Method for transmitting side link positioning reference signal and communication device

Abstract

Provided are a method and a communication device for transmitting a sidelink positioning reference signal, in which a first terminal device can select a target resource pool from a plurality of resource pools, select a first resource in the target resource pool, and transmit a first SL-PRS to a second terminal device on the first resource, the plurality of resource pools comprise a first type of resource pool and a second type of resource pool, so that when the first terminal device transmits the first SL-PRS, the target resource pool can be selected from the first type of resource pool and the second type of resource pool, thereby providing a method for selecting the target resource pool. And the first terminal equipment can transmit the first SL-PRS on the first resource selected in the target resource pool, so that the method for transmitting the SL-PRS is provided.

Description

Technical Field

[0001] The present application relates to the field of communications, and more specifically to a method and a communication device for transmitting a sidelink positioning reference signal in the field of communications. Background Art

[0002] In existing cellular communication systems, network devices and terminal devices can be positioned based on positioning reference signals. With the widespread application of device to device (D2D) scenarios, positioning based on positioning reference signals is also required in D2D scenarios. However, how to transmit positioning reference signals in D2D scenarios is an urgent problem to be solved. Summary of the invention

[0003] The embodiments of the present application provide a method and a communication device for transmitting a sidelink positioning reference signal, which can solve the problem of transmitting a first sidelink positioning reference signal SL-PRS in a D2D scenario.

[0004] In a first aspect, a method for transmitting a sidelink positioning reference signal is provided, which is applied to a first terminal device, comprising: selecting a target resource pool from a plurality of resource pools, the plurality of resource pools comprising a first type of resource pool and a second type of resource pool; selecting a first resource in the target resource pool; and transmitting a first SL-PRS to a second terminal device on the first resource.

[0005] In the above scheme, the first terminal device can select a target resource pool from multiple resource pools, select a first resource from the target resource pool, and transmit a first SL-PRS to the second terminal device on the first resource. The multiple resource pools include a first type of resource pool and a second type of resource pool. In this way, when transmitting the first SL-PRS, the first terminal device can select a target resource pool from the first type of resource pool and the second type of resource pool, thereby providing a method for selecting a target resource pool, and the first terminal device can transmit the first SL-PRS on the first resource selected in the target resource pool, thereby providing a method for transmitting SL-PRS.

[0006] Optionally, the first type is different from the second type.

[0007] Optionally, the first type may be a shared type, and the second type may be a dedicated type for SL-PRS. The resource pool of the shared type may be a resource pool shared by data and SL-PRS, and the resource pool of the dedicated type for SL-PRS may be a resource pool dedicated to SL-PRS and cannot be used by data.

[0008] Optionally, the first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is only used to transmit SL-PRS. Optionally, the first type of resource pool may include one or more resource pools, and the second type of resource pool may also include one or more resource pools. That is, one or more resource pools in the first type of resource pool can be used to transmit both data and SL-PRS, and one or more resource pools in the second type of resource pool can only be used to transmit SL-PRS and cannot be used to transmit data.

[0009] In a possible implementation manner, the selecting a target resource pool from the multiple resource pools includes: selecting a resource pool having a lowest channel busy ratio CBR from the multiple resource pools as the target resource pool.

[0010] In the above scheme, the first terminal device can select the resource pool with the lowest CBR as the target resource pool, so that the first resource selected in the target resource pool can meet the transmission of the first SL-PRS, avoiding the resource selected in the resource pool with high CBR which will cause poor performance of transmitting the first SL-PRS.

[0011] Optionally, the first terminal device may determine whether to use the first type of resource pool or the second type of resource pool in other ways, and then select a resource pool with the lowest CBR from the selected first type of resource pool or second type of resource pool as the target resource pool.

[0012] In a possible implementation, the priority of the first SL-PRS is a first priority, and selecting a target resource pool from multiple resource pools includes: selecting a resource pool whose SL-PRS priority is the first priority from multiple resource pools as the target resource pool.

[0013] Optionally, the first terminal device may select a resource pool with a first priority as a target resource pool, so that the first resource selected in the target resource pool can satisfy the transmission of the first SL-PRS, thereby avoiding the situation where the resources selected in other resource pools cannot satisfy the transmission of the first SL-PRS.

[0014] Optionally, the first terminal device may determine whether to use the first type of resource pool or the second type of resource pool by other means, and then select a resource pool with a first priority level of SL-PRS from the selected first type of resource pool or second type of resource pool as the target resource pool.

[0015] Optionally, the network device may configure the priority of the SL-PRS of each resource pool in multiple resource pools for the first terminal device, so that the first terminal device can obtain the priority of the SL-PRS of each resource pool according to the configuration of the network device.

[0016] In a possible implementation manner, the method further includes: receiving first information, where the first information is used to indicate a priority of the SL-PRS of each resource pool in the multiple resource pools.

[0017] In the above scheme, the first information can indicate the correspondence between each resource pool in multiple resource pools and the priority of SL-PRS. That is, when the first information indicates the correspondence between the priority of resource pool and SL-PRS, it is not necessary to distinguish between the first type of resource pool and the second type of resource pool, thereby simplifying the configuration.

[0018] In one possible implementation, the method further includes: receiving second information and third information, wherein the second information is used to indicate the priority of the SL-PRS of each resource pool in the resource pools of the first type among the multiple resource pools, and the third information is used to indicate the priority of the SL-PRS of each resource pool in the resource pools of the second type among the multiple resource pools.

[0019] In the above scheme, when the network device configures the priority of the SL-PRS of each resource pool for the first terminal device, the priority of the SL-PRS of the resource pool can be configured separately for different types of resource pools, so that the first terminal device can determine the priority of the SL-PRS of each resource pool in the first type of resource pool according to the second information, and determine the priority of the SL-PRS of each resource pool in the second type of resource pool according to the third information. In this way, the first terminal device can select a resource pool with a first priority of the SL-PRS in the resource pool of the first type indicated by the second information as the target resource pool, or can select a resource pool with a first priority of the SL-PRS in the resource pool of the second type indicated by the third information as the target resource pool. Optionally, when the first terminal device has a data transmission demand or data arrives, a resource pool with a SL-PRS priority of the first priority can be selected as the target resource pool in the first type of resource pool according to the second information; when the first terminal device has no data transmission demand or no data arrives, a resource pool with a SL-PRS priority of the first priority can be selected as the target resource pool in the second type of resource pool according to the third information. In this way, the scope of the first terminal device's selection of the target resource pool can be narrowed, avoiding the energy consumption caused by the first terminal device needing to select the target resource pool from the first type of resource pool and the second type of resource pool.

[0020] Optionally, the priority of the SL-PRS of the resource pool may be understood as the priority of using the resource pool to transmit the SL-PRS.

[0021] In one possible implementation, the selecting of a target resource pool from a plurality of resource pools includes: if the priority of the first SL-PRS is higher than a preset second priority, selecting the target resource pool from a resource pool of the second type among the plurality of resource pools; or, if the priority of the first SL-PRS is lower than the preset second priority, selecting the target resource pool from a resource pool of the first type among the plurality of resource pools.

[0022] In the above scheme, if the priority of the first SL-PRS to be currently transmitted by the first terminal device is higher than the preset second priority, it means that the priority of the first SL-PRS to be currently transmitted is high. In order to ensure the reliability of the transmission of the first SL-PRS, a target resource pool can be selected from a dedicated resource pool for transmitting SL-PRS, so that the selected target resource pool is not easily occupied by the transmission data. If the priority of the first SL-PRS to be currently transmitted by the first terminal device is lower than or equal to the preset second priority, it means that the priority of the first SL-PRS to be currently transmitted is low, and the reliability requirement of the first SL-PRS is relatively low. Therefore, the target resource pool can be selected from a shared resource pool for transmitting data and SL-PRS. In this way, even if the target resource pool is occupied by data, it will not affect the transmission of the first SL-PRS to a certain extent.

[0023] Optionally, the second priority may be preset or configured by the network device.

[0024] In one possible implementation, the selecting a target resource pool from multiple resource pools includes: if the first terminal device has a data transmission requirement, selecting the target resource pool from the first type of resource pool among the multiple resource pools; if the first terminal device does not have a data transmission requirement, selecting the target resource pool from the second type of resource pool among the multiple resource pools.

[0025] In the above scheme, if the first terminal device has a data transmission demand or data arrives, the first SL-PRS to be transmitted can be transmitted together with the data, and resources for transmitting the data and the first SL-PRS can be selected from the resource pool used to transmit data and SL-PRS, so that the data and the first SL-PRS can be transmitted together to improve the transmission efficiency. If the first terminal device has no data transmission demand or no data arrives, the first terminal device can select resources for the first SL-PRS to be transmitted in the resource pool used only for transmitting SL-PRS, which can ensure the reliability of the first SL-PRS.

[0026] In a possible implementation manner, selecting the target resource pool from the multiple resource pools includes: selecting the target resource pool from the resource pools of the second type in the multiple resource pools.

[0027] In the above scheme, when the first terminal device has the second type of resource pool configuration, it can preferentially select the target resource in the second type of resource pool. For example, the first terminal device may not determine whether there is a data transmission demand or whether data has arrived. If the terminal device needs to transmit the first SL-PRS, it can directly select the target resource pool in the second type of resource pool. In this way, the quality of transmitting the first SL-PRS can be improved.

[0028] In a possible implementation, the selecting a target resource pool from a plurality of resource pools includes: selecting a resource pool of the first type or a resource pool of the second type whose synchronization source is a global satellite navigation system GNSS from the plurality of resource pools as the target resource pool.

[0029] Optionally, the first terminal device selects a first type of resource pool or a second type of resource pool whose synchronization source is GNSS from multiple resource pools as a target resource pool. In this way, when the first terminal device selects the first resource in the target resource pool to transmit the first SL-PRS, the transmission reliability can be improved.

[0030] Optionally, if there are two or more resource pools among multiple resource pools whose synchronization source is GNSS, the first terminal device may determine the target resource pool among the two or more resource pools based on other parameters. For example, the first terminal device may select the resource pool with the lowest CBR as the target resource pool among two or more resource pools; for another example, the first terminal device may select the resource pool with the first priority of SL-PRS as the target resource pool among two or more resource pools.

[0031] In one possible implementation, selecting the first resource in the target resource pool includes: selecting the first resource in the target resource pool according to a resource selection parameter; wherein the resource selection parameter includes at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority, or a first remaining packet delay budget PDB.

[0032] In the above scheme, the first terminal device can select the first resource in the target resource pool according to the resource selection parameter, and a method for selecting the first resource for transmitting the first SL-PRS is provided.

[0033] Optionally, the name of the resource selection parameter is not restricted. For example, the first resource reservation time interval is a parameter related to the period when the first terminal device selects the first resource in the target resource pool. The embodiment of the present application only takes the first resource reservation time interval as an example for description, and does not limit the name of the resource selection parameter. For another example, the first PDB is a parameter related to time requirements. The embodiment of the present application only takes the first PDB as an example for description, and does not limit the name of the resource parameter.

[0034] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameters include the first resource reservation time interval, and the method includes: if the first terminal device has a data transmission requirement, selecting the minimum transmission period between the data transmission period and the transmission period of the first SL-PRS as the first resource reservation time interval.

[0035] In the above scheme, the first resource selected according to the first reserved time interval can meet the transmission of the first SL-PRS and the transmission of data, and can improve the reliability of the transmission of the first SL-PRS.

[0036] Optionally, selecting the first resource in the target resource pool includes: selecting a first resource reservation time interval from one or more transmission periods supported by the target resource pool, or selecting a transmission period from one or more transmission periods supported by the target resource pool, and using the transmission period as the first resource reservation time interval. The first resource reservation time interval may support or cover the transmission period of the data and the transmission period of the first SL-PRS, for example, the first reservation time interval is the minimum of the transmission period of the data and the transmission period of the first SL-PRS, or the first reservation time interval is the first transmission period of the one or more transmission periods supported by the target resource pool that is close to the minimum of the transmission period of the data and the transmission period of the first SL-PRS.

[0037] Optionally, the data transmission period may be determined by the data transmission requirements of the first terminal device.

[0038] Optionally, the transmission period of the first SL-PRS may be determined by the positioning service requirements currently executed by the first terminal device.

[0039] In one possible implementation, the target resource pool is a resource pool of the first type, the resource selection parameters include the first resource reservation time interval, and the method includes: if the first terminal device has a data transmission requirement, selecting the minimum transmission period between the data transmission period and the first SL-PRS transmission period; if the target resource pool supports the minimum transmission period, selecting the minimum transmission period as the first resource reservation time interval; or, if the target resource pool does not support the minimum transmission period, selecting a first transmission period close to the minimum transmission period from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the first transmission period.

[0040] In the above scheme, the first reserved time interval may be a transmission period supported by the target resource pool, and when data is transmitted together with the first SL-PRS, the first resource selected according to the first resource reservation time interval may simultaneously satisfy the transmission of data and the first SL-PRS.

[0041] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameters include the first resource reservation time interval, and the method includes: if the first terminal device has no data transmission requirement, selecting the transmission period of the first SL-PRS as the first resource reservation time interval; or, if the first terminal device has no data transmission requirement, selecting a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0042] In the above scheme, the first resource selected according to the first reserved time interval can meet the transmission of the first SL-PRS, and the reliability of the transmission of the first SL-PRS can be improved.

[0043] In one possible implementation, the target resource pool is the resource pool of the second type, and the resource selection parameters include the first resource reservation time interval, which is the transmission period of the first SL-PRS; or, the method includes: selecting a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0044] In the above scheme, when the target resource pool is a resource pool of the second type, the first terminal device can use the transmission period of the first SL-PRS as the first resource reservation time interval, or can select a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool as the first resource reservation time interval. In this way, the first resource selected according to the first resource reservation time interval can meet the transmission of the first SL-PRS.

[0045] Optionally, a first resource reservation time interval is selected from one or more transmission periods supported by the target resource pool, or a transmission period is selected from one or more transmission periods supported by the target resource pool, and the transmission period is used as the first resource reservation time interval. The first resource reservation time interval may support or cover the transmission period of the first SL-PRS, for example, the first reservation time interval is the transmission period of the first SL-PRS, or the first reservation time interval is the second transmission period of the one or more transmission periods supported by the target resource pool that is close to the transmission period of the first SL-PRS.

[0046] Optionally, the first terminal device selects a first HARQ retransmission number from a first transmission number available to the first terminal device and a second transmission number determined according to the current CBR of the target resource pool, wherein the first HARQ retransmission number is the intersection of the available first transmission number and the second transmission number. In other words, the first HARQ retransmission number selected by the first terminal device from the available first transmission number and the second transmission number can cover the retransmission number of the first SL-PRS. Optionally, the first terminal device can obtain the current CBR of the target resource pool through measurement.

[0047] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes: if the first terminal device has a data transmission requirement, selecting the HARQ retransmission number of data as the first HARQ retransmission number; or, if the first terminal device has no data transmission requirement, selecting the first HARQ retransmission number based on at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0048] Optionally, the number of HARQ retransmissions corresponding to the CBR of the target resource pool may be the number of HARQ retransmissions corresponding to the current CBR of the target resource pool.

[0049] In a possible implementation, when the first terminal device has a data transmission requirement, if the data transmission of the first terminal device is successful, it means that the first SL-PRS is transmitted successfully.

[0050] In the above scheme, since the data and the first SL-PRS are transmitted simultaneously, if the data transmission is successful, it means that the first SL-PRS is also transmitted successfully, and the number of HARQ retransmissions of the data is the first HARQ retransmission number of the first SL-PRS.

[0051] Optionally, the first terminal device selects a first HARQ retransmission number from a first transmission number available to the first terminal device and a second transmission number determined according to the current CBR of the target resource pool, wherein the first HARQ retransmission number is the intersection of the first transmission number and the second transmission number. In other words, the first HARQ retransmission number selected by the first terminal device from the first transmission number and the second transmission number can cover the retransmission number of the first SL-PRS. Optionally, the first terminal device can obtain the current CBR of the target resource pool through measurement.

[0052] In a possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes: selecting the first HARQ retransmission number according to at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool. In this way, the first HARQ retransmission number selected by the first terminal device can meet the transmission of the first SL-PRS.

[0053] Optionally, the intersection of the number of HARQ retransmissions supported by the first terminal device and the number of HARQ retransmissions corresponding to the CBR of the target resource pool may be the first number of HARQ retransmissions.

[0054] In a possible implementation manner, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first frequency domain resource amount, and the method further includes:

[0055] If the first terminal device has a data transmission requirement, the number of subchannels corresponding to the data is selected as the first frequency domain resource amount, or the maximum number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS is selected as the first frequency domain resource amount. In this way, when the data and the first SL-PRS are sent together, the first resource selected according to the first frequency domain resource amount can meet the transmission of the data and the first SL-PRS.

[0056] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameters include a first frequency domain resource amount, and the method further includes: if the first terminal device has no data transmission requirement, determining the first frequency domain resource amount based on the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

[0057] In the above scheme, when data and the first SL-PRS are transmitted together, the maximum number of sub-channels can be selected as the first frequency domain resource amount. In this way, it can be ensured that the data and the first SL-PRS have sufficient frequency domain resources, which is conducive to improving the reliability of the transmission of data and the first SL-PRS.

[0058] In one possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameters include the first frequency domain resource amount, and the method further includes: determining the first frequency domain resource amount based on the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

[0059] In the above scheme, the first frequency domain resource amount can be determined based on the number of subchannels supported by the first terminal device and the number of subchannels supported by the target resource pool. In this way, it can be ensured that the SL-PRS has sufficient frequency domain resources, which is beneficial to improving the transmission reliability of the first SL-PRS.

[0060] In a possible implementation, the target resource pool is a resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes: if the first terminal device has a data transmission requirement, selecting the priority of the data as the first priority.

[0061] In the above scheme, when data and the first SL-PRS are transmitted together, the priority of the data can be used as the first priority, so that the first resource selected in the target resource pool according to the priority of the data can simultaneously meet the transmission of the data and the first SL-PRS.

[0062] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes: if the first terminal device has a data transmission requirement, selecting a higher priority between the data priority and the first SL-PRS priority as the first priority.

[0063] In the above scheme, when data and the first SL-PRS are transmitted together, the higher priority of the data and the first SL-PRS can be used as the first priority, so that the first resource selected in the target resource pool according to the first priority can simultaneously meet the transmission of the data and the first SL-PRS.

[0064] In a possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes: if the first terminal device has no data transmission requirement, selecting the priority of the first SL-PRS as the first priority.

[0065] In the above scheme, when there is no data transmission demand, when selecting the first resource in the first type of target resource pool, the first resource can be selected according to the priority of the first SL-PRS, so that the selected first resource can meet the transmission of the first SL-PRS.

[0066] Optionally, if the first terminal device has no data transmission demand or no data arrives, the first terminal device selects the higher priority between the priority of the first SL-PRS and the priority of the SL-SCH MAC subheader as the first priority. The priority of the SL-SCH MAC subheader can be the priority of the first terminal device to transmit the SL-SCH MAC subheader.

[0067] In a possible implementation, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first priority, and the method further includes: selecting the priority of the first SL-PRS as the first priority. In this way, the selected first resource can satisfy the transmission of the first SL-PRS.

[0068] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first PDB, and the method further includes: if the first terminal device has a data transmission requirement, selecting the smaller of the PDB of the data and the PDB of the first SL-PRS as the first PDB.

[0069] In the above scheme, when there is a need for data transmission, the smaller of the PDB of the data and the PDB of the first SL-PRS can be selected as the first PDB. In this way, when the first terminal device transmits the data and the first SL-PRS together according to the first PDB, the data and the first SL-PRS can be transmitted together within the first PDB, which can satisfy the PDB of the data and the PDB of the first SL-PRS at the same time.

[0070] In a possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first PDB, and the method further includes: if the first terminal device has no data transmission requirement, selecting the PDB of the first SL-PRS as the first PDB.

[0071] In a possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first PDB, and the method further includes: selecting the PDB of the first SL-PRS as the first PDB.

[0072] In a second aspect, a method for transmitting a sidelink positioning reference signal is provided, comprising: the method is applied to a first terminal device, comprising: selecting a first resource in a target resource pool according to a resource selection parameter, the target resource pool being a first type of resource pool or a second type of resource pool; transmitting a first SL-PRS to a second terminal device on the first resource; wherein the resource selection parameter comprises at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority level, or a first remaining packet delay budget PDB.

[0073] In the above scheme, the first terminal device can select the first resource in the target resource pool according to the resource selection parameters, and send the first SL-PRS to the second terminal device on the first resource. The first resource selected according to the resource selection parameters can meet the transmission of the first SL-PRS, which is beneficial to improving the reliability of transmitting the first SL-PRS.

[0074] In a possible implementation manner, the first type is a shared type, and the second type is a type of dedicated resources for a sidelink positioning reference signal.

[0075] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameters include the first resource reservation time interval, and the method includes: if the first terminal device has a data transmission requirement, selecting the minimum transmission period between the data transmission period and the transmission period of the first SL-PRS as the first resource reservation time interval.

[0076] In one possible implementation, the target resource pool is a resource pool of the first type, the resource selection parameters include the first resource reservation time interval, and the method includes: if the first terminal device has a data transmission requirement, selecting the minimum transmission period between the data transmission period and the first SL-PRS transmission period; if the target resource pool supports the minimum transmission period, selecting the minimum transmission period as the first resource reservation time interval; or, if the target resource pool does not support the minimum transmission period, selecting a first transmission period close to the minimum transmission period from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the first transmission period.

[0077] In a possible implementation manner, the target resource pool is a resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes:

[0078] If the first terminal device has no data transmission requirement, select the transmission period of the first SL-PRS as the first resource reservation time interval; or, if the first terminal device has no data transmission requirement, select a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0079] In a possible implementation manner, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first resource reservation time interval, and the first resource reservation time interval is the transmission period of the first SL-PRS; or, the method includes:

[0080] A second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0081] In a possible implementation manner, the target resource pool is a resource pool of the first type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes:

[0082] If the first terminal device has a data transmission requirement, select the HARQ retransmission number of the data as the first HARQ retransmission number; or,

[0083] If the first terminal device has no data transmission demand, the first HARQ retransmission number is selected according to at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio of the target resource pool.

[0084] In a possible implementation, when the first terminal device has a data transmission requirement, if the data transmission of the first terminal device is successful, it means that the first SL-PRS is transmitted successfully.

[0085] In a possible implementation manner, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes:

[0086] The first HARQ retransmission number is determined according to at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0087] In a possible implementation manner, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first frequency domain resource amount, and the method further includes:

[0088] If the first terminal device has a data transmission requirement, select the number of subchannels corresponding to the data as the first frequency domain resource amount, or select the largest number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS as the first frequency domain resource amount; or

[0089] If the first terminal device has no data transmission demand, the first frequency domain resource amount is determined according to the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

[0090] In a possible implementation manner, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first frequency domain resource amount, and the method further includes:

[0091] The first frequency domain resource amount is determined according to the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

[0092] In a possible implementation manner, the target resource pool is a resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes:

[0093] If the first terminal device has a data transmission demand, select the priority of the data as the first priority, or select the higher priority between the priority of the data and the priority of the first SL-PRS as the first priority; or

[0094] If the first terminal device has no data transmission requirement, the priority of the first SL-PRS is selected as the first priority.

[0095] In a possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first priority, and the method further includes: selecting the priority of the first SL-PRS as the first priority.

[0096] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameters include the first PDB, and the method further includes: if the first terminal device has a data transmission requirement, selecting the smaller of the PDB of the data and the PDB of the first SL-PRS as the first PDB; or, if the first terminal device has no data transmission requirement, selecting the PDB of the first SL-PRS as the first PDB.

[0097] In a possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first PDB, and the method further includes: selecting a PDB of a first SL-PRS as the first PDB.

[0098] Specifically, the description of the second aspect can refer to the description of the first aspect, and in order to avoid redundancy, a detailed description is not given here.

[0099] In a third aspect, an embodiment of the present application provides a communication device having the function of implementing any of the above aspects. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions. For example, a transceiver module or unit, a processing module or unit, an acquisition module or unit, etc.

[0100] In a fourth aspect, an embodiment of the present application provides a communication device, comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to enable the communication device to execute any one of the methods described in the above aspects when calling the computer program.

[0101] In a fifth aspect, an embodiment of the present application provides a chip system, which includes a processor, the processor is coupled to a memory, and the processor executes a computer program stored in the memory to implement any of the methods described in the above aspects.

[0102] The chip system may be a single chip or a chip module composed of multiple chips.

[0103] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method described in any one of the above aspects is implemented.

[0104] In a seventh aspect, an embodiment of the present application provides a computer program product, which, when executed on a communication device, enables the communication device to execute any of the methods described in the above aspects.

[0105] It can be understood that the beneficial effects of the third to seventh aspects mentioned above can be found in the relevant descriptions of the first and second aspects mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] Figure 1 It is a schematic diagram of a communication system provided in an embodiment of the present application.

[0107] Figure 2 It is a schematic diagram of a method for transmitting a sidelink positioning reference signal provided in an embodiment of the present application.

[0108] Figure 3 It is a schematic diagram of another method for transmitting a sidelink positioning reference signal provided in an embodiment of the present application.

[0109] Figure 4 It is a schematic block diagram of a communication device provided in an embodiment of the present application.

[0110] Figure 5 It is a schematic block diagram of another communication device provided in an embodiment of the present application.

[0111] Figure 6 It is a schematic block diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0112] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0113] It should be understood that the methods, situations, categories and divisions of the embodiments in the present application are only for the convenience of description and should not constitute special limitations. The features of various methods, categories, situations and embodiments can be combined without contradiction.

[0114] It should also be understood that the "first", "second" and "third" in the embodiments of the present application are only for distinction and should not constitute any limitation to the present application. It should also be understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0115] Figure 1 is a schematic diagram of an inter-device communication system 100. The wireless communication device may include two or more terminal devices, Figure 1The terminal device 110 and the terminal device 120 are used as an example for description. The terminal device 110 and the terminal device 120 can communicate directly with each other. The link for communication between the terminal device 110 and the terminal device 120 is called a sidelink. For example, the terminal device 110 can send data to the terminal device 120 through the sidelink, and the terminal device 120 can send data to the terminal device 110 through the sidelink. Sidelinks are generally used in scenarios where direct communication can be performed between devices, such as vehicle to everything (V2X) or device to device (D2D). V2X communication can be regarded as a special case of D2D communication.

[0116] New radio (NR) access technology is the mainstream wireless communication technology at present. It can support V2X communication with lower latency and higher reliability according to V2X service characteristics and new service requirements. V2X is the foundation and key technology for realizing smart cars, autonomous driving, and intelligent transportation systems. V2X can include vehicle to network (V2N), vehicle to vehicle (V2V), vehicle to infrastructure (V2I), vehicle to pedestrian (V2P), etc. V2N communication is the most widely used form of vehicle networking at present. Its main function is to enable vehicles to connect to cloud servers through mobile networks and use navigation, entertainment, anti-theft and other application functions provided by cloud servers. V2V communication can be used for information exchange and reminders between vehicles. The most typical application is for anti-collision safety systems between vehicles. Through V2I communication, vehicles can communicate with roads and even other infrastructure, such as traffic lights and roadblocks, to obtain road management information such as traffic light signal timing. V2P communication can be used for safety warnings for pedestrians or non-motor vehicles on the road.

[0117] The terminal device 110 or the terminal device 120 may be fixed in position or movable. Figure 1 This is just a schematic diagram. The communication system may also include one or more network devices, such as Figure 1 The network device 130 may also be included as shown. The link through which the terminal device 110 sends data to the network device 130 is called an uplink, and the link through which the terminal device 110 receives data sent by the network device 130 is called a downlink. The embodiments of the present application do not limit the types and quantities of the network devices and terminal devices included in the mobile communication system.

[0118] The terminal device 110 or the terminal device 120 in the mobile communication system 100 may also be referred to as a terminal, user equipment (UE), a mobile station (MS), a mobile terminal (MT), a road side unit (RSU), etc. The terminal device in the embodiment of the present application can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a mechanical arm, a smart home device, a speaker, etc. It can also be a wireless terminal used in device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical, smart grid, transportation safety, smart city, smart wear, smart transportation, and smart home. In this application, the aforementioned terminal device and the chip applicable to the aforementioned terminal device are collectively referred to as a terminal device. It should be understood that the embodiment of the present application does not limit the specific technology and specific device form adopted by the terminal device.

[0119] Terminal devices may communicate with each other through a licensed spectrum, through an unlicensed spectrum, or through both a licensed spectrum and an unlicensed spectrum; may communicate through a spectrum below 6 gigahertz (GHz), through a spectrum above 6 GHz, or through both a spectrum below 6 GHz and a spectrum above 6 GHz. The embodiments of the present application do not limit the spectrum resources used for wireless communications.

[0120] It should be understood that Figure 1 For ease of understanding only, the terminal device 110 or the terminal device 120 is schematically shown, but this should not constitute any limitation to the present application. The wireless communication system may not include a network device, or may include a greater number of network devices, or may include a greater or lesser number of terminal devices, and the present application does not limit this.

[0121] In cellular communication scenarios, some devices can locate the terminal device to determine the location of the terminal device, or the terminal device can determine its own location based on the assistance of other devices. Figure 1 In the scenario shown, there is also a need for positioning between the terminal device 110 and the terminal device 120. The terminal device 110 and the terminal device 120 can be positioned based on the sidelink positioning reference signal (SL-PRS), but how the terminal device 110 and the terminal device 120 transmit the SL-PRS to achieve positioning is an urgent problem to be solved.

[0122] For the sake of description, the numbers of the terminal devices 110 and / or 120 are omitted below.

[0123] In an embodiment of the present application, a first terminal device can select a target resource pool from multiple resource pools, select a first resource from the target resource pool, and transmit a first SL-PRS to a second terminal device on the first resource. The multiple resource pools include a first type of resource pool and a second type of resource pool. In this way, when transmitting the first SL-PRS, the first terminal device can select a target resource pool from the first type of resource pool and the second type of resource pool, thereby providing a method for selecting a target resource pool, and the first terminal device can transmit the first SL-PRS on the first resource selected in the target resource pool, thereby providing a method for transmitting SL-PRS.

[0124] Combine the following Figure 2 The method 200 shown in the figure describes the method for transmitting SL-PRS in an embodiment of the present application. Figure 2 As shown, method 200 includes at least part of the following contents:

[0125] S210: A first terminal device selects a target resource pool from a plurality of resource pools, where the plurality of resource pools include a first type of resource pool and a second type of resource pool.

[0126] Optionally, the first type is different from the second type.

[0127] Optionally, the first type may be a shared type, and the second type may be a dedicated type for SL-PRS. The resource pool of the shared type may be a resource pool shared by data and SL-PRS, and the resource pool of the dedicated type for SL-PRS may be a resource pool dedicated to SL-PRS and cannot be used by data.

[0128] Optionally, the first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is only used to transmit SL-PRS. Optionally, the first type of resource pool may include one or more resource pools, and the second type of resource pool may also include one or more resource pools. That is, one or more resource pools in the first type of resource pool can be used to transmit both data and SL-PRS, and one or more resource pools in the second type of resource pool can only be used to transmit SL-PRS and cannot be used to transmit data.

[0129] Optionally, one resource pool among the multiple resource pools may include one or more resources. One resource may be a time-frequency resource.

[0130] Optionally, the target resource pool is used to transmit the first SL-PRS. Optionally, a resource in the target resource pool (eg, the first resource in S220) is used to transmit the first SL-PRS.

[0131] Optionally, S210 includes: a medium access control (MAC) layer of the first terminal device may select a target resource pool from a plurality of resource pools. That is, S210 may be executed by the MAC layer of the first terminal device.

[0132] Optionally, if the first terminal device is triggered to send SL-PRS, for example, the first terminal device is triggered to send SL-PRS by the second terminal device, then the first terminal device may execute S210. For example, the second terminal device sends a first request message to the first terminal device, and the first request message is used to request the first terminal device to send SL-PRS. Specifically, the first request message may be sidelink control information (SCI) or SL-PRS. SCI may instruct the first terminal device to send SL-PRS, and SL-PRS may also instruct the first terminal device to send SL-PRS. After the first terminal device receives the first request message, S210 may be executed. For example, after the first terminal device receives the first request message, the radio resource control (RRC) layer or the sidelink positioning protocol (SLPP) layer of the first terminal device determines to send SL-PRS, then the first terminal device executes S210. Optionally, SLPP is only used as an example, and other protocols with similar functions may also be named.

[0133] Optionally, if the first terminal device has a SL-PRS transmission requirement, the first terminal device may execute S210. For example, when the first terminal device itself has a positioning service requirement, or when the first terminal device needs to assist other terminal devices to realize the positioning of other terminal devices, the first terminal device has a SL-PRS transmission requirement, and S210 may be executed. For example, if the RRC layer or SLPP layer of the first terminal device determines that the SL-PRS needs to be sent, the first terminal device executes S210.

[0134] Optionally, the condition for the first terminal device to execute S210 may be that other terminal devices request or trigger the first terminal to send SL-PRS, or the first terminal device itself has a need to transmit SL-PRS.

[0135] It is understandable that the first terminal device may actively have the need to send the SL-PRS or passively have the need to send the SL-PRS.

[0136] Optionally, before S210, the network device may configure multiple resource pools for the first terminal device, for example, by sending first configuration information to the first terminal device, where the first configuration information is used to configure multiple resource pools. The first configuration information may specifically configure a first type of resource pool and a second type of resource pool for the first terminal device. For example, the network device may configure the first type of resource pool and the second type of resource pool through the first configuration information, or may configure the first type of resource pool and the second type of resource pool through two configuration information, respectively.

[0137] Several implementations of S210 are introduced below.

[0138] Method 1, S210, includes: selecting a resource pool with the lowest channel busy ratio (CBR) from multiple resource pools as a target resource pool. Optionally, the first terminal device can measure each of the multiple resource pools to obtain the CBR of each resource pool. For example, the multiple resource pools are composed of a first type of resource pool for transmitting data and SL-PRS and a second type of resource pool only for transmitting SL-PRS. The network device can configure resource pool 1, resource pool 2, resource pool 3 and resource pool 4, wherein resource pool 1 and resource pool 2 are resource pools of the first type, and resource pool 3 and resource pool 4 are resource pools of the second type. The first terminal device can measure and compare the CBRs of the four resource pools. For example, if the CBR of resource pool 3 is the lowest, resource pool 3 can be determined as the target resource pool.

[0139] Alternatively, selecting a resource pool with the lowest CBR from among multiple resource pools as the target resource pool may be replaced by: determining a resource pool with the lowest CBR from among multiple resource pools as the target resource pool.

[0140] Optionally, the first terminal device may determine whether to use the first type of resource pool or the second type of resource pool by other means, and then select the resource pool with the lowest CBR as the target resource pool from the selected first type of resource pool or the second type of resource pool. For example, if the first terminal device has a data transmission demand or data arrival, the resource pool with the lowest CBR may be selected as the target resource pool from the first type of resource pool among multiple resource pools; if the first terminal device has no data transmission demand or no data arrival, the resource pool with the lowest CBR may be selected as the target resource pool from the second type of resource pool among multiple resource pools. In other words, the first terminal device may determine whether to select the first type of resource pool or the second type of resource pool based on whether there is a data transmission demand or whether data arrival, and then select the resource pool with the lowest CBR as the target resource pool from the selected first type of resource pool or the second type of resource pool. That is, the first terminal device may first select which type of resource pool based on whether there is a data transmission demand or whether data arrival, and then select the resource pool with the lowest CBR as the target resource pool from the selected type of resource pool based on the CBR.

[0141] Method 2, the priority of the first SL-PRS is the first priority, S210, including: the first terminal device selects a resource pool whose SL-PRS priority is the first priority from multiple resource pools as the target resource pool. That is to say, the first terminal device needs to match a resource pool with the same priority as the first SL-PRS from multiple resource pools as the target resource pool. For example, the priority of the SL-PRS of resource pool 1 is 5, the priority of the SL-PRS of resource pool 2 is 4, the priority of the SL-PRS of resource pool 3 is 6, and the priority of the SL-PRS of resource pool 4 is 1, wherein resource pool 1 and resource pool 2 are resource pools of the first type, and resource pool 3 and resource pool 4 are resource pools of the second type. If the priority of the first SL-PRS is 4, resource pool 2 can be used as the target resource pool.

[0142] Optionally, the first terminal device may determine whether to use the first type of resource pool or the second type of resource pool by other means, and then select a resource pool with a SL-PRS priority of the first priority as the target resource pool in the selected first type of resource pool or the second type of resource pool. For example, if the first terminal device has a data transmission requirement or data has arrived, a resource pool with a SL-PRS priority of the first priority may be selected from the first type of resource pool among multiple resource pools as the target resource pool; if the first terminal device has no data transmission requirement or no data has arrived, a resource pool with a SL-PRS priority of the first priority may be selected from the second type of resource pool among multiple resource pools as the target resource pool. In other words, the first terminal device may determine whether to select the first type of resource pool or the second type of resource pool based on whether there is a data transmission requirement or whether data has arrived, and then select a resource pool with a SL-PRS priority of the first priority as the target resource pool in the selected first type of resource pool or the second type of resource pool, wherein the priority of the first SL-PRS is the first priority. That is, the first terminal device can first select the type of resource pool according to whether there is a data transmission demand or whether data has arrived, and then select the resource pool with the priority of the first SL-PRS as the target resource pool in the selected type of resource pool.

[0143] Optionally, in method 2, the network device may configure the priority of the SL-PRS of each resource pool in multiple resource pools for the first terminal device, so that the first terminal device can obtain the priority of the SL-PRS of each resource pool according to the configuration of the network device.

[0144] Optionally, the network device may send first information to the first terminal device, where the first information is used to indicate the priority of the SL-PRS of each resource pool in multiple resource pools. For example, the first information may indicate the correspondence between each resource pool in multiple resource pools and the priority of the SL-PRS. That is, when the first information indicates the correspondence between the resource pool and the priority of the SL-PRS, it is not necessary to distinguish between the first type of resource pool and the second type of resource pool, thereby simplifying the configuration.

[0145] Optionally, the network device may send second information and third information to the first terminal device, the second information being used to indicate the priority of the SL-PRS of each resource pool of the first type in the multiple resource pools, and the third information being used to indicate the priority of the SL-PRS of each resource pool of the second type in the multiple resource pools. That is, when the network device configures the priority of the SL-PRS of each resource pool for the first terminal device, the priority of the SL-PRS of the resource pool may be configured separately for different types of resource pools, so that the first terminal device may determine the priority of the SL-PRS of each resource pool of the first type according to the second information, and determine the priority of the SL-PRS of each resource pool of the second type according to the third information. In this way, the first terminal device may select a resource pool whose SL-PRS priority is the first priority as the target resource pool in the resource pool of the first type indicated by the second information, or may select a resource pool whose SL-PRS priority is the first priority as the target resource pool in the resource pool of the second type indicated by the third information. Optionally, when the first terminal device has a data transmission demand or data arrives, a resource pool with a SL-PRS priority of the first priority can be selected as the target resource pool in the first type of resource pool according to the second information; when the first terminal device has no data transmission demand or no data arrives, a resource pool with a SL-PRS priority of the first priority can be selected as the target resource pool in the second type of resource pool according to the third information. In this way, the scope of the first terminal device's selection of the target resource pool can be narrowed, avoiding the energy consumption caused by the first terminal device needing to select the target resource pool from the first type of resource pool and the second type of resource pool.

[0146] Optionally, in the second method, the priority of the SL-PRS of the resource pool can be understood as the priority of using the resource pool to transmit the SL-PRS.

[0147] Mode three, S210, includes: if the priority of the first SL-PRS is higher than the preset second priority, then select a target resource pool from a second type of resource pool in multiple resource pools, wherein the second type of resource pool may be a resource pool used only for transmitting SL-PRS. That is to say, if the priority of the first SL-PRS to be currently transmitted by the first terminal device is higher than the preset second priority, indicating that the priority of the first SL-PRS to be currently transmitted is high, in order to ensure the reliability of transmitting the first SL-PRS, a target resource pool may be selected from a dedicated resource pool for transmitting SL-PRS, so that the selected target resource pool is not easily occupied by the transmitted data. Optionally, S210 includes: if the priority of the first SL-PRS is lower than or equal to the preset second priority, then select a target resource pool from a first type of resource pool in multiple resource pools, wherein the first type of resource pool may be a resource pool used for transmitting data and SL-PRS. That is to say, if the priority of the first SL-PRS currently to be transmitted by the first terminal device is lower than or equal to the preset second priority, it means that the priority of the first SL-PRS currently to be transmitted is low, and the reliability requirement of the first SL-PRS is relatively low. Therefore, the target resource pool can be selected in the shared resource pool for transmitting data and SL-PRS. In this way, even if the target resource pool is occupied by data, it will not affect the transmission of the first SL-PRS to a certain extent.

[0148] Optionally, selecting a target resource pool from resource pools of the second type among the multiple resource pools may be replaced by: selecting a resource pool of the second type as the target resource pool, or selecting one resource pool of the second type as the target resource pool.

[0149] Optionally, selecting a target resource pool from a first type of resource pool among multiple resource pools may be replaced by: selecting a second type of resource pool as the target resource pool, or selecting one of the second type of resource pools as the target resource pool.

[0150] Optionally, the second priority may be preset or configured by the network device, which is not limited in the embodiment of the present application.

[0151] Optionally, if the priority of the first SL-PRS is higher than or equal to the preset second priority, the target resource pool is selected from the second type of resource pool among the multiple resource pools; if the priority of the first SL-PRS is lower than the preset second priority, the target resource pool is selected from the first type of resource pool among the multiple resource pools. In other words, the priority of the first SL-PRS equal to the preset second priority can be in either a branch greater than or a branch less than the second priority, and the embodiments of the present application do not impose any restrictions on this.

[0152] Optionally, in Mode 2 and Mode 3, the priority of SL-PRS may be the transmission priority of SL-PRS. Optionally, the priority of SL-PRS in Mode 2 and Mode 3 may also be understood as the priority used by the first terminal device when transmitting SL-PRS in the resource pool, such as the priority used by the first terminal device when reserving or sensing resources in the resource pool. Optionally, different services may correspond to different SL-PRS transmission priorities. For example, if the first terminal device needs to transmit service 1, the priority of SL-PRS corresponding to service 1 is priority 1, and if the first terminal device needs to transmit service 2, the priority of SL-PRS corresponding to service 2 is priority 2, wherein the priorities of SL-PRS corresponding to different services may be the same or different, and the embodiments of the present application do not limit this. For services with high reliability requirements, the priority of SL-PRS is high, and for services with low reliability requirements, the priority of SL-PRS is high.

[0153] Mode 4, optional, S210, including: if the first terminal device has a data transmission demand or data arrives, then select a target resource pool from a first type of resource pool among multiple resource pools; or, if the first terminal device has no data transmission demand or no data arrives, then select a target resource pool from a second type of resource pool among multiple resource pools. Among them, the first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is only used to transmit SL-PRS. That is to say, if the first terminal device has a data transmission demand or data arrives, the first SL-PRS to be transmitted can be transmitted together with the data, and the resources for transmitting the data and the first SL-PRS can be selected in the resource pool used to transmit data and SL-PRS, so that the data can be transmitted together with the first SL-PRS to improve the transmission efficiency. Optionally, in the case where the data and the first SL-PRS are transmitted together, if the data transmission is successful, it means that the first SL-PRS is also successfully transmitted. If the first terminal device has no data transmission demand or no data arrives, the first terminal device can select resources for the first SL-PRS to be transmitted in the resource pool only used to transmit SL-PRS, which can ensure the reliability of the first SL-PRS.

[0154] Optionally, method 4 may be combined with the above-mentioned method 1, method 2 or method 3. For example, the scheme of combining method 4 with method 1 may be: if the first terminal device has a data transmission demand or data has arrived, then a resource pool with the lowest CBR is selected from a resource pool of the first type among multiple resource pools as the target resource pool; if the first terminal device has no data transmission demand or no data has arrived, then a resource pool with the lowest CBR is selected from a resource pool of the second type among multiple resource pools as the target resource pool. For another example, the scheme of combining method 4 with method 2 may be: if the first terminal device has a data transmission demand or data has arrived, then a resource pool with a first priority level of SL-PRS is selected from a resource pool of the first type among multiple resource pools as the target resource pool; if the first terminal device has no data transmission demand or no data has arrived, then a resource pool with a first priority level of SL-PRS is selected from a resource pool of the second type among multiple resource pools as the target resource pool. For another example, a combination of method four and method three may be: if the first terminal device has no data transmission demand or no data has arrived, and the priority of the first SL-PRS is higher than the preset second priority, then the target resource pool is selected from the second type of resource pools among the multiple resource pools; if the first terminal device has a data transmission demand or data has arrived, and the priority of the first SL-PRS is lower than the preset second priority, then the target resource pool is selected from the first type of resource pools among the multiple resource pools.

[0155] Optionally, if the first terminal device has no data transmission demand or no data has arrived, then selecting a target resource pool from a second type of resource pool among multiple resource pools may be replaced by: If the first terminal device has no data transmission demand or no data has arrived, then selecting a second type of resource pool as the target resource pool, wherein the first terminal device may select a resource pool from the second type of resource pool among multiple resource pools as the target resource pool. Optionally, if the first terminal device has a data transmission demand or data has arrived, then selecting a target resource pool from a first type of resource pool among multiple resource pools may be replaced by: If the first terminal device has a data transmission demand or data has arrived, then selecting a first type of resource pool as the target resource pool, wherein the first terminal device may select a resource pool from the first type of resource pool among multiple resource pools as the target resource pool.

[0156] Mode 5, S210, includes: the first terminal device selects a target resource pool from a second type of resource pool among multiple resource pools, and the second type of resource pool may be a resource pool used only for transmitting SL-PRS, that is, the first terminal device may preferentially select a target resource from the second type of resource pool when having a second type of resource pool configuration, for example, the first terminal device may not determine whether there is a data transmission demand or whether data has arrived, and if the terminal device needs to transmit the first SL-PRS, the target resource pool may be directly selected from the second type of resource pool. In this way, the quality of transmitting the first SL-PRS may be improved.

[0157] Optionally, method 5 may be combined with method 1 or method 2. For example, the combination of method 5 and method 1 may be: the first terminal device may select a resource pool with the lowest CBR as the target resource pool from the resource pool of the second type. For another example, the combination of method 5 and method 2 may be: the first terminal device may select a resource pool with a first priority level of SL-PRS as the target resource pool from the resource pool of the second type. The first priority level is the priority level of the first SL-PRS.

[0158] Optionally, the first terminal device selects the target resource pool from the second type of resource pools in the multiple resource pools, which can be replaced by: selecting the second type of resource pool as the target resource pool, or selecting one of the second type of resource pools as the target resource pool.

[0159] Mode six, S210, includes: the first terminal device can select a target resource pool from multiple resource pools based on the synchronization source. Optionally, the first terminal device can select a target resource pool from multiple resource pools based on the synchronization source, including: the first terminal device selects a first type of resource pool or a second type of resource pool whose synchronization source is a global navigation satellite system (GNSS) as the target resource pool from multiple resource pools. That is to say, some of the multiple resource pools have a synchronization source of GNSS, while some of the resource pools do not have a synchronization source of GNSS. In other words, some of the multiple resource pools support or allow GNSS as the synchronization source, while some of the resource pools do not support or allow GNSS as the synchronization source. The first terminal device should select a resource pool whose synchronization source is GNSS as the first resource pool. Optionally, if there are two or more resource pools among multiple resource pools whose synchronization source is GNSS, the first terminal device can determine the target resource pool among the two or more resource pools based on other parameters. For example, in combination with method one, the first terminal device can select the resource pool with the lowest CBR as the target resource pool among two or more resource pools; in combination with method two, the first terminal device can select the resource pool with the first priority of SL-PRS as the target resource pool among two or more resource pools.

[0160] Optionally, the network device may configure the synchronization sources supported or allowed by each resource pool in the plurality of resource pools to the terminal device.

[0161] Optionally, the network device may configure one or more of the above-mentioned methods 1 to 6 for the first terminal device, and the first terminal device may select the target resource pool based on the one or more methods configured by the network device. Alternatively, the first terminal device obtains configuration information of one or more of the above-mentioned methods 1 to 6 through pre-configuration, and the first terminal device selects the target resource pool based on the one or more methods in the pre-configuration.

[0162] Optionally, if the first terminal device selects the target resource pool through multiple methods, there may be priorities among the multiple methods, that is, the first terminal device may determine which method to select to determine the target resource pool according to the priorities of the multiple methods. Optionally, the network device or pre-configuration may configure the priorities of at least some of the multiple methods, for example, the priority of method one is priority 1, the priority of method two is priority 2, and the priority of priority 1 is higher than the priority of priority 2, then the first terminal device may use method one to determine the target resource pool.

[0163] Optionally, if the first terminal device selects the target resource pool through multiple methods, there may be priorities between the multiple methods, that is, the first terminal device may preferentially perform judgments based on the method with a higher priority, and then perform judgments related to the method with a lower priority based on the result with the higher priority, and finally select the target resource pool. Optionally, the network device or pre-configuration may configure the priority of at least some of the multiple methods. For example, the network device or pre-configuration is configured with method 2, method 4, and method 6, wherein method 2 has a priority of 1, method 4 has a priority of 2, and method 6 has a priority of 3, i.e., the priority of method 2 is higher than the priority of method 4, and the priority of method 4 is higher than the priority of method 6. For example, the first terminal device selects resource pool set 1 in which the priority of SL-PRS is the first priority from multiple resource pools according to method 2, and resource pool set 1 includes multiple resource pools, that is, there are one or more resource pools in the resource pool whose priority is the first priority. The first terminal device can continue to select resource pools from resource pool set 1 according to method 4. If the first terminal device has a data transmission requirement, it selects resource pool set 2 of the first type from resource pool set 1. If the selected resource pool set of the first type includes multiple resource pools, the terminal device can continue to select the resource pool whose synchronization source is GNSS as the target resource pool from resource pool set 2 according to method 6.

[0164] Optionally, the network device may configure the first terminal device to select a target resource pool from a plurality of resource pools according to a plurality of methods, or may preconfigure the first terminal device to select a target resource pool from a plurality of resource pools according to a plurality of methods. Optionally, the plurality of methods may be at least some of the above-mentioned six methods, and the network device may configure the plurality of methods or may preconfigure a plurality of methods. Optionally, there may be a priority between the plurality of methods, and when there is a priority, the target resource pool is determined from the plurality of resource pools according to the method with the higher priority. Optionally, there may be no priority between the plurality of methods, and the first terminal device determines the target resource pool from the plurality of resource pools according to the plurality of methods.

[0165] S220: The first terminal device selects a first resource in the target resource pool.

[0166] Optionally, the first terminal device may select the first resource in the target resource pool according to the resource selection parameter. Optionally, the resource selection parameter includes at least one of a first resource reservation interval, a first hybrid automatic repeat request (HARQ) retransmission number (number of HARQ retransmissions), a first amount of frequency resources, a first priority, or a first remaining packet delay budget (PDB). Optionally, the name of the resource selection parameter is not limited. For example, the first resource reservation interval is a parameter related to the period when the first terminal device selects the first resource in the target resource pool. The embodiment of the present application only takes the first resource reservation interval as an example for description, and does not limit the name of the resource selection parameter. For another example, the first PDB is a parameter related to time requirements. The embodiment of the present application only takes the first PDB as an example for description, and does not limit the name of the resource parameter.

[0167] Optionally, the resource selection parameters may further include a counter, and the first terminal device may use a counter related to the sidelink data transmission as a counter of the first SL-PRS.

[0168] Optionally, the first terminal device may select the first resource in the target resource pool according to the resource selection parameter, including: the physical (PHY) layer of the first terminal device may select one or more first resources in the target resource pool. Optionally, the first terminal device selects the first resource according to the resource selection parameter, which may include: the MAC layer of the first terminal device determines the resource selection parameter, and sends or delivers the determined resource selection parameter to the PHY layer, the PHY layer of the first terminal device monitors the use of resources in the target resource pool by other terminal devices, selects at least one resource in the target resource pool according to the resource selection parameter combined with the use of resources in the target resource pool by other terminal devices, the PHY layer indicates at least one resource to the MAC layer, and the MAC layer may select the first resource in the at least one resource.

[0169] If the target resource pool selected by the first terminal device in S210 is a resource pool of the first type, the following discusses the first terminal device selecting the first resource in the target resource pool according to the resource selection parameter in S220 in several cases. That is, different types of the target resource pool determined by the first terminal device have different ways of selecting the first resource in the target resource pool according to the resource parameter.

[0170] Case 1: the resource selection parameter includes a first resource reservation time interval.

[0171] Optionally, S220 includes: selecting a first resource reservation time interval from one or more transmission periods supported by the target resource pool, or selecting a transmission period from one or more transmission periods supported by the target resource pool, and using the transmission period as the first resource reservation time interval. The first resource reservation time interval may support or cover the transmission period of the data and the transmission period of the first SL-PRS, for example, the first reservation time interval is the minimum of the transmission period of the data and the transmission period of the first SL-PRS, or the first reservation time interval is the first transmission period of the one or more transmission periods supported by the target resource pool that is close to the minimum of the transmission period of the data and the transmission period of the first SL-PRS.

[0172] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, select the minimum transmission period between the data transmission period and the first SL-PRS transmission period as the first resource reservation time interval. For example, if the data transmission period is 1ms and the first SL-PRS transmission period is 0.5ms, then the first reserved time interval can be determined to be 0.5ms. In this way, the first resource selected according to the first reserved time interval can meet the transmission of the first SL-PRS, can also meet the transmission of the data, and can improve the reliability of the transmission of the first SL-PRS.

[0173] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, select the minimum transmission period between the data transmission period and the transmission period of the first SL-PRS. Optionally, if the target resource pool supports the minimum transmission period, select the minimum transmission period as the first resource reservation time interval. If the target resource pool does not support the minimum transmission period, select the first transmission period close to the minimum transmission period from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the first transmission period. That is to say, the first terminal device can determine the first transmission period close to the minimum transmission period from at least one transmission period supported by the target resource pool as the first resource reservation time interval. For example, if the data transmission period is 1ms and the first SL-PRS transmission period is 0.5ms, the minimum transmission period is 0.5ms. If the target resource pool supports 0.5ms, the first resource reservation time interval can be 0.5ms. For another example, if the data transmission period is 1ms, the first SL-PRS transmission period is 0.5ms, and the target resource pool supports transmission periods of 0.2ms, 0.4ms, and 0.7ms, then 0.4ms is closest to 0.5ms, so the first resource reservation time interval is 0.4ms. In this way, when data is transmitted together with the first SL-PRS, the first resource selected according to the first resource reservation time interval can simultaneously meet the transmission of data and the first SL-PRS.

[0174] Optionally, the data transmission period may be determined by the data transmission requirements of the first terminal device.

[0175] Optionally, the transmission period of the first SL-PRS may be determined by the positioning service requirements currently executed by the first terminal device.

[0176] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, selecting the transmission period of the first SL-PRS as the first resource reservation time interval. For example, if the transmission period of the first SL-PRS is 0.5 ms, then the first reservation time interval can be determined to be 0.5 ms. In this way, the reliability of transmitting the first SL-PRS can be improved.

[0177] Optionally, S220 includes: selecting a first resource reservation time interval from one or more transmission periods supported by the target resource pool, or selecting a transmission period from one or more transmission periods supported by the target resource pool, and using the transmission period as the first resource reservation time interval. The first resource reservation time interval may support or cover the transmission period of the first SL-PRS, for example, the first reservation time interval is the transmission period of the first SL-PRS, or the first reservation time interval is a second transmission period close to the transmission period of the first SL-PRS in one or more transmission periods supported by the target resource pool.

[0178] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, a second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period. That is to say, the first terminal device can determine the second transmission period close to the minimum transmission period in at least one transmission period supported by the target resource pool as the first resource reservation time interval. For example, the transmission period of the first SL-PRS is 0.5ms. If the transmission period supported by the target resource pool is 0.2ms, 0.4ms, and 0.7ms, 0.4ms is closest to 0.5ms, so the first resource reservation time interval is 0.4ms. In this way, the first resource selected according to the first reservation time interval can meet the transmission of the first SL-PRS, and the reliability of the transmission of the first SL-PRS can be improved.

[0179] Optionally, the network device or other terminal device can configure at least one transmission period supported by the target resource pool, or at least one transmission period supported by the target resource pool is determined by pre-configuration. Optionally, the network device or other terminal device can configure at least one transmission period supported by each of the multiple resource pools, or at least one transmission period supported by each of the multiple resource pools is determined by pre-configuration. The multiple resource pools include the target resource pool, and the transmission periods supported by each resource pool can be different. Of course, there can also be two resource pools that support the same transmission period, which is not limited in the embodiments of the present application.

[0180] Case 2: the resource selection parameter includes the first HARQ retransmission number.

[0181] Optionally, before S220, the method includes: the network device may configure the first number of transmissions available to the first terminal device for the first terminal device, or the first terminal device may obtain the first number of transmissions available to the first terminal device from a preconfiguration. Optionally, the first number of transmissions available to the first terminal device may also be referred to as the first number of transmissions supported by the first terminal device.

[0182] Optionally, before S220, it also includes: the network device can configure at least one CBR configuration of the target resource pool for the first terminal device, or the first terminal device obtains at least one CBR configuration from the pre-configuration, each CBR configuration in the at least one CBR configuration includes a transmission number, and the first terminal device can determine the target CBR configuration in the at least one CBR configuration based on the current CBR situation of the target resource pool, and the transmission number included in the target CBR configuration may be the second transmission number.

[0183] Optionally, S220 includes: the first terminal device selects the maximum number of transmissions from the first number of transmissions supported by itself and the second number of transmissions determined according to the current CBR of the target resource pool, the maximum number of transmissions being the number of transmissions of data and / or the first SL-PRS, wherein the maximum number of transmissions is the first HARQ retransmission number included in the resource selection parameter. The maximum number of transmissions is the smaller value between the first number of transmissions and the second number of transmissions. If the first number of transmissions is greater than the second number of transmissions, the maximum number of transmissions is the second number of transmissions. If the second number of transmissions is greater than the first number of transmissions, the maximum number of transmissions is the first number of transmissions. Alternatively, the maximum number of transmissions is a value taken in the intersection of a range corresponding to the first number of transmissions and a range corresponding to the second number of transmissions. For example, the first number of transmissions is 5, the second number of transmissions is 10, that is, the intersection of the first number of transmissions and the second number of transmissions is 0-5 times, then the maximum number of transmissions may be a value taken in 0-5 times. Optionally, that is, the maximum number of transmissions may cover or support the transmission of data and / or the first SL-PRS. Optionally, the first terminal device may obtain the current CBR of the target resource pool through measurement.

[0184] Optionally, S220 includes: the first terminal device determines the maximum number of transmissions of the first SL-PRS based on the first number of transmissions supported by itself, the second number of transmissions determined by the current CBR of the target resource pool, and the number of transmissions of the first terminal device data, wherein the maximum number of transmissions of the first SL-PRS is the first number of HARQ retransmissions included in the resource selection parameters. In other words, the maximum number of transmissions of the first SL-PRS can cover or support the transmission of data and the first SL-PRS. Optionally, the first terminal device can obtain the current CBR of the target resource pool through measurement.

[0185] Optionally, the number of data transmissions can be selected from a first transmission number supported by the first terminal device itself and a second transmission number determined according to the current CBR of the target resource pool. For example, the number of data transmissions is the smaller value between the first transmission number and the second transmission number, or a value in the intersection of the two.

[0186] Optionally, in case 2, the transmission corresponding to the number of data transmissions may include the transmission corresponding to the number of HARQ retransmissions of the data, or, it may also be understood that the number of data transmissions and the number of HARQ retransmissions of the data may be replaced with each other. The transmission corresponding to the maximum number of transmissions may include the transmission corresponding to the number of HARQ retransmissions, or, it may also be understood that the maximum number of transmissions and the number of HARQ retransmissions may be replaced with each other.

[0187] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, select the number of HARQ retransmissions of the data as the first HARQ retransmission number. Optionally, if the first terminal device has a data transmission demand or data arrives, the data transmission is successful, indicating that the first SL-PRS is also successfully transmitted, wherein the first terminal device can transmit data and the first SL-PRS at the same time, that is, since the data and the first SL-PRS are transmitted at the same time, if the data transmission is successful, it means that the first SL-PRS is also successfully transmitted, and the number of HARQ retransmissions of the data is the first HARQ retransmission number of the first SL-PRS. In this way, the data and SL-PRS transmission requirements are guaranteed, and when the first terminal device sends data and the first SL-PRS together, it will not affect the transmission of the data and the first SL-PRS.

[0188] Optionally, S220 includes: the first terminal device selects the maximum number of transmissions of the first SL-PRS from the first number of transmissions supported by itself and the second number of transmissions determined according to the current CBR of the target resource pool. The maximum number of transmissions is the smaller value of the first number of transmissions and the second number of transmissions. If the first number of transmissions is greater than the second number of transmissions, the maximum number of transmissions is the second number of transmissions. If the second number of transmissions is greater than the first number of transmissions, the maximum number of transmissions is the first number of transmissions. Alternatively, the maximum number of transmissions is a value taken from the intersection of a range corresponding to the first number of transmissions and a range corresponding to the second number of transmissions. Optionally, the transmission corresponding to the maximum number of transmissions of the first SL-PRS may include the transmission corresponding to the first number of HARQ retransmissions of the first SL-PRS. Optionally, that is, the maximum number of transmissions of the first SL-PRS may cover or support the transmission of the first SL-PRS. Optionally, the first terminal device may obtain the current CBR of the target resource pool through measurement.

[0189] Optionally, S220, including: if the first terminal device has no data transmission demand or no data arrives, the first terminal device selects a first HARQ retransmission number according to at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the current CBR of the target resource pool, the first HARQ retransmission number being the number of transmissions of the shared channel (sidelink shared channel, SL-SCH) subheader of the first SL-PRS and / or MAC protocol data unit (protocol data unit, PDU). Optionally, the first terminal device selects a first HARQ retransmission number according to at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool, including: the first terminal device selects the smaller number of the first transmission number supported by the first terminal device and the second transmission number corresponding to the current CBR of the target resource pool as the first HARQ retransmission number. For example, if the number of transmissions supported by the first terminal device is 4 and the second transmission number corresponding to the CBR of the target resource pool is 5, the first HARQ retransmission number may be 4. Or the first terminal device determines the intersection of the first transmission number and the second transmission number, and selects a value in the intersection, and the value can satisfy the first SL-PRS and / or MAC PDU SL-SCH subheader, then the first terminal device uses the value as the first HARQ retransmission number. Optionally, the first terminal device may also determine the first HARQ retransmission number based on the first transmission number supported by the first terminal device, for example, determining the first transmission number supported by the first terminal device as the first HARQ retransmission number. Optionally, the first terminal device may also determine the first HARQ retransmission number based on the second transmission number corresponding to the CBR of the target resource pool, for example, determining the second transmission number corresponding to the current CBR of the target resource pool as the first HARQ retransmission number.

[0190] It is understandable that when the first terminal device sends the first SL-PRS, it may also simultaneously send a MAC PDU SL-SCH subheader, which may carry identification information of the terminal device, such as identification information of the first terminal device and / or the second terminal device.

[0191] Optionally, the first terminal device may use the first HARQ retransmission number of the MAC PDU SL-SCH subheader as the HARQ retransmission number of the first SL-PRS. It is understandable that although the first terminal device has no data transmission demand or no data has arrived, the first terminal device still needs to send the identification information of the terminal device through the MAC PDU SL-SCH subheader so that the receiving device knows whether it needs to receive the transmission. At this time, the first terminal device can determine the first HARQ retransmission number of the MAC PDU SL-SCH subheader based on the first transmission number and the second transmission number, and use the first HARQ retransmission number of the MAC PDU SL-SCH subheader as the HARQ retransmission number of the first SL-PRS. In this way, the transmission demand of the first SL-PRS can be guaranteed, and the reliability of the transmission of the first SL-PRS can be improved.

[0192] Optionally, the first number of transmissions supported by the first terminal device may be replaced by: the first number of transmissions configured for the first terminal device.

[0193] Optionally, the first transmission number supported by the first terminal device may be the first transmission number or HARQ retransmission number of the MAC PDU SL-SCH subheader of the first terminal device. In this way, the transmission requirement of the first SL-PRS can be guaranteed and the reliability of the transmission of the first SL-PRS can be improved.

[0194] Optionally, in an embodiment of the present application, the MAC PDU SL-SCH subheader and the SL-SCH MAC subheader can replace each other. For example, the MAC PDU SL-SCH subheader can be replaced by the SL-SCH MAC subheader; for another example, the SL-SCH MAC subheader can be replaced by the MAC PDU SL-SCH subheader.

[0195] Optionally, selecting the first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool can be replaced by determining the first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool.

[0196] Optionally, the first number of transmissions supported by the first terminal device may be the number of transmissions of the first SL-PRS supported by the first terminal device, and the transmission corresponding to the number of transmissions may include the transmission corresponding to the number of HARQ retransmissions.

[0197] Case three: the resource selection parameter includes the first frequency domain resource amount.

[0198] Optionally, before S220, the method includes: the network device may configure the first sub-channel quantity available to the first terminal device for the first terminal device, or the first terminal device obtains the first sub-channel quantity available to the first terminal device from a preconfiguration. Optionally, the first sub-channel quantity available to the first terminal device may be the first sub-channel quantity supported by the first terminal device.

[0199] Optionally, before S220, it also includes: the network device can configure at least one CBR configuration of the target resource pool for the first terminal device or the first terminal device obtains at least one CBR configuration from the pre-configuration, each CBR configuration in the at least one CBR configuration includes the number of sub-channels, and the first terminal device can determine the target CBR configuration in the at least one CBR configuration based on the current CBR situation of the target value resource pool, and the number of sub-channels included in the target CBR configuration may be the second sub-channel number.

[0200] Optionally, S220 includes: the first terminal device selects a first frequency domain resource amount from the first subchannel number and the second subchannel number determined according to the current CBR of the target resource pool, and the first frequency domain resource amount is used to transmit data and / or a first SL-PRS. The first frequency domain resource amount is a value in the intersection of a range corresponding to the first subchannel number and a range corresponding to the second subchannel number. That is to say, the first frequency domain resource amount selected by the first terminal device from the first subchannel number and the second subchannel number can cover the transmission of data and / or the first SL-PRS. Optionally, the first terminal device can obtain the current CBR of the target resource pool through measurement.

[0201] For example, the first number of subchannels includes a maximum value of 5 and a minimum value of 1, and the second number of subchannels includes a maximum value of 6 and a minimum value of 2. It can be understood that the range corresponding to the first number of subchannels is 1 to 5, and the range corresponding to the second number of subchannels is 2 to 6. The intersection of the first number of subchannels and the second number of subchannels is 2 to 5. At this time, the first terminal device selects a value from 2 to 5 as the first frequency domain resource amount. Optionally, the first terminal device can also select the maximum value from 2 to 5 as the first frequency domain resource amount. Alternatively, the first number of subchannels can include a value of 5, and the second number of subchannels can include a value of 6. It can be understood that the range corresponding to the first number of subchannels is 0 to 5, and the range corresponding to the second number of subchannels is 0 to 6. The intersection of the first number of subchannels and the second number of subchannels is 0 to 5. At this time, the first terminal device selects a value from 0 to 5 as the first frequency domain resource amount. Optionally, the first terminal device can also select the maximum value from 0 to 5 as the first frequency domain resource amount.

[0202] Optionally, the number of subchannels corresponding to the data may be selected from a range corresponding to the first number of subchannels and a range corresponding to the second number of subchannels determined according to a current CBR of the target resource pool.

[0203] Optionally, the number of sub-channels can be understood as the size of frequency domain resources.

[0204] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, select the number of subchannels corresponding to the data as the first frequency domain resource amount. For example, if the number of subchannels corresponding to the data is 2, then in the above example, after the first terminal device determines that the above intersection is 2 to 5 in the above manner, the first terminal device selects the value 2 from 2 to 5 as the first frequency domain resource amount. In this way, when the data and the first SL-PRS are sent together, the first resource selected according to the first frequency domain resource amount can meet the transmission of the data and the first SL-PRS.

[0205] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, the first terminal device determines the first frequency domain resource amount according to the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS. Optionally, the first terminal device determines the first frequency domain resource amount according to the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS, including: selecting the largest number of subchannels in the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS as the first frequency domain resource amount. For example, the number of subchannels corresponding to the data is 2, the number of subchannels corresponding to the first SL-PRS is 4, and the larger value of the two is 4. In the above example, after the first terminal device determines that the above intersection is 2 to 5 in the above manner, the first terminal device selects a value of 4 from 2 to 5 as the first frequency domain resource amount. In other words, when the data and the first SL-PRS are transmitted together, the largest number of subchannels of the two can be selected as the first frequency domain resource amount. In this way, it can be ensured that the data and the first SL-PRS have sufficient frequency domain resources, which is conducive to improving the reliability of the transmission of the data and the first SL-PRS. Optionally, the first terminal device determines the first frequency domain resource amount based on the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS. For example, the first terminal device may also determine the first frequency domain resource amount based on the average value of the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS. The embodiment of the present application does not impose any restriction on how the first terminal device determines the first frequency domain resource amount based on the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS.

[0206] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, the first terminal device determines the first frequency domain resource amount according to the first subchannel number supported by the first terminal device and the second subchannel number supported by the current CBR of the target resource pool. Optionally, the first terminal device determines the first frequency domain resource amount according to the first subchannel number supported by the first terminal device and the second subchannel number supported by the current CBR of the target resource pool, including: the first terminal device selects a value in the intersection of the range corresponding to the first subchannel number supported by the first terminal device and the range corresponding to the second subchannel number supported by the current CBR of the target resource pool as the first frequency domain resource amount, and the first frequency domain resource amount is used to transmit the MAC SL-SCH subheader and / or the first SL-PRS. For example, the first terminal device may first determine the intersection, and then select a value within the range of values ​​supported by the intersection, and the value may be the number of subchannels required for the MAC SL-SCH subheader, or the number of subchannels required for the first SL-PRS, or a larger value between the two. In this way, the transmission demand of the first SL-PRS can be guaranteed.

[0207] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, the first terminal device can determine the first sub-channel quantity supported by the first terminal device as the first frequency domain resource quantity, or determine the second sub-channel quantity supported by the current CBR of the target resource pool as the first frequency domain resource quantity.

[0208] It is understandable that when the first terminal device sends the first SL-PRS, it may also simultaneously send a MAC PDU SL-SCH subheader, which may carry identification information of the terminal device, such as identification information of the first terminal device and / or the second terminal device.

[0209] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data has arrived, the first terminal device determines the number of sub-channels corresponding to the first SL-PRS as the first frequency domain resource amount.

[0210] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data has arrived, the first terminal device can determine that the number of sub-channels corresponding to the SL-SCH subheader of the MAC PDU is the first frequency domain resource amount.

[0211] Case 4: the resource selection parameter includes a first priority.

[0212] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, selecting the priority of the data as the first priority, that is, using the priority of the data as the priority of the first SL-PRS.

[0213] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, select the higher priority between the data priority and the first SL-PRS priority as the first priority, so that when the data and the first SL-PRS are transmitted together, the first resource selected according to the first priority can satisfy both the data and the first SL-PRS.

[0214] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, the first terminal device selects the priority of the first SL-PRS as the first priority. That is to say, when selecting the first resource in the first type of target resource pool without data transmission demand, the first resource can be selected according to the priority of the first SL-PRS, so that the selected first resource can meet the transmission of the first SL-PRS.

[0215] Optionally, the network device or other terminal device can configure the priority of the data.

[0216] Optionally, the network device or other terminal device may configure the priority of the first SL-PRS.

[0217] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data has arrived, the first terminal device selects the priority of the first SL-PRS and the priority of the SL-SCH MAC subheader, whichever has a higher priority, as the first priority. The priority of the SL-SCH MAC subheader can be the priority of the first terminal device to transmit the SL-SCH MAC subheader.

[0218] Optionally, the network device or other terminal device may configure the priority of the SL-SCH MAC subheader. Optionally, the priority of the SL-SCH MAC subheader includes 8 levels.

[0219] Optionally, the transmission priority of the first SL-PRS includes 8 levels.

[0220] Case 5: The resource selection parameter includes the first remaining PDB.

[0221] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, selecting the smaller value between the PDB of the data and the remaining transmission time corresponding to the first SL-PRS as the first remaining PDB.

[0222] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data has arrived, selecting the remaining transmission time corresponding to the first SL-PRS as the first remaining PDB.

[0223] Optionally, the remaining transmission time corresponding to the first SL-PRS can be understood as that the first terminal device needs to send the first SL-PRS within the remaining transmission time, for example, sending the first SL-PRS to other terminal devices within the remaining transmission time.

[0224] Optionally, the first terminal device may calculate the remaining PDB of the data and / or the remaining transmission time of the first SL-PRS.

[0225] If the target resource pool selected by the first terminal device in S210 is a resource pool of the second type, the following discusses the first terminal device selecting the first resource in the target resource pool according to the resource selection parameter in several cases. That is, different types of target resource pools determined by the first terminal device have different ways of selecting the first resource in the target resource pool according to the resource parameters.

[0226] Case 1: the resource selection parameter includes a first resource reservation time interval.

[0227] Optionally, S220 includes: selecting a first resource reservation time interval from one or more transmission periods supported by the target resource pool, or selecting a transmission period from one or more transmission periods supported by the target resource pool, and using the transmission period as the first resource reservation time interval. The first resource reservation time interval may support or cover the transmission period of the first SL-PRS, for example, the first reservation time interval is the transmission period of the first SL-PRS, or the first reservation time interval is a second transmission period close to the transmission period of the first SL-PRS in one or more transmission periods supported by the target resource pool.

[0228] Optionally, the first resource reservation time interval is the transmission period of the first SL-PRS. For example, if the transmission period of the first SL-PRS is 0.5 ms, the first reservation time interval can be determined to be 0.5 ms. In this way, the transmission of the first SL-PRS can be satisfied, and the reliability of the transmission of the first SL-PRS can be improved. Optionally, the network device or other terminal device can configure the transmission period of the first SL-PRS.

[0229] Optionally, the transmission period of the first SL-PRS may be determined by the positioning service requirements currently executed by the first terminal device.

[0230] Optionally, the first terminal device may select a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period. For specific situations, please refer to the above situation 1 when the target resource pool is a first type resource pool.

[0231] Optionally, the network device or other terminal device can configure at least one transmission period supported by the target resource pool, or at least one transmission period supported by the target resource pool is determined by pre-configuration. Optionally, the network device or other terminal device can configure at least one transmission period supported by each of the multiple resource pools, or at least one transmission period supported by each of the multiple resource pools is determined by pre-configuration. The multiple resource pools include the target resource pool, and the transmission periods supported by each resource pool can be different. Of course, there can also be two resource pools that support the same transmission period, which is not limited in the embodiments of the present application.

[0232] Optionally, situation one is different from situation one in which the target resource pool is the first type of resource pool in that after the first terminal device determines that the target resource pool is the second type of resource pool, there is no need to determine whether the first terminal device has a data transmission demand. In other words, when the target resource pool is the second type of resource pool, whether the first terminal device has a data transmission demand or data arrives is not a judgment condition for determining that the first terminal device selects the first resource reservation time interval in the second type of resource pool.

[0233] Case 2: the resource selection parameter includes the first HARQ retransmission number.

[0234] Optionally, before S220, the method includes: the network device may configure the first number of transmissions available to the first terminal device for the first terminal device, or the first terminal device may obtain the first number of transmissions available to the first terminal device from a preconfiguration. Optionally, the first number of transmissions available to the first terminal device may also be referred to as the first number of transmissions supported by the first terminal device.

[0235] Optionally, before S220, it also includes: the network device can configure at least one CBR configuration of the target resource pool for the first terminal device, or the first terminal device obtains at least one CBR configuration from the pre-configuration, each CBR configuration in the at least one CBR configuration includes a transmission number, and the first terminal device can determine the target CBR configuration in the at least one CBR configuration based on the current CBR situation of the target resource pool, and the transmission number included in the target CBR configuration may be the second transmission number.

[0236] Optionally, S220 includes: the first terminal device selects the maximum number of transmissions of the first SL-PRS from the first number of transmissions supported by itself and the second number of transmissions determined according to the current CBR of the target resource pool, and the maximum number of transmissions is the first HARQ retransmission number included in the resource selection parameter. The maximum number of transmissions is the smaller value of the first number of transmissions and the second number of transmissions. If the first number of transmissions is greater than the second number of transmissions, the maximum number of transmissions is the second number of transmissions. If the second number of transmissions is greater than the first number of transmissions, the maximum number of transmissions is the first number of transmissions. Alternatively, the maximum number of transmissions is a value in the intersection of a range corresponding to the first number of transmissions and a range corresponding to the second number of transmissions. For example, the first number of transmissions is 5, and the second number of transmissions is 10, that is, the intersection of the first number of transmissions and the second number of transmissions is 0-5 times, then the maximum number of transmissions may be a value in 0-5 times. Optionally, that is, the maximum number of transmissions of the first SL-PRS may cover or support the transmission of the first SL-PRS. Optionally, the first terminal device may obtain the current CBR of the target resource pool through measurement.

[0237] Optionally, in case 2, the transmission corresponding to the maximum number of transmissions of the first SL-PRS may include the transmission corresponding to the first number of HARQ retransmissions of the first SL-PRS. Alternatively, it can also be understood that the maximum number of transmissions and the number of HARQ retransmissions can be replaced with each other.

[0238] Optionally, S220 includes: the first terminal device selects a first HARQ retransmission number based on at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the CBR of the target resource pool.

[0239] Optionally, the first terminal device selects the first HARQ retransmission number according to at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool, including: the first terminal device selects the smaller number of the transmission number supported by the first terminal device and the second transmission number corresponding to the current CBR of the target resource pool as the first HARQ retransmission number. For example, if the number of transmissions supported by the first terminal device is 4 and the second transmission number corresponding to the CBR of the target resource pool is 5, then the first HARQ retransmission number may be 4. Alternatively, the maximum number of transmissions is a value in the intersection of a range corresponding to the first transmission number and a range corresponding to the second transmission number, and the specific value may be determined by the number of retransmissions of the first SL-PRS. Optionally, the first terminal device may also determine the first HARQ retransmission number based on the number of transmissions supported by the first terminal device, for example, determining the first number of transmissions supported by the first terminal device as the first HARQ retransmission number. Optionally, the first terminal device may also determine the first HARQ retransmission number based on the second number of transmissions corresponding to the CBR of the target resource pool, for example, determining the second number of transmissions corresponding to the current CBR of the target resource pool as the first HARQ retransmission number.

[0240] Optionally, the number of transmissions supported by the first terminal device may be replaced by: the first number of transmissions configured for the first terminal device.

[0241] Optionally, selecting the first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool can be replaced by determining the first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool.

[0242] Optionally, the first number of transmissions supported by the first terminal device may be the number of transmissions of the first SL-PRS supported by the first terminal device, and the transmission corresponding to the number of transmissions may include the transmission corresponding to the number of HARQ retransmissions.

[0243] Through the method of situation 2, the transmission requirement of the first SL-PRS can be guaranteed and the reliability of the transmission of the first SL-PRS can be improved.

[0244] Among them, situation 2 is different from situation 2 in which the target resource pool is the first type of resource pool in that after the first terminal device determines that the target resource pool is the second type of resource pool, there is no need to determine whether the first terminal device has a data transmission demand or whether data has arrived. In other words, when the target resource pool is the second type of resource pool, whether the first terminal device has a data transmission demand or whether data has arrived is not a judgment condition for determining the first HARQ retransmission number.

[0245] Case three: the resource selection parameter includes the first frequency domain resource amount.

[0246] Optionally, before S220, the method includes: the network device may configure the first sub-channel quantity available to the first terminal device for the first terminal device, or the first terminal device obtains the first sub-channel quantity available to the first terminal device from a preconfiguration. Optionally, the first sub-channel quantity available to the first terminal device may be the first sub-channel quantity supported by the first terminal device.

[0247] Optionally, before S220, it also includes: the network device can configure at least one CBR configuration of the target resource pool for the first terminal device or the first terminal device obtains at least one CBR configuration from the pre-configuration, each CBR configuration in the at least one CBR configuration includes the number of sub-channels, and the first terminal device can determine the target CBR configuration in the at least one CBR configuration based on the current CBR situation of the target value resource pool, and the number of sub-channels included in the target CBR configuration may be the second sub-channel number.

[0248] Optionally, S220 includes: the first terminal device selects a first frequency domain resource amount from the first subchannel number and the second subchannel number determined according to the current CBR of the target resource pool, wherein the first frequency domain resource amount is a value in the intersection of a range corresponding to the first subchannel number and a range corresponding to the second subchannel number. In other words, the first frequency domain resource amount selected by the first terminal device from the first subchannel number and the second subchannel number can cover the transmission of the first SL-PRS. Optionally, the first terminal device can obtain the current CBR of the target resource pool through measurement.

[0249] For example, the first number of subchannels includes a maximum value of 5 and a minimum value of 1, and the second number of subchannels includes a maximum value of 6 and a minimum value of 2. It can be understood that the range corresponding to the first number of subchannels is 1 to 5, and the range corresponding to the second number of subchannels is 2 to 6. The intersection of the first number of subchannels and the second number of subchannels is 2 to 5. At this time, the first terminal device selects a value from 2 to 5 as the first frequency domain resource amount. Optionally, the first terminal device can also select the maximum value from 2 to 5 as the first frequency domain resource amount. Alternatively, the first number of subchannels can include a value of 5, and the second number of subchannels can include a value of 6. It can be understood that the range corresponding to the first number of subchannels is 0 to 5, and the range corresponding to the second number of subchannels is 0 to 6. The intersection of the first number of subchannels and the second number of subchannels is 0 to 5. At this time, the first terminal device selects a value from 0 to 5 as the first frequency domain resource amount. Optionally, the first terminal device can also select the maximum value from 0 to 5 as the first frequency domain resource amount.

[0250] Optionally, the number of sub-channels can be understood as the size of frequency domain resources.

[0251] Optionally, S220 includes: the first terminal device determines the first frequency domain resource amount according to the number of subchannels supported by the first terminal device and the number of subchannels supported by the current CBR of the target resource pool. Optionally, the first terminal device determines the first frequency domain resource amount according to the number of subchannels supported by the first terminal device and the second number of subchannels supported by the current CBR of the target resource pool, including: the first terminal device selects the largest number of subchannels between the number of subchannels supported by the first terminal device and the second number of subchannels supported by the current CBR of the target resource pool as the first frequency domain resource amount. Optionally, S220 includes: the first terminal device may determine the number of subchannels supported by the first terminal device as the first frequency domain resource amount, or determine the second number of subchannels supported by the current CBR of the target resource pool as the first frequency domain resource amount.

[0252] Optionally, S220 includes: the first terminal device determines the number of sub-channels corresponding to the first SL-PRS as the first frequency domain resource amount.

[0253] Among them, situation two is different from situation two in which the target resource pool is the first type of resource pool in that after the first terminal device determines that the target resource pool is the second type of resource pool, there is no need to determine whether the first terminal device has a data transmission demand or whether data has arrived. In other words, when the target resource pool is the second type of resource pool, whether the first terminal device has a data transmission demand or whether data has arrived is not a judgment condition for determining the first frequency domain resource amount.

[0254] Case 4: the resource selection parameter includes a first priority.

[0255] Optionally, S220 includes: the first terminal device selects the priority of the first SL-PRS as the first priority. That is, when selecting the first resource in the first type of target resource pool, the first resource can be selected according to the priority of the first SL-PRS, so that the selected first resource can meet the transmission of the first SL-PRS.

[0256] Optionally, the network device or other terminal device can configure the priority of the data.

[0257] Optionally, the network device or other terminal device may configure the priority of the first SL-PRS.

[0258] Optionally, S220 includes: the first terminal device selects a higher priority between the priority of the first SL-PRS and the priority of the MAC SL-SCH subheader as the first priority. The priority of the MAC SL-SCH subheader may be the priority of the first terminal device transmitting the MAC SL-SCH subheader.

[0259] Optionally, the network device or other terminal device may configure the priority of the SL-SCH MAC subheader. Optionally, the priority of the SL-SCH MAC subheader includes 8 levels.

[0260] Optionally, the transmission priority of the first SL-PRS includes 8 levels.

[0261] Case 5: The resource selection parameter includes the first remaining PDB.

[0262] Optionally, S220 includes: the first terminal device selects the remaining transmission time corresponding to the first SL-PRS as the first PDB.

[0263] Optionally, the first terminal device may calculate the remaining transmission time corresponding to the first SL-PRS.

[0264] Optionally, the remaining transmission time corresponding to the first SL-PRS can be understood as that the first terminal device needs to send the first SL-PRS within the remaining transmission time, for example, sending the first SL-PRS to other terminal devices within the remaining transmission time.

[0265] Optionally, in an embodiment of the present application, the network device configures the first terminal device including a broadcast configuration and / or a dedicated configuration.

[0266] S230, the first terminal device transmits a first SL-PRS to the second terminal device on the first resource, and the second terminal device receives the first SL-PRS on the first resource.

[0267] Optionally, the first terminal device sends a first SL-PRS to the second terminal device on the first resource. The second terminal device can measure the first SL-PRS and obtain measurement data of the first SL-PRS sent by the first terminal device, thereby positioning the terminal device.

[0268] It should be noted that in the embodiments of the present application, the priority can be replaced by the transmission priority.

[0269] Among them, the first SL-PRS is used for positioning, and a network element, terminal or entity for positioning is introduced in the positioning scenario. The first terminal device can send the first SL-PRS through the PC5 port. The embodiment of the present application is applicable to the positioning scenarios of "positioning reference signal and SL-PRS based on Uu port for Target UE positioning" and "positioning of Target UE based only on SL-PRS". The positioning methods targeted by the embodiments of the present application include but are not limited to sidelink time difference of arrival (SL-TDOA), sidelink multi-round trip time (Multi-Round Trip Time, Multi-RTT), sidelink angle of arrival (AOA) and other positioning methods supported by NR, LTE or future communication systems.

[0270] Optionally, in S210 in method 200, the first terminal device determines a target resource pool from a plurality of resource pools, and the plurality of resource pools may include a first type of resource pool and a second type of resource pool, that is, the network device may configure a first type of resource pool and a second type of resource pool to the first terminal device, and the first terminal device determines the target resource pool from the two types of resource pools configured by the network device. In some scenarios, if the network device is configured with a first type of resource pool, the first terminal device may determine the target resource pool from the first type of resource pool; if the network device is configured with a second type of resource pool, the first terminal device may determine the target resource pool from the second type of resource pool, that is, if the network device is configured with two types of resource pools, the first terminal device may determine the target resource pool from the two types of resource pools, and if the network device is configured with one type of resource pool, the first terminal device may determine the target resource pool from the one type of resource pool.

[0271] In the above method 200, a method for transmitting SL-PRS is provided, the first terminal device can determine a target resource pool from a plurality of resource pools, the plurality of resource pools include a first type of resource pool and a second type of resource pool, and a first resource can be determined in the target resource pool, the first terminal device can send a first SL-PRS to the second terminal device on the first resource. In addition, the first terminal device can select a first resource in the target resource pool according to a resource selection parameter, thereby providing a method for selecting a first resource for transmitting a first SL-PRS.

[0272] Optionally, in some scenarios, the first terminal device may select the first resource in the target resource pool, and the target resource pool may be a resource pool of the first type or a resource pool of the second type. That is, the first terminal device may not have to perform the selection between the resource pool of the first type and the resource pool of the second type. In other words, the method of selecting the first resource in the target resource pool in method 300 may be a separate embodiment or an embodiment combined with method 200. A separate embodiment of the method of selecting the first resource in the target resource pool is described below, such as Figure 3 As shown, a method 300 for transmitting SL-PRS is shown, and the method 300 includes:

[0273] S310, the first terminal device selects a first resource in a target resource pool according to a resource selection parameter, and the target resource pool may be a resource pool of the first type or a resource pool of the second type. That is, the first terminal device may select a first resource in a resource pool of the first type according to the resource selection parameter, or may select a first resource in a resource pool of the second type according to the resource selection parameter.

[0274] Optionally, the method for the first terminal device to select the first resource in the target resource pool according to the resource selection parameter refers to the description of method 200. In order to avoid repetition, the embodiment of the present application is not described in detail.

[0275] S320, the first terminal device transmits a first SL-PRS to the second terminal device on the first resource, and the second terminal device receives the first SL-PRS on the first resource.

[0276] S320 is the same as S230, and will not be described in detail to avoid redundancy.

[0277] In the above method 300, the first terminal device can select a first resource in the target resource pool according to the resource selection parameters, and send a first SL-PRS to the second terminal device on the first resource. The first resource selected according to the resource selection parameters can meet the transmission of the first SL-PRS, which is beneficial to improving the reliability of transmitting the first SL-PRS.

[0278] It should be noted that the resource selection parameters may include more or fewer parameters, and the embodiments of the present application do not limit this.

[0279] In addition, in an embodiment of the present application, "select" can be replaced by "determine", for example, selecting the first resource in the target resource pool can be replaced by determining the first resource in the target resource pool, and for another example, selecting the target resource pool from multiple resource pools can be replaced by determining the target resource pool from multiple resource pools.

[0280] The above describes the method embodiment provided by the present application, and the following describes the device embodiment provided by the present application. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment, so the content not described in detail can be referred to the method embodiment above, and for the sake of brevity, it will not be repeated here.

[0281] Figure 4 is a schematic block diagram of a communication device provided in an embodiment of the present application. Figure 4 As shown, the communication device 400 may include a processing unit 410 and a communication unit 420. The communication unit 420 may implement a corresponding communication function, and the communication may be internal communication of the communication device 400 or communication between the communication device 400 and other devices; the processing unit 410 may implement a corresponding processing function. The communication unit 420 may also be referred to as a communication interface or a transceiver unit. Optionally, the communication device 400 may also include a storage unit, which may be used to store instructions and / or data, and the processing unit 410 may read the instructions and / or data in the storage unit, so that the device implements the aforementioned method embodiment.

[0282] In a possible design, the communication device 400 may be the first terminal device in the above method 200, or may be a module or chip applied to the first terminal device. The communication device 400 may be used to execute the steps or processes executed by the first terminal device in the above embodiments.

[0283] Specifically, the processing unit 410 is used to select a target resource pool from multiple resource pools, where the multiple resource pools include a first type of resource pool and a second type of resource pool; select a first resource from the target resource pool; and the communication unit 420 is used to transmit a first SL-PRS to a second terminal device on the first resource.

[0284] Optionally, the first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is only used to transmit SL-PRS.

[0285] Optionally, the processing unit 410 is specifically configured to: select a resource pool with a lowest channel busy ratio CBR from multiple resource pools as the target resource pool.

[0286] Optionally, the priority of the first SL-PRS is the first priority, and the processing unit 410 is specifically configured to: select a resource pool in which the priority of the SL-PRS is the first priority from multiple resource pools as the target resource pool.

[0287] Optionally, the communication unit 420 is further used to receive first information, where the first information is used to indicate the priority of the SL-PRS of each resource pool in the multiple resource pools.

[0288] Optionally, the communication unit 420 is also used to receive second information and third information, the second information is used to indicate the priority of the SL-PRS of each resource pool of the first type in multiple resource pools, and the third information is used to indicate the priority of the SL-PRS of each resource pool of the second type in multiple resource pools.

[0289] Optionally, the processing unit 410 is specifically configured to:

[0290] If the priority of the first SL-PRS is higher than the preset second priority, selecting a target resource pool from a resource pool of a second type among the multiple resource pools; or,

[0291] If the priority of the first SL-PRS is lower than the preset second priority, a target resource pool is selected from resource pools of the first type among the multiple resource pools.

[0292] Optionally, the processing unit 410 is specifically configured to:

[0293] If the communication device 400 has a data transmission requirement, a target resource pool is selected from a first type of resource pool among the multiple resource pools;

[0294] If the communication device 400 has no data transmission requirement, a target resource pool is selected from the second type of resource pools among the multiple resource pools.

[0295] Optionally, the processing unit 410 is specifically configured to: select a target resource pool from resource pools of the second type among the multiple resource pools.

[0296] Optionally, the processing unit 410 is specifically configured to: select, from a plurality of resource pools, a first type of resource pool or a second type of resource pool whose synchronization source is a global satellite navigation system GNSS as a target resource pool.

[0297] Optionally, the processing unit 410 is specifically used to: select a first resource in a target resource pool according to a resource selection parameter; wherein the resource selection parameter includes at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority, or a first remaining packet delay budget PDB.

[0298] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first resource reservation time interval, and the processing unit 410 is further configured to:

[0299] If the communication device 400 has a data transmission requirement, the smallest transmission period between the data transmission period and the first SL-PRS transmission period is selected as the first resource reservation time interval.

[0300] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first resource reservation time interval;

[0301] The processing unit 410 is further configured to: if the communication device 400 has a data transmission requirement, select a minimum transmission period between a data transmission period and a first SL-PRS transmission period;

[0302] If the target resource pool supports the minimum transmission period, the minimum transmission period is selected as the first resource reservation time interval; or,

[0303] If the target resource pool does not support the minimum transmission cycle, a first transmission cycle close to the minimum transmission cycle is selected from at least one transmission cycle supported by the target resource pool, and the first resource reservation time interval is the first transmission cycle.

[0304] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first resource reservation time interval, and the processing unit 410 is further configured to:

[0305] If the communication device 400 has no data transmission requirement, the transmission period of the first SL-PRS is selected as the first resource reservation time interval; or,

[0306] If the communication device 400 has no data transmission demand, a second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0307] Optionally, the target resource pool is a resource pool of the second type, and the resource selection parameters include a first resource reservation time interval, and the first resource reservation time interval is the transmission period of the first SL-PRS; or, the processing unit 410 is also used to: select a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0308] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first HARQ retransmission number, and the processing unit 410 is further configured to:

[0309] If the communication device 400 has a data transmission requirement, the HARQ retransmission number of the data is selected as the first HARQ retransmission number; or

[0310] If the communication device 400 has no data transmission demand, the first HARQ retransmission number is selected according to at least one of the HARQ retransmission number supported by the communication device 400 and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0311] Optionally, when the communication device 400 has a data transmission requirement, if the data transmission of the communication device 400 is successful, it means that the first SL-PRS transmission is successful.

[0312] Optionally, the target resource pool is a second type of resource pool, and the resource selection parameters include a first HARQ retransmission number. The processing unit 410 is also used to select the first HARQ retransmission number based on at least one of the HARQ retransmission number supported by the communication device 400 and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0313] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first frequency domain resource amount, and the processing unit 410 is further configured to:

[0314] If the communication device 400 has a data transmission requirement, the number of subchannels corresponding to the data is selected as the first frequency domain resource amount, or the maximum number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS is selected as the first frequency domain resource amount; or

[0315] If the communication device 400 has no data transmission requirement, the first frequency domain resource amount is determined according to the number of sub-channels supported by the communication device 400 and the number of sub-channels supported by the target resource pool.

[0316] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first frequency domain resource amount, and the processing unit 410 is further configured to:

[0317] The first frequency domain resource amount is determined according to the number of sub-channels supported by the communication device 400 and the number of sub-channels supported by the target resource pool.

[0318] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first priority, and the processing unit 410 is further configured to:

[0319] If the communication device 400 has a data transmission requirement, the priority of the data is selected as the first priority, or the higher priority between the priority of the data and the priority of the first SL-PRS is selected as the first priority; or,

[0320] If the communication device 400 has no data transmission requirement, the priority of the first SL-PRS is selected as the first priority.

[0321] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes a first priority, and the processing unit 410 is further used to: select the priority of the first SL-PRS as the first priority.

[0322] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first PDB, and the processing unit 410 is further configured to:

[0323] If the communication device 400 has a data transmission requirement, the smaller of the PDB of the data and the PDB of the first SL-PRS is selected as the first PDB; or

[0324] If the communication device 400 has no data transmission requirement, the PDB of the first SL-PRS is selected as the first PDB.

[0325] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes a first PDB, and the processing unit 410 is further used to: select a PDB of a first SL-PRS as the first PDB.

[0326] In a possible design, the communication device 400 may be the first terminal device in the above method 300, or may be a module or chip applied to the first terminal device. The communication device 400 may be used to execute the steps or processes executed by the first terminal device in the above embodiments.

[0327] Specifically, the processing unit 410 is used to select a first resource in a target resource pool according to a resource selection parameter, and the target resource pool is a first type of resource pool or a second type of resource pool; the communication unit 420 is used to transmit a first SL-PRS to a second terminal device on the first resource; wherein the resource selection parameter includes at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority, or a first residual packet delay budget PDB.

[0328] Optionally, the first type is a shared type, and the second type is a type of dedicated resources for the sidelink positioning reference signal.

[0329] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first resource reservation time interval, and the processing unit 410 is further configured to:

[0330] If the communication device 400 has a data transmission requirement, the smallest transmission period between the data transmission period and the first SL-PRS transmission period is selected as the first resource reservation time interval.

[0331] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first resource reservation time interval, and the processing unit 410 is further configured to:

[0332] If the communication device 400 has a data transmission requirement, a minimum transmission period between a data transmission period and a first SL-PRS transmission period is selected;

[0333] If the target resource pool supports the minimum transmission period, the minimum transmission period is selected as the first resource reservation time interval; or,

[0334] If the target resource pool does not support the minimum transmission cycle, a first transmission cycle close to the minimum transmission cycle is selected from at least one transmission cycle supported by the target resource pool, and the first resource reservation time interval is the first transmission cycle.

[0335] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first resource reservation time interval, and the processing unit 410 is further configured to:

[0336] If the communication device 400 has no data transmission requirement, the transmission period of the first SL-PRS is selected as the first resource reservation time interval; or,

[0337] If the communication device 400 has no data transmission demand, a second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0338] Optionally, the target resource pool is a resource pool of the second type, and the resource selection parameters include a first resource reservation time interval, and the first resource reservation time interval is the transmission period of the first SL-PRS; or, the processing unit 410 is also used to: select a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0339] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first HARQ retransmission number, and the processing unit 410 is further configured to:

[0340] If the communication device 400 has a data transmission requirement, the HARQ retransmission number of the data is selected as the first HARQ retransmission number; or,

[0341] If the communication device 400 has no data transmission demand, the first HARQ retransmission number is selected according to at least one of the HARQ retransmission number supported by the communication device 400 and the HARQ retransmission number corresponding to the channel busy ratio of the target resource pool.

[0342] Optionally, when the communication device 400 has a data transmission requirement, if the data transmission of the communication device 400 is successful, it means that the first SL-PRS transmission is successful.

[0343] Optionally, the target resource pool is a second type of resource pool, and the resource selection parameters include a first HARQ retransmission number. The processing unit 410 is also used to determine the first HARQ retransmission number based on at least one of the HARQ retransmission number supported by the communication device 400 and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0344] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first frequency domain resource amount, and the processing unit 410 is further configured to:

[0345] If the communication device 400 has a data transmission requirement, the number of subchannels corresponding to the data is selected as the first frequency domain resource amount, or the largest number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS is selected as the first frequency domain resource amount; or

[0346] If the communication device 400 has no data transmission requirement, the first frequency domain resource amount is determined according to the number of sub-channels supported by the communication device 400 and the number of sub-channels supported by the target resource pool.

[0347] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first frequency domain resource amount, and the processing unit 410 is further configured to:

[0348] The first frequency domain resource amount is determined according to the number of sub-channels supported by the communication device 400 and the number of sub-channels supported by the target resource pool.

[0349] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first priority, and the processing unit 410 is further configured to:

[0350] If the communication device 400 has a data transmission requirement, the priority of the data is selected as the first priority, or the higher priority between the priority of the data and the priority of the first SL-PRS is selected as the first priority; or,

[0351] If the communication device 400 has no data transmission requirement, the priority of the first SL-PRS is selected as the first priority.

[0352] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes a first priority, and the processing unit 410 is further configured to:

[0353] The priority of the first SL-PRS is selected as the first priority.

[0354] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first PDB, and the method further includes:

[0355] If the communication device 400 has a data transmission requirement, the smaller of the PDB of the data and the PDB of the first SL-PRS is selected as the first PDB; or,

[0356] If the communication device 400 has no data transmission requirement, the PDB of the first SL-PRS is selected as the first PDB.

[0357] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes a first PDB, and the processing unit 410 is further used to: select a PDB of a first SL-PRS as the first PDB.

[0358] Regarding the steps or processes executed by each unit in the communication device 400, specific reference may be made to the above method 200 and method 300, which will not be described in detail here.

[0359] It should be understood that the "unit" in the communication device 400 can be implemented by hardware, can be implemented by software, and can also be implemented by hardware executing the corresponding software implementation. For example, the "unit" can refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit and / or other suitable components that support the described functions. For another example, the communication unit 420 can be replaced by a transceiver transceiver circuit (for example, it can include a receiving circuit and a transmitting circuit), and the processing unit 410 can be replaced by a processor or a processing circuit.

[0360] Figure 5 A schematic block diagram of another communication device 500 provided in an embodiment of the present application is shown. The device 500 may be a first terminal device, or a chip, a chip system, or a processor that supports the first terminal device to implement the above method. The device may be used to implement the method described in the above method embodiment, and the details may refer to the description in the above method embodiment.

[0361] The device 500 may include one or more processors 510, which may also be referred to as processing units, and may implement certain control functions. The processor 510 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, and the central processing unit may be used to control a communication device (e.g., a base station, a baseband chip, a user chip, a DU or a CU, etc.), execute a software program, and process the data of the software program.

[0362] In an optional design, the processor 510 may also store instructions and / or data, which can be executed by the processor 510 so that the device 500 performs the method described in the above method embodiment. Optionally, the processing unit 410 in the communication device 400 may be the processor 510.

[0363] In another optional design, the device 500 may include a communication interface 520 for implementing the receiving and sending functions. For example, the communication interface 520 may be a transceiver circuit, an interface, an interface circuit or a transceiver. The transceiver circuit, interface, interface circuit or transceiver for implementing the receiving and sending functions may be separate or integrated. The above-mentioned transceiver circuit, interface, interface circuit or transceiver may be used for reading and writing code / data, or the above-mentioned transceiver circuit, interface, interface circuit or transceiver may be used for transmitting or delivering signals. Optionally, the communication unit 420 in the communication device 400 may be a communication interface 520.

[0364] Optionally, the device 500 may include one or more memories 530, on which instructions may be stored, and the instructions may be executed on the processor 510, so that the device 500 performs the method described in the above method embodiment. Optionally, data may also be stored in the memory 530. Optionally, instructions and / or data may also be stored in the processor 510. The processor 510 and the memory 530 may be provided separately or integrated together.

[0365] Figure 6 The structure diagram of a first terminal device 600 provided in the present application. The above communication device 400 or the communication device 500 can be configured in the terminal device 600. Alternatively, the communication device 400 or the communication device 500 itself can be the first terminal device 600. In other words, the first terminal device 600 can perform the actions performed by the first terminal device in the above method embodiment. Optionally, for the convenience of description, Figure 6 Only the main components of the terminal device are shown. Figure 6 As shown, the terminal device 600 includes a processor, a memory, a control circuit, an antenna, and an input and output device.

[0366] The processor is mainly used to process the communication protocol and communication data, as well as to control the entire terminal device, execute the software program, and process the data of the software program, for example, to support the terminal device to perform the actions described in the above method embodiment. The memory is mainly used to store software programs and data. The control circuit is mainly used for converting baseband signals and radio frequency signals and processing radio frequency signals. The control circuit and the antenna can also be called a transceiver, which is mainly used to send and receive radio frequency signals in the form of electromagnetic waves. Input and output devices, such as touch screens, display screens, keyboards, etc. are mainly used to receive data input by users and output data to users.

[0367] When the terminal device is turned on, the processor can read the software program in the storage unit, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor performs baseband processing on the data to be sent, and outputs the baseband signal to the RF circuit. The RF circuit performs RF processing on the baseband signal and then sends the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the terminal device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data.

[0368] Those skilled in the art will appreciate that for ease of description, Figure 6 Only one memory and processor are shown. In an actual terminal device, there may be multiple processors and memories. The memory may also be referred to as a storage medium or a storage device, etc., which is not limited in the embodiments of the present application.

[0369] For example, the processor may include a baseband processor and a central processing unit. The baseband processor is mainly used to process the communication protocol and communication data, and the central processing unit is mainly used to control the entire terminal device, execute software programs, and process data of the software programs. Figure 6 The processor in integrates the functions of the baseband processor and the central processing unit. Those skilled in the art will appreciate that the baseband processor and the central processing unit may also be independent processors interconnected through technologies such as buses. Those skilled in the art will appreciate that the terminal device may include multiple baseband processors to adapt to different network formats, and the terminal device may include multiple central processing units to enhance its processing capabilities, and the various components of the terminal device may be connected through various buses. The baseband processor may also be described as a baseband processing circuit or a baseband processing chip. The central processing unit may also be described as a central processing circuit or a central processing chip. The function of processing the communication protocol and the communication data may be built into the processor, or may be stored in the storage unit in the form of a software program, and the processor executes the software program to implement the baseband processing function.

[0370] It should be understood that in a possible design, each step in the method embodiment provided by the present application can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in a processor for execution. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0371] It should be noted that the processor in the embodiment of the present application can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor can be combined and performed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0372] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0373] The present application also provides a computer program product, which includes: computer program code, when the computer program code is run on a computer, the computer executes each step or process executed by the first terminal device in any of the above method embodiments.

[0374] The present application also provides a computer-readable storage medium, which stores program code. When the program code runs on a computer, the computer executes each step or process executed by the first terminal device in any of the above method embodiments.

[0375] The present application also provides a communication device, including a processor and an interface, wherein the interface is used to send and / or receive signals, so that the processor executes each step or process executed by the first terminal device in any of the above method embodiments.

[0376] The present application also provides a communication system, which includes at least one of a first terminal device and a second terminal device.

[0377] The above-mentioned various device embodiments and method embodiments completely correspond to each other, and the corresponding steps are executed by the corresponding modules or units. For example, the communication unit or communication interface executes the receiving or sending steps in the method embodiment, and the other steps except sending and receiving can be executed by the processing unit or processor.

[0378] In the embodiments of the present application, each term and English abbreviation is provided for the convenience of description and shall not constitute any limitation to the present application. The present application does not exclude the possibility of defining other terms that can achieve the same or similar functions in existing or future protocols.

[0379] The terms "component", "module", "system", etc. used in this specification are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program and / or a computer. By way of illustration, both applications running on a computing device and a computing device can be components. One or more components may reside in a process and / or an execution thread, and a component may be located on a computer and / or distributed between two or more computers. In addition, these components may be executed from various computer-readable storage media having various data structures stored thereon. Components may, for example, communicate through local and / or remote processes according to signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system and / or a network, such as the Internet interacting with other systems through signals).

[0380] Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0381] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can be based on the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0382] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the 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 system, 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.

[0383] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0384] 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.

[0385] In the above embodiments, the functions of each functional unit can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions (programs). When the computer program instructions (programs) are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0386] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0387] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for transmitting a sidelink positioning reference signal SL-PRS, characterized in that: The method comprises: The first terminal device selects a target resource pool from a plurality of resource pools, wherein the plurality of resource pools include a first type of resource pool and a second type of resource pool; The first terminal device selects a first resource in the target resource pool; The first terminal device transmits a first SL-PRS to a second terminal device on the first resource.

2. The method according to claim 1, characterized in that The first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is only used to transmit SL-PRS.

3. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: A resource pool having the lowest channel busy ratio CBR is selected from the multiple resource pools as the target resource pool.

4. The method according to claim 1 or 2, characterized in that: The priority of the first SL-PRS is the first priority, and the selecting a target resource pool from a plurality of resource pools includes: A resource pool whose SL-PRS priority is the first priority is selected from multiple resource pools as the target resource pool.

5. The method according to claim 4, characterized in that The method further comprises: First information is received, where the first information is used to indicate a priority of a SL-PRS of each resource pool in the multiple resource pools.

6. The method according to claim 4, characterized in that The method further comprises: Receive second information and third information, wherein the second information is used to indicate the priority of the SL-PRS of each resource pool of the first type in the multiple resource pools, and the third information is used to indicate the priority of the SL-PRS of each resource pool of the second type in the multiple resource pools.

7. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: If the priority of the first SL-PRS is higher than a preset second priority, selecting the target resource pool from the resource pool of the second type among the multiple resource pools; or, If the priority of the first SL-PRS is lower than the preset second priority, a target resource pool is selected from the resource pools of the first type among the multiple resource pools.

8. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: If the first terminal device has a data transmission demand, selecting the target resource pool from the resource pools of the first type among the multiple resource pools; If the first terminal device has no data transmission demand, the target resource pool is selected from the resource pools of the second type in the multiple resource pools.

9. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: The target resource pool is selected from resource pools of the second type among the multiple resource pools.

10. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: The first type of resource pool or the second type of resource pool whose synchronization source is the global satellite navigation system GNSS is selected from the multiple resource pools as the target resource pool.

11. The method according to any one of claims 1 to 10, characterized in that The selecting a first resource in the target resource pool includes: Selecting a first resource in the target resource pool according to a resource selection parameter; The resource selection parameter includes at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority, or a first remaining packet delay budget PDB.

12. The method according to claim 11, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes: If the first terminal device has a data transmission requirement, the smallest transmission period between the data transmission period and the first SL-PRS transmission period is selected as the first resource reservation time interval.

13. The method according to claim 11, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes: If the first terminal device has a data transmission requirement, select a transmission period of data and a transmission period of the first SL-PRS that is the smallest; If the target resource pool supports the minimum transmission period, selecting the minimum transmission period as the first resource reservation time interval; or, If the target resource pool does not support the minimum transmission period, a first transmission period close to the minimum transmission period is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the first transmission period.

14. The method according to claim 11, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes: If the first terminal device has no data transmission requirement, selecting the transmission period of the first SL-PRS as the first resource reservation time interval; or, If the first terminal device has no data transmission demand, a second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

15. The method according to claim 11, characterized in that The target resource pool is a resource pool of the second type, and the resource selection parameter includes the first resource reservation time interval; The first resource reservation time interval is a transmission period of the first SL-PRS; or, the method includes: A second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

16. The method according to any one of claims 11 to 14, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes: If the first terminal device has a data transmission requirement, select the HARQ retransmission number of the data as the first HARQ retransmission number; or If the first terminal device has no data transmission demand, the first HARQ retransmission number is selected according to at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

17. The method according to claim 16, characterized in that In the case where the first terminal device has a data transmission demand, if the data transmission of the first terminal device is successful, it means that the first SL-PRS transmission is successful.

18. The method according to claim 11 or 15, characterized in that The target resource pool is a resource pool of the second type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes: The first HARQ retransmission number is selected according to at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

19. The method according to any one of claims 11 to 14 or 16, characterized in that: The target resource pool is a resource pool of the first type, the resource selection parameter includes a first frequency domain resource amount, and the method further includes: If the first terminal device has a data transmission requirement, select the number of subchannels corresponding to the data as the first frequency domain resource amount, or select the largest number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS as the first frequency domain resource amount; or, If the first terminal device has no data transmission demand, the first frequency domain resource amount is determined according to the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

20. The method according to claim 11, 15 or 18, characterized in that: The target resource pool is a resource pool of the second type, the resource selection parameter includes the first frequency domain resource amount, and the method further includes: The first frequency domain resource amount is determined according to the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

21. The method according to any one of claims 11 to 14 or 16 or 19, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes: If the first terminal device has a data transmission demand, select the priority of the data as the first priority, or select the higher priority between the priority of the data and the priority of the first SL-PRS as the first priority; or If the first terminal device has no data transmission demand, the priority of the first SL-PRS is selected as the first priority.

22. The method according to claim 11 or 15 or 18 or 20, characterized in that: The target resource pool is a resource pool of the second type, the resource selection parameter includes the first priority, and the method further includes: The priority of the first SL-PRS is selected as the first priority.

23. The method according to any one of claims 11 to 14 or 16 or 19 or 21, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first PDB, and the method further includes: If the first terminal device has a data transmission requirement, select the smaller of the PDB of the data and the PDB of the first SL-PRS as the first PDB; or If the first terminal device has no data transmission requirement, the PDB of the first SL-PRS is selected as the first PDB.

24. The method according to claim 11 or 15 or 18 or 20 or 22, characterized in that: The target resource pool is the resource pool of the second type, the resource selection parameter includes the first PDB, and the method further includes: selecting the PDB of the first SL-PRS as the first PDB.

25. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 1 to 24.

26. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 24 is implemented.

27. A chip, characterized in that: The chip comprises a processor connected to a memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the chip executes the method as claimed in any one of claims 1 to 24.

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