Method and apparatus for sidelink positioning

Abstract

The embodiment of the invention relates to a method and equipment for sidelink (SL) positioning. In accordance with an embodiment of the present disclosure, a second user equipment (UE) may include: a transceiver; and a processor coupled to the transceiver and configured to: establish a sidelink (SL) positioning protocol (SLPP) session with a first UE and one or more other second UEs; and multicast or unicast, with the transceiver, a capability message to the first UE, wherein the capability message indicates SL positioning capability information for the second UE.

Description

Technical Field

[0001] Embodiments of the present application generally relate to wireless communication technologies, and in particular, to methods and devices for sidelink (SL) positioning. Background Art

[0002] Sidelink is a Long-Term Evolution (LTE) feature introduced in the 3rd Generation Partnership Project (3GPP) Release 12, and enables direct communication between neighboring User Equipments (UEs), where data does not need to pass through a Base Station (BS) or a core network. Sidelink communication systems have been introduced into 3GPP 5G wireless communication technologies, where the direct link between two UEs is called a sidelink.

[0003] SL positioning refers to the transmission of positioning reference signals (PRS) via sidelink, which can operate independently of network or radio access technology (RAT) coverage and provide new positioning methods suitable for new network use cases. Currently, further details regarding group SL positioning need to be discussed. Summary of the Invention

[0004] Embodiments of the present application at least provide technical solutions for SL positioning.

[0005] According to some embodiments of the present application, a first UE may include: a transceiver; and a processor coupled to the transceiver and configured to: establish a Sidelink Positioning Protocol (SLPP) session with a plurality of second UEs; and receive, using the transceiver, a plurality of capability messages from the plurality of second UEs, wherein each capability message of the plurality of capability messages indicates sidelink positioning capability information of a corresponding second UE of the plurality of second UEs.

[0006] In some embodiments of the present application, each capability message of the plurality of capability messages includes at least one of the following: an identity (ID) of the corresponding second UE; an ID of the first UE; an ID of an SLPP transaction within the SLPP session; or an ID of the SLPP session.

[0007] In some embodiments of the present application, the processor is further configured to multicast, using the transceiver, a capability request message for requesting sidelink positioning capability information of each of the plurality of second UEs, and the capability request message includes at least one of the following: an ID of the first UE; an ID of an SLPP transaction within the SLPP session; an ID of the SLPP session; or a response time at which each of the plurality of second UEs is required to respond with the sidelink positioning capability information.

[0008] In some embodiments of the present application, the processor is further configured to: use the transceiver to multicast to the plurality of second UEs an auxiliary data message including one or more sets of auxiliary data, wherein each set of auxiliary data indicates a corresponding configuration of a corresponding positioning method.

[0009] In some embodiments of the present application, each set of auxiliary data includes the same SLPP transaction ID and is associated with the ID to distinguish each set of auxiliary data in the same SLPP transaction.

[0010] In some embodiments of the present application, the processor is further configured to: use the transceiver to receive from at least one second UE among the plurality of second UEs at least one auxiliary data request message for requesting a configuration of a positioning method; and generate the one or more sets of auxiliary data based on the at least one auxiliary data request message.

[0011] In some embodiments of the present application, the processor is further configured to: use the transceiver to receive an indication from a second UE other than the at least one second UE, wherein the indication indicates that the one or more sets of auxiliary data are not suitable for the second UE, or includes an additional auxiliary data request message for requesting a configuration of a positioning method for the second UE; and use the transceiver to multicast an additional auxiliary data message including one or more sets of additional auxiliary data, or use the transceiver to transmit an indication indicating that no new auxiliary data can be provided to the second UE.

[0012] In some embodiments of the present application, each set of additional auxiliary data indicates a corresponding configuration of a corresponding positioning method requested by the additional auxiliary data request message.

[0013] In some embodiments of the present application, the processor is further configured to: generate the one or more sets of auxiliary data based on the plurality of capability messages from the plurality of second UEs; or trigger the transmission of the one or more sets of auxiliary data in response to receiving capability messages from all the plurality of second UEs or in response to the completion of an SLPP transaction for capability transfer in the SLPP session.

[0014] In some embodiments of the present application, the processor is further configured to: use the transceiver to multicast or broadcast one or more sets of SL-PRSs to the plurality of second UEs according to the one or more sets of auxiliary data.

[0015] In some embodiments of the present application, the processor is further configured to: within a certain time period after the start of transmission of the one or more sets of SL-PRSs, receive, using the transceiver, at least one indication from at least one of the plurality of second UEs; wherein each indication in the at least one indication indicates the completion of SL-PRS measurement or position calculation of the corresponding second UE; and wherein the time period is configured by the first UE or inferred from positioning service quality of service (QoS) requirements, or is pre-configured or pre-defined.

[0016] In some embodiments of the present application, the processor is further configured to determine a positioning failure of the second UE in a case where the transceiver does not receive, within the time period, an indication indicating the completion of SL-PRS measurement or position calculation from the second UE.

[0017] In some embodiments of the present application, the processor is further configured to transmit, using the transceiver, an indication indicating the end time of transmission of the one or more sets of SL-PRSs to the plurality of second UEs.

[0018] In some embodiments of the present application, the processor is further configured to determine the termination of the SLPP session in response to at least one of the following: the stop of transmission of one or more sets of SL-PRSs; receiving indications indicating the completion of SL-PRS measurement or position calculation from all of the plurality of second UEs; or determining that all of the plurality of second UEs have completed SL-PRS measurement or position calculation.

[0019] In some embodiments of the present application, the processor is further configured to: after a third UE joins the SLPP session, receive, using the transceiver, a capability message from the third UE, wherein the capability message includes the ID of the third UE; and in response to receiving the capability message, multicast or unicast, using the transceiver, auxiliary data associated with the SLPP session to the third UE.

[0020] In some embodiments of the present application, the processor is further configured to: after a third UE joins the SLPP session, multicast or unicast, using the transceiver, auxiliary data associated with the SLPP session to the third UE.

[0021] According to some embodiments of the present application, a second UE may include: a transceiver; and a processor coupled to the transceiver and configured to: establish an SLPP session with a first UE and one or more other second UEs; and multicast or unicast, using the transceiver, a capability message to the first UE, wherein the capability message indicates SL positioning capability information of the second UE.

[0022] In some embodiments of the present application, the capabilities message includes at least one of the following: the identity ID of the second UE; the ID of the first UE; the ID of the SLPP transaction within the SLPP session; or the ID of the SLPP session.

[0023] In some embodiments of the present application, the processor is further configured to receive, via the transceiver, a capabilities request message multicast from the first UE for requesting the SL positioning capabilities information, and the capabilities request message includes at least one of the following: the ID of the first UE; the ID of the SLPP transaction within the SLPP session; the ID of the SLPP session; or the response time at which the second UE is required to respond with the SL positioning capabilities information.

[0024] In some embodiments of the present application, the processor is further configured to trigger the transmission of the capabilities message in response to at least one of the following: receiving, from an upper layer, an indication indicating the establishment of the SLPP session or the establishment of a group including the first UE and the second UE; or joining the SLPP session or the group; or wherein the capabilities message is transmitted via a discovery message associated with a discovery procedure between the first UE and the second UE.

[0025] In some embodiments of the present application, the processor is further configured to: receive, via the transceiver, an auxiliary data message multicast from the first UE and including one or more sets of auxiliary data, wherein each set of auxiliary data indicates a corresponding configuration of a corresponding positioning method.

[0026] In some embodiments of the present application, each set of auxiliary data includes the same SLPP transaction ID and is associated with the ID to distinguish each set of auxiliary data within the same SLPP transaction.

[0027] In some embodiments of the present application, the processor is further configured to: use the transceiver and transmit an auxiliary data request message to the first UE for requesting the configuration of the positioning method.

[0028] In some embodiments of the present application, the processor is further configured to trigger the transmission of the auxiliary data request message in response to the completion of the SLPP transaction for capabilities transfer in the SLPP session.

[0029] In some embodiments of the present application, the processor is further configured to determine, from the one or more sets of auxiliary data, at least one set of auxiliary data suitable for the second UE or matching the auxiliary data request message transmitted by the second UE.

[0030] In some embodiments of the present application, in a case where the one or more sets of auxiliary data are not suitable for the second UE, the processor is further configured to: indicate the one or more sets of auxiliary data to an upper layer to determine to use at least one set of the one or more sets of auxiliary data; or transmit an indication to the first UE by using the transceiver, where the indication indicates that the one or more sets of auxiliary data are not suitable for the second UE, or includes an auxiliary data request message for requesting a configuration of a positioning method for the second UE.

[0031] In some embodiments of the present application, the processor is further configured to: receive, by using the transceiver, an auxiliary data addition message including one or more sets of additional auxiliary data multicast from the first UE or an indication indicating that no new auxiliary data can be provided to the second UE.

[0032] In some embodiments of the present application, each set of additional auxiliary data indicates a corresponding configuration of a corresponding positioning method requested by the auxiliary data request message.

[0033] In some embodiments of the present application, the processor is further configured to: receive, by using the transceiver, one or more sets of SL-PRSs multicast or broadcast from the first UE according to the one or more sets of auxiliary data; measure the SL-PRSs according to the configuration of the positioning method in one or several sets of auxiliary data suitable for the second UE, and calculate the position of the second UE according to the SL-PRS measurement results and the one or several sets of auxiliary data suitable for the second UE.

[0034] In some embodiments of the present application, the processor is further configured to: transmit an indication to the first UE by using the transceiver within a certain time period after the start of the transmission of the one or more sets of SL-PRSs; where the indication indicates the completion of the SL-PRS measurement or the position calculation of the second UE; and where the time period is configured by the first UE or inferred from the positioning service QoS requirements, or is pre-configured or pre-defined.

[0035] In some embodiments of the present application, the processor is further configured to receive, by using the transceiver, an indication indicating an end time of the transmission of the one or more sets of SL-PRSs, and stop measuring the SL-PRSs at the end time.

[0036] In some embodiments of the present application, the processor is further configured to determine that the SLPP session terminates in response to the stop of the transmission of the one or more sets of SL-PRSs.

[0037] In some embodiments of the present application, establishing the SLPP session with the first UE and the one or more other second UEs includes joining a previously established SLPP session between the first UE and the one or more other second UEs, the capability message includes the ID of the second UE, and the processor is further configured to: in response to the capability message, use the transceiver to receive auxiliary data multicast or unicast from the first UE associated with the previously established SLPP session.

[0038] In some embodiments of the present application, the processor is further configured to determine whether the auxiliary data is suitable for the second UE and the positioning service QoS requirements; in the case where the auxiliary data is suitable, the processor is further configured to measure the SL-PRS according to the auxiliary data; and in the case where the auxiliary data is not suitable, the processor is further configured to: use the transceiver to transmit an indication to the first UE, where the indication indicates that the auxiliary data is not suitable or requests new auxiliary data.

[0039] According to some embodiments of the present application, a method performed by a first UE may include: establishing an SLPP session with a plurality of second UEs; and receiving a plurality of capability messages from the plurality of second UEs, where each capability message in the plurality of capability messages indicates the SL positioning capability information of the corresponding second UE in the plurality of second UEs.

[0040] According to some embodiments of the present application, a method performed by a second UE includes: establishing an SLPP session with a first UE and one or more other second UEs; and using a transceiver to multicast or unicast a capability message to the first UE, where the capability message indicates the SL positioning capability information of the second UE. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] To describe the manner in which the advantages and features of the present application can be obtained, the description of the present application is made with reference to its specific embodiments, which are illustrated in the accompanying drawings. These drawings only depict exemplary embodiments of the present application and should not be considered as limiting its scope.

[0042] Figure 1 is a schematic diagram illustrating an exemplary wireless communication system according to some embodiments of the present application;

[0043] Figure 2 and 3 illustrates an exemplary capability transfer procedure according to some embodiments of the present application;

[0044] Figure 4 and 5Illustrate an exemplary auxiliary data transfer procedure according to some embodiments of the present application;

[0045] Figure 6 Illustrate an exemplary positioning calculation procedure according to some embodiments of the present application;

[0046] Figure 7 Illustrate an exemplary procedure for group change according to some embodiments of the present application; and

[0047] Figure 8 Illustrate a simplified block diagram of an exemplary device for SL positioning according to some embodiments of the present application. Detailed Description of the Embodiments

[0048] The detailed description of the accompanying drawings is intended to describe the currently preferred embodiments of the present application and is not intended to represent the only form in which the present application can be practiced. It should be understood that the same or equivalent functions can be achieved by different embodiments intended to be included within the spirit and scope of the present application.

[0049] Although the operations are depicted in a specific order in the figures, those skilled in the art will readily recognize that such operations need not be performed in the specific order shown or in a sequential order, or that one or more operations may sometimes be skipped among all the illustrated operations to be performed in order to achieve the desired result. In addition, the figures may schematically depict one or more exemplary processes in the form of flowcharts. However, other operations not depicted may be incorporated into the exemplary processes schematically illustrated. For example, one or more additional operations may be performed before, after, simultaneously with, or between any of the illustrated operations. In certain cases, multitasking and parallel processing may be advantageous.

[0050] Now, some embodiments of the present application will be described in detail, and examples of the embodiments are illustrated in the accompanying drawings. For the sake of facilitating understanding, the embodiments are provided in specific network architectures and new service scenarios such as 3GPP LTE, Advanced LTE, 5G (i.e., New Radio (NR)), Advanced 5G, 6G, etc. Those skilled in the art are well aware that as the network architecture and new service scenarios evolve, the embodiments in the present application are also applicable to similar technical problems; and in addition, the terms stated in the present application may change, which should not affect the principles of the present application.

[0051] Figure 1 Is a schematic diagram illustrating an exemplary wireless communication system 100 according to some embodiments of the present application.

[0052] As Figure 1As shown, the wireless communication system 100 includes at least one BS 101 and at least one UE (e.g., UE 102a, UE 102b, UE 102c, and UE 102d). Although one BS and four UEs are depicted for illustrative purposes in Figure 1 it should be considered that any number of BSs and UEs may be included in the wireless communication system 100.

[0053] The wireless communication system 100 is compatible with any type of network capable of transmitting and receiving wireless communication signals. For example, the wireless communication system 100 is compatible with wireless communication networks, cellular telephone networks, time division multiple access (TDMA)-based networks, code division multiple access (CDMA)-based networks, orthogonal frequency division multiple access (OFDMA)-based networks, LTE networks, 3GPP-based networks, 3GPP 5G networks, satellite communication networks, high altitude platform networks, and / or other communication networks.

[0054] The BS 101 may also be referred to as an access point, access terminal, base, macro cell, Node B, enhanced or evolved Node B (eNB), general Node B (gNB), home Node B, relay node or device, or described using other terms used in the art. The BS 101 is typically part of a radio access network that may include a controller communicatively coupled to the BS 101.

[0055] According to some embodiments of the present application, the UEs 102a, 102b, 102c, and 102d may include vehicle UEs (VUEs) and / or power saving UEs (also referred to as power sensitive UEs). The power saving UEs may include vulnerable road users (VRUs), public safety UEs (PS-UEs), and / or commercial side link UEs (CS-UEs) that are sensitive to power consumption. In embodiments of the present application, the VRU may include pedestrian UEs (P-UEs), bicyclist UEs, wheelchair UEs, or other UEs that require power saving compared to VUEs.

[0056] According to some other embodiments of the present application, the UEs 102a, 102b, 102c, and 102d may include computing devices such as desktop computers, laptop computers, personal digital assistants (PDAs), tablet computers, smart TVs (e.g., Internet-connected TVs), set-top boxes, game consoles, security systems (including security cameras), in-vehicle computers, network devices (e.g., routers, switches, and modems), and so on.

[0057] In some other embodiments of the present application, the UEs 102a, 102b, 102c, and 102d may include portable wireless communication devices, smartphones, cellular phones, flip phones, devices with subscriber identity modules, personal computers, paging receivers, or any other devices capable of transmitting and receiving communication signals over a wireless network.

[0058] In some other embodiments of the present application, the UEs 102a, 102b, 102c, and 102d may include wearable devices such as smartwatches, fitness bands, optical head-mounted displays, and the like.

[0059] In addition, the UE may be referred to as a subscriber unit, mobile device, mobile station, user, terminal, mobile terminal, wireless terminal, fixed terminal, subscriber station, user terminal, or device, or described using other terms used in this art.

[0060] Figure 1 In the embodiments of, both UEs 102a and 102b are located within the coverage area of BS101 and may, for example, transmit information or data to BS101 and receive control information or data from BS101 via the LTE or NR Uu interface.

[0061] UEs 102c and 102d are located outside the coverage area of BS101. UE 102a may communicate with UEs 102b and 102c via SL (for example, via the PC5 interface defined in 3GPP standard documents), and UE 102d may communicate with UEs 102b and 102c via SL.

[0062] Regarding the sidelink positioning procedure between UEs, the SLPP is introduced to support at least the following functionality: SL positioning capability transfer, SL positioning assistance data exchange, SL positioning information transfer, error handling, abort, etc.

[0063] The transmission types of SLPP signaling may include unicast, multicast, and broadcast. Unicast / one-to-one operation may be assumed as the baseline for exchanging SLPP signaling between UEs. For SL positioning, operations based on unicast SLPP sessions and "centralized" operations are supported. For example, "centralized" operation may refer to an operation in which one UE performs range and / or position calculations based on measurement / location information related to itself and / or other UEs.

[0064] For SLPP, there may be usage scenarios with multiple target UEs. The target UE can be a UE whose location (or positioning) needs to be calculated or is known. For usage scenarios with multiple target UEs, both session-based SLPP procedures and sessionless SLPP procedures are possible. In a session-based SLPP procedure, multiple target UEs and one or more anchor UEs are in the same SLPP session (or the same group). The anchor UE can be a UE that participates in SL positioning and helps the target UE obtain its location (e.g., by sending / receiving SL-PRS and performing related measurements). There can be one positioning request and the SLPP messages in the SLPP session are associated with the positioning request, and multiple target UEs in the SLPP session can calculate their locations. In a sessionless SLPP procedure, no session is established, and the SLPP message is a common message for all group members in the group or a common message for surrounding UEs. The SL positioning in the above usage scenarios can also be referred to as group SL positioning or decentralized SL positioning.

[0065] Group SL positioning with session-based SLPP messages can involve the following issues.

[0066] Problem #1: How to design the SLPP procedure for multiple target UEs in an established SLPP session. For example, the SLPP procedure can include at least one of the following: a capability transfer procedure, an auxiliary data transfer procedure, a positioning calculation procedure, and the termination of the SLPP session.

[0067] As an example, in a traditional LTE positioning protocol (LPP) procedure, the capability transfer is a one-to-one transmission and includes two possible procedures: a request-based procedure and a direct capability provision procedure. However, for SLPP, there can be multiple target UEs, and then it is necessary to design how to transfer the capability information between the anchor UE and the multiple target UEs.

[0068] As another example, in a traditional LPP procedure, the auxiliary data transfer is a one-to-one transmission and includes two possible procedures: a request-based procedure and a direct auxiliary data provision procedure. However, for SLPP, there can be multiple target UEs, and then it is necessary to design how to transfer the auxiliary data between the anchor UE and the multiple target UEs.

[0069] As yet another example, in a traditional LPP procedure, the positioning information can be requested by the target UE and sent from the target UE to the positioning management function (LMF). Additionally, UE-based positioning is also supported in the traditional LPP procedure, where the target UE can calculate its location. However, for SLPP, there can be multiple target UEs, and the positioning can be calculated by the multiple target UEs and it is not clear whether to transfer the positioning information to other network nodes.

[0070] As yet another example, in conventional LPP procedures, after acquiring positioning information from the target UE, the LPP session may be terminated. However, for SLPP, there may be multiple target UEs, and then conventional procedures may no longer be suitable.

[0071] Question #2: When group membership changes or an SLPP session is modified, what procedures can be performed to support the new target UE?

[0072] For example, assuming that there are already established SLPP sessions between multiple target UEs and multiple anchor UEs, and the SLPP procedure is ongoing, a new target UE may join the SLPP session or group during the ongoing SLPP procedure, and a discussion will then need to be made as to whether to establish a new session for the new target UE or continue using the ongoing session. In addition, if the ongoing session is for the new target UE, then a discussion will need to be made as to how to resolve the situation when the existing assistance data is not suitable for the new target UE.

[0073] In view of this, embodiments of the present application propose a method for SL positioning, which provides various technical solutions for SLPP capability transmission, assistance data transmission, positioning calculation, session termination, and group / session change procedures. Embodiments of the present application can at least address the above issues. Further details regarding the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0074] According to some embodiments of the present application, an SLPP session may be established among multiple target UEs and one or more anchor UEs. In other words, these UEs form a group and are associated with the same SLPP session. The SLPP session may be associated with a positioning request with a QoS requirement for positioning services. The purpose of the positioning request is to calculate the position (or ranging) for each target UE in the multiple target UEs. The following embodiments may provide several methods for capability transmission in an SLPP session, auxiliary data transmission in an SLPP session, position calculation in an SLPP session, SLPP session termination, and SLPP session (or group) changes.

[0075] Figure 2 and 3 An exemplary capability transfer procedure according to some embodiments of the present application is illustrated.

[0076] Figure 2 and 3The method in the example can be executed by a first UE (e.g., UE#1) and one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3). The first UE can refer to the initiating UE that triggers the procedure, such as a group leader, a server UE, an anchor UE, an SL reference UE, or an SL positioning client UE. For example, the SL positioning client UE can be a third-party UE other than the SL reference UE and the target UE, which initiates a ranging or sidelink positioning service request on behalf of the application program residing on it. The initiating UE can be determined by an upper layer (e.g., the application layer). Each second UE can refer to a target UE whose position (or location) needs to be calculated or is known. Although three second UEs are depicted in Figure 2 and 3 for illustrative purposes, consider that any number of second UEs can be involved in the procedure illustrated in Figure 2 and 3 Although the method is illustrated by four UEs at the system level, those skilled in the art can understand that the methods implemented in the first UE and in the three second UEs can be implemented separately and can be incorporated by other devices with similar functions.

[0077] Before the steps shown in Figure 2 and 3 , the first UE (e.g., UE#1) and one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3) can establish an SLPP session among them. That is, the first UE can establish an SLPP session with one or more second UEs, or any second UE among the one or more second UEs can establish an SLPP session with the first UE and other second UEs among the one or more second UEs. In other words, in the case where an SLPP session has been established among the first UE and one or more second UEs, the procedures illustrated in Figure 2 and 3 can occur. That is, the first UE and one or more second UEs are in a group and in an established SLPP session.

[0078] Figure 2 Illustrates a request-based capability transfer procedure (also referred to as an SLPP transaction for capability transfer in an SLPP session).

[0079] In step 201, a first UE (e.g., UE#1) may multicast a capability request message to one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3). The capability request message may request SL positioning capability information of each of the one or more second UEs. The capability request message may include at least one of the following: the ID of the first UE; the ID of an SLPP transaction within the SLPP session; the ID of the SLPP session; or the response time by which each of the one or more second UEs is required to respond with the SL positioning capability information.

[0080] Thus, in step 201, each second UE (e.g., UE#2-1, UE#2-2, and UE#2-3) may receive the capability request message multicast from the first UE. In response to receiving the capability request message, each second UE may multicast or unicast a corresponding capability message to the first UE. The corresponding capability message may indicate the SL positioning capability information of the corresponding second UE. For example, in step 202-a, UE#2-1 may multicast or unicast a capability message indicating the SL positioning capability information of UE#2-1 to UE#1; in step 202-b, UE#2-2 may multicast or unicast a capability message indicating the SL positioning capability information of UE#2-2 to UE#1; in step 202-c, UE#2-3 may multicast or unicast a capability message indicating the SL positioning capability information of UE#2-3 to UE#1.

[0081] In some embodiments, the SL positioning capability information may include at least one of the following: the positioning method supported by the corresponding second UE, the bandwidth supported by the corresponding second UE, the positioning configuration supported by the corresponding second UE.

[0082] In some embodiments, the corresponding capability message may further include at least one of the following: the ID of the corresponding second UE; the ID of the first UE; the ID of the SLPP transaction within the SLPP session (which is the same as the ID of the SLPP transaction included in the capability request message); or the ID of the SLPP session.

[0083] In some embodiments, in the case where a response time is indicated in the capability request message, each second UE shall transmit the corresponding capability message within the response time.

[0084] Thus, the first UE may receive one or more capability messages from one or more second UEs.

[0085] Figure 3 The figure illustrates a capability delivery procedure in which a second UE directly provides a capability message to a first UE without receiving any request from the first UE.

[0086] In Figure 3Among them, each second UE (e.g., UE#2-1, UE#2-2, and UE#2-3) can multicast or unicast a corresponding capability message to the first UE without receiving any request from the first UE (e.g., UE#1). For example, in step 301-a, UE#2-1 can transmit a capability message to UE#1; in step 301-b, UE#2-2 can transmit a capability message to UE#1; in step 301-c, UE#2-3 can transmit a capability message to UE#1.

[0087] The corresponding capability message can indicate the SL positioning capability information of the corresponding second UE. The definition of the SL positioning capability information provided above with respect to Figure 2 can also be applied here.

[0088] In some embodiments, the corresponding capability message may further include at least one of the following: the ID of the corresponding second UE; the ID of the first UE; the ID of the SLPP transaction within the SLPP session; or the ID of the SLPP session.

[0089] In some embodiments, the second UE can trigger the transmission of the corresponding capability message in response to at least one of the following: the second UE receives an indication from an upper layer (e.g., the application layer) indicating the establishment of an SLPP session or the establishment of a group; or the second UE joins an SLPP session or group.

[0090] In some embodiments, the corresponding capability message can be transmitted via a discovery message associated with the discovery procedure between the first UE and the corresponding second UE. That is, the information contained in the corresponding capability message can be included in the discovery message transmitted from the corresponding second UE to the first UE.

[0091] Therefore, the first UE can receive one or more capability messages from one or more second UEs.

[0092] Figure 4 and 5 illustrates an exemplary secondary data transfer procedure according to some embodiments of the present application.

[0093] Figure 4 and 5 The methods in the examples of Figure 4 and 5depicts three second UEs, but consider that in Figure 4 and 5 any number of second UEs may be involved in the procedures illustrated. Although the method is illustrated by four UEs at the system level, those skilled in the art will understand that the methods implemented in the first UE and in the three second UEs can be implemented separately and incorporated by other devices with similar functionality.

[0094] Before the steps shown in Figure 4 and 5 a first UE (e.g., UE#1) and one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3) may establish an SLPP session among them. That is, the first UE may establish an SLPP session with one or more second UEs, or any second UE among the one or more second UEs may establish an SLPP session with the first UE and other second UEs among the one or more second UEs. In other words, in the case where an SLPP session has been established among the first UE and the one or more second UEs, the procedures illustrated in Figure 4 and 5 may occur. That is, the first UE and the one or more second UEs are in a group and in an established SLPP session.

[0095] Figure 4 illustrates a request-based auxiliary data transfer procedure (also referred to as an SLPP transaction for auxiliary data transfer in an SLPP session).

[0096] In step 401, at least one second UE (e.g., UE#2-1 and UE#2-2) among one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3) may transmit (e.g., multicast or unicast) at least one auxiliary data request message requesting configuration of a positioning method to the first UE, where each second UE among the at least one second UE may transmit a corresponding auxiliary data request message to the first UE. For example, the positioning method may refer to: a round-trip time (RTT) type solution using SL, SL angle of arrival (AoA), SL time difference of arrival (TDOA), SL angle of departure (AoD), etc. The second UE may support one or more positioning methods.

[0097] For example, in step 401-a, UE#2-1 may transmit (e.g., multicast or unicast) an auxiliary data request message requesting configuration of the positioning method supported by UE#2-1 to the first UE. In step 401-b, UE#2-2 may transmit (e.g., multicast or unicast) an auxiliary data request message requesting configuration of the positioning method supported by UE#2-2 to the first UE. <{

[0098] In some embodiments, the second UE may trigger the transmission of an auxiliary data request message in response to the completion of an SLPP transaction for capability transfer in an SLPP session (e.g., Figure 2 or the procedures illustrated in 3).

[0099] Thus, in step 401, the first UE may receive at least one auxiliary data request message from at least one second UE.

[0100] In response to receiving at least one auxiliary data request message, in step 402, the first UE (e.g., UE#1) may multicast an auxiliary data message containing one or more sets of auxiliary data to one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3). Each set of auxiliary data may indicate a corresponding configuration of a corresponding positioning method.

[0101] In some embodiments, the first UE may generate one or more sets of auxiliary data based on at least one auxiliary data request message. For example, the one or more sets of auxiliary data may indicate the configuration of the positioning method requested by at least one auxiliary data request message, where each set of auxiliary data may indicate the corresponding configuration of the corresponding positioning method requested by at least one auxiliary data request message.

[0102] In some cases, each set of auxiliary data contains the same SLPP transaction ID and is associated with (e.g., contains) the ID to distinguish each set of auxiliary data in the same SLPP transaction.

[0103] Thus, in step 402, each of the one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3) may receive one or more sets of auxiliary data.

[0104] As an example, in step 403, the second UE may determine at least one set of auxiliary data suitable for (or usable by) the second UE or matching the auxiliary data request message transmitted by the second UE from the one or more sets of auxiliary data. For example, the at least one set of auxiliary data determined by the second UE may indicate the configuration of the positioning method supported by the second UE. Although Figure 4 only UE#2-1 and UE#2-2 that transmitted the auxiliary data request message in step 401 are shown performing step 403, consider that in some cases, a second UE that did not transmit the auxiliary data request message in step 401 may also determine at least one set of auxiliary data suitable for the second UE from the one or more sets of auxiliary data.

[0105] As another example, if a second UE (e.g., UE#2-3) that does not transmit an auxiliary data request message in step 401 is unable to determine a suitable set of auxiliary data from one or more sets of auxiliary data, in other words, the one or more sets of auxiliary data are not suitable for (or not available to) the second UE, then in step 403', the second UE may indicate the one or more sets of auxiliary data to an upper layer (e.g., application layer), and the upper layer may determine to use at least one set of auxiliary data from the one or more sets of auxiliary data.

[0106] As yet another example, if one or more sets of auxiliary data are not suitable for (or not available to) a second UE (e.g., UE#2-3), then in step 403'', the second UE may transmit (e.g., unicast or multicast) an indication to the first UE. The indication may indicate that the one or more sets of auxiliary data are not suitable for the second UE, or include an additional auxiliary data request message for requesting a configuration of a positioning method for the second UE.

[0107] After receiving the indication, in some embodiments, in step 404, the first UE may multicast an additional auxiliary data message including one or more sets of additional auxiliary data to the second UE. In the case where the indication includes an additional auxiliary data request message for requesting a configuration of a positioning method for the second UE, each set of additional auxiliary data may indicate a corresponding configuration of the corresponding positioning method requested by the additional auxiliary data request message. In some other embodiments, in step 404, the first UE may transmit (e.g., multicast or unicast) an indication indicating that no new auxiliary data can be provided to the second UE.

[0108] In the case of receiving the additional auxiliary data message, the second UE may determine at least one set of auxiliary data suitable for (or available to) the second UE from the one or more sets of additional auxiliary data.

[0109] Figure 5 The figure illustrates an auxiliary data transmission procedure, where a first UE directly provides auxiliary data to one or more second UEs without receiving any requests from the one or more second UEs.

[0110] In step 501, a first UE (e.g., UE#1) may multicast an auxiliary data message including one or more sets of auxiliary data to one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3) without receiving any requests from the one or more second UEs. Each set of auxiliary data may indicate a corresponding configuration of a corresponding positioning method. Each set of auxiliary data may include the same SLPP transaction ID and may be associated with (e.g., include) an ID to distinguish different sets of auxiliary data in the same SLPP transaction.

[0111] In some embodiments, a first UE may generate one or more sets of assistance data based on one or more capability messages from one or more second UEs (e.g., received in any of steps 202-a, 202-b, 202-c, 301-a, 301-b, and 301-c). For example, the one or more capability messages may indicate positioning methods supported by the one or more second UEs. The one or more sets of assistance data may indicate configurations of the positioning methods indicated by the one or more capability messages, where each set of assistance data may indicate a corresponding configuration of a corresponding positioning method indicated by the one or more capability messages.

[0112] In some embodiments, the first UE may trigger the transmission of the one or more sets of assistance data in response to receiving capability messages from all of the one or more second UEs or in response to the completion of an SLPP transaction for capability transfer in an SLPP session ( Figure 2 or the procedure illustrated in 3).

[0113] In Figure 5 some embodiments, the configurations of the positioning methods indicated by the one or more sets of assistance data may not be supported by all of the one or more second UEs. In other words, the one or more sets of assistance data may not be suitable for at least one of the one or more second UEs. In such embodiments, at step 502, the first UE may multicast an additional assistance message to the one or more second UEs that includes the one or more additional sets of assistance data. For example, the first UE may multicast the additional assistance message in response to at least one indication received from at least one second UE, where each indication may indicate that the one or more sets of assistance data are not suitable for the corresponding second UE, or includes an additional assistance data request message for requesting a configuration of a positioning method for the corresponding second UE. In some other embodiments, the first UE may transmit (e.g., multicast or unicast) an indication to at least one second UE indicating that no new assistance data is available to be provided to the at least one second UE.

[0114] In the case of receiving the additional assistance data message, the at least one second UE may determine, from the one or more additional sets of assistance data, at least one set of assistance data that is suitable for (or available to) the at least one second UE.

[0115] Figure 6 Illustrates an exemplary positioning calculation procedure according to some embodiments of the present application.

[0116] Figure 6The method illustrated herein may be performed by a first UE (e.g., UE#1) and one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3). The first UE may refer to the initiating UE that triggers the procedure, such as a group leader, a server UE, an anchor UE, an SL reference UE, or an SL positioning client UE. The initiating UE may be determined by an upper layer (e.g., an application layer). Each second UE may refer to a target UE whose position (or location) needs to be calculated or is known. Although three second UEs are depicted in Figure 6 for illustrative purposes, consider that any number of second UEs may be involved in the procedure illustrated in Figure 6 . Although the method is illustrated by four UEs at the system level, those skilled in the art will understand that the methods implemented in the first UE and in the three second UEs may be implemented separately and may be incorporated by other devices with similar functions.

[0117] Prior to the steps shown in Figure 6 , a first UE (e.g., UE#1) and one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3) may establish an SLPP session among them. That is, the first UE may establish an SLPP session with one or more second UEs, or any second UE among the one or more second UEs may establish an SLPP session with the first UE and other second UEs among the one or more second UEs. In other words, in a situation where an SLPP session has been established among the first UE and the one or more second UEs, the procedure illustrated in Figure 6 may occur. That is, the first UE and the one or more second UEs are in a group and in an established SLPP session.

[0118] Referring to Figure 6 , in step 601, a first UE (e.g., UE#1) may multicast or broadcast one or more sets of SL-PRSs to one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3). The one or more sets of SL-PRSs may be transmitted according to one or more sets of auxiliary data (and in some cases one or more sets of additional auxiliary data) (e.g., transmitted in any of steps 402, 404, 501, and 502). For example, each set of SL-PRSs may be transmitted according to a corresponding set of auxiliary data.

[0119] In step 602, each of one or more second UEs (e.g., UE#2-1, UE#2-2, and UE#2-3) may measure the SL-PRS according to the configuration of a positioning method in one or more sets of auxiliary data suitable for the corresponding second UE. For example, the one or more sets of auxiliary data suitable for the second UE may be determined (e.g., in step 403) from one or more sets of auxiliary data (and in some cases one or more sets of additional auxiliary data). In step 602, each second UE may also calculate the position (or ranging) of the corresponding second UE based on the SL-PRS measurement result and one or more sets of auxiliary data suitable for the corresponding second UE.

[0120] After the second UE completes the SL-PRS measurement or position calculation (or ranging calculation), in step 603, the second UE may transmit an indication to the first UE indicating the completion of the SL-PRS measurement or position calculation (or ranging calculation). In Figure 6 the example of, UE#2-1 and UE#2-2 may transmit the indication to the first UE respectively.

[0121] In some embodiments, the indication may be transmitted within a certain time period after the start of the transmission of one or more sets of SL-PRS. As an example, the time period may be configured by the first UE. For example, the time period may be included in at least one of the following: the auxiliary data message, the additional auxiliary data message, one or more sets of auxiliary data, or one or more sets of additional auxiliary data as described above. As another example, the time period may be inferred from the positioning service QoS requirements for the positioning request associated with the SLPP session. As yet another example, the time period may be pre-configured or pre-defined.

[0122] For a second UE (e.g., UE#2-3) that fails to transmit an indication indicating the completion of the SL-PRS measurement or position calculation (or ranging calculation) within the time period, i.e., the first UE does not receive an indication indicating the completion of the SL-PRS measurement or position calculation from the second UE within the time period, the first UE may determine that the positioning of the second UE fails.

[0123] In some embodiments of the present application, step 603 may not be performed. That is, each second UE does not indicate to the first UE the completion of SL-PRS measurement or position calculation (or ranging calculation). In such embodiments, the first UE may transmit (e.g., multicast) an indication indicating the end time of the transmission of one or more sets of SL-PRS. For example, the end time of the transmission of one or more sets of SL-PRS may be included in at least one of the following: the auxiliary data message, the additional auxiliary data message, one or more sets of auxiliary data, or one or more sets of additional auxiliary data as described above. Then, each second UE may autonomously stop measuring SL-PRS at the end time.

[0124] According to some embodiments of the present application, the first UE may determine the SLPP session to be terminated in response to at least one of the following:

[0125] · The stop of the transmission of one or more sets of SL-PRS;

[0126] · Receiving an indication from all one or more second UEs indicating the completion of SL-PRS measurement or position calculation (or ranging calculation); or

[0127] · Determining that all one or more second UEs have completed SL-PRS measurement or position calculation (or ranging calculation), which may include the case where the first UE receives at least one indication from at least one of the one or more second UEs indicating the completion of SL-PRS measurement or position calculation (or ranging calculation) and determines that the other UEs among the one or more second UEs have positioning failures, or the case where the first UE determines that all one or more second UEs have positioning failures.

[0128] According to some embodiments of the present application, a second UE among the one or more second UEs may determine the SLPP session to be terminated in response to the stop of the transmission of one or more sets of SL-PRS.

[0129] Figure 7 Illustrates an exemplary procedure for group change according to some embodiments of the present application.

[0130] Figure 7The method illustrated in may be performed by a first UE (e.g., UE#1), one or more second UEs (UE#2-1 and UE#2-2), and a third UE (e.g., UE#3). The first UE may refer to the initiating UE that triggers the procedure, such as a group leader, a server UE, an anchor UE, an SL reference UE, or an SL positioning client UE. The initiating UE may be determined by an upper layer (e.g., an application layer). Each second UE may refer to a target UE whose position (or location) needs to be calculated or is known. The third UE may refer to a new target UE that joins an ongoing SLPP session in a group that includes the first UE and one or more second UEs or that includes the first UE and one or more second UEs. Although two second UEs and one third UE are depicted in for illustrative purposes, consider that Figure 7 any number of second UEs and third UEs may be included in Figure 7 . Figure 7 The operations performed by the third UE shown in may also apply to other third UEs. Although the method is illustrated by four UEs at the system level, those skilled in the art will understand that the method implemented in the first UE, the method implemented in the two second UEs, and the method implemented in the third UE may be implemented separately and incorporated by other devices having similar functions.

[0131] Before the steps shown in Figure 7 , the first UE (e.g., UE#1) and one or more second UEs (e.g., UE#2-1 and UE#2-2) may establish an SLPP session among them. That is, the first UE may establish an SLPP session with one or more second UEs, or any second UE among the one or more second UEs may establish an SLPP session with other second UEs among the first UE and the one or more second UEs. In other words, in a situation where an SLPP session has been established among the first UE and one or more second UEs, the procedure illustrated in Figure 7 may occur. That is, the first UE and one or more second UEs are in a group and in an established SLPP session.

[0132] Referring to Figure 7 , in step 701, the first UE (e.g., UE#1) and one or more second UEs (e.g., UE#2-1 and UE#2-2) may have an ongoing positioning procedure in the SLPP session.

[0133] The third UE (e.g., UE#3) may join the SLPP session (or group). After the third UE joins the SLPP session (or group), in step 702, the third UE may multicast or unicast a capability message to the first UE. The capability message may include the ID of the third UE. Additionally, regarding Figure 2 and 3The definition of the described capability message can also be applied here.

[0134] In response to receiving the capability message, the first UE can determine that the capability message is from a new UE based on the ID included in the capability message. Then, in step 703, the first UE can multicast or unicast auxiliary data associated with the SLPP session to the third UE. For example, the auxiliary data can include one or more sets of auxiliary data (and in some cases one or more sets of additional auxiliary data), as described regarding Figure 4 and 5 as described.

[0135] After receiving the auxiliary data associated with the SLPP session, the third UE can determine whether the auxiliary data is suitable for the third UE (e.g., whether it is suitable for the SL positioning capability of the third UE) and the positioning service QoS requirements.

[0136] In the case where the auxiliary data is suitable for the third UE, in step 704, the third UE can measure the SL-PRS according to the auxiliary data and calculate the position (or ranging) of the third UE based on the SL-PRS measurement result and the auxiliary data.

[0137] In the case where the auxiliary data is not suitable for the third UE, in step 705, the third UE can transmit an indication to the first UE, where the indication can indicate that the auxiliary data is not suitable or request new auxiliary data. In response to receiving the indication, in step 706, the first UE can multicast or unicast new auxiliary data to the third UE. For example, the new auxiliary data can indicate the configuration of the positioning method supported by the third UE.

[0138] In some other embodiments of the present application, step 702 may not be performed. After the third UE joins the SLPP session, the first UE can multicast or unicast auxiliary data associated with the SLPP session to the third UE. In such embodiments, after receiving the auxiliary data associated with the SLPP session, the third UE can determine whether the auxiliary data is suitable for the third UE and the positioning service QoS requirements.

[0139] In the case where the auxiliary data is suitable for the third UE, in step 704, the third UE can measure the SL-PRS according to the auxiliary data and calculate the position (or ranging) of the third UE based on the SL-PRS measurement result and the auxiliary data.

[0140] In a scenario where the auxiliary data is not suitable for the third UE, in step 705, the third UE may transmit an indication to the first UE, where the indication may indicate that the auxiliary data is not suitable. Alternatively or additionally, the third UE may transmit a capability message or an auxiliary data request message to the first UE. In response, in step 706, the first UE may multicast or unicast new auxiliary data to the third UE. For example, the new auxiliary data may indicate a configuration of a positioning method supported by the third UE.

[0141] Figure 8 FIG. illustrates a simplified block diagram of an exemplary apparatus 800 for SL positioning in accordance with some embodiments of the present application. In some embodiments, apparatus 800 may be or include at least a portion of a UE (e.g., an initiator UE or a target UE as described above).

[0142] Reference Figure 8 , apparatus 800 may include at least one transceiver 802 and at least one processor 806. At least one transceiver 802 is coupled to at least one processor 806.

[0143] Although in this figure, elements such as transceiver 802 and processor 806 are illustrated in singular form, plural forms are also contemplated unless explicitly limited to the singular form. In some embodiments of the present application, transceiver 802 may be divided into two devices, such as a receiving circuitry (or receiver) and a transmitting circuitry (or transmitter). In some embodiments of the present application, apparatus 800 may further include an input device, a memory, and / or other components. Transceiver 802 and processor 806 may be configured to perform any of the methods described herein (e.g., methods described with respect to Figures 2 to 7 the methods described or other methods described in embodiments of the present application).

[0144] According to some embodiments of the present application, apparatus 800 may be an initiator UE, and transceiver 802 and processor 806 may be configured to perform the operations of an initiator UE in any of the methods described with respect to Figures 2 to 7 the methods described or other methods described in embodiments of the present application. For example, processor 806 is configured to: establish an SLPP session with a plurality of target UEs; and receive, using transceiver 802, a plurality of capability messages from the plurality of target UEs, where each of the plurality of capability messages indicates SL positioning capability information of a corresponding target UE among the plurality of target UEs.

[0145] According to some embodiments of the present application, apparatus 800 may be a target UE, and transceiver 802 and processor 806 may be configured to perform the operations of a target UE in any of the methods described with respect to Figures 2 to 7Perform operations of the target UE in any of the described methods or other methods described in embodiments of the present application. For example, the processor 806 is configured to: establish an SLPP session with the initiator UE and one or more other target UEs; and multicast or unicast a capability message to the initiator UE using the transceiver 802, where the capability message indicates SL positioning capability information of the target UE.

[0146] In some embodiments of the present application, the device 800 may further include at least one non-transitory computer-readable medium. In some embodiments of the present disclosure, the non-transitory computer-readable medium may store computer-executable instructions to cause the processor 806 to implement any of the methods described above. For example, when executed, the computer-executable instructions may cause the processor 806 to interact with the transceiver **********, so as to perform operations of methods such as the method described in Figures 2 to 7 the described method or other methods described in embodiments of the present application.

[0147] The method according to any of the embodiments of the present application may also be implemented on a programmed processor. However, the controller, flowchart, and module may also be implemented on a general-purpose or special-purpose computer, a programmed microprocessor or microcontroller, and peripheral integrated circuit elements, integrated circuits, hardware electronic or logic circuits (such as discrete element circuits, programmable logic devices), and so on. Generally, any device on which a finite state machine capable of implementing the flowchart shown in the figure is resident can be used to implement the processor function of the present application. For example, embodiments of the present application provide a device for SL positioning, including a processor and a memory. Computer programmable instructions for implementing the method for SL positioning are stored in the memory, and the processor is configured to execute the computer programmable instructions to implement the method for SL positioning. The method for SL positioning may be any method described in the present application.

[0148] Alternative embodiments preferably implement the method according to the embodiments of the present application in a non-transitory computer-readable storage medium storing computer programmable instructions. The instructions are preferably executed by a computer-executable component preferably integrated with a network security system. The non-transitory computer-readable storage medium may be stored on any suitable computer-readable medium, such as RAM, ROM, flash memory, EEPROM, optical storage device (CD or DVD), hard disk drive, floppy disk drive, or any suitable device. The computer-executable component is preferably a processor, but the instructions may alternatively or additionally be executed by any suitable dedicated hardware device. For example, embodiments of the present application provide a non-transitory computer-readable storage medium storing computer programmable instructions. The computer programmable instructions are configured to implement the method for SL positioning according to any embodiment of the present application.

[0149] Although the present application has been described in terms of its specific embodiments, it will be apparent that numerous alternatives, modifications, and variations are apparent to those skilled in the art. For example, the various components of the embodiments may be interchanged, added, or replaced in other embodiments. In addition, not all elements of each figure are necessary for the operation of the disclosed embodiments. For example, those skilled in the art of the disclosed embodiments will be able to make and use the teachings of the present application by simply adopting the elements of the independent technical solutions. Accordingly, the embodiments of the present application as set forth herein are intended to be illustrative and not limiting. Various changes may be made without departing from the spirit and scope of the present application.

[0150] In this disclosure, relational terms such as "first," "second," and the like may be used solely to distinguish one entity or action from another entity or action, and do not necessarily require or imply any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "a," "an," etc. does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element. Further, the term "another" is defined as at least a second or more. As used herein, the terms "including," "having," etc. are defined as "comprising."

Claims

1. A second user equipment (UE), comprising: A transceiver; And A processor, coupled to the transceiver and configured to: Establish a sidelink (SL) positioning protocol (SLPP) session with a first UE and one or more other second UEs; and Use the transceiver to multicast or unicast a capability message to the first UE, wherein the capability message indicates SL positioning capability information of the second UE.

2. The second UE according to claim 1, wherein the capability message includes at least one of the following: The identity ID of the second UE; The ID of the first UE; The ID of an SLPP transaction within the SLPP session; or The ID of the SLPP session.

3. The second UE according to claim 1, wherein the processor is further configured to use the transceiver to receive a capability request message multicast from the first UE for requesting the SL positioning capability information, and the capability request message includes at least one of the following: The ID of the first UE; The ID of an SLPP transaction within the SLPP session; The ID of the SLPP session; or The response time at which the second UE is required to respond with the SL positioning capability information.

4. The second UE according to claim 1, wherein the processor is further configured to trigger transmission of the capability message in response to at least one of the following: Receiving, from an upper layer, an indication indicating establishment of the SLPP session or establishment of a group including the first UE and the second UE; or Joining the SLPP session or the group; or Wherein the capability message is transmitted via a discovery message associated with a discovery procedure between the first UE and the second UE.

5. The second UE according to claim 1, wherein the processor is further configured to: Use the transceiver to receive an auxiliary data message multicast from the first UE, including one or more sets of auxiliary data, wherein each set of auxiliary data indicates a corresponding configuration of a corresponding positioning method.

6. The second UE according to claim 5, wherein the processor is further configured to: Use the transceiver and transmit an auxiliary data request message to the first UE for requesting a configuration of a positioning method.

7. The second UE according to claim 6, wherein the processor is further configured to trigger transmission of the auxiliary data request message in response to completion of an SLPP transaction for capability transfer in the SLPP session.

8. The second UE according to claim 6, wherein the processor is further configured to determine, from the one or more sets of auxiliary data, at least one set of auxiliary data suitable for the second UE or matching the auxiliary data request message transmitted by the second UE.

9. The second UE according to claim 5, wherein in a case where the one or more sets of auxiliary data are not suitable for the second UE, the processor is further configured to: Indicate the one or more sets of auxiliary data to an upper layer to determine use of at least one set of the one or more sets of auxiliary data; or Transmit an indication to the first UE by using the transceiver, where the indication indicates that the one or more sets of auxiliary data are not suitable for the second UE, or includes an auxiliary data request message for requesting a configuration of a positioning method for the second UE.

10. The second UE according to claim 9, wherein the processor is further configured to: Receive, by using the transceiver, an add auxiliary data message including one or more sets of additional auxiliary data multicast from the first UE, or an indication indicating that no new auxiliary data can be provided to the second UE.

11. The second UE according to claim 5, wherein the processor is further configured to: Receive, by using the transceiver, one or more sets of sidelink positioning reference signals (SL-PRS) multicast or broadcast from the first UE according to the one or more sets of auxiliary data; and Measure the SL-PRS according to a configuration of a positioning method in one or several sets of auxiliary data suitable for the second UE, and calculate a position of the second UE according to the SL-PRS measurement result and the one or several sets of auxiliary data suitable for the second UE.

12. The second UE according to claim 11, wherein the processor is further configured to: Transmit an indication to the first UE by using the transceiver within a certain time period after the start of transmission of the one or more sets of SL-PRS; wherein the indication indicates the completion of the SL-PRS measurement or the position calculation of the second UE; and wherein the time period is configured by the first UE or inferred from positioning service quality of service (QoS) requirements, or is pre-configured or pre-defined.

13. The second UE according to claim 11, wherein the processor is further configured to receive, by using the transceiver, an indication indicating an end time of transmission of the one or more sets of SL-PRS, and stop measuring the SL-PRS at the end time.

14. The second UE according to claim 1, wherein establishing the SLPP session with the first UE and the one or more other second UEs includes joining a previously established SLPP session between the first UE and the one or more other second UEs, the capability message includes an ID of the second UE, and the processor is further configured to: In response to the capability message, receive, by using the transceiver, auxiliary data associated with the previously established SLPP session multicast or unicast from the first UE.

15. A method performed by a second user equipment (UE), comprising: Establish a sidelink (SL) positioning protocol (SLPP) session with a first UE and one or more other second UEs; and Multicast or unicast a capability message to the first UE, where the capability message indicates SL positioning capability information of the second UE.

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