Lateral link positioning method and device, electronic equipment and storage medium

Abstract

The invention provides a sidelink positioning method and device, electronic equipment and a storage medium, and relates to the technical field of communication. The method comprises: sending an SL-PRS to a second device, where a frequency domain structure of the SL-PRS is a comb structure with an RE interval of N, the number of continuous time domain symbols occupied by the SL-PRS is M, a frequency domain offset corresponding to the SL-PRS at a first time domain symbol position is determined by N and the first time domain symbol position, the first time domain symbol is any time domain symbol occupied by the SL-PRS, and N and M are positive integers; and receiving a positioning result returned by the second equipment. According to the embodiment of the invention, through designing multiple comb structures for the frequency domain structure of the SL-PRS and flexible configuration of multiple symbols in the time domain, good adaptability of different available resource scenes in the time slot is satisfied, the resource utilization rate is effectively guaranteed, and the positioning performance is improved.

Description

Background Art

[0002] With the continuous development of communication technology, the demand for positioning accuracy is also increasing. As the cornerstone of many complex technologies, high-precision positioning technology has a wide range of applications in many aspects of production and life.

[0003] In related technologies, positioning can be performed through sidelink. In sidelink positioning technology, SL-PRS (Sidelink-Positioning Reference Signal) is required for positioning. Among them, the design of SL-PRS is a key task. As the basis of sidelink positioning technology, it is directly related to resource allocation, signaling content design and other aspects.

[0004] Therefore, there is an urgent need for a sidelink positioning method that can meet the good adaptability of different available resource scenarios within the time slot through flexible configuration of SL-PRS in the time and frequency domains, effectively ensure resource utilization, and thus improve positioning performance.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] The present disclosure provides a side link positioning method, device, electronic device and storage medium, which improve the flexibility of SL-PRS time domain and frequency domain configuration to at least a certain extent, improve the adaptability of different available resource scenarios in the time slot, effectively ensure resource utilization, and improve positioning performance.

[0007] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0008] According to one aspect of an embodiment of the present disclosure, a side link positioning method is provided, including: sending a SL-PRS to a second device, wherein the frequency domain structure of the SL-PRS is a comb structure with an RE (Resource Element) interval of N, the number of continuous time domain symbols occupied by the SL-PRS is M, the frequency domain offset corresponding to the SL-PRS at a first time domain symbol position is determined by N and the first time domain symbol position, the first time domain symbol is any time domain symbol occupied by the SL-PRS, and N and M are positive integers; and receiving the positioning result returned by the second device.

[0009] In some embodiments of the present disclosure, sending the SL-PRS to the second device includes: sending the SL-PRS to the second device according to a target resource pool, wherein all or part of the frequency domain subcarrier positions in the target resource pool are occupied by the SL-PRS.

[0010] In some embodiments of the present disclosure, the types of target resource pools include a shared resource pool and a dedicated resource pool, wherein the shared resource pool includes an SL-PRS for positioning and other signals and / or channels for communication, and the dedicated resource pool only includes an SL-PRS for positioning.

[0011] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool, the target resource pool is used to provide comb multiplexing and time division multiplexing for the SL-PRS corresponding to at least one terminal device within a time slot, wherein the comb multiplexing is to map multiple SL-PRSs with different symbol offsets to different frequency domain positions of the same time domain symbol, and the time division multiplexing is to map multiple SL-PRSs to different time domain symbols, respectively.

[0012] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool and the transmission power of the SL-PRS is different from the transmission power of the corresponding PSCCH (Physical Sidelink Control Cannel) symbol, sending the SL-PRS to the second device includes: setting a preamble symbol for the SL-PRS; and sending the SL-PRS with the preamble symbol to the second device.

[0013] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool and the post-condition is met, sending the SL-PRS to the second device may include: setting a post-condition symbol for the SL-PRS; sending the SL-PRS with the post-condition symbol to the second device; wherein the post-condition includes that the first device performs a send-receive switch and / or the number of remaining time domain symbols in the current time slot is one.

[0014] In some embodiments of the present disclosure, the bandwidth of the target resource pool is equal to the bandwidth of the SL-PRS.

[0015] In some embodiments of the present disclosure, when the target resource pool is a shared resource pool, the SL-PRS, the corresponding PSCCH, and the corresponding PSSCH (Physical Sidelink Shared Channel) are located in the same time slot; or, when the target resource pool is a dedicated resource pool, the SL-PRS and the corresponding PSCCH are located in the same time slot.

[0016] According to another aspect of the present disclosure, a side link positioning device is provided, including: a signal sending module, used to send a SL-PRS to a second device, wherein the frequency domain structure of the SL-PRS is a comb structure with an RE interval of N, the number of continuous time domain symbols occupied by the SL-PRS is M, and the frequency domain offset corresponding to the SL-PRS at a first time domain symbol position is determined by N and the first time domain symbol position, the first time domain symbol is any time domain symbol occupied by the SL-PRS, and N and M are positive integers; a result receiving module, used to receive the positioning result returned by the second device.

[0017] In some embodiments of the present disclosure, the signal sending module is used to send the SL-PRS to the second device according to the target resource pool, wherein all or part of the frequency domain subcarrier positions in the target resource pool are occupied by the SL-PRS.

[0018] In some embodiments of the present disclosure, the types of target resource pools include a shared resource pool and a dedicated resource pool, wherein the shared resource pool includes an SL-PRS for positioning and other signals and / or channels for communication, and the dedicated resource pool only includes an SL-PRS for positioning.

[0019] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool, the target resource pool is used to provide comb multiplexing and time division multiplexing for the SL-PRS corresponding to at least one terminal device within a time slot, wherein the comb multiplexing is to map multiple SL-PRSs with different symbol offsets to different frequency domain positions of the same time domain symbol, and the time division multiplexing is to map multiple SL-PRSs to different time domain symbols, respectively.

[0020] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool and the transmission power of the SL-PRS is different from the transmission power of the corresponding PSCCH symbol, the signal sending module is used to set a preamble symbol for the SL-PRS; and send the SL-PRS with the preamble symbol to the second device.

[0021] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool and meets the post-condition, the signal sending module is used to set a post-symbol for the SL-PRS; and send the SL-PRS with the post-symbol to the second device; wherein the post-condition includes that the first device performs a sending and receiving switch and / or the number of remaining time domain symbols in the current time slot is one.

[0022] In some embodiments of the present disclosure, the bandwidth of the target resource pool is equal to the bandwidth of the SL-PRS.

[0023] In some embodiments of the present disclosure, when the target resource pool is a shared resource pool, the SL-PRS, the corresponding PSCCH, and the corresponding PSSCH are located in the same time slot; or, when the target resource pool is a dedicated resource pool, the SL-PRS and the corresponding PSCCH are located in the same time slot.

[0024] According to another aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the above-mentioned sidelink positioning method by executing the executable instructions.

[0025] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the sidelink positioning method described above is implemented.

[0026] According to another aspect of the present disclosure, a computer program product or computer program is provided, the computer program product or computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the sidelink positioning method provided in various optional manners in any embodiment of the present disclosure.

[0027] The technical solution provided by the embodiment of the present disclosure, through designing a variety of comb structures for the frequency domain structure of SL-PRS and flexible configuration of multiple symbols in the time domain, can meet the good adaptability of different available resource scenarios in the time slot, effectively ensure resource utilization, and thus improve positioning performance.

[0028] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0030] Figure 1 A schematic diagram showing a system architecture in an embodiment of the present disclosure;

[0031] Figure 2 A flow chart of a sidelink positioning method in an embodiment of the present disclosure is shown;

[0032] Figure 3A schematic diagram of a SL-PRS in an embodiment of the present disclosure is shown;

[0033] Figure 4 A schematic diagram showing another SL-PRS in an embodiment of the present disclosure is shown;

[0034] Figure 5 A schematic diagram of comb multiplexing in an embodiment of the present disclosure is shown;

[0035] Figure 6 A schematic diagram showing a time division multiplexing in an embodiment of the present disclosure is shown;

[0036] Figure 7 A schematic diagram of a resource structure in an embodiment of the present disclosure is shown;

[0037] Figure 8 Another schematic diagram of resource structure in an embodiment of the present disclosure is shown;

[0038] Fig. 9 A schematic diagram of a side link positioning device in an embodiment of the present disclosure is shown;

[0039] Fig.10 A structural block diagram of an electronic device in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0040] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0041] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0042] For ease of understanding, the terms involved in this disclosure are first explained as follows:

[0043] Sidelink: is a technology that allows devices to communicate directly outside of cellular networks. It allows devices to communicate directly through shared wireless spectrum without going through base stations or network operators. This direct communication method can provide low-latency, high-reliability and high-bandwidth connections. It is suitable for many scenarios, such as communication between IoT devices.

[0044] Frequency domain subcarrier: A modulation technique used in communication systems, commonly used in OFDM (Orthogonal Frequency Division Multiplexing) systems. In OFDM systems, a broadband signal is divided into multiple narrowband subcarriers, and data is transmitted on these subcarriers.

[0045] Figure 1 A schematic diagram showing an exemplary system architecture that can be applied to a sidelink positioning method or a sidelink positioning device according to an embodiment of the present disclosure is shown.

[0046] like Figure 1 As shown, the system architecture 100 may include a first device 101 and a second device 102 .

[0047] Among them, the first device 101 sends the SL-PRS to the second device 102, wherein the frequency domain structure of the SL-PRS is a comb structure with an RE interval of N, the number of continuous time domain symbols occupied by the SL-PRS is M, and the frequency domain offset corresponding to the SL-PRS at the first time domain symbol position is determined by N and the first time domain symbol position, the first time domain symbol is any time domain symbol occupied by the SL-PRS, and N and M are positive integers.

[0048] Then, the second device 102 may locate the first device 101 according to the SL-PRS and obtain a positioning result. Finally, the second device 102 may return the positioning result to the first device 101.

[0049] The embodiment of the present disclosure does not limit the first device 101 and the second device 102. For example, the first device 101 may be a terminal device, including but not limited to a smart phone, a tablet computer, a laptop computer, a desktop computer, a wearable device, an augmented reality device, a virtual reality device, etc.

[0050] Optionally, the client of the application installed in different first devices 101 is the same, or is a client of the same type of application based on different operating systems. Based on different terminal platforms, the specific form of the client of the application can also be different, for example, the application client can be a mobile client, a PC client, etc.

[0051] The second device 102 may be a terminal device, a server, a base station, etc. When the second device 102 is a terminal device, the second device 102 may be the same as or different from the first device 101 .

[0052] In addition, when the second device 102 is a server, the second device 102 may be a server that provides various services, such as a background management server that provides support for devices operated by users using terminal devices. The background management server may analyze and process the received request and other data, and feed back the processing results to the terminal device.

[0053] Optionally, the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The terminal can be a smart phone, tablet computer, laptop computer, desktop computer, smart speaker, smart watch, etc., but is not limited to this. The terminal and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in this application.

[0054] When the second device 102 is a base station, the second device 102 can be used to configure one or more reference signals; configure the association relationship between the reference signal and the network node forwarding pattern; determine and configure the network node forwarding pattern of the current transmission; determine the reference signal that has a quasi-co-site relationship with the current transmission based on at least the association relationship between the network node forwarding pattern and the reference signal; and indicate the quasi-co-site information of the current transmission to the user terminal.

[0055] Those skilled in the art will know that Figure 1 The number of the first device 101 and the second device 102 in the figure is only for illustration, and any number of the first device 101 and the second device 102 may be provided according to actual needs. The embodiment of the present disclosure is not limited to this.

[0056] The present exemplary implementation is described in detail below with reference to the accompanying drawings and embodiments.

[0057] First, a side link positioning method is provided in an embodiment of the present disclosure, which can be executed by any electronic device with computing and processing capabilities.

[0058] Figure 2 A flow chart of a side link positioning method in an embodiment of the present disclosure is shown as follows: Figure 2As shown, the embodiment of the present disclosure may be executed by the first device. The sidelink positioning method provided in the embodiment of the present disclosure includes the following steps S202 to S204.

[0059] S202, sending SL-PRS to the second device, wherein the frequency domain structure of the SL-PRS is a comb structure with an RE interval of N, the number of continuous time domain symbols occupied by the SL-PRS is M, the frequency domain offset corresponding to the SL-PRS at the first time domain symbol position is determined by N and the first time domain symbol position, the first time domain symbol is any time domain symbol occupied by the SL-PRS, and N and M are positive integers.

[0060] In an exemplary embodiment, N is used to limit the interval of RE in the frequency domain structure of SL-PRS. It should be noted that the SL-PRS sent by the first device includes multiple SL-PRS symbols, wherein the interval of SL-PRS symbols on the frequency domain subcarrier corresponding to the same time domain symbol is N REs, that is, an SL-PRS symbol is placed every N REs on the same time domain symbol.

[0061] The embodiment of the present disclosure does not limit the value range of N. By way of example, the value of N may be, for example, N={1, 2, 4, 6, 8, 12}.

[0062] In an exemplary embodiment, M is used to limit the number of consecutive time domain symbols occupied by the SL-PRS. It should be noted that the SL-PRS sent by the first device includes multiple SL-PRS symbols, and the multiple SL-PRS symbols can occupy M consecutive time domain symbols.

[0063] The embodiment of the present disclosure does not limit the value range of M. By way of example, the value of M may be, for example, M={1, 2, 3, 4, 5, 6, 7, 8, 9}.

[0064] The embodiment of the present disclosure does not limit the manner in which the first device determines the value of N. For example, the value of N may be determined by current positioning requirements, available frequency resources in the current time slot, and other channel or signal occupancy conditions.

[0065] In some embodiments, the current positioning requirement may be, for example, an accuracy requirement, etc. When the accuracy requirement is higher, the value of N may be reduced accordingly. The frequency resources available in the current time slot may be, for example, the current available bandwidth size. When the current available bandwidth is smaller, the value of N may be increased accordingly. When other channel or signal occupancy conditions, such as PSCCH and PSSCH, have occupied some resources and need to be avoided, the first device may avoid the occupied resources by adjusting the value of N.

[0066] The embodiment of the present disclosure also does not limit the manner in which the first device determines the value of M. Exemplarily, the value of M may be determined by the value of N and the number of available time-frequency symbol resources in the current time slot.

[0067] In some embodiments, SL-PRS symbols on different time domain symbols may follow different frequency domain offsets, where the frequency domain offset refers to the frequency domain offset between the SL-PRS symbol in a certain time domain symbol and the SL-PRS symbol in the first time domain symbol in the continuous time domain symbols occupied by the SL-PRS.

[0068] Exemplarily, the frequency domain offset corresponding to the SL-PRS at the first time domain symbol position is determined by N and the first time domain symbol position, and any time domain symbol position can be represented by a number. For example, when M=4, the numbers corresponding to each time domain symbol can be 0, 1, 2, and 3, respectively. The values ​​of the frequency domain offsets corresponding to each value of N and the time domain symbol position can be shown in Table 1 below.

[0069] Table 1

[0070]

[0071]

[0072] In Table 1, the values ​​of N are 1, 2, 4, 5, 8, and 12. In addition, since the number of continuous time domain symbols occupied by SL-PRS is M, the M continuous time domain symbols can be assigned numbers from 0 to M-1. Taking N=2 as an example, the frequency domain offsets corresponding to the SL-PRS at each time domain symbol position are 0, 2, 1, 3, 0, 2, 1, 3, and 0, respectively, where the value of M can be the first few.

[0073] It should be noted that when determining the value of M, Table 1 can be considered. For each value of N, Table 1 specifies the corresponding optional value of M, and then the value of M can be determined based on how many time domain symbols are available in the current time slot and on the premise of meeting the positioning requirements.

[0074] For example, Figure 3 A schematic diagram of a SL-PRS in an embodiment of the present disclosure is shown.

[0075] Among them, the Figure 3 Each row in the table corresponds to a frequency domain subcarrier, each column corresponds to a time domain symbol, and each grid corresponds to an RE. Figure 3 The black cells in are the REs occupied by SL-PRS.

[0076] like Figure 3As shown in FIG. 1 , the frequency domain structure of the SL-PRS is a comb structure with an RE interval of 4. Also, the number of continuous time domain symbols occupied by the SL-PRS is 3. Therefore, Figure 3 In the SL-PRS shown, the value of N is 4 and the value of M is 3.

[0077] According to the value of the frequency domain offset shown in Table 1 above, the frequency domain offsets corresponding to the three consecutive time domain symbols occupied by the SL-PRS may be 0, 2, and 1 respectively.

[0078] In some exemplary embodiments, sending the SL-PRS to the second device may include: sending the SL-PRS to the second device according to a target resource pool, wherein all or part of the frequency domain subcarrier positions in the target resource pool are occupied by the SL-PRS.

[0079] In some embodiments, any target resource pool may include at least one physical time-frequency resource.

[0080] For example, Figure 3 For example, Figure 3 The second, sixth, and tenth rows from bottom to top are not occupied by SL-PRS. Figure 3 That is, part of the frequency domain subcarrier positions in the target resource pool are occupied by the SL-PRS.

[0081] Similarly, if Figure 3 The second, sixth, and tenth rows from bottom to top in FIG. 1 all include REs occupied by SL-PRS. At this time, all frequency domain subcarrier positions in the target resource pool are occupied by SL-PRS.

[0082] For example, Figure 4 A schematic diagram of a SL-PRS in an embodiment of the present disclosure is shown.

[0083] Among them, the Figure 4 Each row in the table corresponds to a frequency domain subcarrier, each column corresponds to a time domain symbol, and each grid corresponds to an RE. Figure 4 The black cells in are the REs occupied by SL-PRS. And, Figure 4 In the SL-PRS shown, the value of N is 4 and the value of M is 4.

[0084] Exemplarily, the frequency domain offset is set as shown in Table 1 above. Figure 4 The frequency domain offsets corresponding to the four consecutive time domain symbols occupied by the SL-PRS shown in can be 0, 2, 1, and 3 respectively.

[0085] It should be noted that Figure 4 The situation shown is that all frequency domain subcarrier positions are occupied by SL-PRS.

[0086] In some exemplary embodiments, the types of target resource pools include a shared resource pool and a dedicated resource pool, wherein the shared resource pool includes an SL-PRS for positioning and other signals and / or channels for communication, and the dedicated resource pool only includes an SL-PRS for positioning.

[0087] It should be noted that both the shared resource pool and the dedicated resource pool can support M={1, 2, 3, 4, 5, 6, 7, 8, 9} continuous time domain symbols. In addition, both the shared resource pool and the dedicated resource pool can support fully interleaved and partially interleaved SL-PRS patterns.

[0088] The completely staggered SL-PRS pattern means that all frequency domain subcarrier positions in the resource pool are occupied by SL-PRS. Figure 3 The one shown is a completely staggered SL-PRS pattern. A partially staggered SL-PRS pattern is one in which only some frequency domain subcarrier positions in the resource pool are occupied by SL-PRS. Figure 4 The one shown is a partially staggered SL-PRS pattern.

[0089] In some exemplary embodiments, when the target resource pool is a dedicated resource pool, the target resource pool is used to provide comb multiplexing and time division multiplexing for the SL-PRS corresponding to at least one terminal device within a time slot, wherein the comb multiplexing is to map multiple SL-PRSs with different symbol offsets to different frequency domain positions of the same time domain symbol, and the time division multiplexing is to map multiple SL-PRSs to different time domain symbols, respectively.

[0090] In some embodiments, the symbol offset may be an offset of the frequency domain subcarrier of the first SL-PRS symbol in the first time domain symbol in the continuous time domain symbols occupied by the SL-PRS relative to the zero subcarrier. Figure 3 For example, the zeroth subcarrier is the frequency domain subcarrier corresponding to the first row from bottom to top. Exemplarily, different SL-PRS resources may allow different symbol offsets.

[0091] by Figure 3 For example, the corresponding sign bias can be Figure 3 As shown in , the sign offset can be 2. Figure 4 For example, the corresponding sign bias can be Figure 4 As shown in , the sign bias can be 2.

[0092] In addition, for the shared resource pool, SL-PRS comb resource multiplexing and time division multiplexing of multiple UEs in one time slot may not be supported.

[0093] For example, in the case of comb multiplexing, different SL-PRS resources have different symbol offsets and are mapped to different frequency domain positions on the same time domain symbol. In the case of time division multiplexing, different SL-PRS resources occupy different time domain symbols, and their frequency domain positions may be the same or different.

[0094] In an exemplary embodiment, a schematic diagram of comb multiplexing provided by the embodiment of the present disclosure can be as follows: Figure 5 shown.

[0095] In this Figure 5 In the example, each row corresponds to a frequency domain subcarrier, each column corresponds to a time domain symbol, and each grid corresponds to an RE. The black grid can correspond to the first SL-PRS resource, and the gray grid can correspond to the second SL-PRS resource. The first SL-PRS resource and the second SL-PRS resource can correspond to different terminal devices respectively.

[0096] The value of N corresponding to the first SL-PRS resource is 4, and the value of M is 6. The value of N corresponding to the second SL-PRS resource is 4, and the value of M is 6. Figure 5 As shown, taking the first SL-PRS resource as an example, the frequency domain offsets corresponding to the six consecutive time domain symbols occupied by the SL-PRS may be 0, 2, 1, 3, 0, and 2, respectively.

[0097] In addition, from Figure 5 It can be seen from the figure that the symbol offset corresponding to the first SL-PRS resource is Figure 5 As shown in , it is 2, and the symbol offset corresponding to the second SL-PRS resource is 1. Therefore, Figure 5 It belongs to mapping two SL-PRS with different symbol offsets to different frequency domain positions of the same time domain symbol. Figure 5 Belongs to comb multiplexing.

[0098] In an exemplary embodiment, a schematic diagram of a time division multiplexing provided by an embodiment of the present disclosure can be as follows: Figure 6 shown.

[0099] In this Figure 6 In the example, each row corresponds to a frequency domain subcarrier, each column corresponds to a time domain symbol, and each grid corresponds to an RE. The black grid can correspond to the first SL-PRS resource, and the gray grid can correspond to the second SL-PRS resource. The first SL-PRS resource and the second SL-PRS resource can correspond to different terminal devices respectively.

[0100] The value of N corresponding to the first SL-PRS resource is 4, and the value of M is 3. The value of N corresponding to the second SL-PRS resource is 4, and the value of M is 3. Figure 6As shown, taking the first SL-PRS resource as an example, the frequency domain offsets corresponding to the three consecutive time domain symbols occupied by the SL-PRS may be 0, 2, and 1, respectively.

[0101] In addition, from Figure 6 It can be seen from the figure that the symbol offset corresponding to the first SL-PRS resource is Figure 6 As shown in , it is 2, and the symbol offset corresponding to the second SL-PRS resource is 1. Therefore, Figure 6 It belongs to mapping two SL-PRS with different symbol offsets to different time domain symbols. Figure 6 It belongs to time division multiplexing.

[0102] In some exemplary embodiments, when the target resource pool is a dedicated resource pool and the transmission power of the SL-PRS is different from the transmission power of the corresponding PSCCH symbol, sending the SL-PRS to the second device includes: setting a preamble symbol for the SL-PRS; and sending the SL-PRS with the preamble symbol to the second device.

[0103] In some embodiments, the preamble symbol may be an AGC (Automatic Gain Control) symbol. The disclosed embodiments do not limit the content of the preamble symbol. Exemplarily, the content of the preamble symbol may be repeated with the content of the first time domain symbol in the continuous time domain symbols occupied by the SL-PRS, or the content of the preamble symbol may be repeated with the content of the last time domain symbol in the continuous time domain symbols occupied by the SL-PRS, or the content of the preamble symbol may be empty.

[0104] Exemplarily, when the target resource pool is a dedicated resource pool and the transmit power of the SL-PRS is the same as the transmit power of the corresponding PSCCH symbol, a preamble symbol may not be set for the SL-PRS.

[0105] It should be noted that, when there are other SL-PRSs before the SL-PRS and time-division multiplexed with it in the time slot, a preamble symbol may also be set for the SL-PRS.

[0106] The embodiment of the present disclosure can avoid the potential positioning performance degradation caused by the inconsistency between the transmission power of the SL-PRS and the transmission power of the corresponding PSCCH symbol by setting the preamble symbol. Therefore, the embodiment of the present disclosure can further improve the positioning performance.

[0107] In some exemplary embodiments, when the target resource pool is a dedicated resource pool and satisfies a post-condition, sending the SL-PRS to the second device includes: setting a post-symbol for the SL-PRS; and sending the SL-PRS with the post-symbol to the second device.

[0108] In an exemplary embodiment, the post-condition includes that the first device performs a transmission / reception switch and / or the number of remaining time domain symbols in the current time slot is one.

[0109] Exemplarily, the post-symbol may be a GAP (gap) symbol. The disclosed embodiment does not limit the content of the post-symbol. In some embodiments, if there are other SL-PRS resources after the SL-PRS in the current time slot, no post-symbol may be set for the SL-PRS.

[0110] It should be noted that due to the sending and receiving state, the first device needs a certain amount of time to complete the switching preparation, so it is necessary to reserve a protection interval through a post-symbol. When the SL-PRS is followed by other SL-PRS resources, the sending UE does not need to receive the signal at this time, and no post-symbol is needed to be added thereafter. In addition, when there is only one symbol left in the current time slot after the SL-PRS, the set post-symbol can also be used to reserve a protection interval. Therefore, the embodiment of the present disclosure avoids the potential positioning performance degradation caused by the sending and receiving switching through the setting of the post-symbol, and the embodiment of the present disclosure further improves the positioning performance.

[0111] In some exemplary embodiments, the bandwidth of the target resource pool is equal to the bandwidth of the SL-PRS.

[0112] It should be noted that, in order to simplify the resource allocation mechanism of SL-PRS, and taking into account the essential impact of bandwidth on positioning performance, the SL-PRS bandwidth in the embodiment of the present disclosure needs to be equal to the resource pool bandwidth. At the same time, this does not lead to a reduction in the flexibility of SL-PRS resource configuration, because the configuration of the resource pool is flexible. When SL-PRS of different bandwidths is required, it is only necessary to configure resource pools of different bandwidths.

[0113] In some exemplary embodiments, when the target resource pool is a shared resource pool, the SL-PRS, the corresponding PSCCH, and the corresponding PSSCH are located in the same time slot; or, when the target resource pool is a dedicated resource pool, the SL-PRS and the corresponding PSCCH are located in the same time slot.

[0114] In some embodiments, when the target resource pool is a shared resource pool, the SL-PRS and the corresponding PSCCH therein, and the PSSCH used for scheduling by the PSCCH are in one time slot and multiplexed in a time division manner. It should be noted that when the target resource pool is a shared resource pool, the SL-PRS and the corresponding PSCCH are in one time slot, which may indicate that the SL-PRS supports scheduling within the time slot.

[0115] In some embodiments, when the target resource pool is a dedicated resource pool, the time slot for transmitting the SL-PRS must have a PSCCH for scheduling the SL-PRS, and the PSCCH may be located at a certain position from the second time domain symbol to the third time domain symbol of the time slot, and the first symbol of the time slot is used for the transmission of the preamble symbol corresponding to the PSCCH. Exemplarily, the preamble symbol may be an AGC symbol.

[0116] It should be noted that, when the target resource pool is a dedicated resource pool, the SL-PRS and the corresponding PSCCH are in a time slot, which may indicate that the SL-PRS only supports scheduling within a time slot.

[0117] In an exemplary embodiment, PSSCH is not allowed to be transmitted in the dedicated resource pool. In addition, SL-PRS resources and corresponding PSCCH can be multiplexed in a time division manner, and PSCCH can be located in the front symbol in the time slot to facilitate rapid demodulation by the receiver.

[0118] Exemplarily, when the target resource pool is a dedicated resource pool, frequency division multiplexing may be allowed between PSCCHs.

[0119] The method provided by the embodiment of the present disclosure can achieve resource coexistence of multiple channels / signals and effectively ensure resource utilization efficiency by implementing different resource multiplexing rules between SL-PRS in a shared resource pool and a dedicated resource pool, and between SL-PRS and SL channels / signals.

[0120] S204: Receive the positioning result returned by the second device.

[0121] It should be noted that the positioning structure can be sent by the second device via a side link communication signal.

[0122] The method provided by the embodiment of the present disclosure designs a variety of comb structures for the frequency domain structure of SL-PRS and flexibly configures multiple symbols in the time domain to meet the good adaptability of different available resource scenarios in the time slot, effectively ensure resource utilization, and thus improve positioning performance.

[0123] Exemplarily, a schematic diagram of a resource structure for multiplexing between SL-PRSs provided in an embodiment of the present disclosure may be as follows: Figure 7 shown.

[0124] exist Figure 7In the embodiment, the multiplexing between SL-PRS can be realized through a dedicated resource pool, wherein the dedicated resource pool can correspond to multiple time slots. Among them, any time slot can correspond to multiple PRBs (Physical Resource Blocks). And any PRB may include multiple REs. Among them, the first time domain symbol can be the preamble symbol corresponding to PSCCH1 and PSCCH2 respectively. The second time domain symbol to the third time domain symbol can be frequency division multiplexing of PSCCH1 and PSCCH2. The fourth time domain symbol can be the preamble symbol corresponding to the second SL-PRS resource.

[0125] In addition, the fifth to eighth time domain symbols may be the second SL-PRS resource. The ninth time domain symbol may be the preamble symbol corresponding to the first SL-PRS resource. The tenth to thirteenth time domain symbols may be the first SL-PRS resource. Since there is only one time domain symbol left in the current time slot after the first SL-PRS resource, a postamble symbol may be set on the fourteenth time domain symbol. Finally, the symbol offset and frequency domain offset corresponding to the second SL-PRS resource may be as follows: Figure 7 as shown in .

[0126] Exemplarily, a schematic diagram of a resource structure for multiplexing an SL-PRS and an SL channel / channel provided in an embodiment of the present disclosure may be as follows: Figure 8 shown.

[0127] exist Figure 8 In the embodiment, the multiplexing between SL-PRS and SL channels / channels can be realized through a shared resource pool, wherein the shared resource pool can correspond to multiple time slots. Among them, any time slot can correspond to multiple PRBs. And any PRB may include multiple REs. Among them, the first time domain symbol can be the preamble symbol corresponding to the PSCCH. And the second time domain symbol to the third time domain symbol can be the PSCCH. The fourth time domain symbol to the eighth time domain symbol can be the PSSCH. The PSSCH can be used to correspond to other SL channels / channels.

[0128] In addition, the ninth time domain symbol may be a preamble symbol corresponding to the first SL-PRS resource. The tenth to thirteenth time domain symbols may be the first SL-PRS resource. Since there is only one time domain symbol left in the current time slot after the first SL-PRS resource, a postamble symbol may be set on the fourteenth time domain symbol. Finally, the symbol offset and frequency domain offset corresponding to the first SL-PRS resource may be as follows: Figure 8 as shown in .

[0129] Based on the same inventive concept, a side link positioning device is also provided in the embodiment of the present disclosure, as described in the following embodiment. Since the principle of solving the problem in the embodiment of the device is similar to that in the above method embodiment, the implementation of the embodiment of the device can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0130] Fig. 9 A schematic diagram of a side link positioning device in an embodiment of the present disclosure is shown. Fig. 9 As shown, the device comprises:

[0131] A signal sending module 901 is used to send a SL-PRS to a second device, wherein the frequency domain structure of the SL-PRS is a comb structure with an RE interval of N, the number of continuous time domain symbols occupied by the SL-PRS is M, and the frequency domain offset corresponding to the SL-PRS at the first time domain symbol position is determined by N and the first time domain symbol position, the first time domain symbol is any time domain symbol occupied by the SL-PRS, and N and M are positive integers;

[0132] The result receiving module 902 is used to receive the positioning result returned by the second device.

[0133] In some embodiments of the present disclosure, the signal sending module 901 is used to send the SL-PRS to the second device according to the target resource pool, wherein all or part of the frequency domain subcarrier positions in the target resource pool are occupied by the SL-PRS.

[0134] In some embodiments of the present disclosure, the types of target resource pools include a shared resource pool and a dedicated resource pool, wherein the shared resource pool includes an SL-PRS for positioning and other signals and / or channels for communication, and the dedicated resource pool only includes an SL-PRS for positioning.

[0135] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool, the target resource pool is used to provide comb multiplexing and time division multiplexing for the SL-PRS corresponding to at least one terminal device within a time slot, wherein the comb multiplexing is to map multiple SL-PRSs with different symbol offsets to different frequency domain positions of the same time domain symbol, and the time division multiplexing is to map multiple SL-PRSs to different time domain symbols, respectively.

[0136] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool and the transmission power of the SL-PRS is different from the transmission power of the corresponding physical sidelink control channel PSCCH symbol, the signal sending module 901 is used to set a preamble symbol for the SL-PRS; and send the SL-PRS with the preamble symbol to the second device.

[0137] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool and meets the post-condition, the signal sending module 901 is used to set a post-symbol for the SL-PRS; and send the SL-PRS with the post-symbol to the second device; wherein the post-condition includes that the first device performs a sending and receiving switch and / or the number of remaining time domain symbols in the current time slot is one.

[0138] In some embodiments of the present disclosure, the bandwidth of the target resource pool is equal to the bandwidth of the SL-PRS.

[0139] In some embodiments of the present disclosure, when the target resource pool is a shared resource pool, the SL-PRS, the corresponding PSCCH, and the corresponding physical sidelink shared channel PSSCH are located in the same time slot; or, when the target resource pool is a dedicated resource pool, the SL-PRS and the corresponding PSCCH are located in the same time slot.

[0140] The device provided by the embodiment of the present disclosure designs a variety of comb structures for the frequency domain structure of SL-PRS and flexibly configures multiple symbols in the time domain to meet the good adaptability of different available resource scenarios in the time slot, effectively ensure resource utilization, and thus improve positioning performance.

[0141] It will be appreciated by those skilled in the art that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0142] Refer to the following Fig.10 The electronic device 1000 according to this embodiment of the present disclosure is described. Fig.10 The electronic device 1000 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0143] like Fig.10 As shown, the electronic device 1000 is in the form of a general computing device. The components of the electronic device 1000 may include but are not limited to: the at least one processing unit 1010, the at least one storage unit 1020, and a bus 1030 connecting different system components (including the storage unit 1020 and the processing unit 1010).

[0144] The storage unit stores program code, which can be executed by the processing unit 1010, so that the processing unit 1010 executes the steps of various exemplary embodiments of the present disclosure described in the above “Specific Implementation Methods” section of this specification.

[0145] The storage unit 1020 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 10201 and / or a cache storage unit 10202 , and may further include a read-only storage unit (ROM) 10203 .

[0146] The storage unit 1020 may also include a program / utility 10204 having a set (at least one) of program modules 10205, such program modules 10205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0147] Bus 1030 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0148] The electronic device 1000 may also communicate with one or more external devices 1040 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 1000, and / or communicate with any device that enables the electronic device 1000 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 1050. Furthermore, the electronic device 1000 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 1060. As shown, the network adapter 1060 communicates with other modules of the electronic device 1000 via a bus 1030. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 1000, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0149] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0150] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, which may be a readable signal medium or a readable storage medium. A program product capable of implementing the above-mentioned method of the present disclosure is stored thereon. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above “Specific Implementation Methods” section of this specification.

[0151] More specific examples of computer-readable storage media in the present disclosure may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0152] In the present disclosure, a computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0153] Alternatively, the program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0154] In a specific implementation, the program code for performing the operation of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0155] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0156] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0157] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0158] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A sidelink positioning method, characterized in that: The method is executed by a first device and includes: Send a sidelink positioning reference signal SL-PRS to the second device, wherein the frequency domain structure of the SL-PRS is a comb structure with a resource unit RE interval of N, the number of continuous time domain symbols occupied by the SL-PRS is M, and the frequency domain offset corresponding to the SL-PRS at the first time domain symbol position is determined by N and the first time domain symbol position, the first time domain symbol is any time domain symbol occupied by the SL-PRS, and N and M are positive integers; Receive the positioning result returned by the second device.

2. The sidelink positioning method according to claim 1, characterized in that: The sending the SL-PRS to the second device includes: The SL-PRS is sent to the second device according to the target resource pool, wherein all or part of the frequency domain subcarrier positions in the target resource pool are occupied by the SL-PRS.

3. The sidelink positioning method according to claim 2, characterized in that: The types of the target resource pool include a shared resource pool and a dedicated resource pool, wherein the shared resource pool includes the SL-PRS used for positioning and other signals and / or channels used for communication, and the dedicated resource pool only includes the SL-PRS used for positioning.

4. The sidelink positioning method according to claim 2 or 3, characterized in that: When the target resource pool is a dedicated resource pool, the target resource pool is used to provide comb multiplexing and time division multiplexing for the SL-PRS corresponding to at least one terminal device within a time slot, wherein the comb multiplexing is to map multiple SL-PRSs with different symbol offsets to different frequency domain positions of the same time domain symbol, and the time division multiplexing is to map multiple SL-PRSs to different time domain symbols.

5. The sidelink positioning method according to claim 2 or 3, characterized in that: When the target resource pool is a dedicated resource pool, and the transmit power of the SL-PRS is different from the transmit power of the corresponding physical sidelink control channel PSCCH symbol, sending the SL-PRS to the second device includes: Setting a preamble symbol for the SL-PRS; The SL-PRS with the preamble symbol is sent to the second device.

6. The sidelink positioning method according to claim 2 or 3, characterized in that: When the target resource pool is a dedicated resource pool and the post-condition is met, the sending the SL-PRS to the second device includes: Setting a post symbol for the SL-PRS; Sending the SL-PRS with the post-symbol to the second device; The post-condition includes that the first device performs a sending / receiving switch and / or the number of remaining time domain symbols in the current time slot is one.

7. The sidelink positioning method according to claim 2 or 3, characterized in that: The bandwidth of the target resource pool is equal to the bandwidth of the SL-PRS.

8. The sidelink positioning method according to claim 2 or 3, characterized in that: When the target resource pool is a shared resource pool, the SL-PRS, the corresponding PSCCH, and the corresponding physical sidelink shared channel PSSCH are located in the same time slot; Alternatively, when the target resource pool is a dedicated resource pool, the SL-PRS and the corresponding PSCCH are located in the same time slot.

9. A sidelink positioning device, characterized in that: include: A signal sending module, used to send a SL-PRS to a second device, wherein the frequency domain structure of the SL-PRS is a comb structure with an RE interval of N, the number of continuous time domain symbols occupied by the SL-PRS is M, and the frequency domain offset corresponding to the SL-PRS at a first time domain symbol position is determined by N and the first time domain symbol position, the first time domain symbol is any time domain symbol occupied by the SL-PRS, and N and M are positive integers; The result receiving module is used to receive the positioning result returned by the second device.

10. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to execute the sidelink positioning method described in any one of claims 1 to 8 by executing the executable instructions.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the sidelink positioning method described in any one of claims 1 to 8 is implemented.

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