Retransmission method and device of SL PRS, equipment and storage medium

Abstract

The invention discloses an SL PRS retransmission method and device, equipment and a storage medium, and relates to the technical field of communication. The method is executed by a first terminal device. The method comprises: performing retransmission of the SL PRS based on a shared resource pool, transmission resources in the shared resource pool being used for transmitting the SL PRS and / or data (210). The invention provides the method for retransmitting the SL PRS based on the shared resource pool, so that the terminal equipment can retransmit the SL PRS based on the shared resource pool.

Description

SL PRS retransmission method, device, equipment and storage medium Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and in particular to a method, apparatus, device, and storage medium for retransmitting an SL PRS. Background Art

[0002] In sidelink positioning, the target terminal device can be positioned using the SL PRS (Sidelink Positioning Reference Signal). For example, the anchor terminal device receives the SL PRS from the target terminal device and measures the SL PRS to determine the location of the target terminal device. If the anchor terminal device does not receive the SL PRS sent by the target terminal device, the target terminal device can retransmit the SL PRS.

[0003] In related technologies, SL PRS resource pools are divided into dedicated resource pools and shared resource pools. The transmission resources in the dedicated resource pool can only be used to transmit the SL PRS, while the transmission resources in the shared resource pool can be used to transmit the SL PRS and data. However, how to retransmit the SL PRS on the shared resource pool requires further discussion and research.

[0004] Summary of the Invention

[0005] The present application provides a method, apparatus, device, and storage medium for retransmitting an SL PRS. The technical solution is as follows:

[0006] According to one aspect of an embodiment of the present application, a method for retransmitting an SL PRS is provided, the method being performed by a first terminal device, the method including:

[0007] The SL PRS is retransmitted based on a shared resource pool, where transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

[0008] According to one aspect of an embodiment of the present application, a method for retransmitting an SL PRS is provided, the method being performed by a second terminal device, the method including:

[0009] Receive the SL PRS retransmitted by the first terminal device based on the shared resource pool, where the transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

[0010] According to one aspect of an embodiment of the present application, a device for retransmitting an SL PRS is provided, the device comprising:

[0011] The sending module is configured to retransmit the SL PRS based on a shared resource pool, where the transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

[0012] According to one aspect of an embodiment of the present application, a device for retransmitting an SL PRS is provided, the device comprising:

[0013] The receiving module is used to receive the SL PRS retransmitted by the first terminal device based on the shared resource pool, where the transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

[0014] According to one aspect of an embodiment of the present application, a terminal device is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program to implement the above-mentioned SL PRS retransmission method.

[0015] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to be executed by a processor to implement the above-mentioned SL PRS retransmission method.

[0016] According to one aspect of an embodiment of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions. When the chip is running, it is used to implement the above-mentioned SL PRS retransmission method.

[0017] According to one aspect of an embodiment of the present application, a computer program product is provided, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned SL PRS retransmission method.

[0018] The technical solutions provided by the embodiments of the present application may have the following beneficial effects:

[0019] The present application provides a method for retransmitting an SL PRS based on a shared resource pool, so that a terminal device can retransmit an SL PRS based on the shared resource pool. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic diagram of a network architecture provided by an embodiment of the present application;

[0021] FIG2 is a flowchart of a method for retransmitting an SL PRS according to an embodiment of the present application;

[0022] FIG3 is a block diagram of an SL PRS retransmission device provided by an embodiment of the present application;

[0023] FIG4 is a block diagram of an SL PRS retransmission device provided by another embodiment of the present application;

[0024] FIG5 is a schematic diagram of the structure of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0026] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. A person skilled in the art will appreciate that, with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0027] Please refer to Figure 1, which shows a schematic diagram of a network architecture provided by an embodiment of the present application. The network architecture may include: a core network 11, an access network 12, and a terminal device 13.

[0028] The core network 11 includes several core network elements. The functions of the core network elements are mainly to provide user connections, user management, and service carrying, and to provide interfaces to external networks as a bearer network. For example, the core network of a 5G NR (New Radio) system may include devices such as an AMF (Access and Mobility Management Function) entity, a UPF (User Plane Function) entity, and an SMF (Session Management Function) entity.

[0029] The access network 12 includes several access network devices 14. The access network in the 5G NR system can be called NG-RAN (New Generation-Radio Access Network). The access network device 14 is a device deployed in the access network 12 to provide wireless communication functions for the terminal device 13. The access network device 14 may include various forms of macro base stations, micro base stations, relay stations, access points, etc. In systems using different wireless access technologies, the names of devices with access network device functions may be different. For example, in the 5G NR system, they are called gNodeB or gNB. With the evolution of communication technology, the name of "access network device" may change. For the convenience of description, in the embodiments of the present application, the above-mentioned devices that provide wireless communication functions for the terminal device 13 are collectively referred to as access network devices.

[0030] The number of terminal devices 13 is usually multiple, and one or more terminal devices 13 can be distributed in the cell managed by each access network device 14. The terminal device 13 may include various handheld devices with wireless communication functions, vehicle-mounted devices, wearable devices, computing devices or other processing devices connected to a wireless modem, as well as various forms of UE (User Equipment), mobile stations (MS), etc. For the convenience of description, the devices mentioned above are collectively referred to as terminal devices, that is, the terminal devices and UEs mentioned in the embodiments of the present application can be understood as having the same meaning. The access network device 14 and the core network network elements communicate with each other through some air technology, such as the NG interface in the 5G NR system. The access network device 14 and the terminal device 13 communicate with each other through some air technology, such as the Uu interface.

[0031] Terminal devices 13 and terminal devices 13 (for example, vehicle-mounted devices and other devices (such as other vehicle-mounted devices, mobile phones, RSU (Road Side Unit), etc.)) can communicate with each other through a direct communication interface (such as PC5 (ProSe Communication 5, neighbor communication fifth interface) interface). Accordingly, the communication link established based on the direct communication interface can be called a direct link or SL. SL transmission is the direct communication and data transmission between terminal devices through a side link. Unlike traditional cellular systems where communication data is received or sent through access network equipment, SL transmission has the characteristics of short delay and low overhead, and is suitable for communication between two terminal devices that are geographically close (such as vehicle-mounted devices and other peripheral devices that are geographically close). It should be noted that in Figure 1, only vehicle-to-vehicle communication in the V2X (vehicle to everything) scenario is used as an example. SL technology can be applied to scenarios where direct communication is carried out between various terminal devices. In other words, the terminal device in this application refers to any device that communicates using SL technology.

[0032] The "5G NR system" in the embodiments of this application may also be referred to as a 5G system or an NR system, but those skilled in the art will understand its meaning. The technical solutions described in the embodiments of this application can be applied to the 5G NR system and can also be applied to subsequent evolution systems of the 5G NR system.

[0033] Before introducing the technical solutions of this application, we first introduce and explain some of the relevant technical knowledge involved in this application. The following related technologies can be combined with the technical solutions of the embodiments of this application as optional solutions, and they all fall within the scope of protection of the embodiments of this application. The embodiments of this application include at least part of the following contents.

[0034] 1. SL PRS transmission

[0035] In SL positioning, the positioning of the target terminal device is completed by the anchor terminal device / target terminal device measuring the SL-PRS reference signal transmitted by the target terminal device and / or the anchor terminal device. The transmission of SL-PRS plays a key role in positioning.

[0036] In related technologies, the RAN (Radio Access Network) 1 defines two types of SL-PRS resource pools: dedicated resource pools and shared resource pools. Dedicated resource pools can only carry SL-PRS. Shared resource pools can only carry SL-PRS and data. When there is no data to transmit, the SL-PRS is combined with a zero-padding MAC PDU (Media Access Control Protocol Data Unit) to form a transport block sent from the MAC layer to the physical layer.

[0037] 2. HARQ (Hybrid Automatic Repeat Request) entity and SL data retransmission

[0038] A MAC entity supports at most one sidelink HARQ entity for SL-SCH (Synchronization Channel) transmission. A sidelink HARQ entity maintains multiple parallel sidelink processes.

[0039] If it is the initial data transmission, first, a sidelink process is mapped to a sidelink grant. Then, a MAC PDU is obtained from the multiplexing and assembly entity and the MAC PDU, sidelink grant information, and sidelink transmission information are sent to the process. The MAC PDU is stored in the cache area (HARQ buffer) of the HARQ entity; the ID (identity) of the sidelink process is set to the HARQ process ID of the sidelink grant. After that, the sidelink process triggers the physical layer transmission.

[0040] Contents of Sidelink transmission information: Sidelink transmission information included in an SCI for an SL-SCH transmission as specified in clause 8.3 and 8.4 of TS 38.212[9]consists of Sidelink HARQ information including NDI,RV,Sidelink process ID,HARQ feedback enabled / disabled indicator,Sidelink identification information including cast type indicator,Source Layer-1 ID and Destination Layer-1 ID,and Sidelink other information including CSI request,a priority,a communication range requirement and Zone ID. (The Sidelink transmission information included in an SCI for an SL-SCH transmission as specified in clause 8.3 and 8.4 of TS 38.212[9]consists of Sidelink HARQ information including NDI,RV,Sidelink process ID,HARQ feedback enabled / disabled indicator,Sidelink identification information including cast type indicator,Source Layer-1 ID and Destination Layer-1 ID,and Sidelink other information including CSI request,a priority,a communication range requirement and Zone ID. Version, redundancy version), sidelink process ID, HARQ feedback enable / disable indicator, sidelink identification information (including forced conversion type indicator), source layer 1 ID and target layer 1 ID, and other sidelink information, including CSI (Channel State Information) request, priority, communication range requirement, and area ID.

[0041] For retransmission, if no ACK (Acknowledgment) feedback is received from the PSFCH (Physical Sidelink Feedback Channel), that is:

[0042] The MAC entity shall for each PSSCH transmission:

[0043] 1>if an acknowledgement corresponding to the PSSCH transmission in clause 5.22.1.3.1a is obtained from the physical layer:

[0044] 2>deliver the acknowledgment to the corresponding Sidelink HARQ entity for the Sidelink process (send a positive acknowledgment to the corresponding sidelink HARQ entity to perform the sidelink process);

[0045] 1>else (otherwise):

[0046] 2>deliver a negative acknowledgment to the corresponding Sidelink HARQ entity for the Sidelink process (send a negative acknowledgment of the sidelink process to the corresponding sidelink HARQ entity).

[0047] After the HARQ Entity receives a NACK (Negative Acknowledgment), it sends the retransmission sidelink grant to the sidelink process. If the Sidelink HARQ Entity requests a retransmission, the Sidelink process shall:

[0048] 1>store the sidelink grant received from the Sidelink HARQ Entity (store the sidelink grant received from the sidelink HARQ entity);

[0049] 1>generate a transmission as described below.

[0050] Then, the sidelink process triggers the retransmission of the MAC PDU that has been sent once by the HARQ buffer.

[0051] How to obtain the retransmitted sidelink grant:

[0052] When the network allocates SL-grant, if the terminal device feeds back NACK on the SL link to the network device through PUCCH (Physical Uplink Control Channel), the network device will allocate a retransmission SL grant to the terminal device through PDCCH (Physical Downlink Control Channel).

[0053] In the case where the terminal device autonomously selects the SL grant, the terminal device autonomously selects the SL grant from a preset resource pool according to certain rules.

[0054] Please refer to FIG2 , which shows a flow chart of a method for retransmitting an SL PRS according to an embodiment of the present application. The method is executed by a first terminal device and includes the following step 210 .

[0055] Step 210: The first terminal device retransmits the SL PRS based on the shared resource pool, and the transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

[0056] Correspondingly, the second terminal device receives the SL PRS retransmitted by the first terminal device based on the shared resource pool.

[0057] In some embodiments, the first terminal device sends an SL PRS to the second terminal device based on the shared resource pool. If the second terminal device does not receive the SL PRS, the first terminal device retransmits the SL PRS based on the shared resource pool.

[0058] In some embodiments, transmission resources in a shared resource pool are used to transmit SL PRS and / or data. In some embodiments, if resources in a shared resource pool are used to transmit SL PRS, the SL PRS must be combined with a MAC PDU to form a transport block sent from the MAC layer to the physical layer. If there is data to be transmitted, the MAC PDU can be padded with the data to be transmitted; if there is no data to be transmitted, the MAC PDU can be padded with zero bits, in which case the MAC PDU can be called a zero-padding MAC PDU.

[0059] In some embodiments, the first terminal device determines whether the second terminal device has received the SL PRS based on the indication information sent by the second terminal device, and then determines whether to retransmit the SL PRS. Specifically, regarding how the first terminal device determines whether to retransmit the SL PRS, the embodiments of the present application provide the following methods.

[0060] Method 1: The first terminal device determines based on the first indication information or the second indication information

[0061] In some embodiments, when the first indication information sent by the second terminal device is not received, the first terminal device retransmits the SL PRS to the second terminal device based on the shared resource pool, where the first indication information is used to indicate that the second terminal device has received the SL PRS.

[0062] In some embodiments, if the first terminal device does not receive the first indication information sent by the second terminal device within the first duration, the SL PRS is retransmitted to the second terminal device based on the shared resource pool. In some embodiments, the starting moment of the first duration is the moment when the first terminal device sends the SL PRS (before retransmission). In some embodiments, the first duration is greater than the delay between the first terminal device and the second terminal device. In some embodiments, the first terminal device can count the first duration based on a timer.

[0063] In some embodiments, upon receiving second indication information sent by the second terminal device, the first terminal device retransmits the SL PRS to the second terminal device based on the shared resource pool, where the second indication information is used to indicate that the second terminal device has not received the SL PRS.

[0064] In some embodiments, if the first terminal device does not receive the first indication information and / or the second indication information sent by the second terminal device within the first time period, the SL PRS is retransmitted to the second terminal device based on the shared resource pool.

[0065] In some embodiments, the first indication information and / or the second indication information is newly defined indication information for the PSFCH channel. In some embodiments, the first indication information is used to indicate that the second terminal device has received the SL PRS. In some embodiments, the first indication information can be used to indicate that the second terminal device has received a MAC PDU that is transmitted through the same sideline authorization as the SL PRS; when the first terminal device receives the first indication information, it can be considered that the second terminal device has received the SL PRS. In some embodiments, the second indication information is used to indicate that the second terminal device has not received the SL PRS. In some embodiments, the second indication information can be used to indicate that the second terminal device has not received the MAC PDU that is transmitted through the same sideline authorization as the SL PRS; when the first terminal device receives the second indication information, it can be considered that the second terminal device has not received the SL PRS.

[0066] In some embodiments, the first indication information and the second indication information may be defined, or only one of the first indication information and the second indication information may be defined. Exemplarily, if only the first indication information is defined, then when the second terminal device does not receive the SL PRS, the first indication information is not sent to the first terminal device. Exemplarily, if only the second indication information is defined, then when the second terminal device receives the SL PRS, the second indication information is not sent to the first terminal device. Exemplarily, if both the first indication information and the second indication information are defined, then when the second terminal device receives the SL PRS, the first indication information is sent to the first terminal device, and when the second terminal device does not receive the SL PRS, the second terminal device sends the second indication information to the first terminal device.

[0067] In some embodiments, the channel for transmitting the SL PRS and the channel for transmitting the first indication information and / or the second indication information may be the same channel or different channels, and this application does not limit this. For example, the SL PRS is transmitted in the PSFCH, and the first indication information and / or the second indication information may be transmitted in the PSFCH or in a channel dedicated to transmitting control information (such as a channel for transmitting side control information).

[0068] In some embodiments, only one indication message may be defined, and the indication message is used to determine whether the second terminal device has received the SL PRS and / or data. In some embodiments, upon receiving the third indication message sent by the second terminal device, the first terminal device determines whether to retransmit the SL PRS to the second terminal device based on the shared resource pool based on the third indication message. In some embodiments, the third indication message includes a first information field and a second information field. The first information field is used to indicate whether the second terminal device has received a MAC PDU transmitted through the same sideline authorization as the SL PRS, and the second information field is used to indicate whether the second terminal device has received the SL PRS. If the second information field indicates that the second terminal device has not received the SL PRS, the first terminal device retransmits the SL PRS to the second terminal device based on the shared resource pool.

[0069] In some embodiments, the first indication information and / or the second indication information is determined for the indication information of the newly defined channel. In some embodiments, the newly defined channel is used to transmit sideline data and / or sideline control information. In some embodiments, the newly defined channel may be used only for transmitting sideline control information, or only for transmitting sideline data, or for transmitting sideline data and sideline control information, and this application does not limit this. In some embodiments, the first indication information and / or the second indication information is specially designed for the newly defined channel. In some embodiments, if the newly defined channel is a channel used only for transmitting sideline control information, the first indication information and / or the second indication information is specially designed based on the requirements of the newly defined channel.

[0070] In some embodiments, the channel for transmitting the SL PRS and the channel for transmitting the first indication information and / or the second indication information may be the same channel or different channels, and this application does not limit this. For example, the SL PRS is transmitted in the PSFCH, and the first indication information and / or the second indication information may be transmitted in the PSFCH or in a newly defined channel.

[0071] Method 2: The first terminal device determines based on ACK information or NACK information

[0072] In some embodiments, upon receiving NACK information sent by the second terminal device, the first terminal device retransmits the SL PRS to the second terminal device based on the shared resource pool, where the NACK information is used to indicate that the second terminal device has not received the second MAC PDU.

[0073] In some embodiments, when the first terminal device does not receive ACK information sent by the second terminal device, the first terminal device retransmits the SL PRS to the second terminal device based on the shared resource pool, and the ACK information is used to indicate that the second terminal device has received the second MAC PDU.

[0074] In some embodiments, the second MAC PDU is a MAC PDU transmitted to the second terminal device via the same sideline grant as the SL PRS.

[0075] In related technologies, if the receiving end successfully receives a MAC PDU transmitted on the PSFCH, it will respond with an ACK message to the transmitting end. If the receiving end fails to successfully receive the MAC PDU transmitted on the PSFCH, it will respond with a NACK message to the transmitting end. If the MAC PDU and the SL PRS are transmitted using the same sidelink grant, the transmitting end will also retransmit the SL PRS when retransmitting the MAC PDU. Therefore, ACK and NACK information can be multiplexed to determine whether the SL PRS needs to be retransmitted.

[0076] In some embodiments, if the first terminal device receives ACK information sent by the second terminal device, the first terminal device believes that the second terminal device has successfully received the second MAC PDU and SL PRS, and the first terminal device does not retransmit the SL PRS. In some embodiments, if the first terminal device receives NACK information sent by the second terminal device, the first terminal device believes that the second terminal device has not successfully received the second MAC PDU and SL PRS, and the second terminal device retransmits the second MAC PDU and SL PRS.

[0077] Method 3: The first terminal device blindly retransmits the SL PRS

[0078] In some embodiments, the first terminal device performs blind retransmission of the SL PRS based on the shared resource pool.

[0079] In some embodiments, blind retransmission means that the first terminal device retransmits the SL PRS without referring to HARQ feedback indication information and / or other indication information.

[0080] In some embodiments, the method for the first terminal device to blindly retransmit the SL PRS may be determined independently by the first terminal device or may be configured by a network device, and this application does not limit this.

[0081] In some embodiments, the first terminal device may blindly retransmit the SL PRS in a periodic manner. For example, the first terminal device sends the SL PRS to the second terminal device once every time interval T, where T is a positive number.

[0082] In some embodiments, the first terminal device receives first configuration information sent by the network device, where the first configuration information is used to configure the number of transmissions, where the number of transmissions is the maximum number of times the first terminal device transmits the SL PRS.

[0083] In some embodiments, in the case of blind retransmission, the network device configures a maximum of 2 or 3 transmission opportunities for the first terminal device, and the 2 or 3 transmission opportunities can be referred to as the number of transmissions. In some embodiments, the number of transmissions includes the initial transmission and retransmission of the SL PRS. In some embodiments, the network device configures several transmission opportunities for the first terminal device, which can be determined based on the number of bits of the time resource assignment in the DCI. Exemplarily, if the number of bits of the time resource assignment is 5, it is considered that the network device has configured 2 transmission opportunities for the first terminal device, that is, the first terminal device can send an initial transmission of the SL PRS once and a retransmission of the SL PRS once to the second terminal device. Exemplarily, if the number of bits of the time resource assignment is 9, it is considered that the network device has configured 3 transmission opportunities for the first terminal device, that is, the first terminal device can send an initial transmission of the SL PRS once and 2 retransmissions of the SL PRS to the second terminal device.

[0084] In some embodiments, although the network device configures the number of transmissions for the first terminal device, the number of times the first terminal device actually retransmits the SL PRS is still determined autonomously by the first terminal device.

[0085] In some embodiments, the first terminal device randomly determines the actual number of retransmissions of the SL PRS based on the number of transmissions. For example, if the network device configures two retransmission opportunities for the first terminal device, the actual number of retransmissions of the SL PRS determined by the first terminal device may be 0, 1, or 2.

[0086] In a response embodiment, the first terminal device determines the actual number of retransmissions of the SL PRS based on the number of transmissions and the quality of service QoS parameter.

[0087] In some implementations, if the accuracy requirement indicated by the QoS parameter is higher than a first threshold, the first terminal device determines the actual number of retransmissions of the SL PRS as a first value.

[0088] In some implementations, if the priority value indicated by the QoS parameter is lower than the second threshold, the first terminal device determines the actual number of retransmissions of the SL PRS as the first value.

[0089] In some implementations, if the accuracy requirement indicated by the QoS parameter is higher than a third threshold, the first terminal device determines the actual number of retransmissions of the SL PRS as a second value.

[0090] In some implementations, if the priority value indicated by the QoS parameter is lower than a fourth threshold, the first terminal device determines the actual number of retransmissions of the SL PRS as a second value.

[0091] In some implementations, the first value is smaller than the second value, the first threshold is smaller than the third threshold, and the second threshold is greater than the fourth threshold.

[0092] In some embodiments, the first value and the second value are determined based on the number of transmissions. For example, if the number of transmissions is 2, the first value is 0 and the second value is 1.

[0093] In some embodiments, the first threshold, the second threshold, the third threshold and the fourth threshold may be indicated by the network device, or may be determined by the terminal device based on its own implementation, or may be pre-configured, and this application does not limit this.

[0094] In some embodiments, if the possibility of the actual number of retransmissions is large, the threshold of the QoS parameter can be determined based on the optional number of the actual number of retransmissions. For example, if the number of transmissions configured by the network device is 3, the actual number of retransmissions may be 0, 1, or 2. At this time, taking the priority value indicated by the QoS parameter as an example, if the priority value indicated by the QoS parameter is lower than the threshold 1, the first terminal device determines the actual number of retransmissions of the SL PRS to be 0; if the priority value indicated by the QoS parameter is lower than the threshold 2, the first terminal device determines the actual number of retransmissions of the SL PRS to be 1; if the priority value indicated by the QoS parameter is lower than the threshold 3, the first terminal device determines the actual number of retransmissions of the SL PRS to be 2; wherein the threshold 1 is greater than the threshold 2, which is greater than the threshold 3.

[0095] It should be noted that the above content only uses priority values ​​and accuracy requirements as examples to illustrate the determination of the actual number of retransmissions based on QoS parameters and transmission times. Other QoS parameters can also be used as standards for determining the actual number of retransmissions, and this application does not limit this.

[0096] In some embodiments, the above step 210 is performed when the remaining delay budget of the SL PRS is satisfied.

[0097] In some embodiments, if the remaining delay budget of the SL PRS has expired, the SL PRS is not retransmitted.

[0098] The technical solution provided in the embodiment of the present application provides a method for retransmitting SL PRS based on a shared resource pool, so that the terminal device can retransmit SL PRS based on the shared resource pool.

[0099] In addition, the conditions for the terminal device to retransmit the SL PRS are given, which can filter out unnecessary retransmissions and reduce the power consumption of the terminal device.

[0100] Due to the transmission resources in the shared resource pool, SL PRS and MAC PDU need to be transmitted through the same sideline authorization. When retransmitting SL PRS, how to configure and determine the sideline authorization for retransmitting SL PRS is also provided in the embodiment of the present application. An exemplary solution.

[0101] Solution 1: Use the first MAC PDU

[0102] In some embodiments, the first MAC PDU is a MAC PDU padded with 0 bits, which may also be called a zero padding MAC PDU.

[0103] In some embodiments, the first terminal device creates a first MAC PDU, and the first MAC PDU is used for retransmission of the SL PRS; the first terminal device sends the first MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

[0104] In some embodiments, if the first terminal device cannot determine whether the second terminal device has successfully received the second MAC PDU and / or SL PRS, the first terminal device may use the first MAC PDU and SL PRS to retransmit the SL PRS. For example, if the first terminal device uses a blind retransmission method to retransmit the SL PRS, the first MAC PDU and SL PRS combination may be used to retransmit the SL PRS.

[0105] In some embodiments, if the first terminal device determines that the second terminal device successfully received the second MAC PDU but failed to successfully receive the SL PRS, the first terminal device may use the first MAC PDU and the SL PRS to retransmit the SL PRS. For example, if the indication information received by the first terminal device indicates that the second terminal device successfully received the second MAC PDU but failed to successfully receive the SL PRS, the first MAC PDU and the SL PRS combination may be used to retransmit the SL PRS.

[0106] Through the above method, the first terminal device does not need to use the second MAC PDU and SL PRS combination to retransmit the SL PRS during retransmission, thereby reducing the overhead required for retransmitting the SL PRS.

[0107] Solution 2: Use the second MAC PDU

[0108] In some embodiments, the second MAC PDU is a MAC PDU transmitted via the same sideline grant as the SL PRS.

[0109] In some embodiments, the first terminal device obtains the second MAC PDU; the first terminal device sends the second MAC PDU and SL PRS to the second terminal device based on the shared resource pool.

[0110] In some embodiments, if the first terminal device determines that the second terminal device has not successfully received the second MAC PDU and / or SL PRS, the first terminal device may use the first MAC PDU and SL PRS to retransmit the SL PRS. For example, if the first terminal device determines that the second terminal device has not successfully received the MAC PDU based on the NACK information sent by the second terminal device, the first terminal device assumes that the second terminal device has not successfully received the SL PRS, and the first terminal device may use the second MAC PDU and SL PRS combination to retransmit the SL PRS.

[0111] By using the above method, data retransmission can be achieved while SL PRS retransmission is achieved.

[0112] The embodiments of the present application also provide exemplary solutions for how the first terminal device determines the transmission resources required for retransmission, and how the first terminal device determines the SL PRS during retransmission.

[0113] In some embodiments, the first terminal device receives second configuration information sent by the network device, where the second configuration information is used to configure transmission resources required for retransmitting the SL PRS.

[0114] In some embodiments, the network device sends the second configuration information to the first terminal device via the PDCCH.

[0115] In some embodiments, the first terminal device selects transmission resources required for retransmitting the SL PRS in a shared resource pool.

[0116] In some embodiments, the first terminal device randomly selects transmission resources required for retransmitting the SL PRS from the shared resource pool.

[0117] In some embodiments, the first terminal device selects the transmission resources required for retransmitting the SL PRS based on the remaining delay budget of the SL PRS. Exemplarily, the first terminal device selects the transmission resources required for retransmitting the SL PRS within the remaining delay budget of the SL PRS.

[0118] In some embodiments, the first terminal device selects the transmission resources required for retransmitting the SL PRS based on the priority of the SL PRS. For example, the transmission resources required for retransmitting the SL PRS are selected according to the priority of the SL PRS and other information that the first terminal device needs to transmit (which may be control information, data, etc.).

[0119] In some embodiments, the first terminal device selects the transmission resources required for retransmitting the SL PRS based on the remaining delay budget of the SL PRS and the priority of the SL PRS. For example, the transmission resources required for retransmitting the SL PRS are selected according to the priority ranking of the SL PRS and other information that the first terminal device needs to transmit (which may be control information, data, etc.), and the remaining delay budget of the SL PRS.

[0120] Through the above method, the first terminal device can determine the transmission resources required for retransmitting the SL PRS.

[0121] In some embodiments, the SL PRS is obtained from a HARQ buffer in which the SL PRS is stored during initial transmission.

[0122] In some embodiments, the SL PRS is stored in the HARQ buffer during initial transmission. If the SL PRS needs to be retransmitted, the SL PRS can be obtained from the HARQ buffer.

[0123] In some embodiments, an identifier corresponding to the SL PRS is obtained from the RRC layer, and the SL PRS is determined based on the identifier corresponding to the SL PRS.

[0124] In some embodiments, the SL PRS is determined by a sequence specified by a higher layer, and the MAC layer can obtain the identifier corresponding to the SL PRS from the higher layer again, and then determine the SL PRS. The higher layer here refers to the protocol layer above the MAC layer, such as the RRC layer. Exemplarily, the MAC layer can send SL PRS retransmission indication information to the RRC layer, and the SL PRS retransmission indication information is used to obtain the identifier corresponding to the SL PRS. The RRC layer sends the identifier corresponding to the SL PRS to the MAC layer, and the MAC layer can determine the SL PRS based on the identifier of the SL PRS.

[0125] In some embodiments, after the MAC layer determines the SL PRS, it sends the SL PRS and the first MAC PDU (or the second MAC PDU) to the physical layer, and the physical layer sends the sidelink authorization to the second terminal device.

[0126] Through the above method, the first terminal device can determine the SL PRS for retransmission.

[0127] In the above method embodiment, the technical solution of the present application is introduced and explained only from the perspective of the interaction between the first terminal device and the second terminal device. The above steps performed by the first terminal device can be independently implemented as a method for retransmitting the SL PRS on the first terminal device side, and the above steps performed by the second terminal device can be independently implemented as a method for retransmitting the SL PRS on the second terminal device side. In addition, the embodiments provided herein can be arbitrarily combined to form new embodiments, which are all within the scope of protection of the present application.

[0128] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0129] Please refer to Figure 3, which shows a block diagram of an SL PRS retransmission device provided by an embodiment of the present application. The device has the function of implementing the above-mentioned SL PRS retransmission method example, and the function can be implemented by hardware or by hardware executing corresponding software. The device can be the first terminal device introduced above, or it can be set in the first terminal device. As shown in Figure 3, the device 300 may include: a sending module 310.

[0130] The sending module 310 is configured to retransmit the SL PRS based on a shared resource pool, where transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

[0131] In some embodiments, the sending module 310 is configured to retransmit the SL PRS to the second terminal device based on the shared resource pool when first indication information sent by the second terminal device is not received, where the first indication information is used to indicate that the second terminal device has received the SL PRS;

[0132] or,

[0133] The sending module 310 is used to retransmit the SL PRS to the second terminal device based on the shared resource pool when receiving second indication information sent by the second terminal device, where the second indication information is used to indicate that the second terminal device has not received the SL PRS.

[0134] In some embodiments, the sending module 310 is used to create a first MAC PDU, where the first MAC PDU is used for retransmission of the SL PRS; and send the first MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

[0135] In some embodiments, the sending module 310 is configured to, upon receiving NACK information sent by the second terminal device, retransmit the SL PRS to the second terminal device based on the shared resource pool, where the NACK information is used to indicate that the second terminal device has not received the second MAC PDU;

[0136] or,

[0137] The sending module 310 is configured to retransmit the SL PRS to the second terminal device based on the shared resource pool when no ACK information sent by the second terminal device is received, wherein the ACK information is used to indicate that the second terminal device has received the second MAC PDU;

[0138] The second MAC PDU is a MAC PDU that is transmitted to the second terminal device through the same sideline authorization as the SL PRS.

[0139] In some embodiments, the sending module 310 is used to obtain the second MAC PDU; and send the second MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

[0140] In some embodiments, the sending module 310 is configured to perform blind retransmission of the SL PRS based on the shared resource pool.

[0141] In some embodiments, the sending module 310 is used to create a first MAC PDU, where the first MAC PDU is used for retransmission of the SL PRS; and send the first MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

[0142] In some embodiments, the device further includes: a receiving module (not shown in the figure).

[0143] The receiving module is used to receive first configuration information sent by a network device, where the first configuration information is used to configure the number of transmissions, and the number of transmissions is the maximum number of times the first terminal device transmits the SL PRS.

[0144] In some embodiments, the device further includes: a processing module (not shown in the figure).

[0145] a processing module, configured to randomly determine an actual number of retransmissions of the SL PRS based on the number of transmissions; or

[0146] The processing module is configured to determine an actual number of retransmissions of the SL PRS based on the number of transmissions and a quality of service (QoS) parameter.

[0147] In some embodiments, the processing module is configured to determine the actual number of retransmissions of the SL PRS to be a first value if the accuracy requirement indicated by the QoS parameter is higher than a first threshold; or

[0148] The processing module is configured to determine the actual number of retransmissions of the SL PRS to be a first value if the priority value indicated by the QoS parameter is lower than a second threshold; or

[0149] The processing module is configured to determine the actual number of retransmissions of the SL PRS as a second value if the accuracy requirement indicated by the QoS parameter is higher than a third threshold; or

[0150] the processing module is configured to determine the actual number of retransmissions of the SL PRS to be a second value if the priority value indicated by the QoS parameter is lower than a fourth threshold;

[0151] The first value is smaller than the second value, the first threshold is smaller than the third threshold, and the second threshold is larger than the fourth threshold.

[0152] In some embodiments, the receiving module is configured to receive second configuration information sent by a network device, where the second configuration information is used to configure transmission resources required for retransmitting the SL PRS; or

[0153] The receiving module is configured to select, from the shared resource pool, transmission resources required for retransmitting the SL PRS.

[0154] In some embodiments, the sending module 310 is configured to perform the step of retransmitting the SL PRS based on the shared resource pool when the remaining delay budget of the SL PRS is satisfied.

[0155] In some embodiments, the processing module is configured to obtain the SL PRS from a hybrid automatic repeat request HARQ buffer, wherein the SL PRS is stored in the HARQ buffer during initial transmission;

[0156] or,

[0157] The processing module is used to obtain the identifier corresponding to the SL PRS from the radio resource control RRC layer, and determine the SL PRS based on the identifier corresponding to the SL PRS.

[0158] The technical solution provided in the embodiment of the present application provides a method for retransmitting SL PRS based on a shared resource pool, so that the terminal device can retransmit SL PRS based on the shared resource pool.

[0159] In addition, the conditions for the terminal device to retransmit the SL PRS are given, which can filter out unnecessary retransmissions and reduce the power consumption of the terminal device.

[0160] Please refer to Figure 4, which shows a block diagram of an SL PRS retransmission device provided by an embodiment of the present application. The device has the function of implementing the above-mentioned SL PRS retransmission method example, and the function can be implemented by hardware or by hardware executing corresponding software. The device can be the second terminal device introduced above, or it can be set in the second terminal device. As shown in Figure 4, the device 400 may include: a receiving module 410.

[0161] The receiving module 410 is configured to receive the SL PRS retransmitted by the first terminal device based on the shared resource pool, where the transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

[0162] In some embodiments, the retransmitted SL PRS is sent by the first terminal device after the first terminal device fails to receive first indication information sent by the second terminal device, where the first indication information is used to indicate that the second terminal device has received the SL PRS;

[0163] or,

[0164] The retransmitted SL PRS is sent by the first terminal device after receiving second indication information sent by the second terminal device, and the second indication information is used to indicate that the second terminal device has not received the SL PRS.

[0165] In some embodiments, the receiving module 410 is used to receive a first MAC PDU and the SL PRS sent by the first terminal device based on the shared resource pool, where the first MAC PDU is used for retransmission of the SL PRS.

[0166] In some embodiments, the retransmitted SL PRS is sent by the first terminal device after receiving NACK information sent by the second terminal device, where the NACK information is used to indicate that the second terminal device has not received the second MAC PDU;

[0167] or,

[0168] The retransmitted SL PRS is sent by the first terminal device after the first terminal device fails to receive ACK information sent by the second terminal device, where the ACK information is used to indicate that the second terminal device has received the second MAC PDU;

[0169] The second MAC PDU is a MAC PDU that is transmitted to the second terminal device through the same sideline authorization as the SL PRS.

[0170] In some embodiments, the receiving module 410 is used to receive the second MAC PDU and the SL PRS sent by the first terminal device based on the shared resource pool.

[0171] In some embodiments, the receiving module 410 is configured to receive the SL PRS retransmitted by the first terminal device based on the shared resource pool in a blind retransmission manner.

[0172] In some embodiments, the receiving module 410 is used to receive the first MAC PDU and the SL PRS sent by the first terminal device based on the shared resource pool using a blind retransmission method, where the first MAC PDU is used for retransmission of the SL PRS.

[0173] In some embodiments, the number of transmissions of the SL PRS is configured by a network device, and the number of transmissions is the maximum number of times the first terminal device transmits the SL PRS.

[0174] In some embodiments, the actual number of retransmissions of the SL PRS is randomly determined based on the number of transmissions; or, the actual number of retransmissions of the SL PRS is determined based on the number of transmissions and a quality of service (QoS) parameter.

[0175] In some embodiments, if the accuracy requirement indicated by the QoS parameter is higher than a first threshold, the actual number of retransmissions of the SL PRS is a first value; or,

[0176] If the priority value indicated by the QoS parameter is lower than the second threshold, the actual number of retransmissions of the SL PRS is the first value; or,

[0177] If the accuracy requirement indicated by the QoS parameter is higher than a third threshold, the actual number of retransmissions of the SL PRS is the second value; or,

[0178] If the priority value indicated by the QoS parameter is lower than a fourth threshold, the actual number of retransmissions of the SL PRS is a second value;

[0179] The first value is smaller than the second value, the first threshold is smaller than the third threshold, and the second threshold is larger than the fourth threshold.

[0180] In some embodiments, the transmission resources required to retransmit the SL PRS are configured by a network device; or,

[0181] The transmission resources required for retransmitting the SL PRS are selected by the first terminal device in the shared resource pool.

[0182] In some embodiments, the retransmitted SL PRS is sent while satisfying the remaining delay budget of the SL PRS.

[0183] In some embodiments, the retransmitted SL PRS is obtained from a hybrid automatic repeat request HARQ buffer, in which the SL PRS is stored during initial transmission;

[0184] or,

[0185] The retransmitted SL PRS is determined based on an identifier corresponding to the SL PRS, and the identifier corresponding to the SL PRS is obtained from a radio resource control RRC layer.

[0186] The technical solution provided in the embodiment of the present application provides a method for retransmitting SL PRS based on a shared resource pool, so that the terminal device can retransmit SL PRS based on the shared resource pool.

[0187] In addition, the conditions for the terminal device to retransmit the SL PRS are given, which can filter out unnecessary retransmissions and reduce the power consumption of the terminal device.

[0188] It should be noted that the device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example to implement its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0189] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0190] Please refer to Figure 5, which shows a schematic diagram of the structure of a terminal device provided in one embodiment of the present application. The terminal device 500 may include: a processor 501, a transceiver 502, and a memory 503. The transceiver 502 is used to implement a sending or receiving function, such as implementing the functions of the aforementioned sending module 310 or the aforementioned receiving module 410. The processor 501 may be used to implement other processing functions or control sending and / or receiving.

[0191] The processor 501 includes one or more processing cores. The processor 501 executes various functional applications and information processing by running software programs and modules.

[0192] The transceiver 502 may include a receiver and a transmitter. For example, the receiver and the transmitter may be implemented as the same wireless communication component, which may include a wireless communication chip and a radio frequency antenna.

[0193] The memory 503 may be connected to the processor 501 and the transceiver 502 .

[0194] The memory 503 may be used to store a computer program executed by the processor, and the processor 501 is used to execute the computer program to implement each step in the above method embodiment.

[0195] In some embodiments, the transceiver 502 is configured to retransmit the SL PRS based on a shared resource pool, where transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

[0196] In some embodiments, the transceiver 502 is used to receive the SL PRS retransmitted by the first terminal device based on the shared resource pool, where the transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

[0197] For details not described in detail in this embodiment, please refer to the above embodiments and will not be described in detail here.

[0198] In addition, the memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: magnetic or optical disks, electrically erasable programmable read-only memory, erasable programmable read-only memory, static access memory, read-only memory, magnetic memory, flash memory, and programmable read-only memory.

[0199] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored, and the computer program is used to be executed by a processor to implement the above-mentioned SL PRS retransmission method on the first terminal device side, or to implement the above-mentioned SL PRS retransmission method on the second terminal device side. Optionally, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random-Access Memory), SSD (Solid State Drives) or optical disks, etc. Among them, the random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0200] An embodiment of the present application also provides a chip, which includes a programmable logic circuit and / or program instructions. When the chip is running, it is used to implement the retransmission method of the SL PRS on the first terminal device side mentioned above, or to implement the retransmission method of the SL PRS on the second terminal device side mentioned above.

[0201] An embodiment of the present application also provides a computer program product, which includes a computer program, which is stored in a computer-readable storage medium. The processor reads and executes the computer program from the computer-readable storage medium to implement the SL PRS retransmission method on the first terminal device side, or to implement the SL PRS retransmission method on the second terminal device side.

[0202] It should be understood that the "indication" mentioned in the embodiments of this application can be a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association between A and B.

[0203] In the description of 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 being indicated, configuration and being configured, etc.

[0204] In some embodiments of the present application, "predefined" 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., including a terminal device and a network device), and the present application does not limit the specific implementation method. For example, predefined may refer to information defined in a protocol.

[0205] In some embodiments of the present application, the "protocol" may refer to a standard protocol in the field of communications, for example, it may include an LTE protocol, a NR protocol, and related protocols used in future communication systems, and this application does not limit this.

[0206] In this document, "plurality" refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0207] The term “greater than or equal to” mentioned herein may mean greater than or equal to, or greater than, and the term “less than or equal to” may mean less than or equal to, or less than.

[0208] In addition, the step numbers described in this document only illustrate a possible execution order between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order of the diagram. The embodiments of the present application are not limited to this.

[0209] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0210] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for retransmitting a sidelink positioning reference signal (SL PRS), characterized in that, The method is executed by a first terminal device, and the method includes: Performing retransmission of SL PRS based on a shared resource pool, where the transmission resources in the shared resource pool are used for transmitting SL PRS and / or data.

2. The method according to claim 1, characterized in that, The performing retransmission of SL PRS based on the shared resource pool includes: In the case of not receiving first indication information sent by a second terminal device, retransmitting the SL PRS to the second terminal device based on the shared resource pool, where the first indication information is used to indicate that the second terminal device has received the SL PRS; Or, In the case of receiving second indication information sent by the second terminal device, retransmitting the SL PRS to the second terminal device based on the shared resource pool, where the second indication information is used to indicate that the second terminal device has not received the SL PRS.

3. The method according to claim 2, characterized in that The retransmitting the SL PRS to the second terminal device based on the shared resource pool includes: Creating a first Media Access Control (MAC) protocol data unit (PDU) for retransmission of the SL PRS; Sending the first MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

4. The method according to claim 1, wherein The performing retransmission of SL PRS based on the shared resource pool includes: In the case of receiving negative acknowledgment (NACK) information sent by the second terminal device, retransmitting the SL PRS to the second terminal device based on the shared resource pool, where the NACK information is used to indicate that the second terminal device has not received a second MAC PDU; Or, In the case of not receiving positive acknowledgment (ACK) information sent by the second terminal device, retransmitting the SL PRS to the second terminal device based on the shared resource pool, where the ACK information is used to indicate that the second terminal device has received the second MAC PDU; Wherein, the second MAC PDU is a MAC PDU transmitted to the second terminal device through the same sidelink grant as the SL PRS.

5. The method according to claim 4, characterized in that The retransmitting the SL PRS to the second terminal device based on the shared resource pool includes: Obtaining the second MAC PDU; Sending the second MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

6. The method according to claim 1, characterized in that, The performing retransmission of SL PRS based on the shared resource pool includes: Performing blind retransmission of the SL PRS based on the shared resource pool.

7. The method according to claim 6, wherein The performing blind retransmission of the SL PRS based on the shared resource pool includes: Creating a first MAC PDU for retransmission of the SL PRS; Sending the first MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

8. The method according to claim 6 or 7, characterized in that The method further includes: Receiving first configuration information sent by a network device, where the first configuration information is used to configure the number of transmissions, and the number of transmissions is the maximum number of times the first terminal device transmits the SL PRS.

9. The method according to claim 8, characterized in that, The method further includes: Randomly determine the actual retransmission times of the SL PRS based on the number of transmissions; or, Determine the actual retransmission times of the SL PRS based on the number of transmissions and Quality of Service (QoS) parameters.

10. The method according to claim 9, characterized in that The determining the actual retransmission times of the SL PRS based on the number of transmissions and QoS parameters includes: If the accuracy requirement indicated by the QoS parameter is higher than a first threshold, determine the actual retransmission times of the SL PRS as a first value; or, If the priority value indicated by the QoS parameter is lower than a second threshold, determine the actual retransmission times of the SL PRS as a first value; or, If the accuracy requirement indicated by the QoS parameter is higher than a third threshold, determine the actual retransmission times of the SL PRS as a second value; or, If the priority value indicated by the QoS parameter is lower than a fourth threshold, determine the actual retransmission times of the SL PRS as a second value; Wherein, the first value is less than the second value, the first threshold is less than the third threshold, and the second threshold is greater than the fourth threshold.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Receiving second configuration information sent by a network device, where the second configuration information is used to configure transmission resources required for retransmitting the SL PRS; or, Selecting transmission resources required for retransmitting the SL PRS in the shared resource pool.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: Performing the step of retransmitting the SL PRS based on the shared resource pool when the remaining delay budget of the SL PRS is satisfied.

13. The method according to any one of claims 1 to 12, characterized in that, The method further includes: Obtaining the SL PRS from a Hybrid Automatic Repeat reQuest (HARQ) buffer, where the SL PRS is stored in the HARQ buffer during initial transmission; Or, Obtaining an identifier corresponding to the SL PRS from a Radio Resource Control (RRC) layer, and determining the SL PRS based on the identifier corresponding to the SL PRS.

14. A retransmission method for a sidelink positioning reference signal (SL PRS), characterized in that, The method is executed by a second terminal device, and the method includes: Receiving the SL PRS retransmitted by a first terminal device based on a shared resource pool, where the transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

15. The method according to claim 14, wherein, The retransmitted SL PRS is sent by the first terminal device after not receiving a first indication information sent by the second terminal device, where the first indication information is used to indicate that the second terminal device has received the SL PRS; Or, The retransmitted SL PRS is sent by the first terminal device after receiving a second indication information sent by the second terminal device, where the second indication information is used to indicate that the second terminal device has not received the SL PRS.

16. The method according to claim 15, wherein The receiving the SL PRS retransmitted by the first terminal device based on the shared resource pool includes: Receiving a first Medium Access Control (MAC) protocol data unit (PDU) and the SL PRS sent by the first terminal device based on the shared resource pool, where the first MAC PDU is used for retransmitting the SL PRS.

17. The method according to claim 14, wherein the retransmitted SL PRS is sent by the first terminal device after receiving the negative acknowledgment NACK information sent by the second terminal device, and the NACK information is used to indicate that the second terminal device has not received the second MAC PDU; or the retransmitted SL PRS is sent by the first terminal device after not receiving the positive acknowledgment ACK information sent by the second terminal device, and the ACK information is used to indicate that the second terminal device has received the second MAC PDU; wherein, the second MAC PDU is a MAC PDU transmitted to the second terminal device through the same sidelink grant as the SL PRS.

18. The method according to claim 17, wherein Receiving the SL PRS retransmitted by the first terminal device based on the shared resource pool includes: Receiving the second MAC PDU and the SL PRS sent by the first terminal device based on the shared resource pool.

19. The method according to claim 14, wherein Receiving the SL PRS retransmitted by the first terminal device based on the shared resource pool includes: Receiving the SL PRS retransmitted by the first terminal device based on the shared resource pool in a blind retransmission manner.

20. The method according to claim 19, wherein Receiving the SL PRS retransmitted by the first terminal device based on the shared resource pool in a blind retransmission manner includes: Receiving the first MAC PDU and the SL PRS sent by the first terminal device based on the shared resource pool in a blind retransmission manner, where the first MAC PDU is used for retransmission of the SL PRS.

21. The method according to claim 19 or 20, characterized in that The number of transmissions of the SL PRS is configured by the network device, and the number of transmissions is the maximum number of times the first terminal device transmits the SL PRS.

22. The method according to claim 21, wherein the actual number of retransmissions of the SL PRS is randomly determined based on the number of transmissions; or the actual number of retransmissions of the SL PRS is determined based on the number of transmissions and the quality of service QoS parameters.

23. The method according to claim 22, wherein if the accuracy requirement indicated by the QoS parameter is higher than a first threshold, the actual number of retransmissions of the SL PRS is a first value; or if the priority value indicated by the QoS parameter is lower than a second threshold, the actual number of retransmissions of the SL PRS is a first value; or if the accuracy requirement indicated by the QoS parameter is higher than a third threshold, the actual number of retransmissions of the SL PRS is a second value; or if the priority value indicated by the QoS parameter is lower than a fourth threshold, the actual number of retransmissions of the SL PRS is a second value; wherein, the first value is less than the second value, the first threshold is less than the third threshold, and the second threshold is greater than the fourth threshold.

24. The method according to any one of claims 14 to 23, wherein the transmission resources required for retransmitting the SL PRS are configured by the network device; or The transmission resources required for retransmitting the SL PRS are selected by the first terminal device from the shared resource pool.

25. The method according to any one of claims 14 to 24, characterized in that, The retransmitted SL PRS is sent when the remaining latency budget of the SL PRS is satisfied.

26. The method according to any one of claims 14 to 25, characterized in that the retransmitted SL PRS is obtained from a Hybrid Automatic Repeat reQuest (HARQ) buffer, and the SL PRS is stored in the HARQ buffer during initial transmission; or the retransmitted SL PRS is determined based on the identifier corresponding to the SL PRS, and the identifier corresponding to the SL PRS is obtained from the Radio Resource Control (RRC) layer.

27. A retransmission device for sidelink positioning reference signal (SL PRS), characterized in that, The apparatus comprises: a sending module, configured to retransmit the SL PRS based on a shared resource pool, wherein the transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

28. The device according to claim 27, characterized in that, The sending module is configured to, in the case of not receiving first indication information sent by a second terminal device, retransmit the SL PRS to the second terminal device based on the shared resource pool, where the first indication information is used to indicate that the second terminal device has received the SL PRS; or The sending module is configured to, in the case of receiving second indication information sent by a second terminal device, retransmit the SL PRS to the second terminal device based on the shared resource pool, where the second indication information is used to indicate that the second terminal device has not received the SL PRS.

29. The device according to claim 28, characterized in that, The sending module is configured to create a first Medium Access Control (MAC) protocol data unit (PDU) for retransmitting the SL PRS; and send the first MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

30. The device according to claim 27, wherein, The sending module is configured to, in the case of receiving negative acknowledgment (NACK) information sent by a second terminal device, retransmit the SL PRS to the second terminal device based on the shared resource pool, where the NACK information is used to indicate that the second terminal device has not received a second MAC PDU; or The sending module is configured to, in the case of not receiving acknowledgment (ACK) information sent by a second terminal device, retransmit the SL PRS to the second terminal device based on the shared resource pool, where the ACK information is used to indicate that the second terminal device has received the second MAC PDU; wherein the second MAC PDU is a MAC PDU transmitted to the second terminal device through the same sidelink grant as the SL PRS.

31. The device according to claim 30, wherein The sending module is configured to obtain the second MAC PDU; and send the second MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

32. The device according to claim 27, characterized in that, The sending module is configured to perform blind retransmission of the SL PRS based on the shared resource pool.

33. The device according to claim 32, wherein, The sending module is configured to create a first MAC PDU for retransmitting the SL PRS, and send the first MAC PDU and the SL PRS to the second terminal device based on the shared resource pool.

34. The device according to claim 32 or 33, characterized in that, The apparatus further includes: A receiving module, configured to receive first configuration information sent by a network device, where the first configuration information is used to configure a transmission count, and the transmission count is the maximum number of times for the first terminal device to transmit the SL PRS.

35. The device according to claim 34, characterized in that, The apparatus further includes: A processing module, configured to randomly determine an actual retransmission count of the SL PRS based on the transmission count; or A processing module, configured to determine an actual retransmission count of the SL PRS based on the transmission count and quality of service (QoS) parameters.

36. The device according to claim 35, wherein The processing module is configured to, if an accuracy requirement indicated by the QoS parameter is higher than a first threshold, determine the actual retransmission count of the SL PRS as a first value; or The processing module is configured to, if a priority value indicated by the QoS parameter is lower than a second threshold, determine the actual retransmission count of the SL PRS as a first value; or The processing module is configured to, if an accuracy requirement indicated by the QoS parameter is higher than a third threshold, determine the actual retransmission count of the SL PRS as a second value; or The processing module is configured to, if a priority value indicated by the QoS parameter is lower than a fourth threshold, determine the actual retransmission count of the SL PRS as a second value; wherein the first value is less than the second value, the first threshold is less than the third threshold, and the second threshold is greater than the fourth threshold.

37. The device according to any one of claims 27 to 36, characterized in that The apparatus further includes: A receiving module, configured to receive second configuration information sent by a network device, where the second configuration information is used to configure transmission resources required for retransmitting the SL PRS; or A receiving module, configured to select transmission resources required for retransmitting the SL PRS from the shared resource pool.

38. The device according to any one of claims 27 to 37, characterized in that, The sending module is configured to perform the step of retransmitting the SL PRS based on the shared resource pool when a remaining delay budget of the SL PRS is satisfied.

39. The device according to any one of claims 27 to 38, characterized in that, The apparatus further includes: A processing module, configured to obtain the SL PRS from a hybrid automatic repeat request (HARQ) buffer, where the SL PRS is stored in the HARQ buffer during initial transmission; or A processing module, configured to obtain an identifier corresponding to the SL PRS from a radio resource control (RRC) layer, and determine the SL PRS based on the identifier corresponding to the SL PRS.

40. A retransmission device for a sidelink positioning reference signal (SL PRS), characterized in that, The apparatus includes: A receiving module, configured to receive the SL PRS retransmitted by a first terminal device based on a shared resource pool, where transmission resources in the shared resource pool are used to transmit the SL PRS and / or data.

41. The apparatus according to claim 40, wherein The retransmitted SL PRS is sent by the first terminal device after it does not receive the first indication information sent by the second terminal device, where the first indication information is used to indicate that the second terminal device has received the SL PRS; Or, The retransmitted SL PRS is sent by the first terminal device after it receives the second indication information sent by the second terminal device, where the second indication information is used to indicate that the second terminal device has not received the SL PRS.

42. The apparatus according to claim 41, wherein, The receiving module is configured to receive the first media access control (MAC) protocol data unit (PDU) and the SL PRS sent by the first terminal device based on the shared resource pool, where the first MAC PDU is for retransmitting the SL PRS.

43. The apparatus according to claim 40, wherein The retransmitted SL PRS is sent by the first terminal device after it receives the negative acknowledgment (NACK) information sent by the second terminal device, where the NACK information is used to indicate that the second terminal device has not received the second MAC PDU; Or, The retransmitted SL PRS is sent by the first terminal device after it does not receive the acknowledgment (ACK) information sent by the second terminal device, where the ACK information is used to indicate that the second terminal device has received the second MAC PDU; wherein the second MAC PDU is a MAC PDU transmitted to the second terminal device through the same sidelink grant as the SL PRS.

44. The device according to claim 43, characterized in that, The receiving module is configured to receive the second MAC PDU and the SL PRS sent by the first terminal device based on the shared resource pool.

45. The device according to claim 40, characterized in that, The receiving module is configured to receive the SL PRS retransmitted by the first terminal device in a blind retransmission manner based on the shared resource pool.

46. The device according to claim 45, characterized in that, The receiving module is configured to receive the first MAC PDU and the SL PRS sent by the first terminal device in a blind retransmission manner based on the shared resource pool, where the first MAC PDU is for retransmitting the SL PRS.

47. The device according to claim 45 or 46, characterized in that, The number of transmissions of the SL PRS is configured by a network device, and the number of transmissions is the maximum number of times the first terminal device transmits the SL PRS.

48. The apparatus according to claim 47, wherein The actual number of retransmissions of the SL PRS is randomly determined based on the number of transmissions; or, The actual number of retransmissions of the SL PRS is determined based on the number of transmissions and quality of service (QoS) parameters.

49. The apparatus according to claim 48, wherein If the accuracy requirement indicated by the QoS parameter is higher than a first threshold, the actual number of retransmissions of the SL PRS is a first value; or, If the priority value indicated by the QoS parameter is lower than a second threshold, the actual number of retransmissions of the SL PRS is a first value; or, If the accuracy requirement indicated by the QoS parameter is higher than a third threshold, the actual number of retransmissions of the SL PRS is a second value; or, If the priority value indicated by the QoS parameter is lower than the fourth threshold, the actual retransmission times of the SL PRS are the second value; wherein, the first value is less than the second value, the first threshold is less than the third threshold, and the second threshold is greater than the fourth threshold.

50. The apparatus according to any one of claims 40 to 49, characterized in that the transmission resources required for retransmitting the SL PRS are configured by a network device; or the transmission resources required for retransmitting the SL PRS are selected by the first terminal device from the shared resource pool.

51. The device according to any one of claims 40 to 50, characterized in that, The retransmitted SL PRS is sent when the remaining delay budget of the SL PRS is satisfied.

52. The apparatus according to any one of claims 40 to 51, characterized in that the retransmitted SL PRS is obtained from a hybrid automatic repeat request (HARQ) buffer, and the SL PRS is stored in the HARQ buffer during initial transmission; or the retransmitted SL PRS is determined based on the identifier corresponding to the SL PRS, and the identifier corresponding to the SL PRS is obtained from the radio resource control (RRC) layer.

53. A terminal device, characterized in that, The terminal device includes a processor and a memory. A computer program is stored in the memory, and the processor executes the computer program to implement the method according to any one of claims 1 to 13, or to implement the method according to any one of claims 14 to 26.

54. A computer-readable storage medium, characterized in that, A computer program is stored in the storage medium, and the computer program is used to be executed by a processor to implement the method according to any one of claims 1 to 13, or to implement the method according to any one of claims 14 to 26.

55. A chip, characterized in that, The chip includes programmable logic circuits and / or program instructions, and when the chip runs, it is used to implement the method according to any one of claims 1 to 13, or to implement the method according to any one of claims 14 to 26.

56. A computer program product, characterized in that, The computer program product includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and the processor reads and executes the computer instructions from the computer-readable storage medium to implement the method according to any one of claims 1 to 13, or to implement the method according to any one of claims 14 to 26.

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