Sidelink positioning method and apparatus, electronic device, and storage medium

Abstract

The present disclosure provides a kind of sidelink positioning method, device, electronic equipment and storage medium, it is related to communication technical field.The method comprises: sending SL-PRS to second device, wherein the frequency domain structure of SL-PRS is the comb structure of RE interval N, the number of continuous time domain symbol occupied by SL-PRS is M, the frequency domain offset corresponding to the SL-PRS in 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 SL-PRS, N, M are positive integers;Positioning result returned by the second device is received.The present disclosure embodiment designs multiple comb structures to the frequency domain structure of SL-PRS and the flexible configuration of multiple symbols in time domain, meets the good adaptability of different available resource scene in time slot, effectively guarantees resource utilization, to improve positioning performance.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of communication, and particularly relates to a sidelink positioning method and device, electronic equipment and storage medium. BACKGROUND

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

[0003] In the related art, positioning can be performed through sidelink. In the sidelink positioning technology, positioning needs to be performed through SL-PRS (Sidelink-Positioning Reference Signal). The design of SL-PRS is a key work, which is the basis of sidelink positioning technology and is directly related to all aspects such as resource allocation and signaling content design.

[0004] Therefore, there is an urgent need for a sidelink positioning method that can flexibly configure the time domain and frequency domain of SL-PRS to meet the good adaptability of different available resource scenarios within a time slot, effectively guarantee resource utilization, and thus improve positioning performance.

[0005] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0006] The present disclosure provides a sidelink positioning method and device, electronic equipment and storage medium, which at least to some extent improves the flexibility of SL-PRS time domain and frequency domain configuration, improves the good adaptability of different available resource scenarios within a time slot, effectively guarantees resource utilization, and improves positioning performance.

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

[0008] According to an aspect of some embodiments of the present disclosure, a method for sidelink positioning is provided. The method includes: transmitting a SL-PRS to a second device, wherein a frequency domain structure of the SL-PRS is a comb structure with an RE interval of N, a 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 device.

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

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

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

[0013] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool and a postcondition is satisfied, transmitting a SL-PRS to a second device can include: setting a post-symbol for the SL-PRS; and transmitting the SL-PRS with the post-symbol to the second device; wherein the postcondition includes that the first device performs a transmission-reception switching and / or a number of remaining time domain symbols in a 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 sidelink positioning apparatus is provided, comprising: a signal sending module configured to send an SL-PRS to a second device, wherein a frequency domain structure of the SL-PRS is a comb structure with an interval of N, a number of continuous time domain symbols occupied by the SL-PRS is M, a corresponding frequency domain offset of 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 being any time domain symbol occupied by the SL-PRS, N and M being positive integers; and a result receiving module configured to receive a positioning result returned by the second device.

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

[0018] In some embodiments of the present disclosure, the type of the target resource pool includes a shared resource pool and a dedicated resource pool, wherein the shared resource pool includes SL-PRSs for positioning and other signals and / or channels for communication, and the dedicated resource pool only includes SL-PRSs 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 SL-PRSs corresponding to at least one terminal device within a time slot, wherein the comb multiplexing is to respectively 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 respectively map multiple SL-PRSs to different time domain symbols.

[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 configured to set a pre-symbol for the SL-PRS; and send the SL-PRS with the pre-symbol to the second device.

[0021] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool and a postcondition is met, the signal sending module is configured to set a post symbol for the SL-PRS; and send the SL-PRS with the post symbol to the second device; wherein the postcondition includes that the first device performs a transmission-reception switching 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 still 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 sidelink positioning method described above by executing the executable instructions.

[0025] According to still another aspect of the present disclosure, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the sidelink positioning method described above.

[0026] According to another aspect of the present disclosure, a computer program product or a computer program is provided, which includes computer instructions 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 to cause the computer device to perform the sidelink positioning method provided in any of the various optional manners in the embodiments of the present disclosure.

[0027] The technical solutions provided by the embodiments of the present disclosure meet the good adaptability of different available resource scenarios within a time slot by designing various comb structures for the frequency domain structure of the SL-PRS and flexibly configuring various symbols in the time domain, effectively guaranteeing the resource utilization rate, and thus improving the positioning performance.

[0028] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the disclosure. It is to be understood that the drawings are designed solely for purposes of illustration to be used in conjunction with the description. It is to be understood that the drawings are designed solely for purposes of illustration and to aid in the understanding of the disclosure, and in no way limit its scope, as described in the detailed description.

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

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

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

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

[0034] Figure 5 A schematic diagram showing a comb-type multiplexing in an embodiment of the present disclosure;

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

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

[0037] Figure 8 A schematic diagram showing another resource structure in an embodiment of the present disclosure;

[0038] Figure 9 A schematic diagram showing a sidelink positioning apparatus in an embodiment of the present disclosure;

[0039] Figure 10 A block diagram showing a structure of an electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0040] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art. The described features, structures, or characteristics can be combined in one or more implementations.

[0041] In addition, the accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, the dimensions of certain features being exaggerated for illustrative purposes and therefore only rough measurements are given. Like reference numerals refer to like elements throughout the several views of the drawings. Some of the block components shown in the drawings can be functional entities that do not necessarily have to have a corresponding physical or logical entity in an implementation, and these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0042] For the convenience of understanding, the following first explains the terms involved in the present disclosure as follows:

[0043] Sidelink: a technology that allows devices to communicate directly between each other outside of a cellular network. It allows devices to communicate directly through shared wireless spectrum without going through a base station or network operator. This direct communication approach can provide low latency, high reliability, and high bandwidth connections. Suitable for many scenarios, such as communication between Internet of Things devices, etc.

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

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

[0046] As shown in Figure 1 The system architecture 100 can include a first device 101 and a second device 102.

[0047] The first device 101 transmits an 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, the frequency domain offset corresponding to the SL-PRS in the first time domain symbol position is determined by N and the first time domain symbol position, and the first time domain symbol is any time domain symbol occupied by the SL-PRS. N and M are positive integers.

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

[0049] The embodiments of the present disclosure do not limit the first device 101 and the second device 102. For example, the first device 101 can 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, and the like.

[0050] Optionally, the application clients installed in different first devices 101 are the same, or are clients of the same type of application based on different operating systems. Based on different terminal platforms, the specific forms of the application clients can also be different, for example, the application client can be a mobile phone client, a PC client, and the like.

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

[0052] In addition, when the second device 102 is a server, the second device 102 can be a server that provides various services, for example, a background management server that provides support for the operation of the device by the user using the terminal device. The background management server can analyze and process the received request and the like, and feed back the processing result to the terminal device.

[0053] Optionally, the server can be a stand-alone physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and basic cloud computing services such as big data and artificial intelligence platforms. The terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, and the like, but is not limited thereto. The terminal and the server can be directly or indirectly connected through wired or wireless communication, which is not limited in the present 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 current transmission network node forwarding pattern; determine the reference signal having a quasi co-location relationship with the current transmission according to the association relationship between the network node forwarding pattern and the reference signal; and indicate the quasi co-location information of the current transmission of the user terminal.

[0055] Those skilled in the art can know that, Figure 1The number of the first device 101 and the second device 102 in the figure is only illustrative, and according to actual needs, there can be any number of the first device 101 and the second device 102. The embodiment of the disclosure does not limit this.

[0056] The example embodiment will be described in detail below with reference to the accompanying drawings and examples.

[0057] Firstly, the sidelink positioning method provided in the embodiment of the disclosure can be executed by any electronic device with computing processing capability.

[0058] Figure 2 A flowchart of a sidelink positioning method in the embodiment of the disclosure is shown in FIG. 2. Figure 2 As shown in FIG. 2, the embodiment of the disclosure can be executed by a first device. The sidelink positioning method provided in the embodiment of the disclosure includes the following steps S202 to S204.

[0059] S202, sending a SL-PRS to a second device, wherein a frequency domain structure of the SL-PRS is a comb structure with an interval of N REs, a 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.

[0060] In an example embodiment, N is used to define the interval of REs in the frequency domain structure of the SL-PRS. It should be noted that the SL-PRS sent by the first device includes a plurality of SL-PRS symbols, and the interval of the SL-PRS symbols on the frequency domain subcarriers corresponding to the same time domain symbol is N REs, that is, every N REs on the same time domain symbol is placed with an SL-PRS symbol.

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

[0062] In an example embodiment, M is used to define the number of continuous time domain symbols occupied by the SL-PRS. It should be noted that the SL-PRS sent by the first device includes a plurality of SL-PRS symbols, and the plurality of SL-PRS symbols can occupy continuous M time domain symbols.

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

[0064] The embodiments of the present disclosure do not limit the manner in which the first device determines the value of N. For example, the value of N can be determined by a current positioning requirement, a frequency resource available in a current time slot, and other channel or signal occupation situations.

[0065] In some embodiments, the current positioning requirement can be, for example, an accuracy requirement, and the higher the required accuracy requirement, the smaller the value of N can correspond to. The frequency resource available in the current time slot can be, for example, a current available bandwidth size, and the smaller the current available bandwidth, the larger the value of N can correspond to. The other channel or signal occupation situations can include, for example, PSCCH and PSSCH, which have occupied some resources and need to be avoided, so the first device can avoid the occupied resources by adjusting the value of N.

[0066] The embodiments of the present disclosure also do not limit the manner in which the first device determines the value of M. For example, the value of M can be determined by the value of N and the number of time-frequency symbol resources available in the current time slot.

[0067] In some embodiments, the SL-PRS symbols on different time domain symbols can follow different frequency domain offsets, which refer to the frequency domain offset between the SL-PRS symbol in a time domain symbol and the SL-PRS symbol in the first time domain symbol of the continuous time domain symbols occupied by the SL-PRS.

[0068] For example, the frequency domain offset corresponding to the SL-PRS on 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 as shown in Table 1.

[0069] Table 1

[0070]

[0071]

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

[0073] It should be noted that Table 1 can be considered when determining the value of M. For each value of N, Table 1 specifies the corresponding possible values ​​of M. Then, combined with the number of time domain symbols available in the current time slot and the premise of meeting the positioning requirements, the value of M can be determined.

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

[0075] Among them, the Figure 3 Each row in the array corresponds to a frequency domain subcarrier, each column corresponds to a time domain symbol, and each cell corresponds to a RE. Figure 3 The black squares in the text represent REs occupied by SL-PRS.

[0076] like Figure 3 As shown, the frequency domain structure of this SL-PRS is a comb structure with a RE spacing of 4. Furthermore, the number of consecutive time-domain symbols occupied by this SL-PRS is 3. Therefore, in Figure 3 In the SL-PRS shown, N takes the value of 4 and M takes the value of 3.

[0077] By using the frequency domain offset values ​​shown in Table 1 above, the frequency domain offsets corresponding to the three consecutive time domain symbols occupied by this SL-PRS can be 0, 2, and 1, respectively.

[0078] In some exemplary embodiments, sending an SL-PRS to a 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, with Figure 3 For example, Figure 3 The second, sixth, and tenth rows from the bottom up are not occupied by SL-PRS. Therefore, Figure 3 That is, the frequency domain subcarrier positions belonging to a portion of the target resource pool are occupied by this SL-PRS.

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

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

[0083] wherein the Figure 4 each row corresponds to a frequency domain subcarrier, each column corresponds to a time domain symbol, and each cell corresponds to a RE. The black cells in the Figure 4 indicate the REs occupied by the SL-PRS. Also, Figure 4 the value of N in the SL-PRS shown in FIG. 2A is 4, and the value of M is 4.

[0084] Exemplarily, the values of the frequency domain offsets are shown in Table 1 above. Then the four consecutive time domain symbols occupied by the SL-PRS shown in FIG. 2A correspond to the frequency domain offsets of 0, 2, 1 and 3, respectively. Figure 4

[0085] It is to be noted that the case shown in FIG. 2B is that all the frequency domain subcarrier positions are occupied by the SL-PRS. Figure 4

[0086] In some example embodiments, the type of the target resource pool includes a shared resource pool and a dedicated resource pool, wherein the shared resource pool includes SL-PRSs for positioning and other signals and / or channels for communication, and the dedicated resource pool includes only SL-PRSs for positioning.

[0087] It is to be noted that both the shared resource pool and the dedicated resource pool can support consecutive time domain symbols with a number of M = {1, 2, 3, 4, 5, 6, 7, 8, 9}. Also, both the shared resource pool and the dedicated resource pool can support fully staggered and partially staggered SL-PRS patterns.

[0088] The fully staggered SL-PRS pattern is that all the frequency domain subcarrier positions in the resource pool are occupied by the SL-PRS. Figure 3 The case shown in FIG. 2B is a fully staggered SL-PRS pattern. The partially staggered SL-PRS pattern is that only some of the frequency domain subcarrier positions in the resource pool are occupied by the SL-PRS. Figure 4 The case shown in FIG. 2C is a partially staggered SL-PRS pattern.

[0089] In some example embodiments, when the target resource pool is a dedicated resource pool, the target resource pool is configured to provide comb-like multiplexing and time division multiplexing for the SL-PRSs corresponding to at least one terminal device within one time slot, wherein the comb-like 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.

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

[0091] For example, the corresponding symbol offset can be 2 as shown in Figure 3 For example, the corresponding symbol offset can be 2 as shown in Figure 3 For example, the corresponding symbol offset can be 2 as shown in Figure 4 For example, the corresponding symbol offset can be 2 as shown in Figure 4 For example, the corresponding symbol offset can be 2 as shown in

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

[0093] Exemplarily, in the case of comb multiplexing, the symbol offsets of different SL-PRS resources are different, so different frequency domain positions are mapped to 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 can be the same or different.

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

[0095] In this Figure 5 , each row corresponds to a frequency domain subcarrier, each column corresponds to a time domain symbol, and each cell corresponds to a RE. The black cells can correspond to the first SL-PRS resource, and the gray cells 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. As shown in Figure 5 For example, the first SL-PRS resource, the frequency domain offsets corresponding to the six consecutive time domain symbols occupied by the SL-PRS can be 0, 2, 1, 3, 0, and 2, respectively.

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

[0098] ​In an example embodiment, a time division multiplexing diagram provided by the present disclosure can be as shown in Figure 6

[0099] In this Figure 6 , each row corresponds to a frequency domain subcarrier, each column corresponds to a time domain symbol, and each cell corresponds to an RE. The black cells can correspond to the first SL-PRS resource, and the gray cells 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. As shown in Figure 6 , 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 can be 0, 2, and 1, respectively.

[0101] In addition, as can be seen from Figure 6 , the symbol offset corresponding to the first SL-PRS resource is 2, as shown in Figure 6 , and the symbol offset corresponding to the second SL-PRS resource is 1. Therefore, Figure 6 , the two SL-PRSs with different symbol offsets are mapped to different time domain symbols, respectively, so Figure 6 , it is time division multiplexing.

[0102] In some example 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, the SL-PRS is transmitted to the second device, including: setting a preamble symbol for the SL-PRS; and transmitting the SL-PRS with the preamble symbol to the second device.

[0103] In some embodiments, the preamble symbol can be an AGC (Automatic Gain Control) symbol. The content of the preamble symbol is not limited by the present disclosure. For example, the content of the preamble symbol can be repeated with the content of the first time domain symbol in the consecutive time domain symbols occupied by the SL-PRS, or the content of the preamble symbol can be repeated with the content of the last time domain symbol in the consecutive time domain symbols occupied by the SL-PRS, or the content of the preamble symbol can be empty.

[0104] For example, when the target resource pool is a dedicated resource pool, and the transmission power of the SL-PRS is the same as the transmission power of the corresponding PSCCH symbol, the SL-PRS can not be set with a preamble symbol.

[0105] ​It should be noted that when there is another SL-PRS time-division multiplexed with the SL-PRS in the same time slot, a pre-symbol can also be set for the SL-PRS.

[0106] The embodiment of the present disclosure can avoid 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 pre-symbol. Therefore, the embodiment of the present disclosure can further improve the positioning performance.

[0107] In some example embodiments, when the target resource pool is a dedicated resource pool and the postcondition is met, the SL-PRS is transmitted to the second device, including: setting a post-symbol for the SL-PRS; and transmitting the SL-PRS with the post-symbol to the second device.

[0108] In example embodiments, the postcondition includes that the first device performs a transmission-reception switching and / or the number of remaining time domain symbols of the current time slot is one.

[0109] The post-symbol can be a GAP (gap) symbol. The embodiment of the present disclosure does not limit the content of the post-symbol. In some embodiments, if there is another SL-PRS resource after the SL-PRS in the current time slot, the post-symbol can not be set for the SL-PRS.

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

[0111] In some example 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 the SL-PRS, and considering the essential influence of the bandwidth on the positioning performance, the bandwidth of the SL-PRS in the embodiment of the present disclosure needs to be equal to the bandwidth of the resource pool. At the same time, this will not cause a decrease in the flexibility of the SL-PRS resource configuration, because the configuration of the resource pool is flexible, and when the SL-PRS with different bandwidths is needed, only the resource pool with different bandwidths needs to be configured.

[0113] In some example 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, the corresponding PSCCH, and the PSSCH scheduled by the PSCCH are located in a time slot and are 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 located in a time slot, which means that the SL-PRS supports intra-slot scheduling.

[0115] In some embodiments, when the target resource pool is a dedicated resource pool, the time slot in which the SL-PRS is transmitted must have a PSCCH for scheduling the SL-PRS, and the PSCCH can be located at a position from the second time domain symbol to the third time domain symbol in the time slot, and the first symbol in the time slot is used for preamble transmission corresponding to the PSCCH. Illustratively, the preamble can 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 located in a time slot, which means that the SL-PRS only supports intra-slot scheduling.

[0117] In example embodiments, transmission of a PSSCH is not allowed in a dedicated resource pool. In addition, the SL-PRS resource and the corresponding PSCCH can be multiplexed in a time division manner, and the PSCCH can be located in an early symbol in a time slot to facilitate fast demodulation by a receiver.

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

[0119] The method provided by the embodiments of the present disclosure can realize resource coexistence of multiple channels / signals and effectively guarantee resource utilization efficiency by using different resource multiplexing rules between SL-PRS in a shared resource pool and a dedicated resource pool and between the SL-PRS and SL channels / signals.

[0120] S204, receiving a positioning result returned by the second device.

[0121] It should be noted that the positioning structure can be transmitted by the second device through a sidelink communication signal.

[0122] The method provided by the embodiments of the present disclosure meets good adaptability in different available resource scenarios within a time slot by designing multiple comb structures for the frequency domain structure of the SL-PRS and flexibly configuring multiple symbols in the time domain, effectively guarantees resource utilization, and thus improves positioning performance.

[0123] Exemplarily, a resource structure diagram for multiplexing between SL-PRSs provided by the embodiments of the present disclosure can be as shown in Figure 7 .

[0124] In Figure 7 , multiplexing between SL-PRSs can be implemented through a dedicated resource pool, where the dedicated resource pool can correspond to multiple time slots. Any time slot can correspond to multiple PRBs (Physical Resource Blocks). Any PRB can include multiple REs. The first time domain symbol can be a pre-symbol corresponding to PSCCH1 and PSCCH2. The second to third time domain symbols can be frequency division multiplexing of PSCCH1 and PSCCH2. The fourth time domain symbol can be a pre-symbol corresponding to the second SL-PRS resource.

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

[0126] Exemplarily, a resource structure diagram for multiplexing between SL-PRSs and SL channels / channels provided by the embodiments of the present disclosure can be as shown in Figure 8 .

[0127] In Figure 8 , multiplexing between SL-PRSs and SL channels / channels can be implemented through a shared resource pool, where the shared resource pool can correspond to multiple time slots. Any time slot can correspond to multiple PRBs. Any PRB can include multiple REs. The first time domain symbol can be a pre-symbol corresponding to PSCCH. The second to third time domain symbols can be PSCCH. The fourth to eighth time domain symbols can be PSSCH. The PSSCH can be used to correspond to other SL channels / channels.

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

[0129] Based on the same inventive concept, the present disclosure also provides a sidelink positioning device, as described in the following embodiments. Since the principles of the device embodiments solve the problems similar to the above-mentioned method embodiments, the implementation of the device embodiments can refer to the implementation of the above-mentioned method embodiments, and the repeated parts will not be described again.

[0130] Figure 9 A schematic diagram of a sidelink positioning device in an embodiment of the present disclosure is shown in FIG. 1, which includes: Figure 9

[0131] The signal sending module 901 is configured to send an SL-PRS to a second device, wherein a frequency domain structure of the SL-PRS is a comb structure with an RE interval of N, a number of continuous time domain symbols occupied by the SL-PRS is M, a frequency domain offset corresponding to an 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.

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

[0133] In some embodiments of the present disclosure, the signal sending module 901 is configured to send the SL-PRS to the second device according to a target resource pool, wherein all or part of 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 the target resource pool include a shared resource pool and a dedicated resource pool, wherein the shared resource pool includes SL-PRSs for positioning and other signals and / or channels for communication, and the dedicated resource pool only includes SL-PRSs 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 SL-PRSs corresponding to at least one terminal device in 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.​​

[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 PSCCH symbol, the signal sending module 901 is configured to set a pre-symbol for the SL-PRS; and send the SL-PRS with the pre-symbol to the second device.

[0137] In some embodiments of the present disclosure, when the target resource pool is a dedicated resource pool and a postcondition is met, the signal sending module 901 is configured to set a post-symbol for the SL-PRS; and send the SL-PRS with the post-symbol to the second device; wherein the postcondition includes that the first device performs a transmission-reception switching 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 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 apparatus provided by the embodiments of the present disclosure meets the good adaptability of different available resource scenarios in a time slot by designing multiple comb structures for the frequency domain structure of the SL-PRS and flexibly configuring multiple symbols in the time domain, effectively guarantees the resource utilization rate, and thus improves the positioning performance.

[0141] Those skilled in the art can understand that each aspect of the present disclosure can be implemented as a system, a method or a program product. Therefore, each aspect of the present disclosure can be embodied as a complete hardware embodiment, a complete software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, which can be collectively referred to as "circuitry", "module" or "system".

[0142] The electronic device 1000 according to this embodiment of the present disclosure will be described below with reference to Figure 10 Figure 10 The displayed electronic device 1000 is merely an example and should not impose any limitation on the functions and use range of the embodiments of the present disclosure.

[0143] As Figure 10 ​As shown, the electronic device 1000 is in the form of a general computing device. The components of the electronic device 1000 can include, but are not limited to, the at least one processing unit 1010 described above, the at least one storage unit 1020 described above, a bus 1030 that connects the various system components, including the storage unit 1020 and the processing unit 1010.

[0144] The storage unit stores programming code that can be executed by the processing unit 1010 so that the processing unit 1010 performs the steps described in the above "DETAILED DESCRIPTION" section of this specification in accordance with the various example embodiments of the present disclosure.

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

[0146] The storage unit 1020 can further include a program / utility 10204 having a set (at least one) of program modules 10205 such as an operating system, one or more application programs, other program modules, and program data, each of which can give the electronic device 1000 the information processing capabilities, and can include implementation of network environments, of some, each, or any combination of these examples.

[0147] The bus 1030 can be representative of one or more of several types of bus structures, including a storage bus or bus controller, a peripheral bus, a graphics bus, a processor or local bus using any of a variety of bus structures, and the like.

[0148] The electronic device 1000 also can communicate with one or more external devices 1040 such as a keyboard or pointing device, a Bluetooth device, etc.; one or more devices that enable a user to interact with the electronic device 1000; and / or one or more devices that enable the electronic device 1000 to communicate with one or more other computing devices. Such communication can occur via an input / output (I / O) interface 1050. Still yet, the electronic device 1000 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network (e.g., the Internet) via a network adapter 1060. As depicted, the network adapter 1060 communicates with the other components of the electronic device 1000 via the bus 1030. It should be appreciated that although the network adapter 1060 is depicted as a single component, the network adapter 1060 can comprise two or more components that work together to facilitate communications with one or more other computing devices.

[0149] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments 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 disk, a mobile hard disk, etc.) or a network, and includes a number of instructions to make a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) execute the methods according to the embodiments of the present disclosure.

[0150] In the example embodiments of the present disclosure, a computer readable storage medium is also provided, which can be a readable signal medium or a readable storage medium. A program product capable of implementing the above method of the present disclosure is stored on the computer readable storage medium. In some possible embodiments, various aspects of the present disclosure can also be implemented in the form of a program product, which includes program codes for causing a terminal device to execute the steps according to various example embodiments of the present disclosure described in the above “Detailed Description” section of the present specification when the program product is run on the terminal device.

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

[0152] In the present disclosure, the computer readable storage medium can include a data signal carried in a baseband or as a part of a carrier wave, in which readable program codes are borne. Such a propagated data signal can take on many forms, including but not limited to electro-magnetic signal, optical signal, or any suitable combination of the above. The readable signal medium can also be any readable medium that can send, propagate, or transmit program codes for use by or in connection with an instruction execution system, apparatus, or device.

[0153] Optionally, the program codes contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0154] In particular embodiments, the program code utilized by the program code to implement the functionality of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider.

[0155] It should be noted that, although several modules or units of devices for action execution are mentioned in the foregoing detailed description, such division is not mandatory. Indeed, features and functionalities of two or more modules or units described above can be embodied in one module or unit according to embodiments of the present disclosure. Conversely, features and functionalities of one module or unit described above can be further divided into multiple modules or units.

[0156] Furthermore, although various steps of the methods in the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in that particular order, or that all of the steps must be performed to achieve the desired results. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, one step can be split into multiple steps, and / or the like.

[0157] From the above description of the embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software, or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash disk, a mobile hard disk, or the like) or a network, and includes a number of instructions to make a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) execute the methods according to the embodiments of the present disclosure.

[0158] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the disclosure be construed as including any patents, patent applications, publications, publications, or other disclosure of complementary subject matter that is within the scope of the disclosure. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. A side-link localization method, characterized in that, Performed by the first device, including: A side-link positioning reference signal (SL-PRS) is sent to the second device according to the target resource pool. The SL-PRS has a frequency domain structure of a comb structure with resource element (RE) intervals of N. The number of consecutive 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. When the target resource pool is a shared resource pool, the SL-PRS, the corresponding physical side-link control channel (PSCCH), and the corresponding physical side-link shared channel (PSSCH) are multiplexed in the same time slot in a time-division manner. Alternatively, when the target resource pool is a dedicated resource pool, the SL-PRS and the corresponding PSCCH are multiplexed in the same time slot in a time-division manner, and the corresponding PSCCH is located in the symbol preceding the SL-PRS within the time slot. Receive the positioning result returned by the second device.

2. The side-link positioning method according to claim 1, characterized in that, Sending 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 side-link positioning method according to claim 2, characterized in that, The target resource pool includes a shared resource pool and a dedicated resource pool. The shared resource pool includes SL-PRS for positioning and other signals and / or channels for communication. The dedicated resource pool includes only SL-PRS for positioning.

4. The side-link 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 at least one SL-PRS corresponding to a terminal device within a time slot. The comb multiplexing maps multiple SL-PRS with different symbol offsets to different frequency domain positions of the same time domain symbol, and the time-division multiplexing maps multiple SL-PRS to different time domain symbols.

5. The side-link positioning method according to claim 2 or 3, characterized in that, 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 transmission of the SL-PRS to the second device includes: Set a prefix symbol for the SL-PRS; The SL-PRS with the aforementioned prefix symbol is sent to the second device.

6. The side-link positioning method according to claim 2 or 3, characterized in that, When the target resource pool is a dedicated resource pool and the postconditions are met, sending the SL-PRS to the second device includes: Set a postfix symbol for the SL-PRS; Send the SL-PRS with the aforementioned suffix to the second device; The postconditions include the first device switching between transmission and reception and / or the number of remaining time domain symbols in the current time slot being one.

7. The side-link 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. A side-link positioning device, characterized in that, include: A signal transmission module is used to transmit an SL-PRS to a second device according to a target resource pool. The SL-PRS has a frequency domain structure of a comb structure with RE intervals of N. The number of consecutive 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 position of the first time-domain symbol. The first time-domain symbol is any time-domain symbol occupied by the SL-PRS, and N and M are positive integers. When the target resource pool is a shared resource pool, the SL-PRS, the corresponding physical-side link control channel (PSCCH), and the corresponding physical-side link sharing channel (PSSCH) are located in the same time slot and multiplexed in a time-division manner. 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 and multiplexed in a time-division manner, and the corresponding PSCCH is located in the symbol preceding the SL-PRS within the time slot. The result receiving module is used to receive the positioning results returned by the second device.

9. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the lateral link localization method according to any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the lateral link positioning method according to any one of claims 1 to 7.

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