Communication method and device

Abstract

A communication method and apparatus, applied to the technical field of wireless communication, the method comprising: a first terminal device generating a plurality of OFDM symbols, the plurality of OFDM symbols being symbols used for sidelink transmission in a time slot, the plurality of OFDM symbols comprising one or more of the following symbols: AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, or SL CSI-RS symbols, the plurality of OFDM symbols further comprising SL PRS symbols, the SL PRS symbols being one or more of the AGC symbols, the GAP symbols, the PSCCH symbols, the PSSCH DMRS symbols, or the SL CSI-RS symbols; the SL PRS symbols are the last M symbols except the one or more symbols in the plurality of OFDM symbols, M is 1 or M is an integer greater than 1, and when M is greater than 1, the M symbols are continuous M symbols; and transmitting the plurality of OFDM symbols. Through the method provided by the invention, the position of the SL PRS symbol can be determined, and the performance of SL positioning can be improved.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a communication method and device. Background Art

[0002] In order to meet the diverse needs of vehicles for positioning services in terms of latency, accuracy, and safety, the third generation partnership project (3GPP) wireless communication standard uses sidelink (SL) positioning technology as an extension and enhancement of new radio (NR) positioning technology, and has carried out research and standardization of related technologies. SL positioning can reuse NR communication-related positioning methods as much as possible in combination with its own characteristics, such as but not limited to: round trip time (RTT), sidelink time difference of arrival (SL TDOA), sidelink angle of arrival (SL AOA), or sidelink angle of departure (SLAOD) and other positioning methods.

[0003] SL positioning and SL communication can share a resource pool, that is, SL positioning and SL communication can use the same resource pool in a time division multiplexing manner or a frequency division multiplexing manner. At present, for SL positioning and SL communication sharing a resource pool, in a time slot, the sidelink positioning reference signal (SL PRS) symbol and the automatic gain control (AGC) symbol, gap symbol, physical sidelink control channel (PSCCH) symbol, and physical sidelink shared channel (PSSCH) demodulation reference signal (DMRS) symbol are all different symbols, and SL PRS occupies M consecutive symbols. In this way, there are multiple possibilities for the position of the SL PRS symbol, making it impossible for the terminal device to determine the position of the SL PRS symbol. Summary of the invention

[0004] The embodiments of the present application provide a communication method and device for determining the position of an SL PRS symbol, which can improve the performance of SL positioning.

[0005] In the first aspect, the present application provides a communication method, which can be executed by a first terminal device, or by a component (such as a chip, etc.) in the first terminal device, without limitation. Taking the execution by the first terminal device as an example, the method includes: the first terminal device generates a plurality of orthogonal frequency division multiplexing (orthogonal frequency division multiplexing, OFDM) symbols, the plurality of OFDM symbols are symbols for sidelink transmission in a time slot, wherein the plurality of OFDM symbols include one or more of the following symbols: AGC symbol, gap (hereinafter referred to as GAP) symbol, PSCCH symbol, PSSCH DMRS symbol, or SL CSI-RS symbol, the plurality of OFDM symbols also include SL PRS symbol, the SL PRS symbol is the last M symbols of the plurality of OFDM symbols except the one or more symbols, the M is 1, or the M is an integer greater than 1, wherein when the M is greater than 1, the M symbols are continuous M symbols; and, sending the plurality of OFDM symbols.

[0006] Exemplarily, the first terminal device generating multiple OFDM symbols may be replaced by: the first terminal device mapping the SL PRS to M symbols among the multiple OFDM symbols.

[0007] In one possible implementation, the SL CSI-RS symbol is a semi-statically configured symbol, and the first terminal device may also send the first information. For example, the first terminal device may send the first information to the second terminal device. The first information may be used to indicate that the first terminal device sends the SL CSI-RS, or to indicate that the first terminal device does not send the SL CSI-RS. The SL CSI-RS is carried by the SL CSI-RS symbol, or the SL CSI-RS is mapped to the SL CSI-RS symbol. In one example, regardless of whether the first terminal device sends the SL CSI-RS, that is, regardless of whether the first information is used to indicate that the first terminal device sends the SL CSI-RS or to indicate that the first terminal device does not send the SL CSI-RS, the multiple OFDM symbols include the SL CSI-RS symbol. In another example, when the first terminal device sends SL CSI-RS, that is, when the first information is used to indicate the sending of SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols; when the first terminal device does not send SL CSI-RS, that is, when the first information is used to indicate not sending SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols.

[0008] Through the above implementation method, the SL CSI-RS symbol is a semi-statically configured symbol. Regardless of whether the first terminal device sends the SL CSI-RS, the SL PRS symbol is time-divided with the SL CSI-RS symbol; or, only when the first terminal device sends the SL CSI-RS, the SL PRS symbol is time-divided with the SL CSI-RS symbol, which means that when the first terminal device does not send the SL CSI-RS, the SL PRS can be mapped to the symbol originally configured for the SL CSI-RS, which can improve resource utilization.

[0009] In a second aspect, the present application provides a communication method, which can be executed by a second terminal device, or by a component (such as a chip, etc.) in the second terminal device, without limitation. Taking the execution by the first terminal device as an example, the method includes: receiving multiple OFDM symbols, the multiple OFDM symbols are symbols used for sidelink transmission in a time slot, wherein the multiple OFDM symbols include one or more of the following symbols: AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, or SL CSI-RS symbol, the multiple OFDM symbols also include SL PRS symbol, the SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, the M is 1, or the M is an integer greater than 1, wherein when the M is greater than 1, the M symbols are continuous M symbols; and determining the SL PRS symbol.

[0010] Exemplarily, the SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, which can be replaced by: the SL PRS symbol is a different symbol from the one or more symbols, and the SL PRS symbol is the last M symbols of the symbols that can be used by the SL PRS in the multiple OFDM symbols; or it can also be replaced by: the SL PRS symbol is time-divided with the one or more symbols, and the SL PRS symbol is the last M symbols of the symbols that can be used by the SL PRS in the multiple OFDM symbols. Among them, the symbols that can be used by the SL PRS are the symbols of the multiple OFDM symbols except the one or more symbols.

[0011] Exemplarily, the SL PRS symbol may be the last M symbols of the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, and the PSSCH DMRS symbol. Alternatively, the SL PRS symbol may also be the last M symbols of the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the SL CSI-RS symbol.

[0012] Through the method provided in the present application, the SL PRS symbol is the last M symbols of multiple OFDM symbols used for SL transmission in a time slot except for the above-mentioned one or more symbols. The value of M can be pre-configured, or can be configured through high-level signaling and / or sidelink control information (SCI), which means that the terminal device (for example, the first terminal device, or the second terminal device) can uniquely determine the position of the SL PRS symbol in the multiple OFDM symbols, thereby realizing the determination of the position of the SL PRS symbol and improving the performance of SL positioning.

[0013] In one possible implementation, the SL CSI-RS symbol is a semi-statically configured symbol, and the second terminal device may also receive the first information. For example, the second terminal device may receive the first information from the first terminal device. The first information may be used to indicate that the first terminal device sends the SL CSI-RS, or to indicate that the first terminal device does not send the SL CSI-RS. The SL CSI-RS is carried by the SL CSI-RS symbol, or the SL CSI-RS is mapped to the SL CSI-RS symbol. In one example, regardless of whether the first terminal device sends the SL CSI-RS, that is, regardless of whether the first information is used to indicate that the first terminal device sends the SL CSI-RS or to indicate that the first terminal device does not send the SL CSI-RS, the multiple OFDM symbols include the SL CSI-RS symbol. In another example, when the first terminal device sends SL CSI-RS, that is, the first information is used to indicate the sending of SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols; when the first terminal device does not send SL CSI-RS, that is, the first information is used to indicate not sending SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols.

[0014] Based on the first aspect or the second aspect, in a possible implementation manner, the positions of the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the SL CSI-RS symbol in the multiple OFDM symbols may be as follows:

[0015] The AGC symbol may be the first symbol of the multiple OFDM symbols;

[0016] The GAP symbol may be the last symbol of the multiple OFDM symbols;

[0017] The PSCCH symbol may include the second symbol and the third symbol of the multiple OFDM symbols, or the PSCCH symbol may also include the second symbol, the third symbol and the fourth symbol of the multiple OFDM symbols;

[0018] The PSSCH DMRS symbol may include the second symbol and the sixth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol may include the fourth symbol and the ninth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the fourth symbol and the eleventh symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the fifth symbol and the ninth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the fifth symbol and the eleventh symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the second symbol, the fifth symbol and the eighth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the second symbol, the sixth symbol and the tenth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the second symbol, the seventh symbol and the twelfth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the second symbol, the fifth symbol, the eighth symbol and the eleventh symbol of the multiple OFDM symbols;

[0019] The SL CSI-RS symbol may be one of the fourth to the second to last symbols of the multiple OFDM symbols. Assuming that the multiple OFDM symbols are recorded as Y OFDM symbols, Y is an integer greater than or equal to 7 and less than or equal to 14, then the SL CSI-RS symbol may be one of the fourth to the Y-1th symbol of the Y symbols.

[0020] Through the above implementation, the terminal device (eg, the first terminal device, or the second terminal device) can determine the positions of the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the SL CSI-RS symbol in the multiple OFDM symbols.

[0021] Based on the first aspect or the second aspect, in a possible implementation manner, when the multiple OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, an SL CSI-RS symbol, and an SL PRS symbol, the position of the SL PRS symbol in the multiple OFDM symbols may be as follows:

[0022] The multiple OFDM symbols are 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the twelfth symbol of the 14 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 14 OFDM symbols, or when the M is 4, the SL PRS symbol includes the seventh symbol, the eighth symbol, the ninth symbol and the tenth symbol of the 14 OFDM symbols;

[0023] Alternatively, the multiple OFDM symbols are 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 13 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 13 OFDM symbols, or when the M is 4, the SL PRS symbol includes the seventh symbol, the eighth symbol, the ninth symbol and the tenth symbol of the 14 OFDM symbols;

[0024] Alternatively, the multiple OFDM symbols are 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, or when the M is 2, the SL PRS symbol includes the seventh symbol and the eighth symbol of the 12 OFDM symbols, or when the M is 4, the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 12 OFDM symbols;

[0025] Alternatively, the multiple OFDM symbols are 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the eighth symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the seventh symbol and the eighth symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 11 OFDM symbols; or,

[0026] The multiple OFDM symbols are 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the eighth symbol of the 10 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol and the sixth symbol of the 10 OFDM symbols;

[0027] Alternatively, the multiple OFDM symbols are 9 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 9 OFDM symbols, and the SL CSI-RS symbol is the eighth symbol of the 9 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the seventh symbol of the 9 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fourth symbol and the fifth symbol of the 9 OFDM symbols;

[0028] Alternatively, the multiple OFDM symbols are 8 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 8 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 8 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the fifth symbol of the 8 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fourth symbol and the fifth symbol of the 8 OFDM symbols;

[0029] Alternatively, the multiple OFDM symbols are 7 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 7 OFDM symbols, and the SL CSI-RS symbol is the fourth symbol of the 7 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the fifth symbol of the 7 OFDM symbols;

[0030] The AGC symbol is the first symbol among the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the multiple OFDM symbols, and the GAP symbol is the last symbol among the multiple OFDM symbols.

[0031] Through the above-mentioned implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCHDMRS symbols, SL CSI-RS symbols, and SL PRS symbols, for different numbers of the multiple OFDM symbols and different values ​​of M, the terminal device (for example, the first terminal device or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0032] Based on the first aspect or the second aspect above, in a possible implementation, the multiple OFDM symbols may also include a sidelink phase tracking reference signal (SL PT-RS) symbol; the SL PRS symbol is the last M symbols of the multiple OFDM symbols except for the one or more symbols. Specifically, it can be: the SL PRS symbol is the last M symbols of the multiple OFDM symbols except for the SL PT-RS symbol and the one or more symbols. Optionally, the SL PT-RS symbol can be time-divided with the PSCCH symbol, and the SL PT-RS symbol can also be time-divided with the PSSCH DMRS symbol.

[0033] Through the above implementation, the SL PRS symbol can also be a different symbol from the SL PT-RS symbol. For example, the SLPRS symbol can be the last M symbols of the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, and SL PT-RS symbol. For another example, the SL PRS symbol can also be the last M symbols of the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL CSI-RS symbol, and SL PT-RS symbol.

[0034] Based on the first aspect or the second aspect, in a possible implementation manner, when the multiple OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, a SL CSI-RS symbol, a SL PT-RS symbol, and a SL PRS symbol, the position of the SL PRS symbol in the multiple OFDM symbols may be as follows:

[0035] The multiple OFDM symbols are 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the twelfth symbol of the 14 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 14 OFDM symbols;

[0036] Alternatively, the multiple OFDM symbols are 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 13 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 13 OFDM symbols;

[0037] Alternatively, the multiple OFDM symbols are 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, or when the M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol of the 12 OFDM symbols;

[0038] Alternatively, the multiple OFDM symbols are 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the seventh symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol of the 11 OFDM symbols;

[0039] Alternatively, the multiple OFDM symbols are 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the sixth symbol of the 10 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol and the sixth symbol of the 10 OFDM symbols;

[0040] Among them, the AGC symbol is the first symbol among the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the multiple OFDM symbols, the SL PT-RS symbol is the eighth symbol among the multiple OFDM symbols, and the GAP symbol is the last symbol among the multiple OFDM symbols.

[0041] Through the above-mentioned implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCHDMRS symbols, SL CSI-RS symbols, SL PT-RS symbols and SL PRS symbols, for different numbers of the multiple OFDM symbols and different values ​​of M, the terminal device (for example, the first terminal device or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0042] Based on the first aspect or the second aspect above, in a possible implementation, the multiple OFDM symbols may also include a physical sidelink feedback channel (PSFCH) symbol; the SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols. Specifically, it can be: the SL PRS symbol is the last M symbols of the multiple OFDM symbols except the PSFCH symbol and the one or more symbols. Optionally, the PSFCH symbol may be the second to last symbol of the multiple OFDM symbols, or the PSFCH symbol may include the second to last symbol and the third to last symbol of the multiple OFDM symbols.

[0043] Through the above implementation, the SL PRS symbol can also be a different symbol from the PSFCH symbol. For example, the SLPRS symbol can be the last M symbols of the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, and PSFCH symbol. For another example, the SL PRS symbol can also be the last M symbols of the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL CSI-RS symbol, and PSFCH symbol. For another example, the SL PRS symbol can also be the last M symbols of the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL PT-RS symbol, and PSFCH symbol. For another example, the SL PRS symbol may also be the last M symbols in the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCHDMRS symbol, SL CSI-RS symbol, SL PT-RS symbol, and PSFCH symbol.

[0044] Based on the first aspect or the second aspect, in a possible implementation manner, when the multiple OFDM symbols are 14 OFDM symbols, and the 14 OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, an SL CSI-RS symbol, a PSFCH symbol, and an SL PRS symbol, the position of the SL PRS symbol in the 14 OFDM symbols may be as follows:

[0045] The M is 1, and the SL PRS symbol is the ninth symbol among the 14 OFDM symbols;

[0046] Alternatively, the M is 2, and the SL PRS symbol includes the eighth symbol and the ninth symbol of the 14 OFDM symbols;

[0047] Alternatively, the M is 4, and the SL PRS symbol includes the sixth symbol, the seventh symbol, the eighth symbol, and the ninth symbol of the 14 OFDM symbols;

[0048] Among them, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the PSSCH DMRS symbol is the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol includes the twelfth symbol and the thirteenth symbol of the 14 OFDM symbols, and the GAP symbol is the last symbol of the 14 OFDM symbols.

[0049] Through the above implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCHDMRS symbols, SL CSI-RS symbols, PSFCH symbols and SL PRS symbols, for different values ​​of M, the terminal device (for example, the first terminal device, or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0050] Based on the first aspect or the second aspect, in a possible implementation manner, when the multiple OFDM symbols are 14 OFDM symbols, and the 14 OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, a SL CSI-RS symbol, a SL PT-RS symbol, a PSFCH symbol, and a SL PRS symbol, the position of the SL PRS symbol in the 14 OFDM symbols may be as follows:

[0051] The M is 1, and the SL PRS symbol is the ninth symbol among the 14 OFDM symbols; or,

[0052] The M is 2, and the SL PRS symbol includes the sixth symbol and the seventh symbol of the 14 OFDM symbols;

[0053] Among them, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the PSSCH DMRS symbol is the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol includes the twelfth symbol and the thirteenth symbol of the 14 OFDM symbols, and the GAP symbol is the last symbol of the 14 OFDM symbols.

[0054] Through the above implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCHDMRS symbols, SL CSI-RS symbols, SL PT-RS symbols, PSFCH symbols and SL PRS symbols, for different values ​​of M, the terminal device (for example, the first terminal device, or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0055] Based on the first aspect or the second aspect above, in a possible implementation method, the SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, which can be specifically: the SL PRS symbol is the M symbols after the last M symbols are offset by X symbols, and the M symbols after the last M symbols are offset by X symbols belong to the multiple OFDM symbols except the one or more symbols, and X is a positive integer.

[0056] Through the above implementation, the position of the SL PRS symbol in the multiple OFDM symbols can be obtained by offsetting the last M symbols by X symbols.

[0057] Based on the first aspect or the second aspect, in a possible implementation manner, the multiple OFDM symbols are 14 OFDM symbols, the 14 OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, an SL CSI-RS symbol, and an SL PRS symbol, and when X is 2, the position of the SL PRS symbol in the 14 OFDM symbols can be as follows:

[0058] The M is 1, and the SL PRS symbol is the tenth symbol among the 14 OFDM symbols;

[0059] Alternatively, the M is 2, and the SL PRS symbol includes the seventh symbol and the eighth symbol of the 14 OFDM symbols;

[0060] Alternatively, the M is 4, and the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol, and the eighth symbol of the 14 OFDM symbols;

[0061] Among them, the AGC is the first symbol among the 14 OFDM symbols, the GAP symbol is the last symbol among the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol among the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol among the 14 OFDM symbols.

[0062] Through the above implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCHDMRS symbols, SL CSI-RS symbols and SL PRS symbols, and X is 2, for different values ​​of M, the terminal device (for example, the first terminal device, or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0063] Based on the first aspect or the second aspect, in a possible implementation, the terminal device (e.g., the first terminal device or the second terminal device) may further receive second information, where the second information is used to indicate X. In this way, the terminal device (e.g., the first terminal device or the second terminal device) may determine the value of X.

[0064] Based on the first aspect or the second aspect, in a possible implementation, the terminal device (e.g., the first terminal device or the second terminal device) may further receive third information, where the third information is used to indicate M. In this way, the terminal device (e.g., the first terminal device or the second terminal device) may determine the value of M.

[0065] Based on the first aspect or the second aspect above, in a possible implementation method, the third information can indicate the M in the following way: the third information is used to indicate the pattern between M and N, the pattern between M and N is used to indicate the M, the N is the number of comb teeth of the SL PRS, the SL PRS is carried by the SL PRS, and the N is a positive integer.

[0066] Through the above implementation, the third information can directly indicate M, or can also indirectly indicate M through a pattern between M and N, and the implementation is flexible.

[0067] Based on the first aspect or the second aspect above, in a possible implementation manner, the third information may be an identifier of the time domain resource of the SL PRS.

[0068] Based on the first aspect or the second aspect above, in a possible implementation manner, the maximum number of time domain resources of the SL PRS is determined according to the M and the symbols that can be used by the SL PRS; or, the maximum number of time domain resources of the SL PRS is determined according to the pattern between the M and N, and the symbols that can be used by the SL PRS; or, the maximum number of time domain resources of the SL PRS is determined according to the M, the number of multiple OFDM symbols, and the pattern of one or more symbols; or, the maximum number of time domain resources of the SL PRS is determined according to the pattern between the M and N, the number of multiple OFDM symbols, and the pattern of one or more symbols; or, the maximum number of time domain resources of the SL PRS is determined according to the M, the symbols that can be used by the SL PRS, and X; or, the maximum number of time domain resources of the SL PRS is determined according to the pattern between the M and N, the symbols that can be used by the SL PRS, and X; or, The maximum number of time domain resources of PRS is determined based on the M, the number of the multiple OFDM symbols, the pattern of the one or more symbols, and X; or, the maximum number of time domain resources of SL PRS is determined based on the pattern between M and N, the number of the multiple OFDM symbols, the pattern of the one or more symbols, and X; wherein, the SL PRS is carried by the SL PRS, N is the number of comb teeth of the SL PRS, X is the offset of the SL PRS symbol, the symbols that can be used by the SL PRS symbol are the symbols in the multiple OFDM symbols except the one or more symbols, and N and X are both positive integers.

[0069] Through the above implementation, the terminal device (eg, the first terminal device or the second terminal device) can use a variety of methods to determine the maximum number of time domain resources of the SL PRS, and the implementation method is flexible.

[0070] In a third aspect, the present application provides a communication device. The communication device is used to execute the method described in the first aspect and any possible implementation thereof. The communication device is, for example, a first terminal device, or a functional module in the first terminal device, such as a baseband device or a chip system.

[0071] In a possible implementation, the communication device includes a baseband device and a radio frequency device.

[0072] In another possible implementation, the communication device includes a processing module (sometimes also referred to as a processing unit) and a transceiver module (sometimes also referred to as a transceiver unit). The transceiver module can implement a sending function and a receiving function. When the transceiver module implements the sending function, it can be called a sending module (sometimes also referred to as a sending unit), and when the transceiver module implements the receiving function, it can be called a receiving module (sometimes also referred to as a receiving unit). The sending module and the receiving module can be the same functional module, which is called a transceiver module, and the functional module can implement a sending function and a receiving function; or, the sending module and the receiving module can be different functional modules, and the transceiver module is a general term for these functional modules.

[0073] In a fourth aspect, the present application provides a communication device. The communication device is used to execute the method described in the second aspect and any possible implementation thereof. The communication device is, for example, a second terminal device, or a functional module in the second terminal device, such as a baseband device or a chip system.

[0074] In a possible implementation, the communication device includes a baseband device and a radio frequency device.

[0075] In another possible implementation, the communication device includes a processing module (sometimes also referred to as a processing unit) and a transceiver module (sometimes also referred to as a transceiver unit). The transceiver module can implement a sending function and a receiving function. When the transceiver module implements the sending function, it can be called a sending module (sometimes also referred to as a sending unit), and when the transceiver module implements the receiving function, it can be called a receiving module (sometimes also referred to as a receiving unit). The sending module and the receiving module can be the same functional module, which is called a transceiver module, and the functional module can implement a sending function and a receiving function; or, the sending module and the receiving module can be different functional modules, and the transceiver module is a general term for these functional modules.

[0076] In a fifth aspect, the present application further provides a communication device. The communication device may include at least one processor. Optionally, the communication device may also include a memory. The memory is used to store one or more computer programs or instructions. The at least one processor is used to execute the one or more computer programs or instructions stored in the memory, so that the communication device performs the method described in any one of the first aspect or the second aspect and any possible implementation thereof.

[0077] In a sixth aspect, the present application also provides a chip system. The chip system may include at least one processor. Optionally, the at least one processor is coupled to a memory. The at least one processor is used to execute one or more computer programs or instructions in the memory to implement the method described in any of the first or second aspects and any possible implementation thereof. Optionally, the chip system may be composed of a chip, or may include a chip and other discrete devices. Optionally, the chip system may also include a memory.

[0078] In a seventh aspect, the present application further provides a communication system, wherein the communication system comprises one or more of the following: the communication device described in the third aspect, or the communication device described in the fourth aspect.

[0079] In an eighth aspect, the present application also provides a computer-readable storage medium, which is used to store computer programs or instructions. When the computer-readable storage medium is executed, the method described in any aspect of the first aspect or the second aspect and any possible implementation method thereof is implemented.

[0080] In a ninth aspect, the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the method described in any one of the first or second aspects and any possible implementation thereof to be implemented.

[0081] For the technical effects that can be achieved by the above-mentioned third to ninth aspects and any possible implementation methods thereof, please refer to the technical effects that can be achieved by the above-mentioned first aspect or second aspect and any possible implementation methods thereof, and no repetition will be given. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 A schematic diagram of the architecture of a communication system applicable to an embodiment of the present application;

[0083] Figure 2 A schematic diagram of the location of SL PRS symbols;

[0084] Figure 3 A flow chart of a communication method provided in an embodiment of the present application;

[0085] Figure 4 A schematic diagram of the location of an SL PRS symbol provided in an embodiment of the present application;

[0086] Figure 5 A schematic diagram of the location of an SL PRS symbol provided in an embodiment of the present application;

[0087] Figure 6 A schematic diagram of the location of an SL PRS symbol provided in an embodiment of the present application;

[0088] Figure 7 A schematic diagram of the location of an SL PRS symbol provided in an embodiment of the present application;

[0089] Figure 8 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0090] Fig. 9 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0091] Fig.10 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0092] Fig.11 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0093] Fig.12 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0094] Fig.13 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0095] Fig.14 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0096] Fig.15 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0097] Fig.16 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0098] Fig.17 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0099] Fig.18 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0100] Fig.19 A schematic diagram of the location of another SL PRS symbol provided in an embodiment of the present application;

[0101] Fig. 20 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0102] Fig.21 A schematic diagram of the structure of another communication device provided in an embodiment of the present application;

[0103] Fig. 22 A schematic diagram of the structure of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0104] The embodiments of the present application will be presented around a system including multiple devices, components, modules, etc. It should be understood that the system may include other devices, components, modules, etc. not mentioned, or may only include some of the devices, components, or modules, etc. mentioned in the embodiments.

[0105] The embodiment of the present application provides a communication method and device for determining the position of SL PRS symbols, which can improve the performance of SL positioning. The method and device described in the present application are based on the same technical concept. Since the principles of solving problems by the method and device are similar, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0106] In the embodiments of the present application, "multiple" may refer to two or more than two. In view of this, in the embodiments of the present application, "multiple" may also be understood as "at least two". "At least one" may be understood as one or more, for example, one, two or more. For example, "including at least one" means including one, two or more. For example, including at least one of A, B and C, then A, B, C, A and B, A and C, B and C, or A, B and C may be included. "And / or" describes the association relationship of associated objects. Specifically, there may be three relationships. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the previously associated objects are in an "or" relationship.

[0107] In addition, the terms "system" and "network" in the embodiments of the present application may be used interchangeably, and "according to" and "based on" may be used interchangeably.

[0108] The ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are generally used to distinguish different objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first terminal device and the second terminal device are used to distinguish different terminal devices, and do not limit the priority or importance of the two terminal devices.

[0109] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0110] The technical solution provided in the embodiment of the present application is mainly applicable to wireless communication systems. The wireless communication system can comply with the wireless communication standard of the third generation partnership project (3GPP). For example, the solution provided in the embodiment of the present application can be applied to a fourth generation (4th generation, 4G) communication system, such as a long term evolution (long term evolution, LTE) communication system, or to a fifth generation (5th generation, 5G) communication system, such as a 5G new radio (new radio, NR) communication system, or to various future communication systems, such as a sixth generation (6th generation, 6G) communication system. The technical solution provided in the embodiment of the present application can also comply with other wireless communication standards, such as the wireless communication standards of the 802 series (such as 802.11, 802.15, or 802.20) of the Institute of Electrical and Electronics Engineers (IEEE).

[0111] The method provided in the embodiment of the present application can also be applied to a Bluetooth system, a wireless fidelity (Wi-Fi) system, a long range radio (LoRa) system or a vehicle to everything (V2X) system. The method provided in the embodiment of the present application can also be applied to a satellite communication system, wherein the satellite communication system can be integrated with the above communication system.

[0112] The network architecture and application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It is known to those skilled in the art that with the evolution of network architecture and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems. Figure 1 The communication system shown is described as an example. When the technical solutions of the embodiments of the present application are applied to other communication systems, the devices, components, modules, etc. in the embodiments can be replaced with corresponding devices, components, modules in other communication systems without limitation.

[0113] Figure 1 The following is a schematic diagram of the architecture of several possible communication systems to which the embodiments of the present application are applicable. Figure 1 In the description, two terminal devices (denoted as terminal device 1 and terminal device 2) and one network device are taken as an example. The communication system may also include a larger number of terminal devices and network devices.

[0114] Figure 1 (1) in the figure shows the network device coverage architecture, where terminal devices can establish connections with each other through a proximity communication 5 (PC5) interface, and each terminal device establishes connections with a network device (such as a base station). It should be understood that each terminal device can be connected to the same network device or to different network devices. Figure 1 (1) is shown by taking the example that terminal device 1 and terminal device 2 are connected to the same network device. In the embodiment of the present application, a connection can be established between the terminal device and the network device through a Uu interface.

[0115] Figure 1 (2) shows the partial coverage architecture of the network device, where terminal devices can establish connections with each other through the PC5 interface, while some terminal devices do not establish connections with the network device (such as a base station), and the remaining terminal devices establish connections with the network device (such as a base station). Figure 1 In (2), it is taken as an example that terminal device 1 establishes a connection with the network device, while terminal device 2 does not establish a connection with the network device.

[0116] Figure 1 (3) shows the network device coverage external architecture, where terminal devices can establish connections with each other through the PC5 interface, and all terminal devices do not establish connections with the network device.

[0117] exist Figure 1 In the present invention, after the connection is established between the terminal devices, the terminal devices can directly communicate with each other through the side link (SL).

[0118] Exemplarily, the network device may include an access network device and / or a core network device. Unless otherwise specified, the network device in the embodiment of the present application is an access network device. The network device may also be referred to as an access network device, an access network element, a network device, a radio access network (RAN) entity, a RAN node, or an access node, etc., to help the terminal device achieve wireless access. Optionally, the RAN may be a 3GPP-related cellular system, for example, a 4G mobile communication system (such as an LTE system), a 5G mobile communication system (such as an NR system), or a future-oriented evolution system (such as a 6G mobile communication system). The RAN may also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (cloud radio access network, CRAN), or a wireless fidelity (wireless fidelity, WiFi) system. The RAN may also be a communication system in which two or more of the above systems are integrated.

[0119] In one possible scenario, the network device may be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB), a next generation base station in a sixth generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. The network device may also be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or a wireless controller in a CRAN scenario. Optionally, the network device may also be a server, a wearable device, a vehicle or an onboard device. For example, the access network device in the vehicle to everything (V2X) technology may be a road side unit (RSU).

[0120] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, and different RAN nodes respectively implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU can be set separately, or can also be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH).

[0121] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, CU, CU-CP, CU-UP, DU and RU are described as examples in this application. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0122] In the embodiments of the present application, the functions of the network device may also be performed by a module (such as a chip) in the network device, or by a control subsystem including the network device functions. The control subsystem including the network device functions here may be a control center in the above application scenarios such as smart grid, industrial control, smart transportation, and smart city.

[0123] The terminal device may also be referred to as a terminal, a terminal apparatus, a user equipment (UE), a mobile station, or a mobile terminal. The terminal device can be widely used in various scenarios, for example, device-to-device (D2D), vehicle to everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality, augmented reality, industrial control, automatic driving, telemedicine, smart grid, smart furniture, smart office, smart wear, smart transportation, or smart city. Exemplarily, the terminal device may be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a mechanical arm, or a smart home device. The embodiments of the present application do not limit the device form of the terminal device.

[0124] In the embodiment of the present application, the functions of the terminal device may also be performed by a module in the terminal (such as a chip or a modem), or may be performed by a device that includes the terminal functions.

[0125] The network equipment and terminal equipment can be fixed or movable. The network equipment and terminal equipment can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on the water surface; they can also be deployed on aircraft, balloons and artificial satellites in the air. The embodiments of the present application do not limit the application scenarios of the network equipment and terminal equipment.

[0126] Next, the technical features involved in the embodiments of the present application are introduced.

[0127] SL positioning and SL communication share a resource pool, which can be understood as SL positioning and SL communication can use the same resource pool in a time division multiplexing manner or a frequency division multiplexing manner. At present, for SL positioning and SL communication share a resource pool, in a time slot, the sidelink positioning reference signal (SL PRS) symbol is different from the automatic gain control (AGC) symbol, the gap (GAP) symbol, the physical sidelink control channel (PSCCH) symbol, and the physical sidelink shared channel (PSSCH) demodulation reference signal (DMRS) symbol, and the SL PRS occupies M consecutive symbols.

[0128] For example, assuming that the value of M is 2, the number of orthogonal frequency division multiplexing (OFDM) symbols used for SL transmission in a time slot is 10, and the 10 OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, and SL PRS symbols. Among them, the AGC symbol is the first symbol of the 10 symbols, the PSCCH symbol includes the second symbol and the third symbol of the 10 symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 10 symbols, and the GAP symbol is the last symbol of the 10 symbols. Given that the SL PRS symbol is a symbol different from the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol, then in one implementation, the SL PRS symbol may include the fifth symbol and the sixth symbol of the 10 symbols, such as Figure 2 As shown in (1); or, in another embodiment, the SL PRS symbol may also include the sixth symbol and the seventh symbol of the 10 symbols, such as Figure 2 As shown in (2); or, in another embodiment, the SL PRS symbol may also include the seventh symbol and the eighth symbol of the 10 symbols, such as Figure 2 As shown in (3) in FIG. 1 , it can be seen that according to the current implementation method, there are multiple possibilities for the position of the SL PRS symbol, so that the terminal device cannot determine the position of the SL PRS symbol, which affects the performance of SL positioning.

[0129] In view of this, the embodiment of the present application provides a communication method and device for determining the position of SL PRS symbols, which can improve the performance of SL positioning. Figure 1 In the communication system shown in the figure, no limitation is given. For easy understanding, the method is demonstrated by taking the execution subject as the first terminal device and the second terminal device as an example. The first terminal device can be the aforementioned Figure 1 The terminal device involved in the above, or the unit, module or chip (system) inside the terminal device. The second terminal device can be the aforementioned Figure 1 The terminal device involved in the process, or the unit, module or chip (system) inside the terminal device. For example, the first terminal device may be Figure 1 The terminal device 1 in the example, the second terminal device may be Figure 1 Alternatively, the first terminal device may also be Figure 1 The terminal device 2 in the second terminal device may also be Figure 1 Terminal device 1 in.

[0130] Figure 3 The following is a flow chart showing a communication method provided by an embodiment of the present application. Figure 3 As shown, the method may include the following contents.

[0131] S301: The first terminal device generates multiple OFDM symbols.

[0132] The multiple OFDM symbols include SL PRS symbols. The SL PRS symbol can be used for SL positioning. The multiple OFDM symbols are symbols used for SL transmission (or SL communication) in a time slot. The number of the multiple OFDM symbols may be greater than or equal to 7 and less than or equal to 14. Exemplarily, the number (or quantity, or number, etc.) of the multiple OFDM symbols may be configured by high-level signaling, such as by sl-LengthSymbols, without limitation. For ease of description, the multiple OFDM symbols may be denoted as Y, and Y may be an integer greater than or equal to 7 and less than or equal to 14. Accordingly, S301 may be replaced by: the first terminal device generates Y OFDM symbols. Hereinafter, the terms "multiple OFDM symbols" and "Y OFDM symbols" may be used interchangeably. Among them, the high-level signaling configuration may be understood as being configured by a network device.

[0133] In addition to the SL PRS symbol, the multiple OFDM symbols may also include one or more of the following symbols: an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, or a SL CSI-RS symbol. The SL PRS symbol is the last M symbols in the multiple OFDM symbols except for the above one or more symbols. The SL PRS symbol is the last M symbols in the multiple OFDM symbols except for the above one or more symbols, which can be understood as: the SL PRS symbol is the M symbols counted forward (or to the left) from the last symbol in the remaining symbols of the multiple OFDM symbols except for the above one or more symbols.

[0134] Among them, M is a positive integer. And, when M is greater than 1, the M symbols are M consecutive symbols, that is, the SL PRS symbol is M consecutive symbols. Correspondingly, the SL PRS symbol is the last M symbols in multiple OFDM symbols except for the above one or more symbols, which can be replaced by: the SL PRS symbol is the last M consecutive symbols in multiple OFDM symbols except for the above one or more symbols. Exemplarily, the M can be 1, or 2, or 4, etc., without limitation.

[0135] It should be pointed out that the generation of multiple OFDM symbols by the first terminal device can be replaced by: the first terminal device maps the SLPRS to M symbols in the multiple OFDM symbols, the multiple OFDM symbols include one or more symbols mentioned above, and the M symbols are the last M symbols in the multiple OFDM symbols except the one or more symbols; or it can also be replaced by: the first terminal device maps the fourth information to multiple OFDM symbols, the fourth information includes SL PRS, and the fourth information can also include one or more of the following information: AGC, GAP, PSCCH, PSSCH DMRS, or SL CSI-RS, the SL PRS occupies the last M symbols in the multiple OFDM symbols except the symbols mapped (or occupied, used) by the one or more information.

[0136] In one implementation, the M may be pre-configured, or may be indicated (or configured) by a third information, without limitation. The third information may be, for example, high-level signaling, or may be sidelink control information (SCI), without limitation. For example, a first terminal device (or a second terminal device) may receive third information, and the third information is used to indicate (or configure) the M. The third information may directly indicate the M, or may indirectly indicate the M, without limitation. For example, the third information may be used to indicate a pattern (or pattern, legend, etc.) between M and N, and the pattern between M and N may be used to indicate the M. N is the number of teeth of the SL PRS, and N is a positive integer. In this way, the first terminal device (or the second terminal device) may determine the M through the pattern between M and N. For another example, the third information may be an identifier of the time domain resource of the SL PRS (such as the SL PRS Resource ID). The identifier of the time domain resource of the SL PRS can be used to indicate M, and / or the identifier of the time domain resource of the SL PRS can be used to indicate a pattern between M and N. The time domain resource of the SL PRS can be understood as the position of the SL PRS symbol. The SL PRS is carried by the SL PRS symbol, or the SL PRS is mapped in the SL PRS symbol. Optionally, the third information can also be used to indicate the position of the SL PRS starting symbol.

[0137] One or more symbols included in the multiple OFDM symbols are introduced below.

[0138] (1) AGC symbol, which can be used at the receiving end to adjust the operating point so that the gain of the amplifier circuit is automatically adjusted with the signal strength. Exemplarily, the AGC symbol can be the first symbol of the multiple OFDM symbols.

[0139] (2) GAP symbol, which is a time interval used to perform the transmit / receive conversion. Exemplarily, the GAP symbol may be the last symbol of the multiple OFDM symbols; or the GAP symbol may be the Yth symbol (or the last symbol) of the Y OFDM symbols.

[0140] (3) PSCCH symbols can be used to transmit SCI. Exemplarily, the number of PSCCH symbols can be 2 or 3. The number of PSCCH symbols can be configured by high-level signaling, such as by sl-TimeResourcePSCCH, without limitation. For example, the PSCCH symbol can include the second symbol and the third symbol of the multiple OFDM symbols. For another example, the PSCCH symbol can include the second symbol, the third symbol and the fourth symbol of the multiple OFDM symbols.

[0141] (4) PSSCH DMRS symbol, which can be used to demodulate PSSCH. Exemplarily, the number of the PSSCH DMRS symbols can be 2, 3, or 4. The position (or sequence number) of the PSSCH DMRS symbol can be configured by higher-layer signaling, such as by sl-PSSCH-DMRS-TimePatternList, without limitation. For example, the PSSCH DMRS symbol may include the second symbol and the sixth symbol of multiple OFDM symbols; or, the PSSCH DMRS symbol may include the fourth symbol and the ninth symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may include the fourth symbol and the eleventh symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the fifth symbol and the ninth symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the fifth symbol and the eleventh symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the second symbol, the fifth symbol and the eighth symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the second symbol, the sixth symbol and the tenth symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the second symbol, the seventh symbol and the twelfth symbol of the multiple OFDM symbols; or, the PSSCH The DMRS symbol may also include the second symbol, the fifth symbol, the eighth symbol, and the eleventh symbol in the multiple OFDM symbols, as shown in Table 1. Table 1 exemplarily shows the position (or sequence number, or index) of the PSSCH DMRS symbol. Table 1 takes the OFDM symbol index numbering starting from 0 as an example. That is, the index of the second symbol in the multiple OFDM symbols is 1, the index of the sixth symbol in the multiple OFDM symbols is 5, and so on, which are not listed one by one. In addition, l in Table 1 d =Y-1. d The OFDM symbols may be understood as the remaining symbols in the multiple OFDM symbols except the GAP symbol.

[0142] Table 1

[0143]

[0144]

[0145] Exemplarily, a plurality of OFDM symbols may include an AGC symbol, a GAP symbol, a PSCCH symbol, and a PSSCH DMRS symbol. The GAP symbol is the last symbol of the plurality of OFDM symbols. The AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol) and the sixth symbol of the plurality of OFDM symbols. For example, the AGC symbol is the first symbol of the plurality of OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the plurality of OFDM symbols, and the PSSCH DMRS symbol may include the second symbol and the sixth symbol of the plurality of OFDM symbols.

[0146] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol) and the ninth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the fourth symbol and the ninth symbol of the multiple OFDM symbols.

[0147] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol) and the eleventh symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the fourth symbol and the eleventh symbol of the multiple OFDM symbols.

[0148] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol), the fifth symbol, and the eighth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the fifth symbol, and the eighth symbol of the multiple OFDM symbols.

[0149] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol), the sixth symbol, and the tenth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the sixth symbol, and the tenth symbol of the multiple OFDM symbols.

[0150] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol), the seventh symbol, and the twelfth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the seventh symbol, and the twelfth symbol of the multiple OFDM symbols.

[0151] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol), the fifth symbol, the eighth symbol, and the eleventh symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the fifth symbol, the eighth symbol, and the eleventh symbol of the multiple OFDM symbols.

[0152] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol) and the sixth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol and the sixth symbol of the multiple OFDM symbols.

[0153] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first five symbols (i.e., the first symbol, the second symbol, the third symbol, the fourth symbol, and the fifth symbol) and the ninth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the fifth symbol and the ninth symbol of the multiple OFDM symbols.

[0154] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first five symbols (i.e., the first symbol, the second symbol, the third symbol, the fourth symbol, and the fifth symbol) and the eleventh symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the fifth symbol and the eleventh symbol of the multiple OFDM symbols.

[0155] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first five symbols (i.e., the first symbol, the second symbol, the third symbol, the fourth symbol, and the fifth symbol) and the eighth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the fifth symbol, and the eighth symbol of the multiple OFDM symbols.

[0156] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol), the sixth symbol, and the tenth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the sixth symbol, and the tenth symbol of the multiple OFDM symbols.

[0157] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol), the seventh symbol, and the twelfth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the seventh symbol, and the eleventh symbol of the multiple OFDM symbols.

[0158] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first five symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol), the seventh symbol, and the twelfth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the fifth symbol, the eighth symbol, and the eleventh symbol of the multiple OFDM symbols.

[0159] (5) SL CSI-RS symbol, which can be used to obtain sidelink channel state information. Exemplarily, the number of the SL CSI-RS symbol can be 1. The position (or sequence number) of the PSSCH DMRS symbol can be configured by high-level signaling, such as by sl-CSI-RS-FirstSymbol, without limitation. For example, the SL CSI-RS symbol can be a symbol from the fourth symbol to the second to last symbol of the multiple OFDM symbols; or the SL CSI-RS symbol can be a symbol from the fourth symbol to the (Y-1)th symbol of the Y OFDM symbols.

[0160] It should be pointed out that in the embodiment of the present application, the zz symbol can be understood as: the symbol occupied (or used) by zz; or it can also be understood as: the symbol to which zz is mapped; or it can also be understood as: the symbol used to carry zz, without limitation. The zz symbol is the i-th symbol in multiple OFDM symbols, which can be understood as: zz occupies (or uses) the i-th symbol in the multiple OFDM symbols. The zz symbol includes the i-th symbol and the j-th symbol in the multiple OFDM symbols, which means: the zz symbol includes the i-th symbol in the multiple OFDM symbols and the j-th symbol in the multiple OFDM symbols. And, the zz symbol includes the i-th symbol and the j-th symbol in the multiple OFDM symbols, which can be understood as: zz occupies (or uses) the i-th symbol and the j-th symbol in the multiple OFDM symbols. The rest of the cases are by analogy, and are not listed here. And, similar descriptions in the following text can refer to the description here, which will not be repeated in the following text. Among them, zz can be any one of AGC, GAP, PSCCH, PSSCH DMRS, SL CSI-RS, or SL PRS.

[0161] The aforementioned SL PRS symbol is the last M symbols of multiple OFDM symbols except for the one or more symbols mentioned above. Exemplarily, if in addition to the SL PRS symbol, the multiple OFDM symbols also include AGC symbols, then the SLPRS symbol can be the last M symbols of the multiple OFDM symbols except for the AGC symbols. Alternatively, if in addition to the SLPRS symbol, the multiple OFDM symbols also include AGC symbols and GAP symbols, then the SL PRS symbol can be the last M symbols of the multiple OFDM symbols except for the AGC symbols and GAP symbols. Alternatively, if in addition to the SL PRS symbol, the multiple OFDM symbols also include AGC symbols, GAP symbols, and PSCCH symbols, then the SL PRS symbol can be the last M symbols of the multiple OFDM symbols except for the AGC symbols, GAP symbols, and PSCCH symbols. Alternatively, if in addition to the SL PRS symbol, the multiple OFDM symbols also include AGC symbols, GAP symbols, PSCCH symbols, and PSSCH DMRS symbols, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbols, GAP symbols, PSCCH symbols, and PSSCH DMRS symbols. Alternatively, if in addition to the SL PRS symbol, the multiple OFDM symbols also include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, and SL CSI-RS symbols, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, and SL CSI-RS symbols, and the rest of the cases are analogous and are not listed one by one.

[0162] Figure 3 In the example, the SL PRS symbols are the last M symbols in multiple OFDM symbols except AGC symbols, GAP symbols, PSCCH symbols, PSSCHDMRS symbols and SL CSI-RS symbols.

[0163] It should be pointed out that the SL PRS symbol is the last M symbols in multiple OFDM symbols except for the one or more symbols mentioned above, which can be understood as: the SL PRS symbol is a different symbol from the one or more symbols mentioned above, and the SL PRS symbol is the last M symbols of the symbols that can be used by SL PRS in the multiple OFDM symbols; or it can also be understood as: the SL PRS symbol is time-divided with the one or more symbols mentioned above, and the SL PRS symbol is the last M symbols of the symbols that can be used by SL PRS in the multiple OFDM symbols. The symbols that can be used by the SL PRS can be symbols in the multiple OFDM symbols except for the one or more symbols mentioned above.

[0164] In one implementation, the SL CSI-RS symbol may be a semi-statically configured symbol, for example, the SL CSI-RS symbol is configured by a network device. Exemplarily, a first terminal device may send a first message. For example, a first terminal device sends a first message to a second terminal device; accordingly, the second terminal device receives the first message. The first information may be used to indicate that the first terminal device sends a SL CSI-RS, or to indicate that the first terminal device does not send a SL CSI-RS. If the first information is used to indicate that a SL CSI-RS is sent, the first terminal device sends the SL CSI-RS using a semi-statically configured SL CSI-RS symbol; or, if the first information is used to indicate that a SL CSI-RS is not sent, the first terminal device does not send the SL CSI-RS. In one example, the multiple OFDM symbols include SL CSI-RS symbols. In other words, regardless of whether the first information is used to indicate that the first terminal device sends a SL CSI-RS or indicates that the first terminal device indicates that a SL CRI-RS is not sent, that is, regardless of whether the first terminal device sends a SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols. In another example, when the first information is used to indicate that the first terminal device sends SL CSI-RS, that is, when the first terminal device sends SL CSI-RS, the multiple OFDM symbols all include SL CSI-RS symbols. Alternatively, when the first information is used to indicate that the first terminal device does not send SL CSI-RS, that is, when the first terminal device does not send SL CSI-RS, the multiple OFDM symbols may not include SLCSI-RS symbols. In this way, when the first terminal device does not send SL CSI-RS, SL PRS can be mapped to the symbol originally configured for SLCSI-RS, which can improve resource utilization.

[0165] Table 2 exemplarily shows the relevant information of SL CSI-RS. As shown in Table 2, for SL CSI-RS, one thing that needs to be clarified is whether CSI-RS refers to the CSI-RS symbol configured by the higher layer or its actual existence is indicated by SCI. We believe that for simplicity, CSI-RS symbols should be considered only when SCI indicates that CSI-RS is transmitted. When SL CSI-RS is transmitted, SL CSI-RS symbols should be regarded as symbols similar to PSSCH DMRS symbols, which cannot be mapped by SL PRS. Therefore, it is recommended that when determining the symbols mapped with SL PRS, the actually transmitted SL CSI-RS symbols should be excluded.

[0166] Table 2

[0167]

[0168] Below, taking multiple OFDM symbols (i.e., Y OFDM symbols) including AGC symbols, GAP symbols, PSCCH symbols, PSSCHDMRS symbols, SL CSI-RS symbols, and SL PRS symbols as an example, the position of SL PRS symbols is introduced for different values ​​of Y and different values ​​of M.

[0169] As an example, assuming that Y=14 (ie, the number of OFDM symbols is 14 OFDM symbols), l d =13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols. Then, when M=1, the SL PRS symbol can be the twelfth symbol of the 14 OFDM symbols, such as Figure 4 As shown in (1); or, when M = 2, the SL PRS symbol may include the ninth symbol and the tenth symbol in the 14 OFDM symbols, as shown in Figure 4 As shown in (2); or, when M is 4, the SL PRS symbol may include the seventh symbol, the eighth symbol, the ninth symbol and the tenth symbol of the 14 OFDM symbols, as shown in Figure 4 As shown in (3) in .

[0170] Another example, assuming Y = 13, l d=12, the AGC symbol is the first symbol of the 13 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 13 OFDM symbols, the GAP symbol is the last symbol of the 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol of the 13 OFDM symbols, such as Figure 5 As shown in (1); or, when M is 2, the SL PRS symbol may include the ninth symbol and the tenth symbol in the 13 OFDM symbols, as shown in Figure 5 As shown in (2) in ; or, when M is 4, the SL PRS symbol includes the seventh symbol, the eighth symbol, the ninth symbol and the tenth symbol of the 14 OFDM symbols, as shown in Figure 5 As shown in (3) in .

[0171] Another example, assuming Y = 12, l d =11, the AGC symbol is the first symbol of the 12 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 12 OFDM symbols, the GAP symbol is the last symbol of the 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol of the 12 OFDM symbols, such as Figure 6 As shown in (1); or, when M is 2, the SL PRS symbol may include the seventh symbol and the eighth symbol of the 12 OFDM symbols, as shown in Figure 6 As shown in (2); or, when M is 4, the SL PRS symbol may include the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 12 OFDM symbols, as shown in Figure 6 As shown in (3) in .

[0172] Another example, assuming Y = 11, l d =10, the AGC symbol is the first symbol of the 11 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 11 OFDM symbols, the GAP symbol is the last symbol of the 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth and ninth symbols of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the eighth symbol of the 11 OFDM symbols, such as Figure 7 As shown in (1); or, when M is 2, the SL PRS symbol may include the seventh symbol and the eighth symbol of the 11 OFDM symbols, as shown in Figure 7 As shown in (2) in ; or, when M is 2, the SL PRS symbol may include the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 11 OFDM symbols, as shown in Figure 7 As shown in (3) in .

[0173] Another example, assuming Y = 10, l d =9, the AGC symbol is the first symbol in 10 OFDM symbols, the PSCCH symbol includes the second and third symbols in 10 OFDM symbols, the GAP symbol is the last symbol in 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth and ninth symbols in 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol in 10 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the eighth symbol in 10 OFDM symbols, such as Figure 8 As shown in (1); or, when M is 2, the SL PRS symbol may include the fifth symbol and the sixth symbol of the 10 OFDM symbols, as shown in Figure 8 As shown in (2) in .

[0174] Another example, assuming Y = 9, l d =8, the AGC symbol is the first symbol of the 9 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 9 OFDM symbols, the GAP symbol is the last symbol of the 9 OFDM symbols, the PSSCH DMRS symbol includes the second and sixth symbols of the 9 OFDM symbols, and the SL CSI-RS symbol is the eighth symbol of the 9 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the seventh symbol of the 9 OFDM symbols, such as Fig. 9 As shown in (1); or, when M is 2, the SL PRS symbol may include the fourth symbol and the fifth symbol of the 9 OFDM symbols, as shown in Fig. 9 As shown in (2) in .

[0175] Another example, assuming Y = 8, l d=7, the AGC symbol is the first symbol in the 8 OFDM symbols, the PSCCH symbol includes the second and third symbols in the 8 OFDM symbols, the GAP symbol is the last symbol in the 8 OFDM symbols, the PSSCH DMRS symbol includes the second and sixth symbols in the 8 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol in the 8 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the fifth symbol in the 8 OFDM symbols, such as Fig.10 As shown in (1); or, when M is 2, the SL PRS symbol may include the fourth symbol and the fifth symbol of the 8 OFDM symbols, as shown in Fig.10 As shown in (2) in .

[0176] Another example, assuming Y = 7, l d =6, the AGC symbol is the first symbol in the 7 OFDM symbols, the PSCCH symbol includes the second and third symbols in the 7 OFDM symbols, the GAP symbol is the last symbol in the 7 OFDM symbols, the PSSCH DMRS symbol includes the second and sixth symbols in the 7 OFDM symbols, and the SL CSI-RS symbol is the fourth symbol in the 7 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the fifth symbol in the 7 OFDM symbols, such as Fig.11 shown.

[0177] It should be pointed out that Figures 4 to 11 In the example, PSSCH DMRS is DMRS and SL CSI-RS is CSI-RS. It should be understood that Figures 4 to 11 Any of the embodiments shown in the figure is an example and does not limit the position of the SL PRS symbol. d =13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the second symbol, the sixth symbol and the tenth symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols. Then, when M=1, the SL PRS symbol can be the twelfth symbol of the 14 OFDM symbols; or, when M=2, the SL PRS symbol can include the eleventh symbol and the twelfth symbol of the 14 OFDM symbols.

[0178] S302: The first terminal device sends multiple OFDM symbols. For example, the first terminal device sends multiple OFDM symbols to the second terminal device, and correspondingly, the second terminal device receives multiple OFDM symbols from the first terminal device.

[0179] Exemplarily, the first terminal device may send a plurality of OFDM symbols to the second terminal device via the PC5 interface; correspondingly, the second terminal device may receive the plurality of OFDM symbols from the first terminal device via the PC5 interface.

[0180] S303: The second terminal device determines the SL PRS symbol.

[0181] S303 is an optional step. Figure 3 Indicated by dotted lines. For example, after the second terminal device receives multiple OFDM symbols, it can determine (or parse) the SL PRS symbol (or determine the SL PRS) from the multiple OFDM symbols. For example, the second terminal device can determine the SL PRS symbol (or determine the SL PRS) from the multiple OFDM symbols based on the position of the SL PRS symbol. The position of the SLPRS symbol can refer to the content of S301, which will not be repeated here.

[0182] As mentioned above, multiple OFDM symbols include SL PRS symbols, and the multiple OFDM symbols may also include one or more of the following symbols: AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, or SL CSI-RS symbols. In another embodiment, the multiple OFDM symbols may also include sidelink phase tracking reference signal (SL PT-RS) symbols. Among them, the SL PT-RS symbol can be used to track the change of the phase noise of the sidelink channel. Exemplarily, the SL PT-RS symbol can be time-divided with the PSCCH symbol, and the SLPT-RS can also be time-divided with the PSSCH DMRS symbol. The position of the SL PT-RS symbol can be configured by high-level signaling, such as by sl-PTRS-TimeDensity configuration, without limitation. In this embodiment, the SL PRS symbol can be the last M symbols of the multiple OFDM symbols except the SL PT-RS symbol and the above one or more symbols. That is, the SL PRS symbol and the SL PT-RS symbol are different symbols, or the SL PRS symbol and the SL PT-RS symbol are time-divided. The description of the M symbols can refer to the above content, which will not be repeated here.

[0183] Exemplarily, if the multiple OFDM symbols include an AGC symbol in addition to the SL PRS symbol and the SL PT-RS symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol and the SL PT-RS symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol and a GAP symbol in addition to the SL PRS symbol and the SL PT-RS symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol and the SL PT-RS symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol, a GAP symbol, and a PSCCH symbol in addition to the SL PRS symbol and the SL PT-RS symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, and the SL PT-RS symbol. Alternatively, if, in addition to the SL PRS symbol and the SL PT-RS symbol, the multiple OFDM symbols also include AGC symbols, GAP symbols, PSCCH symbols, and PSSCH DMRS symbols, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, and SL PT-RS symbol. Alternatively, if, in addition to the SL PRS symbol and the SL PT-RS symbol, the multiple OFDM symbols also include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, and SL CSI-RS symbols, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL CSI-RS symbol, and SLPT-RS symbol, and the rest of the cases are analogous and are not listed one by one.

[0184] Below, taking multiple OFDM symbols (i.e., Y OFDM symbols) including AGC symbols, GAP symbols, PSCCH symbols, PSSCHDMRS symbols, SL CSI-RS symbols, SL PT-RS symbols, and SL PRS symbols as an example, the position of SL PRS symbols is introduced for different values ​​of Y and different values ​​of M.

[0185] As an example, assuming that Y=14 (ie, the number of OFDM symbols is 14 OFDM symbols), l d=13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the SLPT-RS symbol is the eighth symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the twelfth symbol of the 14 OFDM symbols, such as Fig.12 As shown in (1); or, when M is 2, the SL PRS symbol may include the ninth symbol and the tenth symbol in the 14 OFDM symbols, as shown in Fig.12 As shown in (2) in .

[0186] Another example, assuming Y = 13, l d =12, the AGC symbol is the first symbol of the 13 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 13 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 13 OFDM symbols, the GAP symbol is the last symbol of the 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol of the 13 OFDM symbols, such as Fig.13 As shown in (1); or, when M is 2, the SL PRS symbol may include the ninth symbol and the tenth symbol in the 13 OFDM symbols, as shown in Fig.13 As shown in (2) in .

[0187] Another example, assuming Y = 12, l d =11, the AGC symbol is the first symbol of the 12 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 12 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 12 OFDM symbols, the GAP symbol is the last symbol of the 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols. Then, when M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, as Fig.14 As shown in (1) in ; or, when M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol in the 12 OFDM symbols, as shown in Fig.14 As shown in (2) in .

[0188] Another example, assuming Y = 11, l d =10, the AGC symbol is the first symbol of the 11 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 11 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 11 OFDM symbols, the GAP symbol is the last symbol of the 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth and ninth symbols of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols. Then, when M is 1, the SL PRS symbol is the seventh symbol of the 11 OFDM symbols, as Fig.15 As shown in (1); or, when M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol of the 11 OFDM symbols, as shown in Fig.15 As shown in (2) in .

[0189] Another example, assuming Y = 10, l d =9, the AGC symbol is the first symbol in 10 OFDM symbols, the PSCCH symbol includes the second and third symbols in 10 OFDM symbols, the SL PT-RS symbol is the eighth symbol in 10 OFDM symbols, the GAP symbol is the last symbol in 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth and ninth symbols in 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol in 10 OFDM symbols. Then, when M is 1, the SL PRS symbol is the sixth symbol in 10 OFDM symbols, as shown in Fig.16 As shown in (1) in ; or, when M is 2, the SL PRS symbol includes the fifth symbol and the sixth symbol in the 10 OFDM symbols, as shown in Fig.16 As shown in (2) in .

[0190] It should be pointed out that Figures 12 to 16 In the example, PSSCH DMRS is DMRS, SL CSI-RS is CSI-RS, and SL PT-RS is PT-RS. It should be understood that Figures 12 to 16 Any of the embodiments shown in the figure is an example and does not limit the position of the SL PRS symbol. d=13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, and the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols. Then, when M=1, the SL PRS symbol can be the thirteenth symbol of the 14 OFDM symbols; or, when M=2, the SL PRS symbol can include the twelfth and thirteenth symbols of the 14 OFDM symbols.

[0191] In another embodiment, the multiple OFDM symbols may also include a physical sidelink feedback channel (PSFCH) symbol. The PSFCH symbol may be used for unicast or multicast hybrid automatic repeat request (HARQ) feedback. Exemplarily, the number of PSFCH symbols may be 1 or 2. For example, the PSFCH symbol may be the second to last symbol of the multiple OFDM symbols; or the PSFCH symbol may be the (Y-1)th symbol of Y OFDM symbols. For another example, the PSFCH symbol may also be the second to last symbol and the third to last symbol of the multiple OFDM symbols; or the PSFCH symbol may also be the (Y-1)th symbol and the (Y-2)th symbol of Y OFDM symbols. Optionally, whether the PSFCH symbol exists may be configured by high-level signaling, such as by sl-PSFCH-Period configuration, without limitation. In this embodiment, the SL PRS symbol may be the last M symbols of the multiple OFDM symbols except the PSFCH symbol and the one or more symbols mentioned above. That is, the SL PRS symbol and the PSFCH symbol are different symbols, or the SL PRS symbol and the PSFCH symbol are time-divided. The description of the M symbols can refer to the above content and will not be repeated here.

[0192] Exemplarily, if the multiple OFDM symbols include an AGC symbol in addition to the SL PRS symbol and the PSFCH symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol and the PSFCH symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol and a GAP symbol in addition to the SL PRS symbol and the PSFCH symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol and the PSFCH symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol, a GAP symbol, and a PSCCH symbol in addition to the SL PRS symbol and the PSFCH symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, and the PSFCH symbol. Alternatively, if, in addition to the SL PRS symbol and the PSFCH symbol, the multiple OFDM symbols also include an AGC symbol, a GAP symbol, a PSCCH symbol, and a PSSCH DMRS symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the PSFCH symbol. Alternatively, if, in addition to the SL PRS symbol and the PSFCH symbol, the multiple OFDM symbols also include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, and a SL CSI-RS symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, the SL CSI-RS symbol, and the PSFCH symbol, and the rest of the cases are analogous and are not listed one by one.

[0193] For example, suppose Y = 14, l d =13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, and the PSFCH symbol includes the twelfth and thirteenth symbols of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the ninth symbol of the 14 OFDM symbols, such as Fig.17As shown in (1); or, when M is 2, the SL PRS symbol may include the eighth symbol and the ninth symbol of the 14 OFDM symbols, as shown in Fig.17 As shown in (2); or, when M is 4, the SL PRS symbol may include the sixth symbol, the seventh symbol, the eighth symbol and the ninth symbol of the 14 OFDM symbols, as shown in Fig.17 As shown in (3) in .

[0194] It should be pointed out that Fig.17 In the example, PSSCH DMRS is DMRS and SL CSI-RS is CSI-RS. It should be understood that Fig.17 The embodiment shown is an example and does not limit the position of the SL PRS symbol. d =13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol is the thirteenth symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, and the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols. Then, when M=1, the SL PRS symbol can be the twelfth symbol of the 14 OFDM symbols; or, when M is 2, the SL PRS symbol can include the eighth symbol and the ninth symbol of the 14 OFDM symbols; or, when M is 4, the SL PRS symbol can include the sixth symbol, the seventh symbol, the eighth symbol and the ninth symbol of the 14 OFDM symbols.

[0195] In another embodiment, the multiple OFDM symbols may also be SL PT-RS symbols and PSFCH symbols. The SL PT-RS symbols and PSFCH symbols can refer to the above content and will not be repeated here. In this embodiment, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except for the SL PT-RS symbol, the PSFCH symbol and one or more of the above symbols. That is, the SL PRS symbol is different from the SL PT-RS symbol and the PSFCH symbol, or the SL PRS symbol is time-divided from the SL PT-RS symbol and the PSFCH symbol.

[0196] Exemplarily, if the multiple OFDM symbols include an AGC symbol in addition to the SL PRS symbol, the SL PT-RS symbol, and the PSFCH symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols in addition to the AGC symbol, the SL PT-RS symbol, and the PSFCH symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol and a GAP symbol in addition to the SL PRS symbol, the SL PT-RS symbol, and the PSFCH symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols in addition to the AGC symbol, the GAP symbol, the SL PT-RS symbol, and the PSFCH symbol. Alternatively, if the multiple OFDM symbols include AGC symbols, GAP symbols, and PSCCH symbols in addition to SL PRS symbols, SL PT-RS symbols, and PSFCH symbols, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbols, GAP symbols, PSCCH symbols, SL PT-RS symbols, and PSFCH symbols. Alternatively, if the multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, and PSSCH DMRS symbols in addition to SL PRS symbols, SL PT-RS symbols, and PSFCH symbols, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, SL PT-RS symbols, and PSFCH symbols. Alternatively, if in addition to the SL PRS symbol, SL PT-RS symbol, and PSFCH symbol, the multiple OFDM symbols also include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, and SLCSI-RS symbols, then the SL PRS symbol can be the last M symbols in the multiple OFDM symbols except for the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL CSI-RS symbol, SL PT-RS symbol, and PSFCH symbol, and the rest of the cases are similar and are not listed one by one.

[0197] For example, suppose Y = 14, l d=13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, and the PSFCH symbol includes the twelfth symbol and the thirteenth symbol of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the ninth symbol of the 14 OFDM symbols, such as Fig.18 As shown in (1); or, when M is 2, the SL PRS symbol may include the sixth symbol and the seventh symbol of the 14 OFDM symbols, as shown in Fig.18 As shown in (2) in .

[0198] It should be pointed out that Fig.18 In the example, PSSCH DMRS is DMRS, SL CSI-RS is CSI-RS, and SL PT-RS is PT-RS. It should be understood that Fig.18 The embodiment shown is an example and does not limit the position of the SL PRS symbol. d =13, the AGC symbol is the first symbol of 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of 14 OFDM symbols, the PSFCH symbol is the thirteenth symbol of 14 OFDM symbols, the GAP symbol is the last symbol of 14 OFDM symbols, and the PSSCH DMRS symbol includes the fourth and eleventh symbols of 14 OFDM symbols. Then, when M=1, the SL PRS symbol can be the twelfth symbol of 14 OFDM symbols; or, when M is 2, the SL PRS symbol can include the sixth and seventh symbols of 14 OFDM symbols.

[0199] In another embodiment, the SL PRS symbol is the last M symbols of multiple OFDM symbols except the one or more symbols mentioned above, which can be specifically: the SL PRS symbol is the M symbols after the last M symbols of multiple OFDM symbols except the one or more symbols mentioned above are offset (or shifted) by X symbols. For example, the SL PRS symbol can be the M symbols after the last M symbols of multiple OFDM symbols except the one or more symbols mentioned above are offset (or shifted) by X symbols forward (or left). The M symbols after the last M symbols are offset by X symbols belong to the multiple OFDM symbols except the one or more symbols. M is a positive integer. And when M is greater than 1, the M symbols after the last M symbols are offset by X symbols are M consecutive symbols.

[0200] Among them, X can be an integer greater than or equal to 0, in other words, X can be configured to be 0. Optionally, X can be pre-configured, or can also be indicated (or configured) by second information, without limitation. The second information can be, for example, high-layer signaling, or can also be SCI, without limitation. For example, the first terminal device (or the second terminal device) can receive second information, and the second information is used to indicate (or configure) X. For example, the second information can be an identifier of the time domain resources of the SL PRS (such as SL PRS Resource ID), and the identifier of the time domain resources of the SL PRS can be used to indicate X.

[0201] Exemplarily, if the multiple OFDM symbols include an AGC symbol in addition to the SL PRS symbol, the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols except the AGC symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol and a GAP symbol in addition to the SL PRS symbol, the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols except the AGC symbol and the GAP symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol, a GAP symbol, and a PSCCH symbol in addition to the SL PRS symbol, the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, and the PSCCH symbol. Alternatively, if, in addition to the SL PRS symbol, the multiple OFDM symbols also include AGC symbols, GAP symbols, PSCCH symbols, and PSSCH DMRS symbols, then the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, and PSSCH DMRS symbol. Alternatively, if, in addition to the SL PRS symbol, the multiple OFDM symbols also include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, and SLCSI-RS symbols, then the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, and SL CSI-RS symbol, and the rest of the cases are analogous and will not be listed one by one.

[0202] For example, suppose Y = 14, l d =13, X=2, the AGC symbol is the first symbol in the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols in the 14 OFDM symbols, the GAP symbol is the last symbol in the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols in the 14 OFDM symbols, and the SLCSI-RS symbol is the thirteenth symbol in the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol in the 14 OFDM symbols, such as Fig.19 As shown in (1); or, when M is 2, the SL PRS symbol may include the seventh symbol and the eighth symbol of the 14 OFDM symbols, as shown in Fig.19As shown in (2); or, when M is 4, the SL PRS symbol may include the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 14 OFDM symbols, as shown in Fig.19 As shown in (3) in .

[0203] It should be pointed out that Fig.19 In the example, PSSCH DMRS is DMRS and SL CSI-RS is CSI-RS. It should be understood that Fig.19 The embodiment shown is an example and does not limit the position of the SL PRS symbol. d =13, X=3, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the ninth symbol of the 14 OFDM symbols; or, when M is 2, the SL PRS symbol can include the sixth symbol and the seventh symbol of the 14 OFDM symbols.

[0204] For another example, suppose Y = 14, l d =13, X=2, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SLCSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols, and the SL PT-RS is the eighth symbol of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol of the 14 OFDM symbols; or, when M is 2, the SLPRS symbol can include the sixth symbol and the seventh symbol of the 14 OFDM symbols.

[0205] For another example, suppose Y = 14, l d=13, X=2, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SLCSI-RS symbol is the tenth symbol of the 14 OFDM symbols, and the PSFCH symbol includes the twelfth symbol and the third symbol of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the seventh symbol of the 14 OFDM symbols; or, when M is 2, the SL PRS symbol can include the sixth symbol and the seventh symbol of the 14 OFDM symbols.

[0206] For another example, suppose Y = 14, l d =13, X=2, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SLCSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, and the PSFCH symbol includes the twelfth symbol and the third symbol of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the seventh symbol of the 14 OFDM symbols.

[0207] It should be pointed out that the SL PRS symbol is the last M symbols in multiple OFDM symbols except for the one or more symbols mentioned above, and can also be: the SL PRS symbol is the M symbols after the last M symbols in multiple OFDM symbols except for the SL PT-RS symbol and the one or more symbols mentioned above are offset (or shifted) by X symbols; or it can also be: the SL PRS symbol is the M symbols after the last M symbols in multiple OFDM symbols except for the PSFCH symbol and the one or more symbols mentioned above are offset (or shifted) by X symbols; or it can also be: the SL PRS symbol is the M symbols after the last M symbols in multiple OFDM symbols except for the SL PT-RS symbol, the PSFCH symbol and the one or more symbols mentioned above are offset (or shifted) by X symbols. The specific implementation process can refer to the above content, which will not be listed here one by one.

[0208] In one implementation, the maximum number of time domain resources of the SL PRS is determined based on M and the symbols available for the SL PRS; or, the maximum number of time domain resources of the SL PRS is determined based on a pattern between M and N and the symbols available for the SL PRS; or, the maximum number of time domain resources of the SL PRS is determined based on M, the number of multiple OFDM symbols (i.e., the value of Y, or l d ), and the pattern of one or more symbols mentioned above; or, the maximum number of time domain resources of SL PRS is determined according to the pattern between M and N, the value of Y, and the pattern of one or more symbols mentioned above; or, the maximum number of time domain resources of SL PRS is determined according to M, the symbols available for SL PRS, and X; or, the maximum number of time domain resources of SL PRS is determined according to the pattern between M and N, the symbols available for SL PRS, and X; or, the maximum number of time domain resources of SL PRS is determined according to M, the value of Y, the pattern of one or more symbols mentioned above, and X; or, the maximum number of time domain resources of SL PRS is determined according to the pattern between M and N, the value of Y, the pattern of one or more symbols mentioned above, and X, without limitation.

[0209] Among them, SL PRS is carried by SL PRS symbols, or SL PRS is mapped in SL PRS symbols. The symbols that can be used by SL PRS can be symbols other than the one or more symbols mentioned above in the multiple OFDM symbols; or they can also be symbols other than SL PT-RS symbols and the one or more symbols mentioned above in the multiple OFDM symbols; or they can also be symbols other than PSFCH symbols and the one or more symbols mentioned above in the multiple OFDM symbols; or they can also be symbols other than SL PT-RS symbols, PSFCH symbols and the one or more symbols mentioned above in the multiple OFDM symbols. N is the number of comb teeth of SL PRS, X is the offset of SL PRS symbol, and N, X, and Y are all positive integers. Among them, the pattern between M and N can determine M. The value of Y and the image of the one or more symbols mentioned above can determine the symbols that can be used by SL PRS.

[0210] For example, suppose Y = 14, l d=13, the symbols that SL PRS can use are the fifth symbol, the sixth symbol, the seventh symbol, the eighth symbol, the ninth symbol, the tenth symbol, and the twelfth symbol in the 14 OFDM symbols. If the value of M is one of 1, 2, and 4, the maximum number of time domain resources of SL PRS is 3; or, if the value of M is one of 1 and 2 (or 1 and 4, or 2 and 4), the maximum number of time domain resources of SL PRS is 2; or, if the value of M is only 1 (or only 2, or only 4), the maximum number of time domain resources of SL PRS is 1.

[0211] Optionally, the number of bits occupied by the identifier of the time domain resource of the SL PRS may be determined by the maximum number of time domain resources of the SL PRS. For example, the number of bits occupied by the identifier of the time domain resource of the SL PRS may be Among them, R max is the maximum number of time domain resources of SL PRS, This is a round-up operation.

[0212] In the above embodiments of the present application, the SL PRS symbol is the last M symbols of multiple OFDM symbols used for SL transmission in a time slot except for the above one or more symbols. The value of M is configured through high-level signaling and / or SCI, which means that the terminal device (for example, the first terminal device, or the second terminal device) can uniquely determine the position of the SL PRS symbol in the multiple OFDM symbols, thereby realizing the determination of the position of the SL PRS symbol and improving the performance of SL positioning.

[0213] In the embodiments provided in the present application, the methods provided in the embodiments of the present application are introduced from the perspective of the interaction between the first terminal device and the second terminal device. Among them, the steps performed by the terminal device (for example, the first terminal device or the second terminal device) can be implemented by different functional entities that constitute the terminal device. The terminal device (for example, the first terminal device or the second terminal device) may include a hardware structure and / or a software module to implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0214] The following describes the communication device used to implement the above method in the embodiment of the present application in conjunction with the accompanying drawings. Therefore, the above contents can be used in subsequent embodiments, and repeated contents will not be repeated.

[0215] Fig. 20A schematic diagram of the structure of a communication device 2000 is shown. The communication device 2000 can implement the functions or steps implemented by the terminal device (eg, the first terminal device or the second terminal device) in the above-mentioned various method embodiments.

[0216] In one implementation, the communication device 2000 may include a processing module 2001 and a transceiver module 2002. The processing module 2001 may be used to perform data processing, such as executing the steps of any communication device (e.g., the first terminal device, or the second terminal device) in any of the above method embodiments. The transceiver module 2002 may be used to implement corresponding communication functions, such as receiving or sending relevant data, information or messages. The transceiver module 2002 may also be referred to as a communication interface, or a communication module, or a transceiver unit, etc.

[0217] It should be noted that the communication device 2000 may include a processing module 2001 but not a transceiver module 2002. Alternatively, the communication device 2000 may include a transceiver module 2002 but not a processing module 2001. Specifically, it may depend on whether the above solution executed by the communication device 2000 includes a processing action and a transceiver action.

[0218] Optionally, the communication device 2000 may further include a storage module. Fig. 20 The storage module may be used to store instructions and / or data, and the processing module 2001 may read the instructions and / or data in the storage module so that the communication device 2000 implements the aforementioned method embodiment.

[0219] Optionally, the transceiver module 2002 may include a sending module and a receiving module. The sending module is used to perform the sending operation in the above method embodiment. The receiving module is used to perform the receiving operation in the above method embodiment.

[0220] It should be noted that the communication device 2000 may include a sending module but not a receiving module. Alternatively, the communication device 2000 may include a receiving module but not a sending module. Specifically, it may depend on whether the above solution executed by the communication device 2000 includes a sending action and a receiving action.

[0221] In one implementation, the communication device 2000 can implement the functions or steps implemented by the first terminal device in any of the above method embodiments. The communication device 2000 can be the first terminal device, or can also be a component configured in the first terminal device. The processing module 2001 is used to perform the processing-related operations on the first terminal device side in the above method embodiments. The transceiver module 2002 is used to perform the transceiver-related operations on the first terminal device side in the above method embodiments.

[0222] Optionally, the communication device 2000 can be used to perform the above Figure 3 For details of the actions performed by the first terminal device in the embodiment shown, please refer to the above Figure 3 The relevant introduction of the embodiment shown is not repeated here. For example, the communication device 2000 can execute the following scheme:

[0223] The processing module 2001 can be used to generate multiple OFDM symbols, which are symbols used for sidelink transmission in a time slot, wherein the multiple OFDM symbols include one or more of the following symbols: AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, or SL CSI-RS symbol, and the multiple OFDM symbols also include SL PRS symbol, which is the last M symbols of the multiple OFDM symbols except the one or more symbols, wherein M is 1, or M is a positive integer greater than 1, wherein when M is greater than 1, the M symbols are continuous M symbols. The transceiver module 2002 is used to send the multiple OFDM symbols;

[0224] The transceiver module 2002 may be configured to send a plurality of OFDM symbols to a second terminal device.

[0225] Optionally, the SL CSI-RS symbol is a semi-statically configured symbol, and the transceiver module 2002 is further used to send first information, where the first information is used to instruct the first terminal device to send the SL CSI-RS, or to instruct the first terminal device not to send the SL CSI-RS.

[0226] Optionally, the transceiver module 2002 is also used to receive second information, where the second information is used to indicate X.

[0227] Optionally, the transceiver module 2002 is further used to receive third information, where the third information is used to indicate M.

[0228] In another implementation, the communication device 2000 can implement the functions or steps implemented by the second terminal device in any of the above method embodiments. The communication device 2000 can be a second terminal device, or can also be a component configured in the second terminal device. The processing module 2001 is used to perform the processing-related operations on the second terminal device side in the above method embodiments. The transceiver module 2002 is used to perform the transceiver-related operations on the second terminal device side in the above method embodiments.

[0229] Optionally, the communication device 2000 can be used to perform the above Figure 3 For details of the actions performed by the second terminal device in the embodiment shown, please refer to the above Figure 3 The relevant introduction of the embodiment shown is not repeated here. For example, the communication device 2000 can execute the following scheme:

[0230] The transceiver module 2002 is used to receive multiple OFDM symbols, where the multiple OFDM symbols are symbols used for sidelink transmission in a time slot, wherein the multiple OFDM symbols include one or more of the following symbols: AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, or SL CSI-RS symbol, and the multiple OFDM symbols also include SL PRS symbol, which is the last M symbols of the multiple OFDM symbols except the one or more symbols, where M is 1, or M is an integer greater than 1, wherein when M is greater than 1, the M symbols are continuous M symbols. For example, the transceiver module 2002 is used to receive multiple OFDM symbols from a first terminal device;

[0231] The processing module 2001 is configured to determine a SL PRS symbol.

[0232] Optionally, the SL CSI-RS symbol is a semi-statically configured symbol, and the transceiver module 2002 is further used to receive first information, where the first information is used to instruct the first terminal device to send the SL CSI-RS, or to instruct the first terminal device not to send the SL CSI-RS.

[0233] Optionally, the transceiver module 2002 is also used to receive second information, where the second information is used to indicate X.

[0234] Optionally, the transceiver module 2002 is further used to receive third information, where the third information is used to indicate M.

[0235] It should be understood that a more detailed description of each module performing the corresponding process can be directly referred to Figure 3 The relevant description in the method embodiment shown is directly obtained and is not repeated here for the sake of brevity.

[0236] The processing module 2001 in the above embodiment can be implemented by at least one processor or processor-related circuits. The transceiver module 2002 can be implemented by a transceiver or a transceiver-related circuit. The storage module can be implemented by at least one memory.

[0237] like Fig.21As shown, an embodiment of the present application provides a schematic diagram of the structure of a communication device 2100. The communication device 2100 may include a processor 2120, which is used to implement or support the communication device 2100 to implement the function of the first terminal device or the second terminal device in any method embodiment of the present application. For details, please refer to the detailed description in the aforementioned method embodiment, which will not be repeated here. For example, the processor 2120 is used to read and execute program instructions through a communication interface so that the communication device 2100 implements the corresponding method. The processor 2120 may include one or more processors without limitation.

[0238] Specifically, the communication device 2100 can be a first terminal device or a functional module located in the first terminal device, which can implement the function of the first terminal device in any method embodiment of the present application; or, the communication device 2100 can be a second terminal device or a functional module located in the second terminal device, which can implement the function of the second terminal device in any method embodiment of the present application.

[0239] It should be noted that the above-mentioned functional modules can be implemented by hardware or by a combination of hardware and software without limitation. When the communication device 2100 includes a processor 2120, the communication device 2100 can be a chip or a chip system.

[0240] For example, the communication device 2100 may be a chip system, wherein the chip system may be composed of a chip, or may include a chip and other discrete devices, without limitation.

[0241] Optionally, the communication device 2100 may further include a memory 2130 for storing program instructions and / or data. The memory 2130 is coupled to the processor 2120. The coupling may be understood as an indirect coupling or communication connection between devices, units or modules, which may be electrical, mechanical or other forms, for information exchange between devices, units or modules. The processor 2120 may operate in coordination with the memory 2130. The processor 2120 and the memory 2130 may be integrated together or separately arranged.

[0242] Furthermore, the processor 2120 is used to execute program instructions stored in the memory 2130 so that the communication device 2100 implements the corresponding method.

[0243] Among them, one or more memories in the memory 2130 may be included in the processor, and the memory 2130 may also exist independently, such as an off-chip memory, through a communication bus ( Fig.21 The memory 2130 and the processor 2120 may also be integrated together.

[0244] Optionally, the communication device 2100 further includes a communication interface 2110 ( Fig.21 The processor 2120 may be used to transmit and receive data using the communication interface 2110. For example, the processor 2120 may be used to control the communication interface 2110 to receive and / or transmit signals.

[0245] Optionally, when the communication device 2100 is a chip or a chip system, the communication interface 2110 may be an input / output interface.

[0246] The communication interface 2110 may specifically be a transceiver. In hardware implementation, the transceiver may be used to implement the functions of the transceiver module 2002, and the transceiver is integrated in the communication device 2100 to form the communication interface 2110. Exemplarily, the transceiver may include a transmitter and a receiver to implement the transmission and reception of signals; or, the transceiver may include a transmitter but not a receiver to implement the transmission of signals; or, the transceiver may include a receiver but not a transmitter to implement the reception of signals.

[0247] It should be noted that the specific connection medium between the communication interface 2110 , the processor 2120 , and the memory 2130 is not limited in the embodiment of the present application. Fig.21 In the figure, the memory 2130, the processor 2120 and the communication interface 2110 are connected via the communication bus 2140. The connection between other components is only for schematic illustration and is not limited thereto. The communication bus 2140 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.21 Only one thick line is used in the figure, but it does not mean that there is only one communication bus or one type of communication bus.

[0248] In the embodiment of the present application, the processor 2120 may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The general-purpose processor may be a microprocessor or any conventional processor, etc. The method disclosed in the embodiment of the present application may be executed by hardware in the processor, or by a combination of hardware and software in the processor.

[0249] In the embodiment of the present application, the memory 2130 may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or a volatile memory (volatile memory), such as a random-access memory (RAM). The memory may also be any other medium for carrying or storing program codes in the form of instructions or data structures and accessible by a computer; or, a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0250] Based on the same idea, see Fig. 22 The embodiment of the present application also provides another communication device 2200, including: an input-output interface 2210 and a logic circuit 2220; the input-output interface 2210 is used to receive code instructions and transmit them to the logic circuit 2220; the logic circuit 2220 is used to run the code instructions to execute the method executed by the first terminal device or the second terminal device in any of the above embodiments.

[0251] The following describes in detail the operations performed by the communication device when applied to the terminal device or the second terminal device.

[0252] In an optional implementation manner, the communication device 2200 can be applied to a first terminal device to execute the method executed by the first terminal device, for example, Figure 3 The method performed by the first terminal device in the embodiment shown in For example, the communication device 2200 generates a plurality of OFDM symbols and sends the plurality of OFDM symbols.

[0253] Since the communication device 2200 provided in this embodiment can be applied to the first terminal device to complete the method performed by the first terminal device, the technical effects that can be obtained can refer to the above method embodiments and will not be repeated here.

[0254] In another optional implementation, the communication device 2200 can be applied to a second terminal device to execute the method executed by the second terminal device, for example, Figure 3 The method performed by the second terminal device in the embodiment shown in For example, the communication device 2200 receives a plurality of OFDM symbols and determines a SL PRS symbol.

[0255] Since the communication device 2200 provided in this embodiment can be applied to the second terminal device to complete the method executed by the second terminal device, the technical effects that can be obtained can refer to the above method embodiment and will not be repeated here.

[0256] The embodiment of the present application further provides a communication system, which may include one or more of the following: a first terminal device, or a second terminal device. The first terminal device or the second terminal device may refer to the description in the above-mentioned method embodiments, and will not be described in detail.

[0257] A computer-readable storage medium is also provided in an embodiment of the present application, including program instructions, which, when executed on a computer, enables the computer to execute the method or steps of any communication device (e.g., a first terminal device, or a second terminal device) in the above-mentioned embodiments.

[0258] A computer program product is also provided in an embodiment of the present application, including program instructions, which, when executed on a computer, enable the computer to execute the method or steps of any communication device (e.g., a first terminal device, or a second terminal device) in the above-mentioned embodiments.

[0259] The embodiment of the present application provides a chip system, which includes a processor for implementing the functions of the first terminal device or the second terminal device in the aforementioned method (for example, executing the corresponding method or step). The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0260] Optionally, the chip system also includes a memory, which is used to store program instructions so that the above-mentioned processor can read and execute them to implement the corresponding method.

[0261] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0262] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0263] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0264] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0265] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0266] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0267] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the part of the technical solution of the present application that contributes essentially or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0268] The above is only a specific implementation of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the embodiments of the present application, which should be included in the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be based on the protection scope of the claims.

Claims

1. A communication method, characterized in that: The method comprises: Generate a plurality of orthogonal frequency division multiplexing OFDM symbols, wherein the plurality of OFDM symbols are symbols used for sidelink transmission in a time slot, wherein the plurality of OFDM symbols include one or more of the following symbols: an automatic gain control AGC symbol, a gap GAP symbol, a physical sidelink control channel PSCCH symbol, a physical sidelink shared channel demodulation reference signal PSSCHDMRS symbol, or a sidelink channel state information reference channel SL CSI-RS symbol, and the plurality of OFDM symbols also include a sidelink positioning reference signal SL PRS symbol, wherein the SL PRS symbol is the last M symbols of the plurality of OFDM symbols except the one or more symbols, wherein M is 1, or the M is an integer greater than 1, wherein when the M is greater than 1, the M symbols are M consecutive symbols; The plurality of OFDM symbols are transmitted.

2. The method according to claim 1, characterized in that The SL CSI-RS symbol is a semi-statically configured symbol, and the method further includes: Sending first information, wherein the first information is used to instruct the first terminal device to send a SL CSI-RS, or to instruct the first terminal device not to send a SL CSI-RS, wherein the SL CSI-RS is carried by the SL CSI-RS symbol.

3. The method according to claim 2, characterized in that The multiple OFDM symbols include the SL CSI-RS symbol; or, When the first information is used to instruct the first terminal device to send the SL CSI-RS, the multiple OFDMs include the SL CSI-RS symbols.

4. A communication method, characterized in that: The method comprises: Receive a plurality of OFDM symbols, where the plurality of OFDM symbols are symbols used for sidelink transmission in a time slot, wherein the plurality of OFDM symbols include one or more of the following symbols: an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, or an SL CSI-RS symbol, and the plurality of OFDM symbols also include an SL PRS symbol, where the SL PRS symbol is the last M symbols of the plurality of OFDM symbols except the one or more symbols, where M is 1, or the M is a positive integer greater than 1, wherein when the M is greater than 1, the M symbols are M consecutive symbols; The SL PRS symbol is determined.

5. The method according to claim 4, characterized in that The SL CSI-RS symbol is a semi-statically configured symbol, and the method further includes: First information is received, where the first information is used to instruct the first terminal device to send a SL CSI-RS, or to instruct the first terminal device not to send a SL CSI-RS, wherein the SL CSI-RS is carried by the SL CSI-RS symbol.

6. The method according to claim 5, characterized in that The multiple OFDM symbols include the SL CSI-RS symbol; or, When the first information is used to instruct the first terminal device to send the SL CSI-RS, the multiple OFDMs include the SL CSI-RS symbols.

7. The method according to any one of claims 1 to 6, characterized in that The AGC symbol is the first symbol among the multiple OFDM symbols; The GAP symbol is the last symbol of the multiple OFDM symbols; The PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, or the PSCCH symbol includes the second symbol, the third symbol and the fourth symbol of the multiple OFDM symbols; The PSSCH DMRS symbol includes the second symbol and the sixth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the fifth symbol and the ninth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the fifth symbol and the eleventh symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the fifth symbol and the eighth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the sixth symbol and the tenth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the seventh symbol and the twelfth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the fifth symbol, the eighth symbol and the eleventh symbol of the multiple OFDM symbols; The SL CSI-RS symbol is a symbol from the fourth symbol to the second to last symbol in the multiple OFDM symbols.

8. The method according to any one of claims 1 to 7, characterized in that The multiple OFDM symbols are 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the twelfth symbol of the 14 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 14 OFDM symbols, or when the M is 4, the SL PRS symbol includes the seventh symbol, the eighth symbol, the ninth symbol and the tenth symbol of the 14 OFDM symbols; or, The multiple OFDM symbols are 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 13 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 13 OFDM symbols, or when the M is 4, the SL PRS symbol includes the seventh symbol, the eighth symbol, the ninth symbol and the tenth symbol of the 14 OFDM symbols; or, The multiple OFDM symbols are 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, or when the M is 2, the SL PRS symbol includes the seventh symbol and the eighth symbol of the 12 OFDM symbols, or when the M is 4, the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 12 OFDM symbols; or, The multiple OFDM symbols are 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the eighth symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the seventh symbol and the eighth symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 11 OFDM symbols; or, The multiple OFDM symbols are 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the eighth symbol of the 10 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol and the sixth symbol of the 10 OFDM symbols; or, The multiple OFDM symbols are 9 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 9 OFDM symbols, and the SL CSI-RS symbol is the eighth symbol of the 9 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the seventh symbol of the 9 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fourth symbol and the fifth symbol of the 9 OFDM symbols; or, The multiple OFDM symbols are 8 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 8 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 8 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the fifth symbol of the 8 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fourth symbol and the fifth symbol of the 8 OFDM symbols; or, The multiple OFDM symbols are 7 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 7 OFDM symbols, and the SL CSI-RS symbol is the fourth symbol of the 7 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the fifth symbol of the 7 OFDM symbols; The AGC symbol is the first symbol among the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the multiple OFDM symbols, and the GAP symbol is the last symbol among the multiple OFDM symbols.

9. The method according to any one of claims 1 to 7, characterized in that The multiple OFDM symbols also include a sidelink phase tracking reference signal SL PT-RS symbol; The SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, including: The SL PRS symbol is the last M symbols of the multiple OFDM symbols except the SL PT-RS symbol and the one or more symbols.

10. The method according to claim 9, characterized in that The SL PT-RS symbol is time-divided with the PSCCH symbol, and the SL PT-RS symbol is also time-divided with the PSSCH DMRS symbol.

11. The method according to claim 9 or 10, characterized in that: The multiple OFDM symbols are 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the twelfth symbol of the 14 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 14 OFDM symbols; or, The multiple OFDM symbols are 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 13 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 13 OFDM symbols; or, The multiple OFDM symbols are 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, or when the M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol of the 12 OFDM symbols; or, The multiple OFDM symbols are 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the seventh symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol of the 11 OFDM symbols; or, The multiple OFDM symbols are 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the sixth symbol of the 10 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol and the sixth symbol of the 10 OFDM symbols; Among them, the AGC symbol is the first symbol among the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the multiple OFDM symbols, the SL PT-RS symbol is the eighth symbol among the multiple OFDM symbols, and the GAP symbol is the last symbol among the multiple OFDM symbols.

12. The method according to any one of claims 1 to 7, 9 and 10, characterized in that: The multiple OFDM symbols also include a physical sidelink feedback channel PSFCH symbol; The SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, including: The SL PRS symbol is the last M symbols of the multiple OFDM symbols except the PSFCH symbol and the one or more symbols.

13. The method according to claim 12, characterized in that The PSFCH symbol is the second to last symbol among the multiple OFDM symbols, or the PSFCH symbol includes the second to last symbol and the third to last symbol among the multiple OFDM symbols.

14. The method according to claim 12 or 13, characterized in that When the multiple OFDM symbols are 14 OFDM symbols: The M is 1, and the SL PRS symbol is the ninth symbol among the 14 OFDM symbols; or, The M is 2, and the SL PRS symbol includes the eighth symbol and the ninth symbol of the 14 OFDM symbols; or, The M is 4, and the SL PRS symbol includes the sixth symbol, the seventh symbol, the eighth symbol, and the ninth symbol of the 14 OFDM symbols; Among them, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the PSSCH DMRS symbol is the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol includes the twelfth symbol and the thirteenth symbol of the 14 OFDM symbols, and the GAP symbol is the last symbol of the 14 OFDM symbols.

15. The method according to claim 12 or 13, characterized in that The multiple OFDM symbols further include a SL PT-RS symbol. When the multiple OFDM symbols are 14 OFDM symbols: The M is 1, and the SL PRS symbol is the ninth symbol among the 14 OFDM symbols; or, The M is 2, and the SL PRS symbol includes the sixth symbol and the seventh symbol of the 14 OFDM symbols; Among them, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the PSSCH DMRS symbol is the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol includes the twelfth symbol and the thirteenth symbol of the 14 OFDM symbols, and the GAP symbol is the last symbol of the 14 OFDM symbols.

16. The method according to any one of claims 1 to 7, 9, 10, 12 and 13, characterized in that The SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, including: The SL PRS symbol is M symbols after the last M symbols are offset by X symbols, and the M symbols after the last M symbols are offset by X symbols belong to the multiple OFDM symbols except the one or more symbols, and X is a positive integer.

17. The method according to claim 16, characterized in that When the multiple OFDM symbols are 14 OFDM symbols and X is 2: The M is 1, and the SL PRS symbol is the tenth symbol among the 14 OFDM symbols; or, The M is 2, and the SL PRS symbol includes the seventh symbol and the eighth symbol of the 14 OFDM symbols; or, The M is 4, and the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol, and the eighth symbol of the 14 OFDM symbols; Among them, the AGC is the first symbol among the 14 OFDM symbols, the GAP symbol is the last symbol among the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol among the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol among the 14 OFDM symbols.

18. The method according to claim 16 or 17, characterized in that The method further comprises: Second information is received, where the second information is used to indicate the X.

19. The method according to any one of claims 1 to 18, characterized in that The method further comprises: Receive third information, where the third information is used to indicate the M.

20. The method according to claim 19, characterized in that The third information is used to indicate the M, including: The third information is used to indicate a pattern between M and N, the pattern between M and N is used to indicate M, N is the number of comb teeth of SL PRS, the SL PRS is carried by the SL PRS, and N is a positive integer.

21. The method according to claim 19 or 20, characterized in that The third information is an identifier of the time domain resource of the SL PRS.

22. The method according to any one of claims 1 to 21, characterized in that The maximum number of time domain resources of the SL PRS is determined according to the M and the symbols available for the SL PRS; or, The maximum number of time domain resources of the SL PRS is determined according to the pattern between M and N and the symbols available for use by the SL PRS; or, The maximum number of time domain resources of the SL PRS is determined according to the M, the number of the multiple OFDM symbols, and the pattern of the one or more symbols; or, The maximum number of time domain resources of the SL PRS is determined according to the pattern between M and N, the number of the multiple OFDM symbols, and the pattern of the one or more symbols; or, The maximum number of time domain resources of the SL PRS is determined according to the M, the symbols available for the SL PRS, and X; or, The maximum number of time domain resources of the SL PRS is determined according to the pattern between M and N, the symbols available for the SL PRS, and X; or, The maximum number of time domain resources of the SL PRS is determined according to the M, the number of the multiple OFDM symbols, the pattern of the one or more symbols, and X; or, The maximum number of time domain resources of the SL PRS is determined according to the pattern between M and N, the number of the multiple OFDM symbols, the pattern of the one or more symbols, and X; The SL PRS is carried by the SL PRS, N is the number of comb teeth of the SL PRS, X is the offset of the SL PRS symbol, the symbols that can be used by the SL PRS symbol are the symbols in the multiple OFDM symbols except the one or more symbols, and N and X are both positive integers.

23. A communication device, characterized in that: The communication device comprises a module for executing the method according to any one of claims 1 to 3, 7 to 22, or a module for executing the method according to any one of claims 4 to 22.

24. A communication device, characterized in that: comprising at least one processor and a memory; The memory is used to store one or more computer programs or instructions, and the at least one processor is used to execute the one or more computer programs or instructions stored in the memory, so that the communication device performs the method as described in any one of claims 1 to 3, 7 to 22, or performs the method as described in any one of claims 4 to 22.

25. A chip system, characterized in that: The chip system includes at least one processor for executing one or more computer programs or instructions in a memory to implement the method as described in any one of claims 1 to 3, 7 to 22, or the method as described in any one of claims 4 to 22.

26. A communication system, characterized in that: It comprises a first terminal device and a second terminal device, wherein the first terminal device is used to execute the method as claimed in any one of claims 1 to 3 and 7 to 22, and the second terminal device is used to execute the method as claimed in any one of claims 4 to 22.

27. A computer-readable storage medium, characterized in that: A computer program or instruction is stored, wherein the computer program or instruction is used to implement the method according to any one of claims 1 to 3, 7 to 22, or implement the method according to any one of claims 4 to 22.

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