminal determines the timing duration corresponding to the current positioning service demand based on the current positioning service demand and the pre-configured mapping list, thereby determining the timing duration required to be used.

[0190] Or, the timing duration is determined by the first terminal or is preconfigured. The first preset duration is equal to the timing duration of the first timer.

[0191] In some embodiments, the above-mentioned conditions A and B can be combined. For example, the first terminal sends a first request message to the second terminal within the first preset time length. If the first timer corresponding to the second terminal times out or the count value corresponding to the second terminal reaches the maximum value N, the first terminal considers that the positioning has failed. It can be understood that any one of conditions A and B is triggered, which can trigger the first terminal to determine that the positioning has failed. For another example, the first terminal sends a first request message to the second terminal within the first preset time length. If the first timer corresponding to the second terminal times out and the count value corresponding to the second terminal reaches the maximum value N, the first terminal considers that the positioning has failed. It can be understood that when both conditions A and B are triggered, the first terminal can be triggered to determine that the positioning has failed.

[0192] In an embodiment of the present application, by setting a count value or a timer, and a first condition related to the count value or the timer, the first terminal can promptly determine failure when the transmission of the positioning reference signal meets the first condition, and then promptly release the communication configuration related to the second terminal on the opposite side, thereby reducing the overhead incurred by the first terminal for maintaining the related communication configuration.

[0193] The embodiment of the present application also provides a side link positioning method, which can trigger the terminal to determine whether the positioning fails (such as radio link failure) based on the first message (including but not limited to data information) in the SL positioning scenario. Fig.13 , after S101 and before S102, the method may further include the following steps S201 and S202.

[0194] S201. The first terminal sends a first message to the second terminal according to the first condition.

[0195] It should be understood that when at least one of the above conditions A and B is met, it means that when the first terminal needs to receive a positioning reference signal from the second terminal for performing positioning, the positioning reference signal is not received for a long time. In this case, the first terminal can send a first message to the second terminal, and determine whether the actual positioning fails (such as a radio link failure) based on the first message.

[0196] Optionally, the first message may include but is not limited to an RRC message, a physical layer message, a MAC layer message, a SLPP message or data.

[0197] Optionally, the first message includes first information, and the first information indicates resource pool information, and the resource pool information may indicate one or more of the following: using a shared resource pool to send SL-PRS, using a SL-PRS dedicated resource pool to send SL-PRS, not using a shared resource pool to send SL-PRS, not using a SL-PRS dedicated resource pool to send SL-PRS, switching from a shared resource pool to a SL-PRS dedicated resource pool to send SL-PRS, switching from a SL-PRS dedicated resource pool to a shared resource pool to send SL-PRS, etc. The above one or more items may be for a terminal or a network device, for example, instructing the opposite UE to use or not use or switch a resource pool, and instructing the network device of the opposite UE to use or not use or switch a resource pool. Optionally, instructing the network device of the opposite UE to use or not use or switch a resource pool includes that, after the opposite UE receives the first information, the opposite UE instructs its network device to use or not use or switch a resource pool.

[0198] Optionally, the first message may not carry specific information and is only used to determine whether a radio link failure occurs between terminals.

[0199] Optionally, at this time, the first terminal does not need to determine the positioning failure according to the first condition in S101. It can be understood that if the first condition is met, the first terminal does not determine the positioning failure first, but sends a first message to the second terminal, and determines whether the positioning fails according to the transmission of the first message.

[0200] S202: The first terminal determines that positioning fails based on the first message and according to a second condition.

[0201] The second condition includes at least one of the following conditions:

[0202] The number of transmissions of the first message reaches a maximum number of retransmissions (also referred to as a first number of retransmissions); this condition corresponds to the above-mentioned event 1.

[0203] The first message is an RRC message, the third timer (eg, timer T400) corresponding to the second terminal has timed out, and no RRC response message from the second terminal has been received; this condition corresponds to the above-mentioned event 2.

[0204] The consecutive HARQ DTX of the first message reaches a maximum number (also referred to as a first number); this condition corresponds to the above-mentioned event 3.

[0205] Or the integrity check of SL-SRB2 or SL-SRB3 corresponding to the second terminal fails. This condition corresponds to the above event 4.

[0206] Optionally, if the first message is an SLPP message or data, the first terminal may confirm whether there is a radio link failure according to event 1 or event 3. If the first message is a physical layer message, the first terminal may confirm whether there is a radio link failure according to event 3. If the first message is an RRC message, the first terminal may confirm whether there is a radio link failure according to the above event 2 or event 4.

[0207] For example, if the first message satisfies event 1, it means that the first terminal retransmits the first message to the second terminal a high number of times. In this case, the first terminal believes that the wireless link with the second terminal has failed. For another example, if the first message (RRC message) satisfies event 2, it means that after the first terminal sends an RRC message to the second terminal, it does not receive an RRC response message for a long time, and the first terminal believes that the wireless link with the second terminal has failed. For another example, if the first message satisfies event 3 or event 4, the first terminal believes that the wireless link with the second terminal has failed.

[0208] After determining that the wireless link with the second terminal fails, the first terminal may release the communication configuration corresponding to the second terminal to reduce the overhead generated by maintaining the configuration information.

[0209] Compared with the related technology in which a wireless link failure is triggered only when a problem occurs in the data transmission of the terminal, resulting in the inability to release the communication configuration related to the other end in time, the technical solution of the embodiment of the present application can trigger the first terminal to send a first message according to the transmission status of the positioning reference signal during the process of the first terminal performing SL positioning, so as to determine the status of the wireless link in time according to the first message. If there is a problem with the wireless link, the wireless link failure can be triggered more quickly, and the communication configuration related to the other end can be released in time.

[0210] Optionally, the first terminal may preliminarily determine whether the wireless link with the second terminal has failed based on the transmission of the positioning reference signal. After preliminarily determining that the wireless link has failed, the first terminal sends a first message and determines whether the wireless link has failed based on the first message, which can improve the accuracy of link failure detection and avoid false detection.

[0211] The embodiment of the present application also provides a sidelink positioning method, where the second terminal sending the positioning reference signal can determine whether the positioning fails based on the reception of the positioning information (measurement results and / or location information). Fig.14 , the method may include the following steps:

[0212] S301. The second terminal sends a positioning reference signal to the first terminal.

[0213] Correspondingly, the first terminal receives a positioning reference signal from the second terminal.

[0214] The positioning reference signal is used to perform positioning.

[0215] S302: The second terminal determines that positioning fails according to the third condition.

[0216] The third condition includes at least one of the following conditions: after sending a positioning reference signal to the first terminal M times in a row, no positioning information is received from the first terminal (condition C); no positioning information is received from the first terminal within a second preset time length (condition D), and M is a positive integer; the positioning information includes measurement information for the positioning reference signal and / or location information determined based on the positioning reference signal.

[0217] Condition C may include at least one of the following conditions: after sending a positioning reference signal to the first terminal M times in succession, no measurement information of the first terminal for the positioning reference signal is received (condition C1); after sending a positioning reference signal to the first terminal M times in succession, no location information determined by the first terminal based on the positioning reference signal is received (condition C2).

[0218] Condition D may include at least one of the following conditions: no measurement information of the first terminal for the positioning reference signal is received within the second preset time period (condition D1), and no location information determined by the first terminal based on the positioning reference signal is received within the second preset time period (condition D2).

[0219] In an embodiment of the present application, the terminal does not receive measurement information (or location information) for a positioning reference signal from the opposite UE. This may be because the opposite UE does not receive the positioning reference signal from the terminal, or the opposite UE receives the positioning reference signal from the terminal but fails to send the measurement information (or location information).

[0220] After the second terminal sends the positioning reference signal to the first terminal M times in succession, when it needs to receive measurement information (or location information) for the positioning reference signal from the first terminal, for example, when the second terminal sends the positioning reference signal M times in succession but no measurement information (or location information) is received from the first terminal, the second terminal considers that the positioning has failed.

[0221] According to the technical solution of the embodiment of the present application, in the SL positioning scenario, the second terminal that sends the positioning reference signal can promptly determine the positioning failure (such as the failure of the wireless link with the first terminal) according to the transmission status of the positioning information (measurement information or location information).

[0222] Optionally, after positioning fails, the second terminal may release the communication configuration related to the first terminal in a timely manner.

[0223] The following is an introduction to determining the M value in the above condition C and the method of judging positioning failure based on the M value:

[0224] In some embodiments, the first terminal is one or more; each first terminal corresponds to a count value, and the initial value of each count value is 0. When some conditions are met, the count value increases, and when some conditions are met, the count value is reset to zero (or cleared). The maximum value of the count value is M.

[0225] In some embodiments, after sending the positioning reference signal to the first terminal M times in succession, no positioning information of the first terminal for the positioning reference signal is received, including: during the process of the count value corresponding to the first terminal increasing from zero to the maximum value M, no positioning information is received from the first terminal.

[0226] In some embodiments, the counting method of the count value corresponding to the first terminal may be one or more of the following methods:

[0227] Mode 1: when it is determined that the positioning information needs to be received from the first terminal and the positioning information from the first terminal has not been received, the count value is increased by one.

[0228] Before the count value reaches the maximum value M, if a fourth message is received, the count value is set to zero; the fourth message includes one or more of the following: positioning information, RRC message, MAC message, side link positioning protocol SLPP message or data information.

[0229] Exemplarily, UE2 needs to receive positioning information from UE1, but does not receive positioning information from UE1 after duration T3, then UE2 sends a positioning reference signal to UE1 to enable UE1 to send positioning information, and increases the corresponding count value of UE1 by one. For another example, UE2 needs to receive positioning information sent by UE3, but UE2 does not receive positioning information sent by UE3, then UE2 sends a positioning reference signal to UE3, and increases the corresponding count value of UE3 by one. For another example, UE2 needs to receive positioning information sent by UE1, but UE2 does not receive positioning information sent by UE1, then UE2 may send a positioning reference signal to UE1. If UE2 still does not receive positioning information sent by UE1 within duration T4 after sending the positioning reference signal, UE2 increases the corresponding count value of UE1 by one.

[0230] Mode 2: The count value is incremented by one each time a positioning reference signal is sent to the first terminal. Before the count value reaches a maximum value M, if a fourth message is received, the count value is reset to zero.

[0231] In the second method, the specific counting method of the count value corresponding to the first terminal can refer to the configuration method of the count value corresponding to the second terminal in the above S102 (such as the first method in S102), which will not be repeated here.

[0232] Mode 3: Each time after the positioning reference signal is sent to the first terminal, if the second time period has passed and no positioning information is received, the count value is increased by 1. Before the count value reaches the maximum value M, if a fourth message is received, the count value is set to zero.

[0233] In the third method, the specific counting method of the count value corresponding to the first terminal can refer to the configuration method of the count value corresponding to the second terminal in the above S102 (such as the second method in S102), which will not be repeated here.

[0234] Optionally, the value of M is configured by the network device, or is preconfigured, or is determined by the second terminal. And / or, the second duration is configured by the network device, or is preconfigured, or is determined by the second terminal. The specific configuration method of the M value can refer to the configuration method of the N value in S102 above, which will not be repeated here. The specific configuration method of the second duration can refer to the configuration method of the first duration in S102 above, which will not be repeated here.

[0235] Optionally, the value of M is configured by the network device, which can be implemented as follows: the network device sends a first signaling to the second terminal, and the first signaling carries the value of M.

[0236] As follows, the determination of the second preset time length in the above condition D and the method for judging positioning failure according to the second preset time length are introduced:

[0237] There are one or more first terminals; each first terminal corresponds to a second timer; no measurement information for the positioning reference signal is received within a second preset time period, including: during the process from the second timer corresponding to the first terminal being started to timeout, no positioning information is received from the first terminal.

[0238] As a possible implementation method, when it is necessary to receive the measurement information or the location information from the first terminal, the second terminal starts the second timer corresponding to the first terminal; the need to receive the measurement information or the location information from the first terminal includes: after sending a positioning reference signal to the first terminal, the measurement information or the location information needs to be received from the first terminal.

[0239] Optionally, the timing duration of the second timer is configured by the network device, or determined by the second terminal, or is preconfigured.

[0240] Optionally, the timing duration of the second timer is configured by a network device, which may be implemented as follows: the network device sends a first signaling to the second terminal, where the first signaling carries the timing duration of the second timer.

[0241] The specific configuration method of the timing duration of the second timer can refer to the configuration method of the timing duration of the first timer in S102 above, which will not be repeated here.

[0242] In some embodiments, the above-mentioned conditions C and D can be combined, such as, the second terminal sends a positioning reference signal to the second terminal within the second preset duration, if the second timer corresponding to the first terminal times out or the count value corresponding to the first terminal reaches the maximum value M, the second terminal considers that the positioning has failed, which can be understood as any one of conditions C and D being triggered, which can trigger the second terminal to determine that the positioning has failed. For another example, the second terminal sends a positioning reference signal to the first terminal within the second preset duration, if the second timer corresponding to the first terminal times out and the count value corresponding to the first terminal reaches the maximum value M, the second terminal considers that the positioning has failed.

[0243] The embodiment of the present application also provides a sidelink positioning method, where the second terminal sending the positioning reference signal determines that the third condition is met and can further send a third message to determine whether the positioning has failed. Fig.15 After the above S302, the method may further include the following steps:

[0244] S401. The second terminal sends a third message to the first terminal according to the third condition.

[0245] Optionally, the third message may include but is not limited to an RRC message, a physical layer message, a MAC layer message, an SLPP message or data. The specific implementation of the third message may refer to the specific implementation of the first message above, and will not be repeated here.

[0246] Optionally, at this time, the second terminal does not need to determine the positioning failure according to the third condition in S302. It can be understood that if the third condition is met, the second terminal does not determine the positioning failure first, but sends a third message to the first terminal, and determines whether the positioning fails according to the transmission of the third message.

[0247] S402: The second terminal determines that positioning fails based on the third message and according to a fourth condition.

[0248] The fourth condition includes at least one of the following conditions:

[0249] The number of transmissions of the third message reaches a maximum number of retransmissions (also referred to as a first number of retransmissions); this condition corresponds to the above event 1.

[0250] The third message is an RRC message, the third timer (eg, timer T400) corresponding to the first terminal times out, and no RRC response message from the first terminal is received; this condition corresponds to the above-mentioned event 2.

[0251] The consecutive HARQ DTX of the first message has reached a maximum number (also referred to as a first number); this condition corresponds to the above-mentioned event 3.

[0252] Alternatively, the integrity check of SL-SRB2 or SL-SRB3 corresponding to the first terminal fails, and this condition corresponds to the above-mentioned event 4.

[0253] For a detailed introduction to the fourth condition, please refer to the relevant introduction to the second condition in S202, which will not be repeated here.

[0254] The technical solution of the embodiment of the present application can trigger the second terminal to send a third message according to the transmission status of the positioning information during the process of the second terminal performing SL positioning, so as to promptly determine the positioning failure (wireless link failure) according to the third message, and then promptly release the communication configuration related to the other end.

[0255] The present application also provides a side link positioning method, such as Fig.16 , the method may include:

[0256] S501: The second terminal sends a positioning request to the first terminal.

[0257] Optionally, the location request includes requesting location information (request location information).

[0258] The positioning request carries response time information, and the response time information is used to instruct the first terminal to provide positioning information determined according to the positioning reference signal within the response time after receiving the positioning request.

[0259] S502: The first terminal sends a reply message to the second terminal.

[0260] Optionally, the reply message may be a provide Location information message.

[0261] As a possible implementation, if the first terminal cannot provide positioning information within the response time, the reply message carries indication information, which may indicate positioning failure. Optionally, the reply message may also carry failure reason information, such as the reason for not being able to provide positioning information within the response time is: the wireless link with the second terminal fails.

[0262] Exemplarily, after the first terminal receives a positioning request from the second terminal, the second terminal sends a positioning reference signal, but the second terminal fails to send the positioning reference signal, and the first terminal does not receive the positioning reference signal from the second terminal. Therefore, the first terminal does not obtain positioning information based on the positioning reference signal within the response time. In this case, the first terminal considers that the positioning has failed. The first terminal may attempt to send a reply message to the second terminal, and the reply message may carry the reason for the positioning failure, such as a poor link condition between the first terminal and the second terminal.

[0263] S503: The second terminal determines, based on the reply message, that the positioning has failed.

[0264] After receiving the reply message, the second terminal parses and obtains the positioning failure indication therein, and determines the positioning failure in a timely manner according to the positioning failure indication.

[0265] Optionally, after the second terminal determines that the positioning fails, it can trigger the release of the communication configuration related to the first terminal.

[0266] In some embodiments, if the first terminal cannot obtain the positioning information within the response time, the first terminal may also determine that the positioning has failed, and trigger the release of the communication configuration related to the second terminal.

[0267] In the technical solution of the embodiment of the present application, during the process of performing SL positioning, the terminal can determine whether positioning has failed based on whether positioning information can be obtained or provided within a period of time. In this way, when positioning failure is determined, the communication configuration related to the other end can be released in time.

[0268] The present application also provides a side link positioning method, such as Fig.17 , the method may include:

[0269] S601: The third terminal sends a positioning request to the first terminal.

[0270] The positioning request carries response time information, and the response time information is used to indicate that after receiving the positioning request, the first terminal provides positioning information determined according to the positioning reference signal within the response time. Optionally, the positioning reference signal may be a positioning reference signal from the second terminal.

[0271] S602: The first terminal sends a reply message to the third terminal.

[0272] Optionally, the reply message may be a provide Location information message.

[0273] If the first terminal cannot provide positioning information within the response time, the reply message carries indication information, which may indicate positioning failure. Optionally, the reply message may also carry failure reason information, such as the reason for not being able to provide positioning information within the response time is: the wireless link with the second terminal fails.

[0274] For example, Fig.17 , the first terminal receives a positioning request carrying a response time from the third terminal. Due to the poor wireless link between the first terminal and the second terminal, the first terminal does not receive a positioning reference signal from the second terminal, so the first terminal cannot obtain or provide the third terminal with positioning information determined according to the positioning reference signal within the response time. In this case, the first terminal sends a reply message carrying a positioning failure indication to the third terminal.

[0275] S603: The first terminal releases the communication configuration related to the second terminal.

[0276] Optionally, if the first terminal cannot obtain or provide the third terminal with positioning information determined according to the positioning reference signal within the response time, the first terminal considers that the positioning has failed. In this case, the first terminal may release the communication configuration related to the second terminal.

[0277] Optionally, the embodiments of the present application do not limit the carrying method of messages and signaling.

[0278] It should be noted that the above-mentioned multiple embodiments can be combined and the combined scheme can be implemented. Optionally, some operations in the process of each method embodiment are optionally combined, and / or the order of some operations is optionally changed. In addition, the execution order between the steps of each process is only exemplary and does not constitute a limitation on the execution order between the steps. There can also be other execution orders between the steps. It is not intended to indicate that the execution order is the only order in which these operations can be performed. Ordinary technicians in this field will think of many ways to reorder the operations of this article. In addition, it should be pointed out that the process details involved in a certain embodiment of this article are also applicable to other embodiments in a similar manner, or different embodiments can be used in combination.

[0279] In addition, some steps in the method embodiment may be equivalently replaced by other possible steps. Alternatively, some steps in the method embodiment may be optional and may be deleted in certain usage scenarios. Alternatively, other possible steps may be added to the method embodiment.

[0280] Furthermore, the above method embodiments may be implemented separately or in combination.

[0281] The embodiments of the present application may be based on the background technology and related technologies and may be used in combination with these technologies, but are not limited thereto. The embodiments of the present application may not be based on the background technology and related technologies.

[0282] It is understandable that the device in the embodiment of the present application includes a hardware structure and / or software module corresponding to each function in order to realize the above functions. In combination with the units and algorithm steps of each example described in the embodiment disclosed in the present application, the embodiment of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present application.

[0283] The embodiment of the present application can divide the communication device (such as the first terminal and the second terminal) into functional units according to the above method example. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0284] The present application also provides a device in an embodiment of the present application, which may be the first terminal or the second terminal or a corresponding component mentioned above. The device may include: a memory and one or more processors. The memory and the processor are coupled. The memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the device may execute the various functions or steps performed by the terminal or network device in the above method embodiment. The structure of the device can refer to Figure 2 The structure of the device shown.

[0285] The core structure of the device (also called a communication device) can be expressed as Fig.18 In the structure shown, the device includes: a processing module 1301 and a storage module 1303.

[0286] The processing module 1301 may include at least one of a central processing unit (CPU), an application processor (AP) or a communication processor (CP). The processing module 1301 may perform operations or data processing related to the control and / or communication of at least one of the other elements of the user communication device.

[0287] The storage module 1303 may include a volatile memory and / or a non-volatile memory. The storage module is used to store at least one instruction or data related to other modules of the device.

[0288] Optionally, a communication module 1305 is also included to support the device to communicate with other devices (through a communication network). For example, the communication module can be connected to a network via wireless communication or wired communication to communicate with other devices. Wireless communication can use at least one of cellular communication protocols, such as long term evolution (LTE), advanced long term evolution (LTE-A), code division multiple access (CDMA), wideband code division multiple access (WCDMA), universal mobile telecommunications system (UMTS), wireless broadband (WiBro) or global mobile communication system (GSM). Wireless communication may include, for example, short-range communication. Short-range communication may include at least one of wireless fidelity (Wi-Fi), Bluetooth, near field communication (NFC), magnetic stripe transmission (MST) or GNSS.

[0289] The present application also provides a chip system, such as Fig.19As shown, the chip system includes at least one processor 1401 and at least one interface circuit 1402. The processor 1401 and the interface circuit 1402 can be interconnected via lines. For example, the interface circuit 1402 can be used to receive signals from other devices (such as a memory of a communication device). For another example, the interface circuit 1402 can be used to send signals to other devices (such as processor 1401). Exemplarily, the interface circuit 1402 can read instructions stored in the memory and send the instructions to the processor 1401. When the instruction is executed by the processor 1401, the communication device can perform the various steps in the above embodiments. Of course, the chip system can also include other discrete devices, which are not specifically limited in the embodiments of the present application.

[0290] An embodiment of the present application also provides a computer storage medium, which includes computer instructions. When the computer instructions are executed on the above-mentioned communication device, the communication device executes each function or step executed by the mobile phone in the above-mentioned method embodiment.

[0291] The embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, the computer executes each function or step executed by the mobile phone in the above method embodiment.

[0292] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0293] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0294] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0295] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0296] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0297] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A sidelink positioning method, characterized in that: The method comprises: According to the first condition, the first terminal determines that the positioning fails; the first condition includes at least one of the following conditions: failure to receive a positioning reference signal from the second terminal for N consecutive times, or failure to receive a positioning reference signal from the second terminal within a first preset time length, wherein N is a positive integer, and the positioning reference signal is used to perform positioning; Release the communication configuration information associated with the second terminal.

2. The method according to claim 1, characterized in that The method further comprises: Sending a first message to the second terminal according to the first condition; Based on the first message, according to the second condition, it is determined that the positioning fails; the second condition includes at least one of the following conditions: the number of transmissions of the first message reaches the maximum number of retransmissions; the first message is a radio resource control RRC message, the timer corresponding to the second terminal has timed out, and the RRC response message of the second terminal has not been received; the continuous hybrid automatic repeat request HARQ discontinuous transmission DTX of the first message reaches the maximum number; or, the integrity check of the sidelink signaling radio bearer SL-SRB2 or SL-SRB3 corresponding to the second terminal fails.

3. The method according to claim 1 or 2, characterized in that: The second terminal is one or more; each second terminal corresponds to a count value; The failure to receive a positioning reference signal from the second terminal for N consecutive times includes: during a process in which a count value corresponding to the second terminal increases from zero to a maximum value N, the failure to receive a positioning reference signal from the second terminal.

4. The method according to claim 3, characterized in that In a case where it is determined that a positioning reference signal needs to be received from the second terminal and the positioning reference signal from the second terminal is not received, increasing the count value by one; Or, the count value is increased by one each time after the first request message is sent to the second terminal; The first request message is used to request the second terminal to send a positioning reference signal; Alternatively, each time a first request message is sent to the second terminal, if a first time period has passed and no positioning reference signal is received from the second terminal, the count value is increased by one.

5. The method according to claim 3 or 4, characterized in that: When a second message is received, the count value is set to zero; the second message includes one or more of the following: sidelink positioning reference signal SL-PRS, physical layer message, media access control MAC message, RRC message, sidelink positioning protocol SLPP message or data information.

6. The method according to any one of claims 1 to 5, characterized in that: The value of N is configured by a network device, or is preconfigured, or is determined by the first terminal; And / or, the first duration is configured by a network device, or is preconfigured, or is determined by the first terminal.

7. The method according to any one of claims 1 to 6, characterized in that: The number of the second terminal is one or more; each second terminal corresponds to a first timer; The failure to receive a positioning reference signal from the second terminal within a first preset time period includes: the failure to receive a positioning reference signal from the second terminal during the process from when a first timer corresponding to the second terminal is started to when it times out.

8. The method according to claim 7, characterized in that When it is necessary to receive a positioning reference signal from the second terminal, start a first timer corresponding to the second terminal; The need to receive a positioning reference signal from the second terminal includes at least one of the following situations: the need to measure the positioning reference signal from the second terminal; the need to obtain the measurement result of the positioning reference signal of the second terminal; the need to obtain the location information of the second terminal; or, receiving a positioning request for the second terminal.

9. The method according to claim 7 or 8, characterized in that: The timing duration of the first timer is configured by a network device, or determined by the first terminal, or is preconfigured.

10. A sidelink positioning method, characterized in that: The method comprises: Sending a positioning reference signal to the first terminal, where the positioning reference signal is used to perform positioning; According to the third condition, it is determined that the positioning fails; the third condition includes at least one of the following conditions: After sending a positioning reference signal to the first terminal M times in succession, no positioning information is received from the first terminal, wherein the positioning information includes measurement information for the positioning reference signal and / or position information determined according to the positioning reference signal, and M is a positive integer; or No positioning information is received from the first terminal within a second preset time period.

11. The method according to claim 10, characterized in that The method further comprises: According to the third condition, sending a third message to the first terminal; Based on the third message, according to the fourth condition, it is determined that the positioning fails; the fourth condition includes at least one of the following conditions: the number of transmissions of the third message reaches the maximum number of retransmissions; the third message is a radio resource control RRC message, the timer corresponding to the first terminal has timed out, and the radio resource control RRC response message of the first terminal has not been received; the continuous hybrid automatic repeat request HARQ discontinuous transmission DTX of the first message reaches the maximum number; or, the integrity check of the sidelink signaling radio bearer SL-SRB2 or SL-SRB3 corresponding to the first terminal fails.

12. The method according to claim 10 or 11, characterized in that: There are one or more first terminals; each first terminal corresponds to a count value; After sending the positioning reference signal to the first terminal M times in succession, no positioning information is received from the first terminal, including: when the count value corresponding to the first terminal increases from zero to a maximum value M, no positioning information is received from the first terminal.

13. The method according to claim 12, characterized in that In a case where it is determined that the positioning information needs to be received from the first terminal and the positioning information from the first terminal has not been received, the count value is increased by one; Alternatively, the count value is increased by one each time a positioning reference signal is sent to the first terminal; Alternatively, each time a positioning reference signal is sent to the first terminal, if no positioning information is received after a second time period has passed, the count value is increased by one.

14. The method according to claim 12 or 13, characterized in that When a fourth message is received, the count value is set to zero; the fourth message includes one or more of the following: positioning information, media access control MAC message, RRC message, side link positioning protocol SLPP message or data information.

15. The method according to any one of claims 10 to 14, characterized in that: The value of M is configured by the network device, or is preconfigured, or is determined by the second terminal; And / or, the second duration is configured by the network device, or is preconfigured, or is determined by the second terminal.

16. The method according to any one of claims 10 to 15, characterized in that: There are one or more first terminals; each first terminal corresponds to a second timer; The positioning information from the first terminal is not received within a second preset time period, including: the positioning information from the first terminal is not received during the process from when a second timer corresponding to the first terminal is started to when it times out.

17. The method according to claim 16, characterized in that When it is necessary to receive the positioning information from the first terminal, start a second timer corresponding to the first terminal; The need to receive the positioning information from the first terminal includes: after sending a positioning reference signal to the first terminal, the need to receive the positioning information from the first terminal.

18. The method according to claim 16 or 17, characterized in that The timing duration of the second timer is configured by the network device, or determined by the second terminal, or is preconfigured.

19. A communication device, characterized in that: The communication device includes a memory and one or more processors; the memory and the processor are coupled; the memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the one or more processors execute the method as described in any one of claims 1-18.

20. A computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, characterized in that: When the instructions are executed on a device, the device is caused to perform the method according to any one of claims 1 to 18.

21. A communication device, characterized in that: include: A processor, configured to execute a computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 18.

22. A computer program product, characterized in that The computer program product comprises instructions for performing the method of any one of claims 1 to 18.

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