Wireless communication method and terminal equipment

Abstract

The invention provides a wireless communication method and terminal equipment. The method comprises the following steps: a first terminal device transmits a first SL PRS in a first time slot; wherein the first time slot comprises a second order SCI, and the second order SCI comprises the transmission configuration information of the first SL PRS. In the embodiments of the present invention, a first terminal device transmits a first SL PRS in a first time slot, and at the same time, the first terminal device bears transmission configuration information of the first SL PRS by using a second-order SCI in the first time slot, thereby facilitating other terminal devices to correctly receive the first SL PRS.

Description

Wireless communication method and terminal device Technical Field

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

[0002] In sidelink-based positioning technology, terminal devices need to transmit a sidelink positioning reference signal (SLPRS) to achieve positioning. The SLPRS sent by different terminal devices may differ in time, frequency, and code domains. Therefore, ensuring that other terminal devices correctly receive the SLPRS is a problem that needs to be studied.

[0003] Summary of the Invention

[0004] The present application provides a wireless communication method and terminal device. The following introduces various aspects involved in the present application.

[0005] In a first aspect, a method for wireless communication is provided, comprising: a first terminal device transmitting a first SL PRS in a first time slot; wherein the first time slot includes a second-order SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

[0006] In a second aspect, a method for wireless communication is provided, including: a second terminal device receives a first SL PRS in a first time slot; wherein the first time slot includes a second-order SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

[0007] According to a third aspect, a terminal device is provided, which is a first terminal device, and the first terminal device includes: a communication module for transmitting a first SL PRS in a first time slot; wherein the first time slot includes a second-order SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

[0008] In a fourth aspect, a terminal device is provided, which is a second terminal device, and the second terminal device includes: a communication module for receiving a first SL PRS in a first time slot; wherein the first time slot includes a second-order SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

[0009] In a fifth aspect, a terminal device is provided, comprising a transceiver, a memory and a processor, wherein the memory is used to store programs, and the processor is used to call the programs in the memory and control the transceiver to receive or send signals so that the terminal device executes the method described in the first aspect or the second aspect.

[0010] In a sixth aspect, a device is provided, comprising a processor for calling a program from a memory so that the device executes the method described in the first aspect or the second aspect.

[0011] In a seventh aspect, a chip is provided, comprising a processor for calling a program from a memory so that a device equipped with the chip executes the method described in the first aspect or the second aspect.

[0012] In an eighth aspect, a computer-readable storage medium is provided, on which a program is stored, wherein the program enables a computer to execute the method as described in the first aspect or the second aspect.

[0013] In a ninth aspect, a computer program product is provided, comprising a program, wherein the program enables a computer to execute the method as described in the first aspect or the second aspect.

[0014] In a tenth aspect, a computer program is provided, which enables a computer to execute the method as described in the first aspect or the second aspect.

[0015] In an embodiment of the present application, the first terminal device transmits the first SL PRS in the first time slot. At the same time, the first terminal device uses the second-order SCI in the first time slot to carry the transmission configuration information of the first SL PRS, thereby helping other terminal devices to correctly receive the first SL PRS. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG1 is a diagram illustrating an example of a system architecture of a wireless communication system to which an embodiment of the present application may be applied.

[0017] FIG2 is an example diagram of a side communication scenario within network coverage.

[0018] FIG3 is an example diagram of a side communication scenario with partial network coverage.

[0019] FIG4 is an example diagram of a side communication scenario outside network coverage.

[0020] FIG5 is a diagram showing an example of a side communication scenario based on a central control node.

[0021] FIG6 is an example diagram of a sideline communication method based on broadcasting.

[0022] FIG7 is an example diagram of a unicast-based sideline communication method.

[0023] FIG8 is an example diagram of a side communication method based on multicast.

[0024] FIG. 9A is a diagram showing an example of a time slot structure used by a sideline communication system.

[0025] FIG. 9B is another diagram illustrating an example of a time slot structure used by the sideline communication system.

[0026] FIG10 is a schematic diagram of a possible structure of SCI format 2-C.

[0027] FIG. 11 is a schematic diagram of another possible structure of SCI format 2-C.

[0028] FIG12 is a flow chart of a wireless communication method according to an embodiment of the present application.

[0029] FIG13 is a comparison diagram of the SCI format 2-C provided in one embodiment of the present application and the SCI format 2-C shown in FIG11 .

[0030] FIG14 is a comparison diagram of the SCI format 2-C provided in another embodiment of the present application and the SCI format 2-C shown in FIG11 .

[0031] FIG15 is a schematic structural diagram of a terminal device provided in one embodiment of the present application.

[0032] FIG16 is a schematic structural diagram of a terminal device provided in another embodiment of the present application.

[0033] FIG17 is a schematic diagram of the structure of the device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] Communication system architecture

[0035] FIG1 is a diagram illustrating an exemplary system architecture of a wireless communication system 100 to which embodiments of the present application may be applied. The wireless communication system 100 may include a network device 110 and a terminal device 120. The network device 110 may be a device that communicates with the terminal device 120. The network device 110 may provide communication coverage for a specific geographic area and may communicate with the terminal device 120 within the coverage area.

[0036] FIG1 exemplarily shows a network device and a terminal device. Optionally, the wireless communication system 100 may include one or more network devices 110 and / or one or more terminal devices 120. For a network device 110, the one or more terminal devices 120 may all be located within the network coverage of the network device 110, or all be located outside the network coverage of the network device 110, or some may be located within the coverage of the network device 110 and others outside the network coverage of the network device 110. This is not limited in the embodiments of the present application.

[0037] Optionally, the wireless communication system 100 may further include other network entities such as a network controller and a mobility management entity, which is not limited in the embodiment of the present application.

[0038] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: fifth generation (5G) system or new radio (NR), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), etc. The technical solutions provided in this application can also be applied to future communication systems, such as the sixth generation mobile communication system, satellite communication system, etc.

[0039] The terminal device in the embodiment of the present application may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal device, mobile device, user terminal, wireless communication device, user agent or user device. The terminal device in the embodiment of the present application may be a device that provides voice and / or data connectivity to a user, and can be used to connect people, objects and machines, such as a handheld device with wireless connection function, a vehicle-mounted device, etc. The terminal device in the embodiment of the present application may be a mobile phone, a tablet computer (Pad), a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a vehicle, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. For example, a terminal device can act as a dispatching entity, providing sidelink signals between terminal devices in vehicle-to-everything (V2X) or device-to-device (D2D) communications. For example, a cell phone and a car can communicate with each other using sidelink signals. A cell phone and a smart home device can also communicate without relaying the communication signal through a base station. Alternatively, the terminal device can be used to act as a base station.

[0040] The network device in the embodiments of the present application may be a device for communicating with a terminal device, and may also be referred to as an access network device or a radio access network device. For example, the network device may be a base station. The network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. A base station may broadly cover various names as follows, or be replaced with the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point (TP), master station MeNB, secondary station SeNB, multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. A base station may be a macro base station, a micro base station, a relay node, a donor node, or the like, or a combination thereof. A base station may also refer to a communication module, modem, or chip used to be set in the aforementioned device or apparatus. A base station may also be a mobile switching center and a device that performs base station functions in device-to-device D2D, V2X, or machine-to-machine (M2M) communications, a network-side device in a 6G network, or a device that performs base station functions in future communication systems. A base station may support networks with the same or different access technologies. The embodiments of this application do not limit the specific technology and specific device form used by network devices.

[0041] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move based on the location of the mobile base station. In other examples, a helicopter or drone can be configured to act as a device that communicates with another base station.

[0042] In some deployments, the network device in the embodiments of the present application may refer to a CU or a DU, or the network device may include a CU and a DU. The gNB may also include an AAU.

[0043] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on the water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0044] Sideline communication under different network coverage conditions

[0045] Sidelink communication refers to a communication technology based on a sidelink. Sidelink communication can be, for example, device-to-device (D2D) or vehicle-to-everything (V2X) communication. In traditional cellular systems, communication data is received or sent between terminal devices and network devices, while sidelink communication supports direct communication and data transmission between terminal devices. Compared with traditional cellular communication, direct communication data transmission between terminal devices can have higher spectrum efficiency and lower transmission latency. For example, the vehicle networking system adopts sidelink communication technology.

[0046] In side communication, according to the network coverage of the terminal device, the side communication can be divided into side communication within the network coverage, side communication with partial network coverage, and side communication outside the network coverage.

[0047] Figure 2 illustrates an example scenario for sidelink communication within network coverage. In the scenario shown in Figure 2, both terminal devices 120a are within the coverage of network device 110. Therefore, both terminal devices 120a can receive configuration signaling from network device 110 (configuration signaling in this application can also be replaced by configuration information) and determine the sidelink configuration based on the configuration signaling from network device 110. After both terminal devices 120a have configured their sidelinks, sidelink communication can proceed on the sidelink.

[0048] Figure 3 is an example diagram of a sidelink communication scenario with partial network coverage. In the scenario shown in Figure 3, terminal device 120a performs sidelink communication with terminal device 120b. Terminal device 120a is located within the coverage range of network device 110, so terminal device 120a can receive the configuration signaling of network device 110 and determine the sidelink configuration based on the configuration signaling of network device 110. Terminal device 120b is located outside the network coverage and cannot receive the configuration signaling of network device 110. In this case, terminal device 120b can determine the sidelink configuration based on pre-configuration information and / or information carried in the physical sidelink broadcast channel (PSBCH) sent by terminal device 120a within the network coverage. After both terminal device 120a and terminal device 120b perform sidelink configuration, sidelink communication can be performed on the sidelink.

[0049] Figure 4 illustrates an example scenario for sidelink communication outside of network coverage. In the scenario shown in Figure 4, both terminal devices 120b are outside of network coverage. In this scenario, both terminal devices 120b can determine the sidelink configuration based on pre-configured information. After both terminal devices 120b have configured their sidelinks, sidelink communication can proceed over the sidelink.

[0050] Sideline communication based on central control node

[0051] Figure 5 is an example diagram of a sideline communication scenario based on a central control node. In this sideline communication scenario, multiple terminal devices can form a communication group, and the communication group has a central control node. The central control node can be a terminal device in the communication group (such as terminal device 1 in Figure 5), and the terminal device can also be called a cluster head (CH) terminal device. The central control node can be responsible for completing one or more of the following functions: establishing a communication group, joining and leaving group members of the communication group, coordinating resources within the communication group, allocating sideline transmission resources to other terminal devices, receiving sideline feedback information from other terminal devices, and coordinating resources with other communication groups.

[0052] Sideline communication mode

[0053] Some standards or protocols (such as the 3rd Generation Partnership Project (3GPP)) define two sideline communication modes: a first mode and a second mode.

[0054] In the first mode, the resources of the terminal device (the resources mentioned in this application may also be referred to as transmission resources, such as time-frequency resources) are allocated by the network device. The terminal device can send data on the side link according to the resources allocated by the network device. The network device can allocate resources for a single transmission to the terminal device, or it can allocate resources for semi-static transmission to the terminal device. This first mode can be applied to scenarios covered by a network device, such as the scenario shown in Figure 2 above. In the scenario shown in Figure 2, the terminal device 120a is within the network coverage of the network device 110, so the network device 110 can allocate resources used in the side transmission process to the terminal device 120a.

[0055] In the second mode, the terminal device can autonomously select one or more resources from a resource pool (RP). The terminal device can then perform side transmission based on the selected resources. For example, in the scenario shown in FIG4 , the terminal device 120b is located outside the cell coverage area. Therefore, the terminal device 120b can autonomously select resources from a pre-configured resource pool for side transmission. Alternatively, in the scenario shown in FIG2 , the terminal device 120a can also autonomously select one or more resources from a resource pool configured by the network device 110 for side transmission.

[0056] Data transmission method of side communication

[0057] Some sidewalk communication systems (such as long-term evolution vehicle to everything (LTE-V2X)) support broadcast-based data transmission (hereinafter referred to as broadcast transmission). For broadcast transmission, the receiving terminal can be any terminal device around the transmitting terminal. Taking Figure 6 as an example, terminal device 1 is the transmitting terminal, and the receiving terminal corresponding to the transmitting terminal is any terminal device around terminal device 1, for example, terminal device 2 to terminal device 6 in Figure 6.

[0058] In addition to broadcast transmission, some communication systems also support unicast-based data transmission (hereinafter referred to as unicast transmission) and / or multicast-based data transmission (hereinafter referred to as multicast transmission). For example, the new radio vehicle to everything (NR-V2X) hopes to support autonomous driving. Autonomous driving places higher requirements on data interaction between vehicles. For example, data interaction between vehicles requires higher throughput, lower latency, higher reliability, larger coverage, more flexible resource allocation, etc. Therefore, in order to improve the performance of data interaction between vehicles, NR-V2X introduces unicast transmission and multicast transmission.

[0059] For unicast transmission, there is typically only one receiving terminal. For example, in Figure 7, unicast transmission occurs between terminal devices 1 and 2. Terminal device 1 can be the sending terminal, and terminal device 2 can be the receiving terminal, or vice versa.

[0060] For multicast transmission, the receiving terminal can be a terminal device within a communication group, or a terminal device within a certain transmission distance. For example, in Figure 8, terminal devices 1, 2, 3, and 4 form a communication group. If terminal device 1 sends data, all other terminal devices in the group (terminal devices 2 through 4) can be receiving terminals.

[0061] Time slot structure for sideline communication

[0062] A communication system may define a frame, subframe, or time slot structure for sidelink communication. Some sidelink communication systems define multiple time slot structures. For example, the NR-based sidelink communication system (NR SL) defines two time slot structures. One of the two time slot structures does not include a physical sidelink feedback channel (PSFCH), see Figure 9A ; the other of the two time slot structures includes a PSFCH, see Figure 9B .

[0063] The PSCCH in the NR SL can start at the second sidelink symbol of the timeslot in the time domain, and the PSCCH can occupy 2 or 3 symbols in the time domain (the symbols mentioned here can all refer to orthogonal frequency division multiplexing (OFDM) symbols). The PSCCH can occupy multiple physical resource blocks (PRBs) in the frequency domain. For example, the number of PRBs occupied by the PSCCH can be selected from the following values: {10, 12 15, 20, 25}.

[0064] To reduce the complexity of blind detection of PSCCH by terminal devices, typically, only one number of symbols and PRBs is configured for PSCCH within a resource pool. Furthermore, since NR SL uses sub-channels as the minimum granularity for PSSCH resource allocation, the number of PRBs occupied by PSCCH must be less than or equal to the number of PRBs contained in a sub-channel within the resource pool.

[0065] Referring to Figure 9A, for a time slot structure that does not include PSFCH, the PSSCH in the NR SL can use the second side symbol of the time slot as the starting position in the time domain. The last side symbol in the time slot is used as a guard period (GP), and the remaining symbols can be mapped to PSSCH, where the guard interval can also be called a guard symbol. The first side symbol in the time slot can be a repetition of the second side symbol. Generally speaking, the terminal device at the receiving end will use the first side symbol as a symbol for automatic gain control (AGC). Therefore, the data on the first side symbol is usually not used for data demodulation. PSSCH can occupy K subchannels in the frequency domain, and each subchannel can include M consecutive PRBs (the values ​​of K and M can be predefined by protocol, or preconfigured, or configured by network equipment, or depend on the implementation of the terminal device).

[0066] FIG9 B shows a time slot structure including PSFCH, and FIG9 B schematically illustrates the positions of the symbols occupied by PSFCH, PSCCH, and PSSCH in a time slot. The main difference between this time slot structure and FIG9 A is that the penultimate symbol and the penultimate symbol in the time slot are used to transmit PSFCH. In addition, a symbol before the symbol used to transmit PSFCH is also used as a GP (or guard symbol). As can be seen from the time slot structure shown in FIG9 B, in a time slot, the last symbol is used as a GP, the penultimate symbol is used for PSFCH transmission, the data on the penultimate symbol is the same as the data of the penultimate symbol used for PSFCH transmission, that is, the penultimate symbol serves as the symbol for AGC, and the penultimate symbol has the same function as the last symbol and is also used as a GP. In addition, the first symbol in the time slot is used as AGC, the data on this symbol is the same as the data on the second symbol in the time slot, PSCCH occupies 3 symbols, and the remaining symbols can be used for PSSCH transmission.

[0067] First-order sidelink control information (SCI)

[0068] The first-stage SCI can be carried by the PSCCH. The format of the first-stage SCI can be SCI 1-A. The first-stage SCI can be used to indicate information related to sideline scheduling and channel sensing. The information related to sideline scheduling and channel sensing may include, for example, one or more of the following information: priority of scheduling data, frequency domain resource allocation, time domain resource allocation, reference signal pattern of PSSCH, second-stage SCI format (2nd-stage SCI format), second-stage SCI code rate offset, number of PSSCH demodulation reference signal (DMRS) ports, modulation and coding scheme (MCS), MCS table indication, number of PSFCH symbols, resource reservation period and reserved bits. In the above indication field, the size of the "second-stage SCI format" field is 2 bits, "00" represents SCI format 2-A, "01" represents SCI format 2-B, "10" represents SCI format 2-C, and "11" is a reserved value for future versions.

[0069] Second level SCI

[0070] Currently, there are three SCI formats for the second-order SCI, namely SCI format 2-A, SCI format 2-B and SCI format 2-C. SCI format 2-A and SCI format 2-B can be used for decoding sidelink data in PSSCH. The introduction of SCI format 2-C is to support the resource selection mechanism based on inter-terminal device coordination (or inter-UE coordination) in the second mode (the mode in which the terminal device autonomously selects resources). In addition, SCI format 2-C can also carry information for decoding sidelink data in PSSCH. Therefore, SCI format 2-C includes two parts, the first part is information related to the decoding of sidelink data in PSSCH (or decoding-related public information). The decoding-related information may include one or more of the following information: hybrid automatic repeat reQuest (HARQ) process, new data indicator (NDI), redundancy version, source identity (ID), target identity, HARQ feedback activation / deactivation indication, and channel state information (CSI) feedback request.

[0071] The second part of SCI format 2-C is related to the resource selection mechanism based on coordination between terminal devices. Some standards (such as 3GPP R17) have introduced two resource selection mechanisms based on coordination between terminal devices, hereinafter referred to as Scheme 1 and Scheme 2. In Scheme 1, the information sent by terminal device A to terminal device B is a reference resource set. The reference resource set includes resources that are suitable or unsuitable for use by terminal device B. In Scheme 2, the information sent by terminal device A to terminal device B is: indication information of possible transmission conflicts on the reserved resources of terminal device B.

[0072] In scheme 1, terminal device B can send a requesting indicator. The requesting indicator can also be called trigger signaling. The requesting indicator can be used to notify terminal device A to send coordination information to terminal device B. Terminal device A needs to send a providing indicator to terminal device B. The providing indicator is used to instruct terminal device A to provide a reference resource set to terminal device B. Therefore, the providing indicator can also be called a reference resource set indication. The above-mentioned requesting indication and providing indication are both carried by SCI format 2-C. Therefore, under different functions, the content of the second part of SCI format 2-C is different, and can be distinguished by a 1-bit "providing / requesting indicator" field. That is, the "providing / requesting indicator" field can be used to indicate whether SCI format 2-C is used to carry a requesting indication or a providing indication.

[0073] For example, when the "Offer / Request Indication" field is set to "0," SCI format 2-C is used to carry the offer indication. In this case, as shown in FIG10 , the second part of the SCI format 2-C includes one or more of the following information: an offer / request indication, two combinations of {time resource indication value (TRIV), frequency resource indication value (FRIV), and reservation period}, the time domain location of the first resource, the reference time slot, the resource type, and the frequency domain location of the first resource.

[0074] For example, when the "Offer / Request Indication" field is set to "1," SCI Format 2-C is used to carry a request indication. In this case, as shown in Figure 11, the second part of SCI Format 2-C includes one or more of the following information: an offer / request indication, priority, number of subchannels, resource reservation period, resource selection window position, resource type, and padding bits. Padding bits are provided to ensure that the number of SCI Format 2-C bits used to carry different information within the same resource pool is the same. The value of the aforementioned "padding bits" is generally "0."

[0075] In addition, SCI format 2-C is sent together with a medium access control element (MAC CE). When SCI format 2-C is used to carry a request indication, the MAC CE includes information related to the request indication in SCI format 2-C.

[0076] Positioning technology based on sidelink

[0077] Certain communication protocols (such as 3GPP Release 18) have introduced sidewalk-based positioning technology as an enhancement to positioning technology. This topic will consider positioning scenarios and requirements within cellular network coverage, partial cellular network coverage, and out-of-cellular network coverage. Furthermore, this topic will consider positioning requirements for V2X, public safety, commercial, and Industrial Internet of Things (IIoT) use cases. Sidewalk-based positioning technology is considered to support the following functions: absolute positioning, ranging / direction finding, and relative positioning. Furthermore, sidewalk-based positioning technology will consider studying one or more of the following: positioning methods that combine sidewalk measurements with Uu interface (i.e., air interface) measurements; sidewalk positioning reference signals (including signal design, physical layer control signaling, resource allocation, physical layer measurements, and related physical layer processes); and positioning system architecture and signaling processes (such as configuration and measurement reporting).

[0078] In sidelink-based positioning technology, terminal devices need to send SL PRS to achieve positioning. The SL PRS sent by different terminal devices may differ in time, frequency, and code domains. Therefore, how to ensure that other terminal devices correctly receive the SL PRS is an issue that needs to be studied.

[0079] The embodiment of the present application is described in detail below with reference to FIG12 .

[0080] Referring to Figure 12, in step S1210, the first terminal device transmits the first SL PRS in the first time slot. Accordingly, the second terminal device (which may be any terminal device other than the first terminal device) may receive the first SL PRS in the first time slot. The above-mentioned first terminal device may be a terminal device that performs positioning based on a sidelink. When the first terminal device performs positioning based on a sidelink, the first terminal device may execute step S1210, i.e., send the first SL PRS in the first time slot to implement the positioning function.

[0081] The terminal device that performs positioning based on the side link can work in a shared resource pool or a dedicated resource pool for positioning. The so-called shared resource pool means that the resource pool supports both positioning based on the side link and side communication. The so-called dedicated resource pool for positioning means that the resource pool supports positioning based on the side link but does not support side communication. In some embodiments, the first terminal device in Figure 12 can be a terminal device working in a shared resource pool. Alternatively, the transmission resources of the first SL PRS are transmission resources in the shared resource pool.

[0082] In order to help the second terminal device correctly receive the first SL PRS, the transmission configuration information of the first SL PRS can be carried in the first time slot. The transmission configuration information of the first SL PRS may include one or more of the following information: the identifier of the first SL PRS (SL PRS ID); the comb size (comb size) of the frequency domain resources occupied by the first SL RPS; the number of symbols occupied by the first SL PRS (the symbols mentioned in each embodiment of the present application may refer to orthogonal frequency division multiplexing (OFDM) symbols); and the indication information of the transmission mode of the first SL RPS. The indication information of the transmission mode may, for example, indicate that the transmission mode of the first SL RPS is one of unicast, multicast or broadcast.

[0083] In some embodiments, the first terminal device can operate in a shared resource pool. In the shared resource pool, there may be terminal devices that support the side link positioning function, and there may also be terminal devices that do not have the positioning function. Therefore, in order to ensure the compatibility of these two types of terminal devices, the first terminal device can send the first-order SCI and the second-order SCI in the first time slot at the same time when sending the first SL PRS. The information field included in the first-order SCI mainly carries information related to sideline scheduling and channel sensing. The format of the first-order SCI sent simultaneously with the first SL PRS (that is, sent in the same time slot) can be the same as the first-order SCI format that supports sideline communication. Therefore, the transmission configuration information of the first SL PRS can be carried in the second-order SCI.

[0084] In some embodiments, the format of the second-order SCI can be indicated by the first information field (i.e., the "Second-order SCI Format" field) in the first-order SCI in the first time slot, with the value of the first information field being "10." In some embodiments, the value of the first information field being "10" can indicate that the format of the second-order SCI is SCI format 2-C. If the second-order SCI format adopts this implementation, the introduction of a new SCI format can be avoided, thereby simplifying the implementation.

[0085] It should be noted that setting the "second-order SCI format" field in the first-order SCI to "10" and carrying the transmission configuration information of the SL PRS in the second-order SCI is equivalent to adding the function of the SCI format 2-C, so the SCI format 2-C can also be changed to other names. Therefore, in each embodiment of the present application, "SCI format 2-C" can be replaced with "the SCI format represented by the value of the first information field in the first-order SCI (that is, the "second-order SCI format" field) is "10"". For the convenience of description, the following text mainly uses SCI format 2-C as an example for illustration.

[0086] The second-order SCI may include one or more information fields (or bit fields, or fields). The one or more information fields may be used to determine whether the first time slot includes a SL PRS. For example, the one or more information fields may explicitly indicate that the first time slot includes a first SL PRS. For another example, the one or more information fields may implicitly indicate that the first time slot includes a first SL PRS.

[0087] Taking the second-order SCI format as SCI format 2-C as an example, the second-order SCI may include a second information field and / or a third information field. The second information field can be used to indicate the type of information carried by the second-order SCI. For example, the second information field is used to carry a provision / request indication. The provision indication in the provision / request indication may also be referred to as a reference resource set indication; the request indication in the provision / request indication may also be referred to as trigger signaling. For detailed introduction, please refer to the "Second-Order SCI" section above. The third information field can be used to carry padding bits. When the second-order SCI format is SCI format 2-C, the presence of the first SL PRS in the first time slot can be identified based on the second information field and / or the third information field. For example, the second information field and the third information field can be used to jointly identify the presence of the first SL PRS in the first time slot. Alternatively, the second information field or the third information field can be used to separately identify the presence of the first SL PRS in the first time slot.

[0088] As an example, if the value of the second information field corresponds to the value of the provided indication, and the value of the target bit in the padding bit is the first value, it can indicate that the first time slot contains the SL PRS. Using padding bits to indicate whether the first time slot contains the SL PRS can improve resource utilization.

[0089] The target bit position may be one or more bits in the padding bits. In some embodiments, the target bit position may be the last N bits of the padding bits. For example, the target bit position may be the last bit of the padding bits. Since the size of the padding bits may vary, using the last bit of the padding bits to indicate whether the first time slot includes the SL PRS can improve the reliability of the indication.

[0090] As a specific example, when the value of the second information field is 1 and the value of the last bit of the padding bits is 1, it can be indicated that the first time slot contains an SL PRS. If the padding bits include multiple bits, the values ​​of the other bits of the padding bits can be 0. Of course, the embodiments of the present application do not exclude the case where the value of the last bit of the padding bits is 0 and the values ​​of the other bits are 1, as long as it is agreed in advance through a protocol or by both parties to the communication.

[0091] Alternatively, in some embodiments, the last N bits (such as the last bit) of the second-order SCI can be set as a new information field (hereinafter referred to as the fourth information field), and based on the fourth information field, it is indicated or identified that the first time slot contains the first SL PRS.

[0092] In some embodiments, if the first time slot needs to carry both the request indication and the first SL PRS, the configuration information of the first SL PRS can be carried in the second-order SCI, and the information associated with the request indication can be carried in the MAC CE (the MAC CE refers to the MAC CE in the PSSCH to which the second-order SCI belongs). The information associated with the request indication may include one or more of the following information: priority; number of subchannels; resource reservation period; resource selection window position; and resource type.

[0093] In some embodiments, when the second-order SCI is used to carry the transmission configuration information of SL PRS, the number of bits contained in the second-order SCI can be consistent with the number of bits contained in the second-order SCI carrying the provision / request indication related information (as shown in Figure 10 or Figure 11).

[0094] As mentioned above, the first terminal device is a terminal device that supports the positioning function based on the side link. In addition, the first terminal device can also transmit side data with other terminal devices (for example, if the first terminal device works in a shared resource pool, the first terminal device can perform both side positioning and side data transmission). In some embodiments, the first terminal device can support the simultaneous transmission of side data and SL PRS. In other embodiments, the first terminal device cannot support the simultaneous transmission of side data and SL PRS. The so-called simultaneous transmission of side data and SL PRS may refer to the transmission of side data and SL PRS in the same time slot.

[0095] Taking the case where the first terminal device supports the simultaneous transmission of sidelink data and SL PRS, and the first terminal device simultaneously transmits the sidelink data and the first SL PRS in the first time slot mentioned above as an example, if the format of the second-order SCI used to carry the transmission configuration information of the first SL PRS is SCI format 2-C, then the first part of the second-order SCI can be used to carry information related to the decoding of the sidelink data in the PSSCH. The information related to the decoding of the sidelink data in the PSSCH may, for example, include one or more of the following information: HARQ process, NDI, redundancy version, source identifier, target ID, HARQ feedback activation / deactivation indication, and CSI feedback request. The second part of the second-order SCI can be used to carry the transmission configuration information of the first SL PRS mentioned above. Furthermore, in some embodiments, the second part of the second-order SCI can also carry the second information field and the third information field mentioned above. If the second-order SCI carries the second information field and the third information field, the transmission configuration information of the first SL PRS can be set between the second information field and the third information field. Figure 13 is a comparison diagram of SCI format 2-C provided by the related art and SCI format 2-C provided by an embodiment of the present application. As can be seen from Figure 13, if the first terminal device transmits sidelink data and the first SL PRS simultaneously in the first time slot, the content of the first part of SCI format 2-C remains basically unchanged. Since the second part needs to carry the transmission configuration information of the first SL PRS, the content of the second part changes.

[0096] Taking the case where the first terminal device does not support simultaneous transmission of sidelink data and SL PRS as an example, if the format of the second-order SCI used to carry the transmission configuration information of the first SL PRS is SCI format 2-C, the first part of the second-order SCI may not include the following information: HARQ process, NDI, redundancy version, source identifier, target ID, HARQ feedback activation / deactivation indication, and CSI feedback request. The second part of the second-order SCI can be used to carry the transmission configuration information of the first SL PRS mentioned above. Furthermore, in some embodiments, the second part of the second-order SCI can also carry the second information field and the third information field mentioned above. If the second-order SCI carries the second information field and the third information field, the transmission configuration information of the first SL PRS can be set between the second information field and the third information field. Figure 14 is a comparison diagram of the SCI format 2-C provided by the related art and the SCI format 2-C provided by the embodiment of the present application. As can be seen from FIG14 , the first part of the SCI format 2-C removes information related to the demodulated sideline data, and the second part of the SCI format 2-C is the same as the second part of the SCI format 2-C in FIG13 .

[0097] The following describes the embodiments of the present application in more detail with reference to specific examples. It should be noted that the examples provided below are merely to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. It is apparent that those skilled in the art can make various equivalent modifications or changes based on the examples given below, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0098] Example 1:

[0099] In this example, the first terminal device operates in a shared resource pool, and the first terminal device simultaneously transmits sideline data and the first SL PRS in the first time slot. In addition, the first terminal device simultaneously transmits the first-order SCI and the second-order SCI in the first time slot. The transmission configuration information of the first SL PRS is carried by the second-order SCI sent by the first terminal device, and the second-order SCI format is SCI format 2-C, that is, the "second-order SCI format" field in the first-order SCI sent by the first terminal device is set to "10".

[0100] When the first terminal device sends SCI format 2-C (i.e., the second-order SCI in the format of SCI format 2-C), the first part of the content in the SCI format 2-C is consistent with the content shown in Figure 10 or Figure 11. The "provide / request indication" field in the second part of the content (corresponding to the second information field in the previous text) is retained, and the above-mentioned "provide / request indication" field is set to "1". The last part of the second part of the content of the SCI format 2-C is still the "filling bit" field (corresponding to the third information field in the previous text), and the last bit of the "filling bit" field is set to "1". The bits between the "provide / request indication" field and the "filling bit" field in the second part of the content can be used to carry the transmission configuration information of the first SL PRS.

[0101] From the perspective of the receiving end (i.e., the second terminal device mentioned above), when the "second-order SCI format" in the first-order SCI received by the second terminal is "10", the second terminal device determines that the received second-order SCI is SCI format 2-C. If the "Provision / Request Indication" field of the SCI format 2-C is "0", the second terminal device determines that the SCI format 2-C is used to carry the provision indication. If the last bit of the SCI format 2-C is "0" and the "Provision / Request Indication" field is "1", the second terminal device determines that the SCI format 2-C is used to carry the request indication. If the last bit of the SCI format 2-C is "1" and the "Provision / Request Indication" field is "1", the second terminal device determines that there is an SL PRS in the first time slot, and the SCI format 2-C carries the transmission configuration information of the SL PRS.

[0102] Example 2:

[0103] In this example, the first terminal device operates in a shared resource pool, but the first terminal device cannot support the simultaneous transmission of sidelink data and SL PRS (that is, the first terminal device cannot transmit both sidelink data and SL PRS in the same time slot), so the first terminal device transmits the first SL PRS in the first time slot, but does not transmit sidelink data. It should be noted that the fact that the first terminal device cannot transmit sidelink data and SL PRS at the same time does not mean that the first terminal device does not transmit PSSCH. In addition to carrying sidelink data, PSSCH can also carry second-order SCI and MAC CE. Therefore, the first terminal device can still send PSSCH in the first time slot to carry second-order SCI and MAC CE.

[0104] The first terminal device also sends the first-order SCI and the second-order SCI simultaneously in the first time slot. The transmission configuration information of the first SL PRS can be carried by the second-order SCI, and the second-order SCI format is SCI format 2-C, that is, the "second-order SCI format" field in the first-order SCI sent by the first terminal device is set to "10".

[0105] When the first terminal device sends SCI format 2-C, the first part of SCI format 2-C no longer contains information such as HARQ process, NDI, redundant version, HARQ feedback activation / deactivation, CSI feedback request, etc. The "provide / request indication" field in the second part of SCI format 2-C (corresponding to the second information field in the previous text) is retained, and the above-mentioned "provide / request indication" field is set to "1". The last bit of the second part is still the "filling bit" field (corresponding to the third information field in the previous text), and the last bit of the "filling bit" field is set to "1". The bits between the "provide / request indication" field and the "filling bit" field in the second part can be used to carry the transmission configuration information of the first SL PRS.

[0106] From the perspective of the receiving end (i.e., the second terminal device mentioned above), when the "second-order SCI format" in the first-order SCI received by the second terminal device is "10", the second terminal device determines that the received second-order SCI is SCI format 2-C. If the "Provision / Request Indication" field of the above-mentioned SCI format 2-C is "0", the first terminal device determines that the SCI format 2-C is used to carry the provision indication. If the last bit of the SCI format 2-C is "0" and the "Provision / Request Indication" field is "1", the second terminal device determines that the SCI format 2-C is used to carry the request indication. If the last bit of the SCI format 2-C is "1" and the "Provision / Request Indication" field is "1", the second terminal device determines that there is an SL PRS in the first time slot, and the SCI format 2-C carries the SL PRS transmission configuration information.

[0107] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 14 . The device embodiment of the present application is described in detail below in conjunction with Figures 15 to 17 . It should be understood that the description of the method embodiment corresponds to the description of the device embodiment. Therefore, for portions not described in detail, reference can be made to the above method embodiment.

[0108] FIG15 is a schematic diagram of the structure of a terminal device provided by an embodiment of the present application. The terminal device 1500 in FIG15 may be the first terminal device mentioned above. The terminal device 1500 may include a communication module 1510.

[0109] The communication module 1510 may be configured to transmit a first SL PRS in a first time slot, wherein the first time slot includes a second-order SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

[0110] In some embodiments, the format of the second-order SCI is indicated by the first information field in the first-order SCI in the first time slot, and the value of the first information field is 10.

[0111] In some embodiments, the second-order SCI includes one or more information fields, and the one or more information fields are used to determine whether the first time slot contains a SL PRS.

[0112] In some embodiments, the one or more information fields include one or more of the following information fields: a second information field for carrying a provision / request indication; and a third information field for carrying padding bits.

[0113] In some embodiments, if the value of the second information field corresponds to the value of the request indication, and the value of the target bit in the filling bit is a first value, then the first time slot contains SL PRS; wherein the target bit is one or more bits in the filling bit.

[0114] In some embodiments, the target bit is the last bit of the padding bits; and / or the first value is 1.

[0115] In some embodiments, the second-order SCI is carried in a PSSCH, the PSSCH further includes a MAC CE, the MAC CE includes one or more of the following information associated with the request indication: priority; number of subchannels; resource reservation period; resource selection window position; and resource type.

[0116] In some embodiments, the transmission configuration information includes one or more of the following information: an identifier of the first SL PRS; a comb tooth size of the frequency domain resources occupied by the first SL RPS; the number of symbols occupied by the first SL PRS; and indication information of the transmission mode of the first SL PRS; wherein the transmission mode is one of unicast, multicast and broadcast.

[0117] In some embodiments, the transmission resources of the first SL PRS are transmission resources in a shared resource pool.

[0118] FIG16 is a schematic diagram of the structure of a terminal device provided in another embodiment of the present application. The terminal device 1600 in FIG16 may be the second terminal device mentioned above. The terminal device 1600 may include a communication module 1610.

[0119] The communication module 1610 is configured to receive a first SL PRS in a first time slot, wherein the first time slot includes a second-order SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

[0120] In some embodiments, the format of the second-order SCI is indicated by the first information field in the first-order SCI in the first time slot, and the value of the first information field is 10.

[0121] In some embodiments, the second-order SCI includes one or more information fields, and the one or more information fields are used to determine whether the first time slot contains a SL PRS.

[0122] In some embodiments, the one or more information fields include one or more of the following information fields: a second information field for carrying a provision / request indication; and a third information field for carrying padding bits.

[0123] In some embodiments, if the value of the second information field corresponds to the value of the request indication, and the value of the target bit in the padding bit is a first value, then the first time slot includes an SL PRS.

[0124] In some embodiments, the target bit is the last bit of the padding bits; and / or the first value is 1.

[0125] In some embodiments, the second-order SCI is carried in a physical sidelink shared channel PSSCH, and the PSSCH also includes a MAC CE, and the MAC CE includes one or more of the following information associated with the request indication: priority; number of subchannels; resource reservation period; resource selection window position; and resource type.

[0126] In some embodiments, the transmission configuration information includes one or more of the following information: an identifier of the first SL PRS; a comb tooth size of the frequency domain resources occupied by the first SL RPS; the number of symbols occupied by the first SL PRS; and indication information of the transmission mode of the first SL PRS; wherein the transmission mode is one of unicast, multicast and broadcast.

[0127] In some embodiments, the transmission resources of the first SL PRS are transmission resources in a shared resource pool.

[0128] FIG17 is a schematic diagram of the structure of an apparatus according to an embodiment of the present application. The dotted lines in FIG17 indicate that the unit or module is optional. Apparatus 1700 may be used to implement the method described in the above method embodiment. Apparatus 1700 may be a chip or a terminal device.

[0129] The device 1700 may include one or more processors 1710. The processor 1710 may support the device 1700 to implement the method described in the method embodiment above. The processor 1710 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0130] The apparatus 1700 may further include one or more memories 1720. The memories 1720 store programs that can be executed by the processor 1710, causing the processor 1710 to perform the methods described in the above method embodiments. The memories 1720 may be independent of the processor 1710 or integrated into the processor 1710.

[0131] The apparatus 1700 may further include a transceiver 1730. The processor 1710 may communicate with other devices or chips via the transceiver 1730. For example, the processor 1710 may transmit and receive data with other devices or chips via the transceiver 1730.

[0132] The present invention also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to a terminal device provided in the present invention, and the program enables a computer to execute the method performed by the terminal device in each embodiment of the present invention.

[0133] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to the terminal device provided in the present application, and the program causes a computer to execute the method performed by the terminal device in each embodiment of the present application.

[0134] The embodiments of the present application also provide a computer program. The computer program can be applied to the terminal device provided in the embodiments of the present application, and the computer program enables a computer to execute the method executed by the terminal device in each embodiment of the present application.

[0135] It should be understood that the terms "system" and "network" in this application can be used interchangeably. In addition, the terms used in this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The terms "first", "second", "third", and "fourth" in the specification and claims of this application and the accompanying drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0136] In the embodiments of this application, the term "indication" may refer to a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" may refer to a direct indication of B, e.g., B can obtain information through A; it may refer to an indirect indication of B, e.g., A indicates C, e.g., B can obtain information through C; or it may refer to an association between A and B.

[0137] In the embodiment of the present application, "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should be understood that determining B based on A does not mean determining B based solely on A, but B can also be determined based on A and / or other information.

[0138] In the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and indication, configuration and configuration, etc.

[0139] In the embodiments of the present application, "pre-definition" or "pre-configuration" may be implemented by pre-storing corresponding codes, tables, or other methods that can be used to indicate relevant information in a device (e.g., a terminal device and a network device). The present application does not limit the specific implementation method. For example, pre-definition may refer to information defined in a protocol.

[0140] In the embodiments of the present application, the “protocol” may refer to a standard protocol in the communications field, for example, it may include an LTE protocol, an NR protocol, and related protocols used in future communication systems, and the present application does not limit this.

[0141] In the embodiments of this application, the term "and / or" is simply a description of the association relationship between related objects, indicating that three relationships can exist. 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 document generally indicates that the related objects are in an "or" relationship.

[0142] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0143] In the several embodiments provided in this 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 merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, 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.

[0144] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0145] 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.

[0146] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0147] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A wireless communication method, characterized in that: include: The first terminal device transmits a first sideline positioning reference signal SL PRS in a first time slot; wherein the first time slot includes second-order sideline control information SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

2. The method according to claim 1, characterized in that The format of the second-order SCI is indicated by the first information field in the first-order SCI in the first time slot, and the value of the first information field is 10.

3. The method according to claim 2, characterized in that The second-order SCI includes one or more information fields, and the one or more information fields are used to determine whether the first time slot includes a SL PRS.

4. The method according to claim 3, characterized in that The one or more information fields include one or more of the following information fields: The second information field is used to carry a provision / request indication; The third information field is used to carry padding bits.

5. The method according to claim 4, characterized in that: If the value of the second information field corresponds to the value of the request indication, and the value of the target bit in the filling bit is a first value, then the first time slot contains an SL PRS; wherein the target bit is one or more bits in the filling bit.

6. The method according to claim 5, characterized in that: The target bit is the last bit of the padding bit; and / or The first value is 1.

7. The method according to any one of claims 4 to 6, characterized in that: The second-order SCI is carried in a physical sidelink shared channel PSSCH, and the PSSCH further includes a media access control element MAC CE, and the MAC CE includes one or more of the following information associated with the request indication: Priority; Number of sub-channels; Resource reservation period; Resource selection window location; and Resource type.

8. The method according to any one of claims 1 to 7, characterized in that The transmission configuration information includes one or more of the following information: an identifier of the first SL PRS; The comb tooth size of the frequency domain resources occupied by the first SL RPS; the number of symbols occupied by the first SL PRS; and Indication information of a transmission mode of the first SL PRS; The transmission mode is one of unicast, multicast and broadcast.

9. The method according to any one of claims 1 to 8, characterized in that The transmission resources of the first SL PRS are transmission resources in a shared resource pool.

10. A wireless communication method, characterized in that: include: The second terminal device receives a first sideline positioning reference signal SL PRS in a first time slot; wherein the first time slot includes second-order sideline control information SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

11. The method according to claim 10, characterized in that The format of the second-order SCI is indicated by the first information field in the first-order SCI in the first time slot, and the value of the first information field is 10.

12. The method according to claim 11, characterized in that The second-order SCI includes one or more information fields, and the one or more information fields are used to determine whether the first time slot includes a SL PRS.

13. The method according to claim 12, characterized in that The one or more information fields include one or more of the following information fields: The second information field is used to carry a provision / request indication; The third information field is used to carry padding bits.

14. The method according to claim 13, characterized in that: If the value of the second information field corresponds to the value of the request indication, and the value of the target bit in the filling bit is a first value, then the first time slot contains an SL PRS; wherein the target bit is one or more bits in the filling bit.

15. The method according to claim 14, characterized in that: The target bit is the last bit of the padding bit; and / or The first value is 1.

16. The method according to any one of claims 13 to 15, characterized in that The second-order SCI is carried in a physical sidelink shared channel PSSCH, and the PSSCH further includes a media access control element MAC CE, and the MAC CE includes one or more of the following information associated with the request indication: Priority; Number of sub-channels; Resource reservation period; Resource selection window location; and Resource type.

17. The method according to any one of claims 10 to 16, characterized in that The transmission configuration information includes one or more of the following information: an identifier of the first SL PRS; The comb tooth size of the frequency domain resources occupied by the first SL RPS; the number of symbols occupied by the first SL PRS; and Indication information of a transmission mode of the first SL PRS; The transmission mode is one of unicast, multicast and broadcast.

18. The method according to any one of claims 10 to 17, characterized in that: The transmission resources of the first SL PRS are transmission resources in a shared resource pool.

19. A terminal device, characterized in that: The terminal device is a first terminal device, and the first terminal device includes: A communication module is used to transmit a first sideline positioning reference signal SL PRS in a first time slot; wherein the first time slot includes second-order sideline control information SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

20. The terminal device according to claim 19, characterized in that: The format of the second-order SCI is indicated by the first information field in the first-order SCI in the first time slot, and the value of the first information field is 10.

21. The terminal device according to claim 20, characterized in that: The second-order SCI includes one or more information fields, and the one or more information fields are used to determine whether the first time slot includes a SL PRS.

22. The terminal device according to claim 21, characterized in that: The one or more information fields include one or more of the following information fields: The second information field is used to carry a provision / request indication; The third information field is used to carry padding bits.

23. The terminal device according to claim 22, characterized in that: If the value of the second information field corresponds to the value of the request indication, and the value of the target bit in the filling bit is a first value, then the first time slot contains an SL PRS; wherein the target bit is one or more bits in the filling bit.

24. The terminal device according to claim 23, characterized in that: The target bit is the last bit of the padding bit; and / or The first value is 1.

25. The terminal device according to any one of claims 22 to 24, characterized in that: The second-order SCI is carried in a physical sidelink shared channel PSSCH, and the PSSCH further includes a media access control element MAC CE, and the MAC CE includes one or more of the following information associated with the request indication: Priority; Number of sub-channels; Resource reservation period; Resource selection window location; and Resource type.

26. The terminal device according to any one of claims 19 to 25, characterized in that: The transmission configuration information includes one or more of the following information: an identifier of the first SL PRS; The comb tooth size of the frequency domain resources occupied by the first SL RPS; the number of symbols occupied by the first SL PRS; and Indication information of a transmission mode of the first SL PRS; The transmission mode is one of unicast, multicast and broadcast.

27. The terminal device according to any one of claims 19 to 26, characterized in that: The transmission resources of the first SL PRS are transmission resources in a shared resource pool.

28. A terminal device, characterized in that: The terminal device is a second terminal device, and the second terminal device includes: A communication module is used to receive a first sideline positioning reference signal SL PRS in a first time slot; wherein the first time slot includes second-order sideline control information SCI, and the second-order SCI includes transmission configuration information of the first SL PRS.

29. The terminal device according to claim 28, characterized in that: The format of the second-order SCI is indicated by the first information field in the first-order SCI in the first time slot, and the value of the first information field is 10.

30. The terminal device according to claim 29, characterized in that: The second-order SCI includes one or more information fields, and the one or more information fields are used to determine whether the first time slot includes a SL PRS.

31. The terminal device according to claim 30, characterized in that: The one or more information fields include one or more of the following information fields: The second information field is used to carry a provision / request indication; The third information field is used to carry padding bits.

32. The terminal device according to claim 31, characterized in that: If the value of the second information field corresponds to the value of the request indication, and the value of the target bit in the filling bit is a first value, then the first time slot contains an SL PRS; wherein the target bit is one or more bits in the filling bit.

33. The terminal device according to claim 32, characterized in that: The target bit is the last bit of the padding bit; and / or The first value is 1.

34. The terminal device according to any one of claims 31 to 33, characterized in that: The second-order SCI is carried in a physical sidelink shared channel PSSCH, and the PSSCH further includes a media access control element MAC CE, and the MAC CE includes one or more of the following information associated with the request indication: Priority; Number of sub-channels; Resource reservation period; Resource selection window location; and Resource type.

35. The terminal device according to any one of claims 28 to 34, characterized in that: The transmission configuration information includes one or more of the following information: an identifier of the first SL PRS; The comb tooth size of the frequency domain resources occupied by the first SL RPS; the number of symbols occupied by the first SL PRS; and Indication information of a transmission mode of the first SL PRS; The transmission mode is one of unicast, multicast and broadcast.

36. The terminal device according to any one of claims 28 to 35, characterized in that: The transmission resources of the first SL PRS are transmission resources in a shared resource pool.

37. A terminal device, characterized in that: It includes a transceiver, a memory and a processor, wherein the memory is used to store programs, and the processor is used to call the programs in the memory and control the transceiver to receive or send signals so that the terminal device executes the method as described in any one of claims 1-18 or claims 19-36.

38. A device, characterized in that The device comprises a processor, configured to call a program from a memory so as to cause the device to execute the method according to any one of claims 1 to 18 or claims 19 to 36.

39. A chip, characterized in that: It comprises a processor, which is used to call a program from a memory, so that a device equipped with the chip executes the method according to any one of claims 1 to 18 or claims 19 to 36.

40. A computer-readable storage medium, characterized in that A program is stored thereon, the program causing a computer to execute the method according to any one of claims 1-18 or claims 19-36.

41. A computer program product, characterized in that The method comprises a program which causes a computer to execute the method according to any one of claims 1 to 18 or claims 19 to 36.

42. A computer program, characterized in that The computer program causes a computer to execute the method of any one of claims 1-18 or claims 19-36.

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