Position obtaining method, device, equipment, medium, chip, product and program

Abstract

The embodiment of the invention provides a position obtaining method and device, equipment, a medium, a chip, a product and a program. The method comprises the steps that a first terminal receives sidelink signal configuration of a second terminal; the first terminal measures a sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal to obtain a first measurement result; and the first terminal obtains first relative position information of the first terminal and the second terminal corresponding to the first measurement result.

Description

[0001] This application is a divisional application of the PCT international patent application PCT / CN2021 / 108726 with an application date of July 27, 2021, which entered the Chinese national phase with Chinese patent application number 202180100838.6 and the invention name being “Position obtaining method, device, equipment, medium, chip, product and program”. Technical Field

[0002] The embodiments of the present application relate to but are not limited to sidelink (SL) communication, and in particular to a location obtaining method, apparatus, device, medium, chip, product and program. Background Art

[0003] Vehicle to Everything (V2X) communication refers to the communication between vehicles and anything in the outside world, including vehicle to vehicle (V2V), vehicle to pedestrian (V2P), vehicle to infrastructure (V2I), and vehicle to network (V2N). Device to Device (D2D) communication technology refers to a communication method in which two peer user nodes communicate directly.

[0004] Currently, in a V2X system or a D2D system, there is no technology for a terminal to obtain relative position information with respect to another terminal. Summary of the invention

[0005] Embodiments of the present application provide a location obtaining method, apparatus, device, medium, chip, product, and program.

[0006] In a first aspect, an embodiment of the present application provides a method for obtaining a position, the method comprising:

[0007] The first terminal receives a sidelink signal configuration of the second terminal;

[0008] The first terminal measures the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal to obtain a first measurement result;

[0009] The first terminal obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result.

[0010] In a second aspect, an embodiment of the present application provides a method for obtaining a position, the method comprising:

[0011] The second terminal sends a sidelink signal configuration of the second terminal;

[0012] Among them, the side link signal configuration of the second terminal is used for: the first terminal measures the side link signal of the second terminal to obtain a first measurement result; the first terminal or network equipment obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result.

[0013] In a third aspect, an embodiment of the present application provides a method for obtaining a position, the method comprising:

[0014] The network device instructs the second terminal to send a sidelink signal configuration of the second terminal;

[0015] Among them, the side link signal configuration of the second terminal is used for: the first terminal measures the side link signal of the second terminal to obtain a first measurement result; the first terminal or the network device obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result.

[0016] In a fourth aspect, an embodiment of the present application provides a position obtaining device, including:

[0017] a transceiver unit, configured to receive a sidelink signal configuration of a second terminal;

[0018] a measuring unit, configured to measure the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal, to obtain a first measurement result;

[0019] An obtaining unit is used to obtain first relative position information of the first terminal and the second terminal corresponding to the first measurement result.

[0020] In a fifth aspect, an embodiment of the present application provides a position obtaining device, including:

[0021] a transceiver unit, configured to send a sidelink signal configuration of the second terminal;

[0022] Among them, the side link signal configuration of the second terminal is used for: the first terminal measures the side link signal of the second terminal to obtain a first measurement result; the first terminal or network equipment obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result.

[0023] In a sixth aspect, an embodiment of the present application provides a position obtaining device, including:

[0024] a transceiver unit, configured to instruct the second terminal to send a sidelink signal configuration of the second terminal;

[0025] Among them, the side link signal configuration of the second terminal is used for: the first terminal measures the side link signal of the second terminal to obtain a first measurement result; the first terminal or the network device obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result.

[0026] In a seventh aspect, an embodiment of the present application provides a location obtaining device, including: a memory and a processor,

[0027] The memory stores a computer program executable on the processor.

[0028] The above method is implemented when the processor executes the program.

[0029] In an eighth aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above method.

[0030] In a ninth aspect, an embodiment of the present application provides a chip, comprising: a processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes the above method.

[0031] In the tenth aspect, an embodiment of the present application provides a computer program product, which includes a computer storage medium, the computer storage medium storing a computer program, the computer program including instructions that can be executed by at least one processor, and the above method is implemented when the instructions are executed by the at least one processor.

[0032] In an eleventh aspect, an embodiment of the present application provides a computer program, which enables a computer to execute the above method.

[0033] In an embodiment of the present application, since the first terminal can measure the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal to obtain a first measurement result, and obtain the first relative position information of the first terminal and the second terminal corresponding to the first measurement result, the first terminal can determine the first relative position information by measuring the sidelink signal of the second terminal, and further can accurately determine the first relative position information of the first terminal and the second terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1A schematic diagram of a scenario in which a terminal to be tested is located provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of an application scenario of an embodiment of the present application;

[0037] Figure 3 A flowchart of a positioning method provided in an embodiment of the present application;

[0038] Figure 4 A flowchart of a method for obtaining a position provided in an embodiment of the present application;

[0039] Figure 5 A flowchart of another method for obtaining a position provided in an embodiment of the present application;

[0040] Figure 6 A flowchart of another method for obtaining a position provided in an embodiment of the present application;

[0041] Figure 7 Schematic diagram of the structure of the position acquisition device provided in the embodiment of the present application Figure 1 ;

[0042] Figure 8 Schematic diagram of the structure of the position acquisition device provided in the embodiment of the present application Figure 2 ;

[0043] Fig. 9 Schematic diagram of the structure of the position acquisition device provided in the embodiment of the present application Figure 3 ;

[0044] Fig.10 A schematic structural diagram of a position acquisition device provided in an embodiment of the present application;

[0045] Fig.11 It is a schematic structural diagram of the chip of an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] Sidelink (SL) is a communication link between terminals. There are two main ways to allocate resources for sidelinks: resource allocation based on network scheduling and resource allocation based on terminal autonomous selection. In Long Term Evolution (LTE) D2D, these two resource allocation methods refer to the resource allocation method based on network allocation of transmission resources as Mode 1 and the method based on terminal autonomous selection of transmission resources as Mode 2. In LTE V2X, they are called Mode 3 and Mode 4, and in New Radio (NR) V2X, they are called Mode 1 and Mode 2.

[0048] The embodiment of the present application is applied to the NR V2X of the sidelink, and the terminal selects appropriate communication resources through mode 1 or mode 2 to send and receive data.

[0049] Different from the traditional positioning requirement of obtaining the exact position coordinates of the terminal to be tested, the position acquisition method in the embodiment of the present application obtains relative position information. The purpose of obtaining the relative position information is to obtain the distance and / or angle information between the terminal to be tested and other terminals so that the terminal to be tested can make correct operations. For example, when the terminal to be tested is applied to a car, the terminal to be tested can make correct driving strategies (such as turning, braking, etc.). For sidelink, obtaining relative position information is achieved by the terminal to be tested sending a sidelink signal, and then other target terminals measure the sidelink signal, or by other target terminals sending a sidelink signal, and then the terminal to be tested measures the sidelink signal.

[0050] Figure 1 A schematic diagram of a scenario in which a terminal to be tested is located is provided in an embodiment of the present application, such as Figure 1 As shown, the terminal 110 to be tested needs to determine its relative position to the vehicle 120 on the lower left, and to the pedestrian 130 on the upper right, and then determine a driving strategy or modify its own driving strategy based on these two relative positions.

[0051] Figure 2 A schematic diagram of an application scenario of an embodiment of the present application is shown in FIG. Figure 2As shown, the communication system 200 may include a terminal device 210 and a network device 220. The terminal devices 210 may communicate with each other through a side link (e.g., a V2X link or a D2D link), or the terminal devices 210 may communicate with each other through a network device. In some embodiments, the terminal devices 210 may communicate with each other through one or more access devices 221. Any terminal device 210 may be the first terminal, the second terminal, the third terminal, or the fourth terminal in the embodiment of the present application. Figure 2 The network device 220 shown may include an access device 221 and a core network device 222. In other embodiments, the network device 220 may include one of the access device 221 and the core network device 222.

[0052] At least one of the first terminal, the second terminal, the third terminal, and the fourth terminal in the embodiment of the present application may be referred to as a user equipment (UE), a mobile station (MS), or a mobile terminal (MT). At least one of the first terminal, the second terminal, the third terminal, and the fourth terminal may include one of the following or a combination of at least two of the following: a car, a server, a mobile phone, a tablet computer, a computer with wireless transceiver function, a handheld computer, a desktop computer, a personal digital assistant, a portable media player, a smart speaker, a navigation device, a smart watch, a smart glasses, a smart necklace and other wearable devices, a pedometer, a digital TV, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, and a car, a vehicle-mounted device, a vehicle-mounted module, a wireless modem, a handheld device, a customer premises equipment (CPE), and a smart home appliance in a vehicle networking system.

[0053] The network device in the embodiments of the present application may include an access device and / or a core network device.

[0054] The access device may include one of the following or a combination of at least two: Evolutional Node B (eNB or eNodeB) in the Long Term Evolution (LTE) system, Next Generation Radio Access Network (NG RAN) equipment, base station (gNB) in the NR system, small station, micro station, wireless controller in the Cloud Radio Access Network (CRAN), Wireless-Fidelity (Wi-Fi) access point, transmission reception point (TRP), relay station, access point, vehicle-mounted equipment, wearable device, hub, switch, bridge, router, network equipment in the future evolved Public Land Mobile Network (PLMN), etc.

[0055] The core network device may be a 5G core network (5G Core, 5GC) device, and the core network device may include one of the following or a combination of at least two: Access and Mobility Management Function (AMF), Authentication Server Function (AUSF), User Plane Function (UPF), Session Management Function (SMF), Location Management Function (LMF). In other embodiments, the core network device may also be an Evolved Packet Core (EPC) device of the LTE network, for example, a Session Management Function + Core Packet Gateway (SMF+PGW-C) device of the core network. It should be understood that SMF+PGW-C can simultaneously implement the functions that SMF and PGW-C can implement. In the process of network evolution, the above-mentioned core network device may also be called other names, or a new network entity may be formed by dividing the functions of the core network, which is not limited to the embodiments of the present application.

[0056] The terms "system" and "network" are often used interchangeably in this article. The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated with each other are in an "or" relationship. It should also be understood that the "indication" mentioned in the embodiments of the present application can be a direct indication, an indirect indication, or an indication of an association relationship. For example, A indicates B, which can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association relationship between A and B. It should also be understood that the "correspondence" mentioned in the embodiments of the present application can mean that there is a direct or indirect correspondence relationship between the two, or it can mean that there is an association relationship between the two, or it can mean that there is an indication and being indicated, configuration and being configured, etc. It should also be understood that the "predefined" or "predefined rules" mentioned in the embodiments of the present application can be implemented by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in a device (for example, including a first terminal or a second terminal or a network device), and the present application does not limit its specific implementation method. For example, predefined may refer to a definition in a protocol. It should also be understood that in the embodiments of the present application, the "protocol" may refer to a standard protocol in the field of communications, such as an LTE protocol, an NR protocol, and related protocols used in future communication systems, and the present application does not limit this.

[0057] To facilitate understanding of the technical solutions of the embodiments of the present application, the relevant technologies of the embodiments of the present application are described below. The following related technologies can be arbitrarily combined with the technical solutions of the embodiments of the present application as optional solutions, and they all belong to the protection scope of the embodiments of the present application.

[0058] In some embodiments of the present application, the network device may include a combination of at least two of a base station, an AMF, and a LMF. In some other embodiments of the present application, the network device may include a LMF.

[0059] In the embodiment of the present application, when the first terminal sends information to the second terminal, or when the second terminal sends information to the first terminal, if not specified, the information may be sent through a side link between the first terminal and the second terminal, or the information may be sent through a network device. When the second terminal sends information to the third terminal, or when the third terminal sends information to the second terminal, if not specified, the information may be sent through a side link between the second terminal and the third terminal, or the information may be sent through a network device.

[0060] Figure 3A flow chart of a positioning method provided in an embodiment of the present application is shown as follows: Figure 3 As shown, Figure 3 The protocol used in the method shown is the LTE positioning protocol (LTE positioning protocol, LPP), and the method may include:

[0061] S301. LMF sends an LPP capability request (LPP Request Capabilities) to the terminal to be tested.

[0062] The LPP capability request is used to inquire about the positioning capability of the terminal to be tested.

[0063] S302: The terminal to be tested sends LPP capabilities (LPP Capabilities) to the LMF.

[0064] The LPP capability is used to indicate whether the terminal to be tested has positioning capability or does not have positioning capability.

[0065] When the LPP capability is used to indicate that the terminal to be tested has positioning capability, S303 is executed.

[0066] S303. LMF sends LPP assistance data (LPP Assistance Data) to the terminal under test.

[0067] The LPP assistance data may include a positioning reference signal (PRS) configuration and / or location information of the anchor point TRP. The PRS configuration may also be referred to as a PRS resource configuration, and the PRS configuration may include or indicate location information in the time domain and / or frequency domain of the PRS resource. In some embodiments, the PRS may be a SPRS (Sidelink PRS).

[0068] S304. LMF sends an LPP request location message (LPP Request Location Information) to the terminal under test.

[0069] The LPP positioning request message is used for at least one of the following: requesting the terminal to be measured to report a measurement result; and requesting the terminal to be measured to perform measurement.

[0070] In some implementations, when the configured PRS and the uu port communication of the current terminal cross the carrier frequency, steps S305 to S306 may also be performed.

[0071] S305: The terminal to be tested may send a Radio Resource Control (RRC) location measurement indication (Location Measurement Indication) to the base station.

[0072] S306: The base station sends an RRC measurement gap configuration (Measurement Gap configuration) to the terminal to be measured.

[0073] S307: The terminal to be measured performs measurement to obtain a measurement result, and the terminal to be measured determines the location of the terminal to be measured based on the measurement result.

[0074] S308: The terminal to be tested sends the location of the terminal to be tested to the LMF.

[0075] In some implementations, S308 may also be replaced by the following steps: the terminal to be tested sends a measurement result to the LMF, the LMF determines the location of the terminal to be tested, and the LMF sends the location of the terminal to be tested to the terminal to be tested.

[0076] In some implementations, LMF sends information to the terminal under test through AMF and base station in turn. For example, LMF sends information to AMF through Namf_Communication_N1N2MessageTransfer, AMF sends information to the base station through Next Generation Application Protocol (NGAP) downlink non-access stratum (NAS) transmission (Downlink NAS Transport), and the base station sends information to the terminal under test through RRC downlink information transmission (DL Information Transfer).

[0077] The terminal to be tested sends information to the LMF through the base station and AMF in turn. For example, the terminal to be tested sends information to the base station through RRC uplink information transfer (UL Information Transfer), the base station sends information to the AMF through NGAP uplink non-access layer transmission (UplinkNAS Transport), and the AMF sends information to the LMF through Namf_Communication_N1N2 information notification (Namf_Communication_N1MessageNotify).

[0078] In some implementations, S301 and S302 may not be performed. In some implementations, S305 and S306 may not be performed.

[0079] The first terminal, the second terminal, the third terminal or the fourth terminal in the embodiments of the present application may be the terminal device or the terminal to be tested in the above embodiments.

[0080] To facilitate understanding of the technical solutions of the embodiments of the present application, the technical solutions of the present application are described in detail below through specific embodiments. The above-described technology can be combined arbitrarily with the technical solutions of the embodiments of the present application as optional solutions, and they all belong to the protection scope of the embodiments of the present application. The embodiments of the present application include at least part of the following contents.

[0081] Figure 4 A flow chart of a method for obtaining a position provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the method includes:

[0082] S401. A first terminal receives a sidelink signal configuration of a second terminal.

[0083] The sidelink signal configuration may be referred to as configuration information of the sidelink signal. The sidelink signal configuration may indicate resources occupied by the sidelink signal. The sidelink signal configuration may include location information of the sidelink signal, and the location information of the sidelink signal may include at least one of the following: a transmission time, a transmission interval, a transmission period, a time domain location, and a frequency domain location.

[0084] The sidelink signal includes at least one of the following: a sidelink positioning reference signal (Sidelink-Positioning Reference Signal, S-PRS), a sidelink demodulation reference signal (DemodulationReference Signal, DMRS), a sidelink ranging reference signal (SR-RS), a sidelink sounding reference signal (Sounding Reference Signal, SRS), and a sidelink channel state information (Channel State Information, CSI) reference signal. S-PRS may also be referred to as PRS in other embodiments.

[0085] The first terminal may determine the second terminal in the following manner: In some embodiments, multiple terminals broadcast reference signals, the first terminal determines whether the quality of the reference signal of each terminal detected is higher than a threshold, and determines the terminal corresponding to the quality of the reference signal higher than the threshold as the second terminal. In other embodiments, the first terminal receives the identifier of the second terminal sent by the network device. In some further embodiments, the first terminal determines the distance between the first terminal and multiple terminals through a laser radar, and determines the terminal corresponding to the distance that meets the threshold (for example, a distance less than the threshold) as the second terminal. In some further embodiments, the first terminal may shoot the surrounding scene through a camera, and determine the second terminal through the shot image.

[0086] S402. The first terminal measures the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal to obtain a first measurement result.

[0087] The second terminal may broadcast the sidelink signal based on the sidelink signal configuration of the second terminal, and the first terminal may receive the sidelink signal broadcast by the second terminal according to the sidelink signal configuration of the second terminal. In this case, the second terminal broadcasts the sidelink signal. In other embodiments, the second terminal may send a single sidelink signal to the first terminal, or the second terminal may send a sidelink signal to each terminal of a group of terminals including the first terminal.

[0088] The first terminal may determine the first measurement result based on the signal quality and / or signal strength of the sidelink signal received and sent by the second terminal. For example, the first terminal may determine the first measurement result based on one of the following corresponding to the sidelink signal: Reference Signal Receiving Power (RSRP), Reference Signal Strength Indicator (RSSI), Reference Signal Receiving Quality (RSRQ), Signal to Interference plus Noise Ratio (SINR).

[0089] In some implementations, any measurement result may be referred to as a measurement report, or the measurement result may be included in a measurement report.

[0090] S403: The first terminal obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result.

[0091] Any relative position information in the embodiments of the present application (eg, the first relative position information, or the second relative position information described below, or the third relative position information described below) may include a distance and / or an angle.

[0092] In some embodiments, the first terminal may include a receiving module, and the receiving module determines the distance between the first terminal and the second terminal by receiving the side link signal sent by the second terminal. In other embodiments, the first terminal may include multiple receiving modules, each of which may receive the side link signal sent by the second device, and determine the distance and / or angle between the first terminal and the second terminal based on the side link signals sent by the second terminal received by the multiple receiving modules.

[0093] When the first terminal obtains the first relative position information, the path of the first terminal, or the device installed with the first terminal, or the device carrying the first terminal can be planned based on the first relative position information to avoid or approach the second terminal, or the device installed with the second terminal, or the device carrying the second terminal.

[0094] In an embodiment of the present application, since the first terminal can measure the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal to obtain a first measurement result, and obtain the first relative position information of the first terminal and the second terminal corresponding to the first measurement result, the first terminal can determine the first relative position information by measuring the sidelink signal of the second terminal, and further can accurately determine the first relative position information of the first terminal and the second terminal.

[0095] In some embodiments, the second terminal sends a sidelink signal configuration of the second terminal, wherein the sidelink signal configuration of the second terminal is used for: the first terminal measures the sidelink signal of the second terminal to obtain a first measurement result; and the first terminal or the network device obtains first relative position information of the first terminal and the second terminal corresponding to the first measurement result.

[0096] In some embodiments, S401 may include: the first terminal receives the sidelink signal configuration of the second terminal sent by the network device. In this case, the second terminal receives the fifth request sent by the network device, and the fifth request is used to request the sidelink signal configuration of the second terminal; the second terminal sends the sidelink signal configuration of the second terminal to the network device; the sidelink signal configuration of the second terminal is used by the network device to send to the first terminal. In this way, the second terminal sends the sidelink signal configuration to the first terminal through the network device. In this case, the network device can instruct the second terminal to send the sidelink signal configuration of the second terminal; wherein the sidelink signal configuration of the second terminal is used for: the first terminal measures the sidelink signal of the second terminal to obtain a first measurement result; the first terminal or the network device obtains the first relative position information of the first terminal and the second terminal corresponding to the first measurement result. Among them, one implementation of the network device instructing the second terminal to send the sidelink signal configuration of the second terminal may be: the network device sends a fifth request to the second terminal, the fifth request is used to request the sidelink signal configuration of the second terminal; the network device receives the sidelink signal configuration of the second terminal sent by the second terminal; the network device sends the sidelink signal configuration of the second terminal to the first terminal. In this way, the network device will serve as an intermediate device for the second terminal to send the sidelink signal configuration of the second terminal to the first terminal.

[0097] In some other embodiments, S401 may include: the first terminal receives the sidelink signal configuration of the second terminal sent by the second terminal through the sidelink between the first terminal and the second terminal. In this case, the second terminal sends the sidelink signal configuration of the second terminal to the first terminal through the sidelink between the second terminal and the first terminal. In this way, the second terminal can send the sidelink signal configuration of the second terminal to the first terminal through the sidelink (or through link) between the first terminal and the second terminal.

[0098] During implementation, a sidelink may be established in advance between the first terminal and the second terminal. For example, the network device may send indication information to the first terminal and / or the second terminal so that the first terminal and / or the second terminal establish a sidelink based on the indication information, so that the first terminal and the second terminal can communicate based on the sidelink.

[0099] Taking the network device as an example, in one case, the network device may send first indication information to the first terminal, the first indication information is used to indicate the establishment of a side link between the first terminal and the second terminal; the network device instructs the second terminal to send the side link signal configuration of the second terminal to the first terminal through the side link between the first terminal and the second terminal. In this way, the first indication information may include or indicate the identification and / or authentication information of the second terminal. In another case, the network device may send fifth indication information to the second terminal; the fifth indication information is used to indicate the establishment of a side link between the first terminal and the second terminal; the network device instructs the second terminal to send the side link signal configuration of the second terminal to the first terminal through the side link between the first terminal and the second terminal. In this way, the fifth indication information may include or indicate the identification and / or authentication information of the first terminal.

[0100] Taking the first terminal as an example, the first terminal receives first indication information sent by a network device, and the first indication information is used to indicate the establishment of a side link between the first terminal and the second terminal; the first terminal establishes the side link between the first terminal and the second terminal based on the first indication information. In one case, after the side link between the first terminal and the second terminal is established, the first terminal can receive the side link signal configuration of the second terminal sent by the second terminal. In another case, after the side link between the first terminal and the second terminal is established, the first terminal can send information for requesting the side link signal configuration of the second terminal to the second terminal, so as to receive the side link signal configuration of the second terminal sent by the second terminal.

[0101] Taking the second terminal as an example, the second terminal receives the fifth indication information sent by the network device, and the fifth indication information is used to indicate the establishment of the side link between the second terminal and the first terminal; the second terminal establishes the side link between the second terminal and the first terminal based on the fifth indication information. In one case, the second terminal can send the side link signal configuration of the second terminal to the first terminal through the side link after establishing the side link between the second terminal and the first terminal. In another case, the second terminal can receive the indication sent by the network device after establishing the side link between the second terminal and the first terminal, and the indication is used to indicate that the second terminal sends the side link signal configuration of the second terminal to the first terminal through the side link between the first terminal and the second terminal. The second terminal can respond to the indication and send the side link signal configuration of the second terminal to the first terminal through the side link. In another case, the second terminal can receive the information sent by the second terminal requesting the side link signal configuration of the second terminal after establishing the side link between the second terminal and the first terminal, so that the first terminal can receive the side link signal configuration of the second terminal sent by the second terminal.

[0102] After the first terminal or the second terminal completes the establishment of the side link between the first terminal and the second terminal based on the indication information sent by the network device, the first terminal or the second terminal may send feedback of successful establishment or unsuccessful establishment to the network device.

[0103] Taking the first terminal or the second terminal as an example, the first terminal or the second terminal may send feedback information to the network device, and the feedback information is used to indicate at least one of the following: the side link between the first terminal and the second terminal is established; the first terminal receives the side link signal configuration of the second terminal sent by the second terminal; the second terminal receives the feedback sent by the first terminal that the side link signal configuration of the second terminal is successfully received. In some other embodiments, the first terminal or the second terminal may send feedback of unsuccessful establishment and / or the reason for unsuccessful establishment to the network device, so that the network device sends another first indication information or another fifth indication information to the first terminal or the second terminal based on the feedback of unsuccessful establishment and / or the reason for unsuccessful establishment, so that the side link between the first terminal and the second terminal is successfully established, or, by means of the network device as an intermediate device, the first terminal can obtain the side link signal configuration of the second terminal.

[0104] For example, the network device receives feedback information sent by the first terminal or the second terminal; the feedback information is used to indicate at least one of the following: the sidelink between the first terminal and the second terminal is established; the first terminal receives the sidelink signal configuration of the second terminal sent by the second terminal. In other embodiments, the network device may receive feedback on unsuccessful establishment and / or the reason for unsuccessful establishment sent by the first terminal or the second terminal.

[0105] During implementation, the first terminal, the second terminal or the network device may determine the first relative position information based on the first measurement result.

[0106] An embodiment in which the first terminal determines the first relative position information based on the first measurement result is described below:

[0107] In some embodiments, S403 may include: the first terminal determines the first relative position information based on the first measurement result. When the first terminal obtains the first relative position information, the first terminal may send the first relative position information to the network device or the second terminal. In this way, the network device receives the first relative position information sent by the first terminal. Thus, the network device can determine and send the first relative position information to the network device through the first terminal to obtain the first relative position information.

[0108] An embodiment in which the second terminal determines the first relative position information based on the first measurement result is described below:

[0109] In some embodiments, the second terminal receives the first measurement result sent by the first terminal through a sidelink between the second terminal and the first terminal; the second terminal determines the first relative position information based on the first measurement result; the second terminal sends the first relative position information to the first terminal through the sidelink between the second terminal and the first terminal. In this case, the first terminal sends the first measurement result to the second terminal (through a sidelink or through a network device), and the first measurement result is used by the second terminal to determine the first relative position information between the first terminal and the second terminal; the first terminal receives the first relative position information sent by the second terminal.

[0110] In some other embodiments, the second terminal receives the first measurement result sent by the network device; the first measurement result is sent by the first terminal to the network device; the second terminal determines the first relative position information based on the first measurement result; the second terminal sends the first relative position information to the network device; the first relative position information is used by the network device to send to the first terminal.

[0111] In some embodiments, the second terminal may further send the first relative position information to the network device when determining the first relative position information. In some embodiments, the second terminal may further send an indication to the first terminal that the first relative position information has been sent to the network device, so that the first terminal does not need to send the first relative position information to the network device again. In some embodiments, after the second terminal sends the first relative position information to the network device, the second terminal sends information to the first terminal indicating that the first relative position information has been successfully sent to the network device when receiving confirmation information for the first relative position information sent by the network device. In some embodiments, the second terminal may send information to the first terminal indicating that the first terminal has sent the first relative position information to the network device.

[0112] The following describes an implementation manner in which the network device determines the first relative position information based on the first measurement result:

[0113] The first terminal sends the first measurement result to the network device, and the first measurement result is used by the network device to determine the first relative position information of the first terminal and the second terminal; the first terminal receives the first relative position information sent by the network device. In this way, the network device receives the first measurement result sent by the first terminal; the network device determines the first relative position information based on the first measurement result; and the network device sends the first relative position information to the first terminal. In some embodiments, the network device may also send the first relative position information to the second terminal. In some embodiments, the network device may also instruct the first terminal to send the first relative position information to the second terminal. In some embodiments, the network device may receive the first measurement result sent by the first terminal through the second terminal, and the network device may send the first relative position information to the first terminal through the second terminal.

[0114] In the case where the network device includes LMF, the network device may also receive a sixth request sent by a mobility management function AMF and / or a fourth terminal; the sixth request is used to request the first relative location information; the network device sends the first relative location information to the AMF and / or the fourth terminal. The fourth terminal may be referred to as an external terminal. When the AMF obtains the first relative location information, the AMF may implement other mobility management functions.

[0115] The first terminal will have positioning capability. In some embodiments, the first terminal receives a positioning capability request sent by a network device; the first terminal sends a message to the network device indicating that it has positioning capability or has positioning capability based on a sidelink. For the network device, the network device sends a positioning capability request to the first terminal; the network device receives a message to the first terminal indicating that it has positioning capability or has positioning capability based on a sidelink.

[0116] The second terminal broadcasting the sidelink signal may be broadcasting when triggered.

[0117] In some embodiments, the second terminal receives a sidelink signal activation request sent by the network device, and broadcasts or unicasts the sidelink signal to the first terminal. For example, the second terminal receives a sidelink signal activation request sent by the network device; the second terminal responds to the sidelink signal activation request and broadcasts or unicasts the sidelink signal to the first terminal; the second terminal sends a sidelink signal activation response to the network device. In this way, the network device sends a sidelink signal activation request to the second terminal; the network device receives a sidelink signal activation response sent by the second terminal.

[0118] In other embodiments, the second terminal may receive a sidelink signal activation request sent by the first terminal through a sidelink between the second terminal and the first terminal, and broadcast or unicast the sidelink signal to the first terminal.

[0119] In still other embodiments, the second terminal may broadcast or unicast the sidelink signal to the first terminal after sending the sidelink signal configuration of the second terminal.

[0120] In other embodiments, the second terminal may periodically or aperiodically broadcast the sidelink signal externally or unicast the sidelink signal to the first terminal.

[0121] The first terminal may measure the sidelink signal of the second terminal when triggered.

[0122] In some embodiments, the network device sends a measurement request to the first terminal; the measurement request is used to instruct the first terminal to measure the sidelink signal of the second terminal. In this way, when the first terminal receives the measurement request sent by the network device, it measures the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal.

[0123] In some other embodiments, the second terminal may send a measurement request to the first terminal via a sidelink, so that the first terminal, upon receiving the measurement request sent by the second terminal, measures the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal. In some implementations, the second terminal may send a measurement request to the first terminal after broadcasting or unicasting the sidelink signal to the first terminal.

[0124] In some scenarios, the first terminal may send a relative location request for the second terminal to the network device.

[0125] The first terminal sends a first request to the network device, where the first request is used to indicate a relative position requirement for the second terminal. The network device receives the first request sent by the first terminal, where the first request is used to indicate a relative position requirement for the second terminal. The relative position requirement for the second terminal can be expressed as a requirement for obtaining first relative position information. In this way, the network device can send the first relative position information to the first terminal when the first relative position information is obtained.

[0126] In some embodiments, the first request includes or indicates at least one of the following: an identifier of the second terminal, an identifier of a road side unit (RSU) corresponding to the second terminal.

[0127] In some other embodiments, the first request may not carry the identifier of the second terminal and / or the identifier of the road side unit (RSU) corresponding to the second terminal. In this way, the network device sends a second request to the first terminal, and the second request is used to request: the identifier of the second terminal and / or the identifier of the road side unit corresponding to the second terminal; the first terminal receives the second request sent by the network device; the first terminal sends the identifier of the second terminal and / or the identifier of the road side unit corresponding to the second terminal to the network device; thereby, the network device receives the identifier of the second terminal and / or the identifier of the road side unit corresponding to the second terminal sent by the first terminal.

[0128] In some other scenarios, the second terminal may send a relative location requirement for the first terminal to the network device.

[0129] The second terminal sends a sixth request to the network device, the sixth request is used to indicate: a relative position requirement for the first terminal; the network device receives the sixth request sent by the second terminal; the network device sends the first relative position information to the second terminal; the second terminal receives the first relative position information of the first terminal and the second terminal sent by the network device. The relative position requirement for the first terminal can be expressed as a requirement for obtaining the first relative position information.

[0130] In some embodiments, the sixth request includes or indicates at least one of the following: an identifier of the first terminal, an identifier of a roadside unit corresponding to the first terminal.

[0131] In some other embodiments, the sixth request may not carry the identifier of the first terminal and / or the identifier of the road side unit (RSU) corresponding to the first terminal. In this way, the network device sends the seventh request to the second terminal, and the seventh request is used to request the identifier of the first terminal and / or the identifier of the road side unit corresponding to the first terminal; the second terminal receives the seventh request sent by the network device; the second terminal sends the identifier of the first terminal and / or the identifier of the road side unit corresponding to the first terminal to the network device; the network device receives the identifier of the first terminal and / or the identifier of the road side unit corresponding to the first terminal sent by the second terminal.

[0132] The following describes a method for the first terminal to obtain the third relative position information between the first terminal and the third terminal:

[0133] In some embodiments, the first terminal receives second relative position information between the second terminal and the third terminal sent by the second terminal or a network device; the first terminal obtains third relative position information between the first terminal and the third terminal; and the third relative position information is determined based on the first relative position information and the second relative position information.

[0134] The first terminal may receive the second relative position information sent by the second terminal through a side link with the second terminal. Alternatively, the second terminal may send the second relative position information to the network device so that the network device sends the second relative position information to the first terminal.

[0135] The second terminal may obtain the second relative position information in a similar manner as the first terminal obtains the first relative position information. For example, the second terminal may measure the sidelink signal of the third terminal through the sidelink signal configuration of the third terminal, obtain the second measurement result, and determine the second relative position information based on the second measurement result. For another example, the second terminal may send the second measurement result to the third terminal or the network device, and receive the second relative position information sent by the third terminal or the network device.

[0136] The following describes an embodiment in which a second terminal sends second relative position information to a first terminal: the second terminal receives a sidelink signal configuration of a third terminal; the second terminal measures the sidelink signal of the third terminal based on the sidelink signal configuration of the third terminal to obtain a second measurement result; the second terminal obtains second relative position information between the second terminal and the third terminal based on the second measurement result; the second terminal sends the second relative position information to the first terminal, or the second terminal sends the second relative position information to the network device. The second relative position information is used by the network device to send to the first terminal or to determine the third relative position information.

[0137] For the network device, the network device receives the second relative position information between the second terminal and the third terminal sent by the second terminal, and the network device sends the second relative position information to the first terminal.

[0138] In some embodiments, the second relative position information may be sent by a third terminal to a network device. For example, the network device receives the second relative position information between the second terminal and the third terminal sent by a third terminal; and the network device sends the second relative position information to the first terminal.

[0139] The manner in which the third terminal determines the second relative position information may be the same as the manner in which the first terminal determines the first relative position information, or may be the same as the manner in which the second terminal determines the second relative position information. For example, the third terminal may measure the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal to obtain a third measurement result, and determine the second relative position information based on the third measurement result.

[0140] Taking the first terminal as an example, the first terminal receives: the second measurement result or the third measurement result sent by the second terminal or the network device, the second measurement result is obtained by the second terminal measuring the sidelink signal of the third terminal based on the sidelink signal configuration of the third terminal, and the third measurement result is obtained by the third terminal measuring the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal; the first terminal obtains third relative position information between the first terminal and the third terminal; the third relative position information is determined based on the first measurement result and the second measurement result, or the third relative position information is determined based on the first measurement result and the third measurement result.

[0141] The first terminal may receive the second measurement result or the third measurement result sent by the second terminal through a side link with the second terminal; or the first terminal may receive the second measurement result or the third measurement result sent by the second terminal through a network device.

[0142] In some embodiments, the first terminal determines the third relative position information based on the first measurement result and the second measurement result, or based on the first measurement result and the third measurement result.

[0143] In some other embodiments, the first terminal sends the first measurement result to the network device or the second terminal, or sends the first measurement result and the second measurement result; or sends the first measurement result and the third measurement result; wherein the first measurement result and the second measurement result, or the first measurement result and the third measurement result, are used by the network device or the second terminal to determine the third relative position information; and the first terminal receives the third relative position information sent by the network device or the second terminal.

[0144] Taking the second terminal as an example, an implementation manner in which the second terminal sends the measurement result or the second relative position information to the first terminal is described:

[0145] In some embodiments, the second terminal may send the second measurement result to the first terminal. For example, the second terminal receives the sidelink signal configuration of the third terminal; the second terminal measures the sidelink signal of the third terminal based on the sidelink signal configuration of the third terminal to obtain the second measurement result; the second terminal sends the second measurement result to the first terminal; or the second terminal sends the second measurement result to the network device, and the second measurement result is used by the network device to send to the first terminal.

[0146] In some other embodiments, the second terminal may send the third measurement result or the second relative position information to the first terminal. For example, the second terminal sends the sidelink signal configuration of the second terminal to the third terminal, or to the third terminal through the network device; the sidelink signal configuration of the second terminal is used by the third terminal to measure the sidelink signal of the second terminal to determine the third measurement result or the second relative position information; the second terminal receives the third measurement result or the second relative position information sent by the third terminal, or receives the third measurement result or the second relative position information sent by the third terminal through the network device; the second terminal sends the third measurement result or the second relative position information to the first terminal, or to the first terminal through the network device.

[0147] In some embodiments, the second terminal may determine to send the second relative position information or the second measurement result or the third measurement result to the first terminal based on the instruction of the first terminal. For example, the second terminal receives the fourth indication information sent by the first terminal; the fourth indication information is used to indicate that the second terminal determines and sends to the first terminal: the second relative position information or the second measurement result or the third measurement result, or the second terminal determines and sends to the first terminal through the network device: the second relative position information or the second measurement result or the third measurement result.

[0148] In some other embodiments, the second terminal may determine the third relative position information based on the measurement result. For example, the second terminal receives: the first measurement result, or the first measurement result and the second measurement result, or the first measurement result and the third measurement result, sent by the first terminal or the network device; the second measurement result is obtained by the second terminal measuring the sidelink signal of the third terminal based on the sidelink signal configuration of the third terminal; the third measurement result is obtained by the third terminal measuring the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal; the second terminal determines the third relative position information between the first terminal and the third terminal based on the first measurement result and the second measurement result, or based on the first measurement result and the third measurement result; the second terminal sends the third relative position information to the first terminal, or to the first terminal through the network device.

[0149] The second terminal may receive the first measurement result sent by the first terminal through a side link with the first terminal, or the first measurement result and the second measurement result, or the first measurement result and the third measurement result, and the second terminal may send the third relative position information to the first terminal through a side link with the first terminal.

[0150] In some implementations, the second terminal may determine the third relative position information based on the first relative position information and the second relative position information. For example, the second terminal receives: the first relative position information and the second relative position information between the second terminal and the third terminal, which are sent by the first terminal or the network device; the second terminal determines the third relative position information between the first terminal and the third terminal based on the first relative position information and the second relative position information; the second terminal sends the third relative position information to the first terminal, or to the first terminal through the network device.

[0151] Taking the network device as an example, in some implementations, the network device receives second relative position information of the second terminal and the third terminal sent by the second terminal or the third terminal; and the network device sends the second relative position information to the first terminal.

[0152] In other embodiments, the network device receives a second measurement result sent by the second terminal, or a third measurement result sent by the third terminal, wherein the second measurement result is obtained by the second terminal measuring the sidelink signal of the third terminal based on the sidelink signal configuration of the third terminal, and the third measurement result is obtained by the third terminal measuring the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal; and the network device sends the second measurement result or the third measurement result to the first terminal.

[0153] In some further embodiments, the network device receives: the first measurement result, or the first measurement result and the second measurement result, or the first measurement result and the third measurement result, sent by the first terminal; the network device determines third relative position information between the first terminal and the third terminal based on the first measurement result and the second measurement result, or based on the first measurement result and the third measurement result; and the network device sends the third relative position information to the first terminal.

[0154] In some further implementations, the network device receives the second relative position information between the second terminal and the third terminal sent by the second terminal or the third terminal. The network device may also send to the first terminal: the second relative position information, or the first relative position information and the second relative position; the first relative position and the second relative position are used by the first terminal to determine the third relative position information between the first terminal and the third terminal; the network device determines the third relative position information between the first terminal and the third terminal based on the first relative position information and the second relative position; and sends the third relative position information to the first terminal.

[0155] The following describes an implementation manner in which the first terminal determines the second terminal from multiple terminals:

[0156] From the perspective of the first terminal, in some embodiments, the first terminal determines the second terminal from the multiple terminals based on multiple second indication information respectively sent by the multiple terminals; wherein the second indication information is used to indicate at least one of the following:

[0157] a third measurement result, where the third measurement result is obtained by measuring the reference signal of the third terminal by the second terminal;

[0158] a signal strength level of a reference signal of the third terminal determined based on the third measurement result;

[0159] Whether there is data transmission between the second terminal and the third terminal;

[0160] Whether the second terminal and the third terminal can establish a communication connection.

[0161] Correspondingly, for the network device, the network device receives the third request sent by the first terminal, and the third request is used to indicate: multiple terminals in the area corresponding to the network device respectively broadcast the multiple second indication information; the network device respectively sends sixth indication information to the multiple terminals, and the sixth indication information indicates the broadcast of the second indication information.

[0162] In some implementations, the first terminal sends a third request to the network device, where the third request is used to instruct: multiple terminals within the area corresponding to the network device respectively broadcast the multiple second indication information.

[0163] In some other embodiments, the first terminal receives a plurality of third indication information sent by the network device; based on the plurality of third indication information, the second terminal is determined from the plurality of terminals; wherein the plurality of third indication information is sent to the network device by a plurality of terminals in the area corresponding to the network device respectively;

[0164] The third indication information is used to indicate at least one of the following:

[0165] A fourth measurement result, where the fourth measurement result is obtained by the second terminal measuring the reference signal of the third terminal and / or the reference signal of the first terminal;

[0166] a signal strength level of a reference signal of the third terminal and / or a signal strength level of a reference signal of the first terminal determined based on the fourth measurement result;

[0167] whether there is data transmission between the second terminal and the third terminal, and / or whether there is data transmission between the second terminal and the first terminal;

[0168] Whether a communication connection can be established between the second terminal and the third terminal, and / or whether a communication connection can be established between the second terminal and the first terminal.

[0169] Correspondingly, for the network device, the network device receives multiple third indication messages respectively sent by multiple terminals within the area corresponding to the network device; the network device sends the multiple third indication messages to the first terminal, or the network device determines the second terminal from the multiple terminals based on the multiple third indication messages, and sends the identifier of the second terminal to the first terminal.

[0170] In some embodiments, the first terminal sends fourth indication information to the second terminal, or the first terminal sends fourth indication information to the second terminal through a network device; wherein the fourth indication information is used to indicate that the second terminal determines and sends second relative position information or a second measurement result or a third measurement result to the first terminal, or the second terminal determines and sends second relative position information or a second measurement result or a third measurement result to the first terminal through the network device.

[0171] In some embodiments, the first terminal sends a fourth request to the network device, wherein the fourth request is used to indicate a relative position requirement for the third terminal. In this way, the network device receives the fourth request sent by the first terminal.

[0172] Figure 5 A flowchart of another method for obtaining a position provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the method includes:

[0173] S501a. The first terminal sends a location service request (Location Service Request) to the LMF.

[0174] The location service request may be the first request in the above embodiment, and the first request is used to indicate: a relative location requirement for the second terminal. The location service request may include a relative positioning demand of the first terminal towards the second terminal (relative positioning demand towards target UE / RSU). Figure 5 The second terminal in may be the target UE / RSU.

[0175] S501b. The fourth terminal sends a location service request to the LMF.

[0176] S501c. AMF sends a location service request to LMF.

[0177] Afterwards, the capability inquiry procedure of the first terminal is entered, as shown in S502.

[0178] S502. LMF sends a positioning capability request to the first terminal; the first terminal sends a message to LMF indicating that it has positioning capability or has positioning capability based on a side link.

[0179] After S502 , one of S503 a , S503 b , and S503 c may be performed.

[0180] S503a may include S503a-1, S503a-2 and S503a-3.

[0181] S503a-1. The LMF sends a request for assistance data (Request assistance data) including a PRS configuration (PRS configuration) to the second terminal.

[0182] S503a-2. The second terminal sends auxiliary data including PRS configuration to the LMF.

[0183] S503a-3. LMF sends auxiliary data including PRS configuration to the first terminal.

[0184] Through S503a-1, S503a-2 and S503a-3, the first terminal can obtain the PRS configuration of the second terminal.

[0185] The auxiliary data request may correspond to the fifth request in the above embodiment, and the fifth request is used to request the side link signal configuration of the second terminal.

[0186] S503b may include S503b-1, S503b-2 and S503b-3.

[0187] S503b-1. LMF sends information to trigger establishment of sidelink to the first terminal.

[0188] S503b-2. The first terminal executes a sidelink establishment procedure.

[0189] S503b-3. The first terminal receives auxiliary data including PRS configuration sent by the second terminal via the sidelink.

[0190] S503c may include S503c-1, S503c-2 and S503c-3.

[0191] S503c-1. LMF sends information for triggering establishment of sidelink to the second terminal.

[0192] S503c-2: The second terminal executes the sidelink establishment process.

[0193] S503c-3. The first terminal receives auxiliary data including PRS configuration sent by the second terminal via the sidelink.

[0194] When the first terminal obtains the PRS configuration of the second terminal, the first terminal executes S504.

[0195] S504: The first terminal measures the sidelink signal of the second terminal to obtain a first measurement result.

[0196] After S504, the first terminal may execute S505a or S505b.

[0197] S505a includes S505a-1 and S505a-2.

[0198] S505a-1. The first terminal determines first relative position information between the first terminal and the second terminal based on a first measurement result.

[0199] S505a-2. The first terminal sends first relative position information to the LMF.

[0200] S505b includes S505b-1, S505b-2, and S505b-3.

[0201] S505b-1. The first terminal sends a first measurement result to the LMF.

[0202] S505b-2. LMF determines first relative position information between the first terminal and the second terminal based on the first measurement result.

[0203] S505b-3. LMF sends the first relative position information to the first terminal.

[0204] When the LMF obtains the first relative position information, S506a and S506b may be executed.

[0205] S506a. LMF sends the first relative position information to the fourth terminal.

[0206] S506b. LMF sends the first relative position information to AMF.

[0207] Figure 6 A flowchart of another method for obtaining a position provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the method includes:

[0208] S601a. ​​The second terminal sends a location service request (Location Service Request) to the LMF.

[0209] S601b. The fourth terminal sends a location service request to the LMF.

[0210] S601c. AMF sends a location service request to LMF.

[0211] Afterwards, the capability inquiry procedure of the first terminal is entered, as shown in S602.

[0212] S602. LMF sends a positioning capability request to the first terminal; the first terminal sends a message to LMF indicating that it has positioning capability or has positioning capability based on a sidelink.

[0213] After S602 , one of S603 a and S603 b may be performed.

[0214] S603a may include S603a-1, S603a-2, S603a-3 and S603a-4.

[0215] S603a-1. The LMF sends a request for assistance data (Request assistance data) including a PRS configuration (PRS configuration) to the second terminal.

[0216] S603a-2. The second terminal sends auxiliary data including PRS configuration to the base station.

[0217] S603a-3. The base station sends auxiliary data including PRS configuration to the first terminal.

[0218] S603a-4. The base station sends auxiliary data including PRS configuration to the LMF.

[0219] S603b may include S603b-1, S603b-2 and S603b-3.

[0220] S603b-1. LMF sends information to trigger establishment of sidelink to the second terminal.

[0221] S603b-2, the second terminal performs a sidelink establishment procedure, and the first terminal receives a PRS configuration sent by the second terminal.

[0222] S603b-3. The second terminal sends feedback information to the LMF.

[0223] The feedback information may be a position information feedback (Positioning Information Response), which is used for feedback for PRS configuration (response for S-PRS configuration).

[0224] The feedback information is used to indicate at least one of the following:

[0225] The sidelink between the first terminal and the second terminal is established;

[0226] The first terminal receives a sidelink signal configuration of the second terminal sent by the second terminal.

[0227] S604. The LMF sends a sidelink signal activation (PRS activation) request to the second terminal.

[0228] S605. The second terminal sends a sidelink signal activation response (PRS activation response) to the LMF.

[0229] S606. LMF sends a measurement request to the first terminal.

[0230] S607: The first terminal measures the sidelink signal of the second terminal to obtain a first measurement result.

[0231] After S607, the first terminal may execute S608a or S608b.

[0232] S608a includes S608a-1 and S608a-2.

[0233] S608a-1. The first terminal determines first relative position information between the first terminal and the second terminal based on a first measurement result.

[0234] S608a-2. The first terminal sends first relative position information to the LMF.

[0235] S608b includes S608b-1, S608b-2, and S608b-3.

[0236] S608b-1. The first terminal sends a first measurement result to the LMF.

[0237] S608b-2. LMF determines first relative position information between the first terminal and the second terminal based on the first measurement result.

[0238] S608b-3. LMF sends the first relative position information to the first terminal.

[0239] When the LMF obtains the first relative position information, S609a and S609b may be executed.

[0240] S609a. LMF sends the first relative position information to the fourth terminal.

[0241] S609b. LMF sends the first relative position information to AMF.

[0242] In an embodiment of the present application, communication between the first terminal or the second terminal and the LMF can be carried out through the base station and the AMF. For example, the first terminal or the second terminal sends information to the LMF through the base station and the AMF, and the LMF sends information to the first terminal or the second terminal in turn through the AMF and the base station.

[0243] The preferred embodiments of the present application are described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, the technical solution of the present application can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the present application. For example, the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present application will not further explain various possible combinations. For another example, the various different embodiments of the present application can also be arbitrarily combined, as long as they do not violate the idea of ​​the present application, they should also be regarded as the contents disclosed in the present application. For another example, under the premise of no conflict, the various embodiments and / or the technical features in the various embodiments described in the present application can be arbitrarily combined with the prior art, and the technical solution obtained after the combination should also fall within the protection scope of the present application.

[0244] It should also be understood that in various method embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. In addition, in the embodiment of the present application, the terms "downlink", "uplink" and "side" are used to indicate the transmission direction of the signal or data, wherein "downlink" is used to indicate that the transmission direction of the signal or data is the first direction sent from the site to the user equipment of the cell, "uplink" is used to indicate that the transmission direction of the signal or data is the second direction sent from the user equipment of the cell to the site, and "side" is used to indicate that the transmission direction of the signal or data is the third direction sent from user equipment 1 to user equipment 2. For example, "downlink signal" indicates that the transmission direction of the signal is the first direction. In addition, in the embodiment of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that three relationships can exist. Specifically, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the front and back associated objects are in an "or" relationship.

[0245] Figure 7 Schematic diagram of the structure of the position acquisition device provided in the embodiment of the present application Figure 1 , applied to the first terminal, such as Figure 7 As shown, the position obtaining device 700 includes: a transceiver unit 701, used to receive the side link signal configuration of the second terminal; a measuring unit 702, used to measure the side link signal of the second terminal based on the side link signal configuration of the second terminal, and obtain a first measurement result; an obtaining unit 703, used to obtain first relative position information of the first terminal and the second terminal corresponding to the first measurement result.

[0246] In some embodiments, the transceiver unit 701 is further used to receive the side link signal configuration of the second terminal sent by the network device.

[0247] In some embodiments, the transceiver unit 701 is further used to receive a side link signal configuration of the second terminal sent by the second terminal through the side link between the second terminal and the second terminal.

[0248] In some embodiments, the transceiver unit 701 is also used to receive first indication information sent by a network device, and the first indication information is used to indicate the establishment of a side link between the first terminal and the second terminal; the position acquisition device 700 also includes an establishment unit 704, which is used to establish a side link between the first terminal and the second terminal based on the first indication information.

[0249] In some embodiments, the transceiver unit 701 is also used to send feedback information to the network device, and the feedback information is used to indicate at least one of the following: the side link between the first terminal and the second terminal is established; the first terminal receives the side link signal configuration of the second terminal sent by the second terminal.

[0250] In some embodiments, the obtaining unit 703 is further configured to determine the first relative position information based on the first measurement result.

[0251] In some embodiments, the transceiver unit 701 is further used to send the first relative position information to the network device and / or the second terminal.

[0252] In some embodiments, the transceiver unit 701 is also used to send the first measurement result to the network device or the second terminal, and the first measurement result is used by the network device or the second terminal to determine the first relative position information between the first terminal and the second terminal; and receive the first relative position information sent by the network device or the second terminal.

[0253] In some embodiments, the transceiver unit 701 is further used to receive a positioning capability request sent by a network device; and send a message with positioning capability or positioning capability based on a side link to the network device.

[0254] In some embodiments, the measuring unit 702 is further configured to measure the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal when a measurement request sent by the network device is received.

[0255] In some embodiments, the transceiver unit 701 is further used to send a first request to the network device, where the first request is used to indicate: a relative position requirement for the second terminal.

[0256] In some embodiments, the first request includes or indicates at least one of the following: an identifier of the second terminal, an identifier of a roadside unit corresponding to the second terminal.

[0257] In some embodiments, the transceiver unit 701 is also used to receive a second request sent by the network device, and the second request is used to request: the identifier of the second terminal and / or the identifier of the roadside unit corresponding to the second terminal; and to send the identifier of the second terminal and / or the identifier of the roadside unit corresponding to the second terminal to the network device.

[0258] In some embodiments, the transceiver unit 701 is further configured to receive second relative position information between the second terminal and the third terminal sent by the second terminal or the network device;

[0259] The obtaining unit 703 is further configured to obtain third relative position information between the first terminal and the third terminal; the third relative position information is determined based on the first relative position information and the second relative position information.

[0260] In some embodiments, the transceiver unit 701 is also used to receive: a second measurement result or a third measurement result sent by the second terminal or the network device, wherein the second measurement result is obtained by the second terminal measuring the side link signal of the third terminal based on the side link signal configuration of the third terminal, and the third measurement result is obtained by the third terminal measuring the side link signal of the second terminal based on the side link signal configuration of the second terminal; the acquisition unit 703 is also used to obtain third relative position information of the first terminal and the third terminal; the third relative position information is determined based on the first measurement result and the second measurement result, or the third relative position information is determined based on the first measurement result and the third measurement result.

[0261] In some embodiments, the obtaining unit 703 is further configured to determine the third relative position information based on the first measurement result and the second measurement result, or based on the first measurement result and the third measurement result.

[0262] In some embodiments, the transceiver unit 701 is also used to send the first measurement result to the network device or the second terminal, or to send the first measurement result and the second measurement result; or to send the first measurement result and the third measurement result; wherein the first measurement result and the second measurement result, or the first measurement result and the third measurement result, are used by the network device or the second terminal to determine the third relative position information; and to receive the third relative position information sent by the network device or the second terminal.

[0263] In some embodiments, the obtaining unit 703 is further configured to determine the second terminal from the multiple terminals based on multiple second indication information respectively sent by the multiple terminals; wherein the second indication information is used to indicate at least one of the following:

[0264] a third measurement result, where the third measurement result is obtained by measuring the reference signal of the third terminal by the second terminal;

[0265] a signal strength level of a reference signal of the third terminal determined based on the third measurement result;

[0266] Whether there is data transmission between the second terminal and the third terminal;

[0267] Whether the second terminal and the third terminal can establish a communication connection.

[0268] In some embodiments, the transceiver unit 701 is further used to send a third request to the network device, where the third request is used to instruct: multiple terminals in the area corresponding to the network device respectively broadcast the multiple second indication information.

[0269] In some embodiments, the transceiver unit 701 is further used to receive multiple third indication information sent by the network device; the obtaining unit 703 is further used to determine the second terminal from the multiple terminals based on the multiple third indication information;

[0270] The plurality of third indication information are respectively sent to the network device by a plurality of terminals in the area corresponding to the network device; the third indication information is used to indicate at least one of the following:

[0271] A fourth measurement result, where the fourth measurement result is obtained by the second terminal measuring the reference signal of the third terminal and / or the reference signal of the first terminal;

[0272] a signal strength level of a reference signal of the third terminal and / or a signal strength level of a reference signal of the first terminal determined based on the fourth measurement result;

[0273] whether there is data transmission between the second terminal and the third terminal, and / or whether there is data transmission between the second terminal and the first terminal;

[0274] Whether a communication connection can be established between the second terminal and the third terminal, and / or whether a communication connection can be established between the second terminal and the first terminal.

[0275] In some embodiments, the transceiver unit 701 is also used to send fourth indication information to the second terminal, or the first terminal sends fourth indication information to the second terminal through a network device; wherein the fourth indication information is used to indicate: the second terminal determines and sends second relative position information or a second measurement result or a third measurement result to the first terminal, or the second terminal determines and sends second relative position information or a second measurement result or a third measurement result to the first terminal through the network device.

[0276] In some embodiments, the transceiver unit 701 is further used to send a fourth request to the network device, where the fourth request is used to indicate: a relative position requirement for the third terminal.

[0277] In some embodiments, at least one of the first relative position information, the second relative position information, and the third relative position information includes a distance and / or an angle.

[0278] In some embodiments, the sidelink signal includes at least one of: a sidelink positioning reference signal, a sidelink demodulation reference signal DMRS, a sidelink ranging reference signal SR-RS, a sidelink sounding reference signal, and a sidelink channel state information CSI reference signal.

[0279] Figure 8 Schematic diagram of the structure of the position acquisition device provided in the embodiment of the present application Figure 2 , applied to the second terminal, such as Figure 8 As shown, the position obtaining device 800 includes: a transceiver unit 801, used to send the side link signal configuration of the second terminal; wherein the side link signal configuration of the second terminal is used for: the first terminal measures the side link signal of the second terminal to obtain a first measurement result; the first terminal or network equipment obtains the first relative position information of the first terminal and the second terminal corresponding to the first measurement result.

[0280] In some embodiments, the transceiver unit 801 is also used to receive a fifth request sent by the network device, wherein the fifth request is used to request the side link signal configuration of the second terminal; send the side link signal configuration of the second terminal to the network device; and the side link signal configuration of the second terminal is used by the network device to send to the first terminal.

[0281] In some embodiments, the transceiver unit 801 is further used to send the side link signal configuration of the second terminal to the first terminal through the side link between the first terminal and the first terminal.

[0282] In some embodiments, the transceiver unit 801 is also used to receive a fifth indication information sent by a network device, and the fifth indication information is used to indicate the establishment of a side link between the second terminal and the first terminal; the position acquisition device 800 also includes an establishment unit 802, which is used to establish a side link between the second terminal and the first terminal based on the fifth indication information.

[0283] In some embodiments, the transceiver unit 801 is further used to receive the first measurement result sent by the first terminal through a side link between the first terminal; and send the first relative position information to the first terminal through the side link between the first terminal.

[0284] In some embodiments, the transceiver unit 801 is also used to receive the first measurement result sent by the network device; the first measurement result is sent by the first terminal to the network device; the position acquisition device 800 also includes an acquisition unit 803, which is used to determine the first relative position information based on the first measurement result; the transceiver unit 801 is also used to send the first relative position information to the network device; the first relative position information is used by the network device to send to the first terminal.

[0285] In some embodiments, the transceiver unit 801 is also used to receive a side link signal activation request sent by a network device; in response to the side link signal activation request, broadcast or unicast a side link signal to the first terminal; and send a side link signal activation response to the network device.

[0286] In some embodiments, the transceiver unit 801 is further used to send a sixth request to the network device, where the sixth request is used to indicate: a relative position requirement for the first terminal; and receive first relative position information of the first terminal and the second terminal sent by the network device.

[0287] In some embodiments, the sixth request includes or indicates at least one of the following: an identifier of the first terminal, an identifier of a roadside unit corresponding to the first terminal.

[0288] In some embodiments, the transceiver unit 801 is also used to receive a seventh request sent by the network device, wherein the seventh request is used to request the identifier of the first terminal and / or the identifier of the roadside unit corresponding to the first terminal; and to send the identifier of the first terminal and / or the identifier of the roadside unit corresponding to the first terminal to the network device.

[0289] In some embodiments, the transceiver unit 801 is further configured to receive a sidelink signal configuration of a third terminal; the position obtaining device 800 further includes a measuring unit 804, configured to measure the sidelink signal of the third terminal based on the sidelink signal configuration of the third terminal to obtain a second measurement result;

[0290] The obtaining unit 803 is further configured to obtain second relative position information between the second terminal and the third terminal based on the second measurement result;

[0291] The transceiver unit 801 is further configured to send the second relative position information to the first terminal, or to send the second relative position information to the network device, wherein the second relative position information is used by the network device to send to the first terminal or to determine third relative position information.

[0292] In some embodiments, the transceiver unit 801 is further used to receive the side link signal configuration of the third terminal; the measurement unit 804 is used to measure the side link signal of the third terminal based on the side link signal configuration of the third terminal to obtain a second measurement result; the transceiver unit 801 is further used to send the second measurement result to the first terminal; or, to send the second measurement result to the network device, and the second measurement result is used by the network device to send to the first terminal.

[0293] In some embodiments, the transceiver unit 801 is also used to send the side link signal configuration of the second terminal to the third terminal, or to send the side link signal configuration of the second terminal to the third terminal through the network device; the side link signal configuration of the second terminal is used by the third terminal to measure the side link signal of the second terminal to determine a third measurement result or second relative position information; receive the third measurement result or the second relative position information sent by the third terminal, or receive the third measurement result or the second relative position information sent by the third terminal through the network device; send the third measurement result or the second relative position information to the first terminal, or to the first terminal through the network device.

[0294] In some embodiments, the transceiver unit 801 is also used to receive fourth indication information sent by the first terminal; the fourth indication information is used to indicate: the second terminal determines and sends to the first terminal: second relative position information or second measurement result or third measurement result, or the second terminal determines and sends to the first terminal through the network device: second relative position information or second measurement result or third measurement result.

[0295] In some embodiments, the transceiver unit 801 is also used to receive: a first measurement result, or a first measurement result and a second measurement result, or a first measurement result and a third measurement result, sent by the first terminal or the network device; the second measurement result is obtained by the second terminal measuring the side link signal of the third terminal based on the side link signal configuration of the third terminal; the third measurement result is obtained by the third terminal measuring the side link signal of the second terminal based on the side link signal configuration of the second terminal; the obtaining unit 803 is also used to determine the third relative position information of the first terminal and the third terminal based on the first measurement result and the second measurement result, or based on the first measurement result and the third measurement result; the transceiver unit 801 is also used to send the third relative position information to the first terminal, or to the first terminal through the network device.

[0296] In some embodiments, the transceiver unit 801 is also used to receive: first relative position information and second relative position information between the second terminal and the third terminal sent by the first terminal or the network device; the obtaining unit 803 is also used to determine the third relative position information between the first terminal and the third terminal based on the first relative position information and the second relative position information; the transceiver unit 801 is also used to send the third relative position information to the first terminal, or to the first terminal through the network device.

[0297] In some embodiments, at least one of the first relative position information and the second relative position information includes a distance and / or an angle.

[0298] In some embodiments, the sidelink signal includes at least one of: a sidelink positioning reference signal, a sidelink demodulation reference signal DMRS, a sidelink ranging reference signal SR-RS, a sidelink sounding reference signal, and a sidelink channel state information CSI reference signal.

[0299] Fig. 9 Schematic diagram of the structure of the position acquisition device provided in the embodiment of the present application Figure 3 , applied to network equipment, such as Fig. 9 As shown, the position obtaining device 900 includes: a transceiver unit 901, used to instruct the second terminal to send the side link signal configuration of the second terminal; wherein the side link signal configuration of the second terminal is used for: the first terminal measures the side link signal of the second terminal to obtain a first measurement result; the first terminal or the network device obtains the first relative position information of the first terminal and the second terminal corresponding to the first measurement result.

[0300] In some embodiments, the transceiver unit 901 is also used to send a fifth request to the second terminal, wherein the fifth request is used to request the side link signal configuration of the second terminal; receive the side link signal configuration of the second terminal sent by the second terminal; and send the side link signal configuration of the second terminal to the first terminal.

[0301] In some embodiments, the transceiver unit 901 is further used to send first indication information to the first terminal, or to send fifth indication information to the second terminal; the first indication information or the fifth indication information is used to indicate establishment of a side link between the first terminal and the second terminal; the transceiver unit 901 is also used to instruct the second terminal to send the side link signal configuration of the second terminal to the first terminal through the side link between the first terminal and the second terminal.

[0302] In some embodiments, the transceiver unit 901 is also used to receive feedback information sent by the first terminal or the second terminal; the feedback information is used to indicate at least one of the following: the side link establishment between the first terminal and the second terminal is completed; the first terminal receives the side link signal configuration of the second terminal sent by the second terminal.

[0303] In some embodiments, the transceiver unit 901 is further used to receive the first relative position information sent by the first terminal.

[0304] In some embodiments, the transceiver unit 901 is also used to receive the first measurement result sent by the first terminal; the position acquisition device 900 also includes: an acquisition unit 902, used to determine the first relative position information based on the first measurement result; the transceiver unit 901 is also used to send the first relative position information to the first terminal.

[0305] In some embodiments, the transceiver unit 901 is also used to receive the first measurement result sent by the first terminal, and send the first measurement result to the second terminal; the first measurement result is used by the second terminal to determine the first relative position information; receive the first relative position information sent by the second terminal, and send the first relative position information to the first terminal.

[0306] In some embodiments, the transceiver unit 901 is also used to receive a sixth request sent by the mobile management function AMF and / or the fourth terminal; the sixth request is used to request the first relative position information; and send the first relative position information to the AMF and / or the fourth terminal.

[0307] In some embodiments, the transceiver unit 901 is further used to send a positioning capability request to the first terminal; and receive a message sent by the first terminal indicating that the terminal has positioning capability or has positioning capability based on a sidelink.

[0308] In some embodiments, the transceiver unit 901 is further used to send a side link signal activation request to the second terminal; and receive a side link signal activation response sent by the second terminal.

[0309] In some embodiments, the transceiver unit 901 is further used to send a measurement request to the first terminal; the measurement request is used to instruct the first terminal to measure the sidelink signal of the second terminal.

[0310] In some embodiments, the transceiver unit 901 is further used to receive a first request sent by the first terminal, where the first request is used to indicate a relative position requirement for the second terminal.

[0311] In some embodiments, the first request includes or indicates at least one of the following: an identifier of the second terminal, an identifier of a roadside unit corresponding to the second terminal.

[0312] In some embodiments, the transceiver unit 901 is also used to send a second request to the first terminal, and the second request is used to request: the identifier of the second terminal and / or the identifier of the roadside unit corresponding to the second terminal; and receive the identifier of the second terminal and / or the identifier of the roadside unit corresponding to the second terminal sent by the first terminal.

[0313] In some embodiments, the transceiver unit 901 is further used to receive a sixth request sent by the second terminal, where the sixth request is used to indicate: a relative position requirement for the first terminal; and sending the first relative position information to the second terminal.

[0314] In some embodiments, the sixth request includes or indicates at least one of the following: an identifier of the first terminal, an identifier of a roadside unit corresponding to the first terminal.

[0315] In some embodiments, the transceiver unit 901 is also used to send a seventh request to the second terminal, wherein the seventh request is used to request the identifier of the first terminal and / or the identifier of the roadside unit corresponding to the first terminal; and receive the identifier of the first terminal and / or the identifier of the roadside unit corresponding to the first terminal sent by the second terminal.

[0316] In some embodiments, the transceiver unit 901 is further configured to receive second relative position information between the second terminal and the third terminal sent by the second terminal or the third terminal; and send the second relative position information to the first terminal.

[0317] In some embodiments, the transceiver unit 901 is further used to receive a second measurement result sent by the second terminal, or a third measurement result sent by the third terminal, where the second measurement result is obtained by the second terminal measuring the sidelink signal of the third terminal based on the sidelink signal configuration of the third terminal, and the third measurement result is obtained by the third terminal measuring the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal; and send the second measurement result or the third measurement result to the first terminal.

[0318] In some embodiments, the transceiver unit 901 is further configured to receive, from the first terminal: the first measurement result, or the first measurement result and the second measurement result, or the first measurement result and the third measurement result;

[0319] The obtaining unit 902 is further configured to determine third relative position information between the first terminal and the third terminal based on the first measurement result and the second measurement result, or based on the first measurement result and the third measurement result;

[0320] The transceiver unit 901 is further configured to send the third relative position information to the first terminal.

[0321] In some embodiments, the transceiver unit 901 is also used to receive the second relative position information between the second terminal and the third terminal sent by the second terminal or the third terminal; and send to the first terminal: the second relative position information, or the first relative position information and the second relative position; the first relative position and the second relative position are used by the first terminal to determine the third relative position information between the first terminal and the third terminal; the obtaining unit 902 is also used to determine the third relative position information between the first terminal and the third terminal based on the first relative position information and the second relative position; the transceiver unit 901 is also used to send the third relative position information to the first terminal.

[0322] In some embodiments, the transceiver unit 901 is further used to receive a third request sent by the first terminal, the third request being used to instruct: multiple terminals in the area corresponding to the network device to broadcast the multiple second indication information respectively; and to send sixth indication information to the multiple terminals respectively, the sixth indication information indicating the broadcasting of the second indication information; wherein the second indication information is used to indicate at least one of the following:

[0323] a third measurement result, where the third measurement result is obtained by measuring the reference signal of the third terminal by the second terminal;

[0324] a signal strength level of a reference signal of the third terminal determined based on the third measurement result;

[0325] Whether there is data transmission between the second terminal and the third terminal;

[0326] Whether the second terminal and the third terminal can establish a communication connection.

[0327] In some embodiments, the transceiver unit 901 is further configured to receive multiple third indication information respectively sent by multiple terminals in the area corresponding to the network device; the network device sends the multiple third indication information to the first terminal, or the network device determines the second terminal from the multiple terminals based on the multiple third indication information, and sends the identifier of the second terminal to the first terminal; wherein the third indication information is used to indicate at least one of the following:

[0328] A fourth measurement result, where the fourth measurement result is obtained by the second terminal measuring the reference signal of the third terminal and / or the reference signal of the first terminal;

[0329] a signal strength level of a reference signal of the third terminal and / or a signal strength level of a reference signal of the first terminal determined based on the fourth measurement result;

[0330] whether there is data transmission between the second terminal and the third terminal, and / or whether there is data transmission between the second terminal and the first terminal;

[0331] Whether a communication connection can be established between the second terminal and the third terminal, and / or whether a communication connection can be established between the second terminal and the first terminal.

[0332] In some embodiments, the transceiver unit 901 is further used to receive a fourth request sent by the first terminal, where the fourth request is used to indicate: a relative position requirement for the third terminal.

[0333] In some embodiments, at least one of the first relative position information and the second relative position information includes a distance and / or an angle.

[0334] In some embodiments, the sidelink signal includes at least one of: a sidelink positioning reference signal, a sidelink demodulation reference signal DMRS, a sidelink ranging reference signal SR-RS, a sidelink sounding reference signal, and a sidelink channel state information CSI reference signal.

[0335] Those skilled in the art should understand that the relevant description of the above-mentioned position obtaining device in the embodiment of the present application can be understood by referring to the relevant description of the position obtaining method in the embodiment of the present application.

[0336] Fig.10 A schematic structural diagram of a location acquisition device provided in an embodiment of the present application. The location acquisition device may be a first terminal or a second terminal or a network device. Fig.10 The position acquisition device 1000 shown includes a processor 1010 and a memory 1020, wherein the memory 1020 stores a computer program that can be run on the processor 1010, and the processor 1010 implements the method in the embodiment of the present application when executing the program. That is, the processor 1010 can call and run the computer program from the memory to implement the method in the embodiment of the present application.

[0337] In some embodiments, Fig.10As shown, the location obtaining device 1000 may further include a memory 1020. The processor 1010 may call and run a computer program from the memory 1020 to implement the method in the embodiment of the present application.

[0338] The memory 1020 may be a separate device independent of the processor 1010 , or may be integrated into the processor 1010 .

[0339] In some embodiments, Fig.10 As shown, the position obtaining device 1000 may further include a transceiver 1030, and the processor 1010 may control the transceiver 1030 to communicate with other devices, specifically, may send information or data to other devices, or receive information or data sent by other devices.

[0340] Among them, the transceiver 1030 may include a transmitter and a receiver. The transceiver 1030 may further include an antenna, and the number of antennas may be one or more. In some embodiments, the location acquisition device 1000 may specifically be a network device of an embodiment of the present application, and the location acquisition device 1000 may implement the corresponding processes implemented by the network device in each method of the embodiment of the present application, and for the sake of brevity, it will not be repeated here. In some embodiments, the location acquisition device 1000 may specifically be a first terminal or a second terminal of an embodiment of the present application, and the location acquisition device 1000 may implement the corresponding processes implemented by the first terminal or the second terminal in each method of the embodiment of the present application, and for the sake of brevity, it will not be repeated here.

[0341] Fig.11 It is a schematic structural diagram of the chip of an embodiment of the present application. Fig.11 The chip 1100 shown includes a processor 1110, which is used to call and run a computer program from a memory 1120, so that the device equipped with the chip 1100 performs the method in the embodiment of the present application. That is, the processor 1110 can call and run a computer program from the memory to implement the method in the embodiment of the present application. In some embodiments, as Fig.11As shown, the chip 1100 may also include a memory 1120. Among them, the processor 1110 may call and run a computer program from the memory 1120 to implement the method in the embodiment of the present application. Among them, the memory 1120 may be a separate device independent of the processor 1110, or it may be integrated in the processor 1110. In some embodiments, the chip 1100 may also include an input interface 1130. Among them, the processor 1110 may control the input interface 1130 to communicate with other devices or chips, specifically, information or data sent by other devices or chips may be obtained. In some embodiments, the chip 1100 may also include an output interface 1140. Among them, the processor 1110 may control the output interface 840 to communicate with other devices or chips, specifically, information or data may be output to other devices or chips. In some embodiments, the chip may be applied to the network device in the embodiment of the present application, and the chip may implement the corresponding processes implemented by the network device in each method in the embodiment of the present application, and for the sake of brevity, it will not be repeated here. In some embodiments, the chip can be applied to the first terminal or the second terminal in the embodiments of the present application, and the chip can implement the corresponding processes implemented by the first terminal or the second terminal in each method of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0342] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0343] The embodiments of the present application also provide a computer storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the method in the embodiments of the present application.

[0344] In some embodiments, the computer-readable storage medium can be applied to the network device in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes implemented by the network device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0345] In some embodiments, the computer-readable storage medium can be applied to the first terminal or the second terminal in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes implemented by the first terminal or the second terminal in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0346] An embodiment of the present application also provides a computer program product, which includes a computer storage medium, the computer storage medium storing a computer program, the computer program including instructions that can be executed by at least one processor, and when the instructions are executed by the at least one processor, the method in the embodiment of the present application is implemented.

[0347] In some embodiments, the computer program product can be applied to the network device in the embodiments of the present application, and the computer program instructions enable the computer to execute the corresponding processes implemented by the network device in the various methods of the embodiments of the present application, which will not be described in detail here for the sake of brevity. In some embodiments, the computer program product can be applied to the first terminal or the second terminal in the embodiments of the present application, and the computer program instructions enable the computer to execute the corresponding processes implemented by the first terminal or the second terminal in the various methods of the embodiments of the present application, which will not be described in detail here for the sake of brevity.

[0348] The embodiment of the present application also provides a computer program, the computer program enables a computer to execute the method in the embodiment of the present application. In some embodiments, the computer program can be applied to the network device in the embodiment of the present application, and when the computer program is run on the computer, the computer executes the corresponding process implemented by the network device in each method in the embodiment of the present application, which will not be described here for the sake of brevity.

[0349] In some embodiments, the computer program can be applied to the first terminal or the second terminal in the embodiments of the present application. When the computer program runs on the computer, the computer executes the corresponding processes implemented by the first terminal or the second terminal in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0350] It should be understood that the processor of the embodiment of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by the hardware integrated logic circuit or software instructions in the processor. The above processor may include any one or more of the following integrations: general-purpose processor, application-specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), central processing unit (CPU), graphics processing unit (GPU), embedded neural network processor (neural-network processing units, NPU), controller, microcontroller, microprocessor, programmable logic device, discrete gate or transistor logic device, discrete hardware component. The disclosed methods, steps and logic block diagrams in the embodiment of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0351] It is understood that the memory or computer storage medium in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0352] It should be understood that the above-mentioned memory computer storage medium is exemplary but not restrictive. For example, the memory in the embodiments of the present application may also be static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM), etc. That is to say, the memory in the embodiments of the present application is intended to include but not limited to these and any other suitable types of memory.

[0353] 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.

[0354] 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.

[0355] 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.

[0356] 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.

[0357] 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.

[0358] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium 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 medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0359] The above is only a specific implementation of the present application, but the protection scope 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 present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for obtaining a position, the method comprising: The first terminal receives a sidelink signal configuration of the second terminal; The first terminal measures the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal to obtain a first measurement result; The first terminal obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result.

2. The method according to claim 1, wherein the first terminal receives a sidelink signal configuration of the second terminal, comprising: The first terminal receives the side link signal configuration of the second terminal sent by the network device.

3. The method according to claim 1, wherein the first terminal receives a sidelink signal configuration of the second terminal, comprising: The first terminal receives the sidelink signal configuration of the second terminal sent by the second terminal through the sidelink between the first terminal and the second terminal.

4. The method according to any one of claims 1 to 3, wherein the first terminal obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result, comprising: The first terminal determines the first relative position information based on the first measurement result.

5. The method according to claim 4, further comprising: The first terminal sends the first relative position information to a network device and / or the second terminal.

6. The method according to any one of claims 1 to 3, wherein the first terminal obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result, comprising: The first terminal sends the first measurement result to a network device or the second terminal, where the first measurement result is used by the network device or the second terminal to determine first relative position information between the first terminal and the second terminal; The first terminal receives the first relative position information sent by the network device or the second terminal.

7. The method according to any one of claims 1 to 6, further comprising: The first terminal receives a positioning capability request sent by a network device; The first terminal sends a message having positioning capability or having positioning capability based on a side link to the network device.

8. The method according to any one of claims 1 to 7, wherein the first terminal measures the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal, comprising: When the first terminal receives the measurement request sent by the network device, the first terminal measures the sidelink signal of the second terminal based on the sidelink signal configuration of the second terminal.

9. The method according to any one of claims 1 to 8, further comprising: The first terminal sends a first request to a network device, where the first request is used to indicate a relative position requirement for the second terminal.

10. According to the method of claim 9, the first request includes or indicates at least one of the following: an identifier of the second terminal, an identifier of a roadside unit corresponding to the second terminal.

11. A method for obtaining a position, the method comprising: The network device instructs the second terminal to send a sidelink signal configuration of the second terminal; Among them, the side link signal configuration of the second terminal is used for: the first terminal measures the side link signal of the second terminal to obtain a first measurement result; the first terminal or the network device obtains first relative position information between the first terminal and the second terminal corresponding to the first measurement result.

12. The method according to claim 11, wherein the network device instructs the second terminal to send the sidelink signal configuration of the second terminal, comprising: The network device sends a fifth request to the second terminal, where the fifth request is used to request a sidelink signal configuration of the second terminal; The network device receives a sidelink signal configuration of the second terminal sent by the second terminal; The network device sends a sidelink signal configuration of the second terminal to the first terminal.

13. The method according to claim 11 or 12, further comprising: Receiving, by the network device, the first measurement result sent by the first terminal; The network device determines the first relative position information based on the first measurement result; The network device sends the first relative position information to the first terminal.

14. A location obtaining device, comprising: A memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method according to any one of claims 1 to 10 is implemented.

15. A location obtaining device, comprising: A memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method according to any one of claims 11 to 13 is implemented.

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